/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"

/**
   This file converts a Saphira/SRIsim world file (.wld) to a an ARIA map file.
 **/


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);
}