103 lines
4.1 KiB
C++
103 lines
4.1 KiB
C++
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/*
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* Copyright 2019 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 <iostream>
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#include <vector>
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#include "absl/memory/memory.h"
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#include "absl/strings/str_split.h"
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#include "cartographer/common/configuration_file_resolver.h"
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "gflags/gflags.h"
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#include "glog/logging.h"
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DEFINE_string(configuration_directories, "",
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"Comma separated list of directories in which configuration files"
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" are searched, the last is always the Cartographer installation"
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" to allow including files from there.");
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DEFINE_string(configuration_basename, "",
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"Basename, i.e. not containing any directory prefix, of the "
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"configuration file.");
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DEFINE_string(subdictionary, "",
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"Only print a subdictionary referenced by its Lua ID, e.g.: "
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"'--subdictionary trajectory_builder.trajectory_builder_3d'");
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namespace cartographer {
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namespace common {
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std::unique_ptr<LuaParameterDictionary> LoadLuaDictionary(
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const std::vector<std::string>& configuration_directories,
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const std::string& configuration_basename) {
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auto file_resolver =
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absl::make_unique<ConfigurationFileResolver>(configuration_directories);
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const std::string code =
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file_resolver->GetFileContentOrDie(configuration_basename);
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// We use no reference count because we just want to print the configuration.
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return LuaParameterDictionary::NonReferenceCounted(code,
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std::move(file_resolver));
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}
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void PrintSubdictionaryById(LuaParameterDictionary* lua_dictionary,
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const std::string& subdictionary_id) {
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const std::vector<std::string> subdictionary_keys =
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absl::StrSplit(subdictionary_id, '.', absl::SkipEmpty());
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CHECK(!subdictionary_keys.empty()) << "Failed to parse 'subdictionary_id'.";
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// Keep a stack to avoid memory glitches due to unique_ptr deletion.
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std::vector<std::unique_ptr<LuaParameterDictionary>> stack;
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for (const auto& key : subdictionary_keys) {
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if (stack.empty()) {
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stack.push_back(lua_dictionary->GetDictionary(key));
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continue;
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}
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stack.push_back(stack.back()->GetDictionary(key));
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}
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std::cout << subdictionary_id << " = " << stack.back()->ToString()
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<< std::endl;
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}
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} // namespace common
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} // namespace cartographer
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int main(int argc, char** argv) {
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google::InitGoogleLogging(argv[0]);
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google::SetUsageMessage(
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"Resolves and compiles a Lua configuration and prints it to stdout.\n"
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"The output can be restricted to a subdictionary using the optional "
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"'--subdictionary' parameter, which can be given in Lua syntax.\n"
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"The logs of the configuration file resolver are written to stderr if "
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"'--logtostderr' is given.");
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google::ParseCommandLineFlags(&argc, &argv, true);
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if (FLAGS_configuration_directories.empty() ||
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FLAGS_configuration_basename.empty()) {
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google::ShowUsageWithFlagsRestrict(argv[0], "print_configuration_main");
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return EXIT_FAILURE;
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}
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const std::vector<std::string> configuration_directories =
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absl::StrSplit(FLAGS_configuration_directories, ',', absl::SkipEmpty());
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auto lua_dictionary = ::cartographer::common::LoadLuaDictionary(
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configuration_directories, FLAGS_configuration_basename);
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if (FLAGS_subdictionary.empty()) {
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std::cout << "return " << lua_dictionary->ToString() << std::endl;
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return EXIT_SUCCESS;
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}
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::cartographer::common::PrintSubdictionaryById(lua_dictionary.get(),
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FLAGS_subdictionary);
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}
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