51 lines
1.8 KiB
C++
51 lines
1.8 KiB
C++
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <functional>
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#include "absl/container/flat_hash_set.h"
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#include "cartographer/io/internal/pbstream_info.h"
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#include "cartographer/io/internal/pbstream_migrate.h"
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#include "gflags/gflags.h"
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#include "glog/logging.h"
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int main(int argc, char** argv) {
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google::InitGoogleLogging(argv[0]);
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FLAGS_logtostderr = true;
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const std::string usage_message =
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"Swiss Army knife for pbstreams.\n\n"
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"Currently supported subcommands are:\n"
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"\tinfo - Prints summary of pbstream.\n"
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"\tmigrate - Migrates pbstream to the new submap format.";
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google::ParseCommandLineFlags(&argc, &argv, true);
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if (argc < 2) {
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google::SetUsageMessage(usage_message);
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google::ShowUsageWithFlagsRestrict(argv[0], "pbstream_main");
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return EXIT_FAILURE;
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} else if (std::string(argv[1]) == "info") {
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return ::cartographer::io::pbstream_info(argc, argv);
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} else if (std::string(argv[1]) == "migrate") {
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return ::cartographer::io::pbstream_migrate(argc, argv);
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} else {
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LOG(INFO) << "Unknown subtool: \"" << argv[1];
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google::SetUsageMessage(usage_message);
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google::ShowUsageWithFlagsRestrict(argv[0], "pbstream_main");
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return EXIT_FAILURE;
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}
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}
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