geojson_graph_file_loader.hpp

// Copyright (c) 2025 Joshua Wallace
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#include <memory>
#include <string>
#include <vector>
#include <nlohmann/json.hpp>
 
#include "nav2_core/route_exceptions.hpp"
#include "nav2_route/interfaces/graph_file_loader.hpp"
#include "nav2_util/lifecycle_node.hpp"
 
#ifndef NAV2_ROUTE__PLUGINS__GRAPH_FILE_LOADERS__GEOJSON_GRAPH_FILE_LOADER_HPP_
#define NAV2_ROUTE__PLUGINS__GRAPH_FILE_LOADERS__GEOJSON_GRAPH_FILE_LOADER_HPP_
 
namespace nav2_route
{
 
class GeoJsonGraphFileLoader : public GraphFileLoader
{
public:
  using Json = nlohmann::json;
 
  GeoJsonGraphFileLoader() = default;
 
  ~GeoJsonGraphFileLoader() = default;
 
  void configure(
    const rclcpp_lifecycle::LifecycleNode::SharedPtr node) override;
 
  bool loadGraphFromFile(
    Graph & graph,
    GraphToIDMap & graph_to_id_map,
    std::string filepath) override;
 
protected:
  bool doesFileExist(const std::string & filepath);
 
  void getGraphElements(
    const Json & features, std::vector<Json> & nodes, std::vector<Json> & edges);
 
  void addNodesToGraph(Graph & graph, GraphToIDMap & graph_to_id_map, std::vector<Json> & nodes);
 
  void addEdgesToGraph(Graph & graph, GraphToIDMap & graph_to_id_map, std::vector<Json> & edges);
 
  Coordinates convertCoordinatesFromJson(const Json & node);
 
  Metadata convertMetaDataFromJson(const Json & properties, const std::string & key = "metadata");
 
  Operation convertOperationFromJson(const Json & json_operation);
 
  Operations convertOperationsFromJson(const Json & properties);
 
  EdgeCost convertEdgeCostFromJson(const Json & properties);
 
  rclcpp::Logger logger_{rclcpp::get_logger("GeoJsonGraphFileLoader")};
};
 
NLOHMANN_JSON_SERIALIZE_ENUM(
  OperationTrigger, {
    {OperationTrigger::NODE, "NODE"},
    {OperationTrigger::ON_ENTER, "ON_ENTER"},
    {OperationTrigger::ON_EXIT, "ON_EXIT"},
  })
 
}  // namespace nav2_route
 
#endif  // NAV2_ROUTE__PLUGINS__GRAPH_FILE_LOADERS__GEOJSON_GRAPH_FILE_LOADER_HPP_