"""

Generates large number of random environments

"""

# @ file env_generator.py

# @brief Generates large number of random environments

import os

import pathlib

import argparse

from coverage_control import IOUtils

from coverage_control import Parameters

from coverage_control import WorldIDF

from coverage_control import CoverageSystem

def main(args):

"""

Generates large number of random environments

"""

env_config_file = IOUtils.sanitize_path(args.config)

cc_params = Parameters(env_config_file)

envs_path = pathlib.Path(IOUtils.sanitize_path(args.env_dir))

if not os.path.exists(envs_path):

print(f"Creating directory {envs_path}")

os.makedirs(envs_path)

pad_width = len(str(args.num_envs - 1))

for i in range(args.num_envs):

pos_file = str(envs_path / f"{i:0{pad_width}}.pos")

env_file = str(envs_path / f"{i:0{pad_width}}.env")

map_file = str(envs_path / f"{i:0{pad_width}}.map")

if os.path.isfile(env_file) and os.path.isfile(pos_file) and args.use_existing == True:

world_idf = WorldIDF(cc_params, env_file)

cc_system = CoverageSystem(cc_params, world_idf, pos_file)

else:

cc_system = CoverageSystem(cc_params)

cc_system.WriteEnvironment(pos_file, env_file)

cc_system.WriteWorldMap(map_file)

if __name__ == "__main__":

parser = argparse.ArgumentParser(

description="Generates large number of random environments"

)

parser.add_argument("config", type=str, help="Environment configuration file")

parser.add_argument("num_envs", type=int, help="Number of environments to generate")

parser.add_argument("env_dir", type=str, help="Directory to save the environments")

parser.add_argument("--use_existing", type=bool, default=False, help="Use existing env if files exist")

parser.add_argument("--write_pos", type=bool, default=True, help="Write initial positions of robots")

parser.add_argument("--write_env", type=bool, default=True, help="Write idf info of environment")

parser.add_argument("--write_map", type=bool, default=True, help="Write environment map")

args = parser.parse_args()

main(args)