data_cleaner.cpp

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//Global includes



//Pkg includes
#include <ros/ros.h>


//ISM includes
#include <ISM/tools/DataCleaner.hpp>


bool getNodeParameters(ros::NodeHandle nh, std::vector<std::string>& database_files, bool& clean_records, bool& clean_models)
{
    bool success = true;

    if (!nh.getParam("databases", database_files) || database_files.empty())
    {
        ROS_INFO("Missing parameter: \"databases\"");
        success = false;
    }
    else
    {
        std::stringstream info;
        info << "databases:";
        for (const std::string& file : database_files)
        {
            info << std::endl << "\t" << file;
        }
        ROS_INFO_STREAM(info.str());
    }   

    if (!nh.getParam("clean_records", clean_records))
    {
        ROS_INFO("Missing parameter: \"clean_records\"");
        success = false;
    }
    else
    {
        ROS_INFO_STREAM("clean_records: " << clean_records);
    }

    if (!nh.getParam("clean_models", clean_models))
    {
        ROS_INFO("Missing parameter: \"clean_models\"");
        success = false;
    }
    else
    {
        ROS_INFO_STREAM("clean_models: " << clean_models);
    }


    return success;
}

int main (int argc, char **argv)
{
    //Usual ros node stuff
    ros::init(argc, argv, "data_cleaner");
    ros::NodeHandle nh("~");
    ISM::DataCleaner data_cleaner;

    std::vector<std::string> database_files;
    bool clean_records;
    bool clean_models;

    if(getNodeParameters(nh, database_files, clean_records, clean_models))
    {
        if (clean_records)
        {
            data_cleaner.cleanRecords(database_files);
        }

        if (clean_models)
        {
            data_cleaner.cleanModels(database_files);
        }
        ROS_INFO("DATA CLEANING COMPLETED!");
    }
    else
    {
        ROS_INFO("DATA CLEANING ABORTED! Check launch-file for missing parameter.");
    }

    return 0;
}