/*
 * map_saver
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the <ORGANIZATION> nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <ros/ros.h>
#include "map_server/map_generator.h"

#define USAGE "Usage: \n" \
              "  map_saver -h\n"\
              "  map_saver [--occ <threshold_occupied>] [--free <threshold_free>] [-f <mapname>] [ROS remapping args]"

int main(int argc, char** argv)
{
  ros::init(argc, argv, "map_saver");
  std::string mapname = "map";
  int threshold_occupied = 65;
  int threshold_free = 25;

  for(int i=1; i<argc; i++)
  {
    if(!strcmp(argv[i], "-h"))
    {
      puts(USAGE);
      return 0;
    }
    else if(!strcmp(argv[i], "-f"))
    {
      if(++i < argc)
        mapname = argv[i];
      else
      {
        puts(USAGE);
        return 1;
      }
    }
    else if (!strcmp(argv[i], "--occ"))
    {
      if (++i < argc)
      {
        threshold_occupied = std::atoi(argv[i]);
        if (threshold_occupied < 1 || threshold_occupied > 100)
        {
          ROS_ERROR("threshold_occupied must be between 1 and 100");
          return 1;
        }

      }
      else
      {
        puts(USAGE);
        return 1;
      }
    }
    else if (!strcmp(argv[i], "--free"))
    {
      if (++i < argc)
      {
        threshold_free = std::atoi(argv[i]);
        if (threshold_free < 0 || threshold_free > 100)
        {
          ROS_ERROR("threshold_free must be between 0 and 100");
          return 1;
        }

      }
      else
      {
        puts(USAGE);
        return 1;
      }
    }
    else
    {
      puts(USAGE);
      return 1;
    }
  }

  if (threshold_occupied <= threshold_free)
  {
    ROS_ERROR("threshold_free must be smaller than threshold_occupied");
    return 1;
  }

  map_server::MapGenerator mg(mapname, "map", threshold_occupied, threshold_free);

  while(!mg.isMapSaved() && ros::ok())
    ros::spinOnce();

  return 0;
}