IMap2D.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IMAP2D_H
#define YARP_DEV_IMAP2D_H
 
#include <yarp/os/Vocab.h>
#include <yarp/sig/Image.h>
#include <yarp/dev/api.h>
#include <yarp/dev/ReturnValue.h>
#include <yarp/dev/MapGrid2D.h>
#include <yarp/dev/Map2DLocation.h>
#include <yarp/dev/Map2DArea.h>
#include <yarp/dev/Map2DPath.h>
#include <vector>
#include <string>
 
namespace yarp::dev::Nav2D {
class IMap2D;
}
 
class YARP_dev_API yarp::dev::Nav2D::IMap2D
{
public:
    virtual ~IMap2D();
 
    virtual yarp::dev::ReturnValue     clearAllMaps () = 0;
 
    virtual yarp::dev::ReturnValue     store_map(const yarp::dev::Nav2D::MapGrid2D& map) = 0;
 
    virtual yarp::dev::ReturnValue     get_map(std::string map_name, yarp::dev::Nav2D::MapGrid2D& map) = 0;
 
    virtual yarp::dev::ReturnValue     get_map_names(std::vector<std::string>& map_names) = 0;
 
    virtual yarp::dev::ReturnValue     remove_map(std::string map_name) = 0;
 
    virtual yarp::dev::ReturnValue storeLocation(std::string location_name, yarp::dev::Nav2D::Map2DLocation loc) = 0;
 
    virtual yarp::dev::ReturnValue storeArea(std::string area_name, yarp::dev::Nav2D::Map2DArea area) = 0;
 
    virtual yarp::dev::ReturnValue storePath(std::string path_name, yarp::dev::Nav2D::Map2DPath path) = 0;
 
    virtual yarp::dev::ReturnValue getLocation(std::string location_name, yarp::dev::Nav2D::Map2DLocation& loc) = 0;
 
    virtual yarp::dev::ReturnValue getArea(std::string area_name, yarp::dev::Nav2D::Map2DArea& area) = 0;
 
    virtual yarp::dev::ReturnValue getPath(std::string path_name, yarp::dev::Nav2D::Map2DPath& path) = 0;
 
    virtual yarp::dev::ReturnValue getLocationsList(std::vector<std::string>& locations) = 0;
 
    virtual yarp::dev::ReturnValue getAreasList(std::vector<std::string>& areas) = 0;
 
    virtual yarp::dev::ReturnValue getPathsList(std::vector<std::string>& paths) = 0;
 
    virtual yarp::dev::ReturnValue getAllLocations(std::vector<yarp::dev::Nav2D::Map2DLocation>& locations) = 0;
 
    virtual yarp::dev::ReturnValue getAllAreas(std::vector<yarp::dev::Nav2D::Map2DArea>& areas) = 0;
 
    virtual yarp::dev::ReturnValue getAllPaths(std::vector<yarp::dev::Nav2D::Map2DPath>& paths) = 0;
 
    virtual yarp::dev::ReturnValue renameLocation(std::string original_name, std::string new_name) = 0;
 
    virtual yarp::dev::ReturnValue deleteLocation(std::string location_name) = 0;
 
    virtual yarp::dev::ReturnValue deletePath(std::string path_name) = 0;
 
    virtual yarp::dev::ReturnValue renameArea(std::string original_name, std::string new_name) = 0;
 
    virtual yarp::dev::ReturnValue renamePath(std::string original_name, std::string new_name) = 0;
 
    virtual yarp::dev::ReturnValue deleteArea(std::string area_name) = 0;
 
    virtual yarp::dev::ReturnValue clearAllLocations() = 0;
 
    virtual yarp::dev::ReturnValue clearAllAreas() = 0;
 
    virtual yarp::dev::ReturnValue clearAllPaths() = 0;
 
    virtual yarp::dev::ReturnValue clearAllMapsTemporaryFlags() = 0;
 
    virtual yarp::dev::ReturnValue clearMapTemporaryFlags(std::string map_name) = 0;
 
    virtual yarp::dev::ReturnValue saveMapToDisk(std::string map_name, std::string file_name) = 0;
 
    virtual yarp::dev::ReturnValue loadMapFromDisk(std::string file_name) = 0;
 
    virtual yarp::dev::ReturnValue saveMapsCollection(std::string file_name) = 0;
 
    virtual yarp::dev::ReturnValue loadMapsCollection(std::string file_name) = 0;
 
    virtual yarp::dev::ReturnValue saveLocationsAndExtras(std::string file_name) = 0;
 
    virtual yarp::dev::ReturnValue loadLocationsAndExtras(std::string file_name) = 0;
 
    virtual yarp::dev::ReturnValue enableMapsCompression(bool enable) = 0;
};
 
//This section of vocabs is used just by deprecated device Map2DServer and Map2DClient
//It can be thus safely eliminated as soon as these devices are removed from yarp
constexpr yarp::conf::vocab32_t VOCAB_IMAP                      = yarp::os::createVocab32('i','m','a','p');
constexpr yarp::conf::vocab32_t VOCAB_IMAP_SET_MAP              = yarp::os::createVocab32('s','e','t');
constexpr yarp::conf::vocab32_t VOCAB_IMAP_GET_MAP              = yarp::os::createVocab32('g','e','t');
constexpr yarp::conf::vocab32_t VOCAB_IMAP_GET_NAMES            = yarp::os::createVocab32('n','a','m','s');
constexpr yarp::conf::vocab32_t VOCAB_IMAP_CLEAR_ALL_MAPS       = yarp::os::createVocab32('c','l','r');
constexpr yarp::conf::vocab32_t VOCAB_IMAP_REMOVE               = yarp::os::createVocab32('r','e','m','v');
constexpr yarp::conf::vocab32_t VOCAB_IMAP_LOAD_X               = yarp::os::createVocab32('l','o','a','d');
constexpr yarp::conf::vocab32_t VOCAB_IMAP_SAVE_X               = yarp::os::createVocab32('s','a','v','e');
constexpr yarp::conf::vocab32_t VOCAB_IMAP_MAPS_COLLECTION      = yarp::os::createVocab32('m','a','p','s');
constexpr yarp::conf::vocab32_t VOCAB_IMAP_LOCATIONS_COLLECTION = yarp::os::createVocab32('l','o','c','s');
constexpr yarp::conf::vocab32_t VOCAB_IMAP_OK                   = yarp::os::createVocab32('o','k','k');
constexpr yarp::conf::vocab32_t VOCAB_IMAP_ERROR                = yarp::os::createVocab32('e','r','r');
 
#endif // YARP_DEV_IMAP2D_H