/**
* Search all locations for argument defaults and parse them.
* These locations may be environment variables to read argument varues
* from, or files to read.
* @sa addDefaultArgumentLocation
*
* @note If you use this function your normal argc (passed into main()) will
* have been modified, and won't reflect reality anymore. You'll have to use
* getArgc() to get the actual original argument count. This is a little wierd but is
* this way so lots of people don't have to change lots of code.
*/
AREXPORT void ArArgumentParser::loadDefaultArguments(int position)
{
std::list<std::string>::iterator it;
std::list<bool>::iterator bIt;
const char *str;
char *argumentsPtr;
char arguments[1024];
if (!myUsingBuilder)
{
myBuilder = new ArArgumentBuilder;
myBuilder->addStringsAsIs(*myArgc, myArgv);
myOwnBuilder = true;
myUsingBuilder = true;
}
for (it = ourDefaultArgumentLocs.begin(),
bIt = ourDefaultArgumentLocIsFile.begin();
it != ourDefaultArgumentLocs.end();
it++, bIt++)
{
str = (*it).c_str();
// see if its an environmental variable
if (!(*bIt) && (argumentsPtr = getenv(str)) != NULL)
{
ArArgumentBuilder compressed;
compressed.add(argumentsPtr);
compressed.compressQuoted(true);
myBuilder->addStringsAsIs(compressed.getArgc(), compressed.getArgv(),
position);
ArLog::log(ArLog::Normal,
"Added arguments from environmental variable '%s'", str);
}
// see if we have a file
else if ((*bIt) &&
ArUtil::getStringFromFile(str, arguments, sizeof(arguments)))
{
ArArgumentBuilder compressed;
compressed.add(arguments);
compressed.compressQuoted(true);
myBuilder->addStringsAsIs(compressed.getArgc(), compressed.getArgv(),
position);
ArLog::log(ArLog::Normal, "Added arguments from file '%s'",
str);
}
// the file or env didn't exit
// this'll return true otherwise it'll return false)
else
{
ArLog::log(ArLog::Verbose,
"Could not load from environmental variable or file '%s'",
str);
}
}
}
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 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);
}
