Update Simulation/GazeboObsticleSettings/Main.java

Simulation/GazeboObsticleSettings/Main.java

+import java.io.*;
+import java.nio.Buffer;
+import java.util.*;
+import java.io.BufferedReader;
+import java.io.File;
+import java.io.FileReader;
+import java.io.FileWriter;
+import java.io.IOException;
+import java.util.logging.Logger;
+
+public class Main {
+    public static void main(String[] args) throws IOException {
+        String path = args[0];
+        if((args[1].compareTo("clear") == 0)){
+            try
+            {
+                BufferedReader file = new BufferedReader(new FileReader(path));
+                String line;
+                String input = "";
+                while ((line = file.readLine()) != null)
+                {
+                    //System.out.println(line);
+                    if (line.contains("ob.append"))
+                    {
+                        line = "";
+                        //System.out.println("Line deleted.");
+                    }
+                    input += line + '\n';
+                }
+                FileWriter fw = new FileWriter(path);
+                while((line = file.readLine()) != null)
+                {
+                    line = line.trim(); // remove leading and trailing whitespace
+                    if (!line.equals("")) // don't write out blank lines
+                    {
+                        fw.write(line, 0, line.length());
+                    }
+                }
+                FileOutputStream File = new FileOutputStream(path);
+                File.write(input.getBytes());
+                file.close();
+                File.close();
+            }
+            catch (Exception e)
+            {
+                System.out.println("Problem reading file.");
+            }
+        } else if((args[1].compareTo("dist") == 0)){
+            try
+            {
+                BufferedReader file = new BufferedReader(new FileReader(path));
+                String line;
+                String input = "";
+                while ((line = file.readLine()) != null)
+                {
+                    //System.out.println(line);
+                    if (line.contains("<"))
+                    {
+                        line = "        if dist < " + args[2] + ":";
+                        //System.out.println("Line deleted.");
+                    }
+                    input += line + '\n';
+                }
+                FileOutputStream File = new FileOutputStream(path);
+                File.write(input.getBytes());
+                file.close();
+                File.close();
+            }
+            catch (Exception e)
+            {
+                System.out.println("Problem reading file.");
+            }
+        } else {
+            System.out.println("File: " + args[0]);
+            String[] coords = new String[args.length - 1];
+            String oldString = "ob = " + "\\[" + "]";
+            String newString = "ob = []";
+            newString = newString + "\n";
+            String oldContent = "";
+            for (int i = 0; i < coords.length; i++) {
+                coords[i] = args[i + 1];
+                newString = newString + "ob.append((0.00 , " + coords[i] + "));";
+                newString = newString + "\n";
+            }
+            BufferedReader in = new BufferedReader(new FileReader(path));
+            StringBuffer inputBuffer = new StringBuffer();
+            FileWriter writer = null;
+
+            String line = in.readLine();
+
+            while (line != null) {
+                oldContent = oldContent + line + System.lineSeparator();
+                line = in.readLine();
+            }
+
+            String newContent = oldContent.replaceAll(oldString, newString);
+            writer = new FileWriter(path);
+            writer.write(newContent);
+
+            try {
+                in.close();
+                writer.close();
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+        }
+    }
+}