Main.cpp

#include <fstream>
#include <iostream>
#include <sstream>
#include <string>
#include <sys/stat.h>


#include "ConvertToAStarMap.h"

inline bool fileExists (const std::string& name)
{
    std::ifstream f(name.c_str());

    return f.good();
}

void usage()
{
    std::cout << "Usage: ProcessOdomMap input_map output_map" << std::endl;
}

bool validateInput(int argc, char* argv[])
{
    if (argc != 3)
    {
        usage();

        return false;
    }

    if (!fileExists(argv[1]))
    {
        std::cout << "The input file '" << argv[1] << "' doesn't exist" << std::endl;

        return false;
    }

    if (fileExists(argv[2]))
    {
        std::cout << "The output file '" << argv[2] << "' already exist" << std::endl;

        return false;
    }

    return true;
}

int main(int argc, char *argv[])
{
    if (!validateInput(argc, argv))
    {
        return -1;
    }

    std::string output_file(argv[2]);

    std::ifstream input_file(argv[1]);
    std::stringstream buffer;
    buffer << input_file.rdbuf();

    ConvertToAStarMap convert;

    convert.Convert(buffer.str(), output_file);

    //std::string line = "-3.6,3.6;-3.5,2.6;-3.5,1.6;-3.5,0.6;-3.6,-0.4;-3.6,-1.4;-3.6,-2.4;-2.6,-3.4;-2.5,-2.4;-2.4,-1.4;-2.4,-0.4;-2.4,0.6;-2.4,1.6;-2.4,2.6;-1.6,3.6;-1.4,2.6;-1.5,1.6;-1.5,0.6;-1.6,-0.4;-1.5,-1.4;-1.5,-2.4;-1.5,-3.4;-0.5,-2.8;-0.4,-1.8;0.6,-1.5;0.6,-2.5;1.5,-1.5;1.6,-0.5;1.6,0.5;1.0,1.5;0.0,1.6;-0.4,2.6;0.6,2.6;1.6,3.4;2.6,2.4;2.6,1.4;2.6,0.4;2.5,-0.6;2.5,-1.6;2.5,-2.6;3.4,-1.6;3.5,-0.6;3.5,0.4;3.5,1.4;3.5,2.5;3.5,3.5;";
    //convert.Convert(line);

    return 0;
}