X-lanni
100 lines
2.9 KiB
C++
100 lines
2.9 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <rtabmap/core/Recovery.h>
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#include <rtabmap/core/ProgressState.h>
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#include <stdio.h>
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#include <string.h>
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#include <stdlib.h>
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#include <signal.h>
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using namespace rtabmap;
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void showUsage()
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{
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printf("\nUsage:\n"
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"rtabmap-recovery [-d] \"my_corrupted_map.db\""
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" Options:\n"
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" -d Delete database backup on success (\"*.backup.db\").\n"
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"\n");
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exit(1);
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}
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class RecoveryProgressState: public ProgressState
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{
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virtual bool callback(const std::string & msg) const
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{
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if(!msg.empty())
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printf("%s\n", msg.c_str());
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return true;
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}
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};
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RecoveryProgressState state;
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// catch ctrl-c
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void sighandler(int sig)
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{
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printf("\nSignal %d caught...\n", sig);
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state.setCanceled(true);
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}
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int main(int argc, char * argv[])
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{
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signal(SIGABRT, &sighandler);
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signal(SIGTERM, &sighandler);
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signal(SIGINT, &sighandler);
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ULogger::setType(ULogger::kTypeConsole);
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ULogger::setLevel(ULogger::kError);
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if(argc < 2)
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{
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showUsage();
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}
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bool keepBackup = true;
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for(int i=1; i<argc; ++i)
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{
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if(strcmp(argv[i], "-d") == 0)
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{
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keepBackup = false;
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}
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}
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std::string databasePath = argv[argc-1];
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std::string errorMsg;
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printf("Recovering \"%s\"\n", databasePath.c_str());
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if(!databaseRecovery(databasePath, keepBackup, &errorMsg, &state))
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{
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printf("Error: %s\n", errorMsg.c_str());
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return 1;
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}
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return 0;
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}
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