geojson_graph_file_saver.hpp

// Copyright (c) 2024 John Chrosniak
//
// 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_saver.hpp"
#include "nav2_route/plugins/graph_file_loaders/geojson_graph_file_loader.hpp"
#include "nav2_util/lifecycle_node.hpp"
 
#ifndef NAV2_ROUTE__PLUGINS__GRAPH_FILE_SAVERS__GEOJSON_GRAPH_FILE_SAVER_HPP_
#define NAV2_ROUTE__PLUGINS__GRAPH_FILE_SAVERS__GEOJSON_GRAPH_FILE_SAVER_HPP_
 
namespace nav2_route
{
 
class GeoJsonGraphFileSaver : public GraphFileSaver
{
public:
  using Json = nlohmann::json;
 
  GeoJsonGraphFileSaver() = default;
 
  ~GeoJsonGraphFileSaver() = default;
 
  void configure(
    const nav2_util::LifecycleNode::SharedPtr node) override;
 
  bool saveGraphToFile(
    Graph & graph,
    std::string filepath) override;
 
protected:
  void loadNodesFromGraph(Graph & graph, std::vector<Json> & json_features);
 
  void loadEdgesFromGraph(Graph & graph, std::vector<Json> & json_edges);
 
  void convertMetaDataToJson(const Metadata & metadata, Json & json_metadata);
 
  void convertOperationsToJson(const Operations & operations, Json & json_operations);
 
  rclcpp::Logger logger_{rclcpp::get_logger("GeoJsonGraphFileSaver")};
};
}  // namespace nav2_route
 
#endif  // NAV2_ROUTE__PLUGINS__GRAPH_FILE_SAVERS__GEOJSON_GRAPH_FILE_SAVER_HPP_