navmap_io.hpp

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// Copyright 2025 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in short)
// 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.
 
 
#ifndef NAVMAP_ROS__NAVMAP_IO_HPP_
#define NAVMAP_ROS__NAVMAP_IO_HPP_

 
#include <string>
#include <system_error>
 
#include "navmap_core/NavMap.hpp"
 
#include "navmap_ros_interfaces/msg/nav_map.hpp"

namespace navmap_ros::io
{

enum class Compression { NONE, ZLIB };

struct SaveOptions
{
  bool binary{true};
  Compression compression{Compression::ZLIB};
  int level{6};  
};

bool save_msg_to_file(
  const navmap_ros_interfaces::msg::NavMap & msg,
  const std::string & path,
  const SaveOptions & options = {},
  std::error_code * ec = nullptr);

bool load_msg_from_file(
  const std::string & path,
  navmap_ros_interfaces::msg::NavMap & out_msg,
  std::error_code * ec = nullptr);

bool save_to_file(
  const navmap::NavMap & map,
  const std::string & path,
  const SaveOptions & options = {},
  std::error_code * ec = nullptr);

bool load_from_file(
  const std::string & path,
  navmap::NavMap & out_map,
  std::error_code * ec = nullptr);
 
}  // namespace navmap_ros::io
 
#endif  // NAVMAP_ROS__NAVMAP_IO_HPP_