#include <cstdlib>
#include <fstream>
#include <iostream>
#include <log/carmenconfiguration.h>
#include <log/sensorlog.h>


using namespace std;
using namespace GMapping;

int main(int argc, char ** argv){
	if (argc<2){
		cerr << "usage "<<argv[0]<<" <filename> <outfilename>" << endl;
		cerr << "or "<<argv[0]<<" <filename> for standard output" << endl;
		exit (-1);
	}
	ifstream is(argv[1]);
	if (! is){
		cerr << "no file " << argv[1] << " found" << endl;
		exit (-1);
	}
	ostream *os;
	if (argc<3) 
		os=&cout;
	else{
		os=new ofstream(argv[2]);
		if (! os){
			cerr << "no file " << argv[1] << " found" << endl;
			exit (-1);
		}
	}
	CarmenConfiguration conf;
	conf.load(is);
	
	SensorMap m=conf.computeSensorMap();
	
	//for (SensorMap::const_iterator it=m.begin(); it!=m.end(); it++)
	//	cout << it->first << " " << it->second->getName() << endl;
	
	SensorLog log(m);
	is.close();
	
	ifstream ls(argv[1]);
	log.load(ls);
	ls.close();
	cerr << "log size" << log.size() << endl;
	for (SensorLog::iterator it=log.begin(); it!=log.end(); it++){
		RangeReading* rr=dynamic_cast<RangeReading*>(*it);
		if (rr){
			*os << rr->getSensor()->getName() << " ";
			*os << rr->size()<< " ";
			for (RangeReading::const_iterator it=rr->begin(); it!=rr->end(); it++){
				*os << (*it)*0.001 << " ";
			}
			*os<< rr->getPose().x*0.001 << " " << rr->getPose().y*0.001 << " " << rr->getPose().theta << endl;
		}
	}
}