int main(int argc, char **argv) { Aria::init(); char *worldName; char *mapName; if (argc != 3) { ArLog::log(ArLog::Normal, "Usage: %s <WorldFile> <MapFile>", argv[0]); ArLog::log(ArLog::Normal, "Example: %s columbia.wld columbia.map", argv[0]); exit(1); } worldName = argv[1]; mapName = argv[2]; FILE *file; if ((file = ArUtil::fopen(worldName, "r")) == NULL) { ArLog::log(ArLog::Normal, "Could not open world file '%s' to convert", worldName); exit(1); } char line[10000]; std::vector<ArLineSegment> lines; bool haveHome = false; ArPose homePose; // read until the end of the file while (fgets(line, sizeof(line), file) != NULL) { ArArgumentBuilder builder; builder.add(line); // Four ints is a line if (builder.getArgc() == 4 && builder.isArgInt(0) && builder.isArgInt(1) && builder.isArgInt(2) && builder.isArgInt(3)) { lines.push_back( ArLineSegment(builder.getArgInt(0), builder.getArgInt(1), builder.getArgInt(2), builder.getArgInt(3))); } // "position X Y Th" becomes a RobotHome if( !strcmp(builder.getArg(0), "position") && builder.getArgc() == 4 && builder.isArgInt(1) && builder.isArgInt(2) && builder.isArgInt(3) ) { haveHome = true; homePose.setX(builder.getArgInt(1)); homePose.setY(builder.getArgInt(2)); homePose.setTh(builder.getArgInt(3)); printf("Will make a Home point out of start position: "); homePose.log(); } } ArMap armap; armap.setLines(&lines); ArPose nopose; ArMapObject home("RobotHome", homePose, NULL, "ICON", "Home", false, nopose, nopose); std::list<ArMapObject*> objects; if(haveHome) { objects.push_back(&home); armap.setMapObjects(&objects); } if (!armap.writeFile(mapName)) { ArLog::log(ArLog::Normal, "Could not save map file '%s'", mapName); exit(1); } ArLog::log(ArLog::Normal, "Converted %s world file to %s map file.", worldName, mapName); exit(0); }