2024dev file storage path

Input_Output_Format.md

@@ -8,7 +8,7 @@
 | --output              | String  <br /> output results from the evaluation into a JSON formated file. If no file specified, the default name is 'output.json'                                                                                                   |
 | --outputScreen        | Int (=1)  <br /> The level of details in the output file (=1 to show all, = 2 to show problem summary, start and actual path and =3 to show only problem summary).                                                                                                |
 | --simulationTime      | Int <br /> The maximum number of timesteps allowed for solving the problem, we sometimes refer to this as planning horizon                                                                                             |
-| --fileStoragePath              | String  <br /> the large file storage path                                                                                                |
+| --fileStoragePath              | String  <br /> the large file storage path. If this parameter is not specified, the program will read from environment variable `$LORR_LARGE_FILE_STORAGE_PATH`. If specified, we ignore the environment variable.                                                                                                |
 | --planTimeLimit       | Int <br /> The amount of time available for planning in each timestep (in millseconds), if this time limit is exceeded by the planner, all robots are issued wait commands at current timestep  and the task schedule keeps the same as last time. Note that for 2023 round the planTimeLimit is planning time for each timestep in seconds, so if you are using the planner from 2023 participants, please carefully checkout the timeout settings in the planner.                                                                                 |
 | --preprocessTimeLimit | Int <br /> The amount of time in millseconds available for loading and precomputing auxiliary data before the problem-solving process begins                                                                                              |
 | --logFile             | String  <br /> An output file that records all warnings and errors issued by the simulator in the event of invalid or incomplete actions from the planner                                                                                                     |

src/driver.cpp

@@ -128,7 +128,23 @@ int main(int argc, char **argv)
     Grid grid(base_folder + map_path);
 
     planner->env->map_name = map_path.substr(map_path.find_last_of("/") + 1);
-    planner->env->file_storage_path = vm["fileStoragePath"].as<std::string>();
+
+
+    string file_storage_path = vm["fileStoragePath"].as<std::string>();
+    if (file_storage_path==""){
+      char const* tmp = getenv("LORR_LARGE_FILE_STORAGE_PATH");
+      if ( tmp != nullptr ) {
+        file_storage_path = string(tmp);
+      }
+    }
+
+    // check if the path exists;
+    if (file_storage_path!="" &&!std::filesystem::exists(file_storage_path)){
+      std::ostringstream stringStream;
+      stringStream << "fileStoragePath (" << file_storage_path << ") is not valid";
+      logger->log_warning(stringStream.str());
+    }
+    planner->env->file_storage_path = file_storage_path;
 
     ActionModelWithRotate *model = new ActionModelWithRotate(grid);
     model->set_logger(logger);