AREXPORT ArArgumentBuilder::ArArgumentBuilder(const ArArgumentBuilder & builder)
{
size_t i;
myFullString = builder.myFullString;
myExtraString = builder.myExtraString;
myArgc = builder.getArgc();
myArgvLen = builder.getArgvLen();
myOrigArgc = myArgc;
myArgv = new char *[myArgvLen];
for (i = 0; i < myArgc; i++)
myArgv[i] = strdup(builder.getArg(i));
}
AREXPORT void ArServerHandlerMapping::addStringsForStartOfLogToMap(
ArMap *arMap)
{
std::list<std::string>::iterator it;
std::string str;
ArArgumentBuilder *builder;
for (it = myStringsForStartOfLog.begin();
it != myStringsForStartOfLog.end();
it++)
{
str = (*it);
builder = new ArArgumentBuilder;
builder->add(str.c_str());
if (strcasecmp(builder->getArg(0), "LogInfoStrip:") == 0)
{
builder->removeArg(0, true);
printf("lis %s\n", builder->getFullString());
}
std::list<std::string> infoNames = arMap->getInfoNames();
for (std::list<std::string>::iterator iter = infoNames.begin();
iter != infoNames.end();
iter++)
{
const char *curName = (*iter).c_str();
if (strcasecmp(builder->getArg(0), curName) == 0)
{
builder->removeArg(0, true);
arMap->getInfo(curName)->push_back(builder);
builder = NULL;
break;
}
}
if (builder != NULL)
delete builder;
}
}
AREXPORT ArArgumentBuilder::ArArgumentBuilder(const ArArgumentBuilder & builder)
{
size_t i;
myFullString = builder.myFullString;
myExtraString = builder.myExtraString;
myArgc = builder.getArgc();
myArgvLen = builder.getArgvLen();
myOrigArgc = myArgc;
myArgv = new char *[myArgvLen];
for (i = 0; i < myArgc; i++)
myArgv[i] = cppstrdup(builder.getArg(i));
//myArgv[i] = strdup(builder.getArg(i));
myIsQuiet = builder.myIsQuiet;
myExtraSpace = builder.myExtraSpace;
myIgnoreNormalSpaces = builder.myIgnoreNormalSpaces;
myIsPreCompressQuotes = builder.myIsPreCompressQuotes;
}
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);
}
