Program Listing for File conversions.h

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/*
 * Copyright (c) 2011-2013, A. Hornung, University of Freiburg
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Freiburg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#ifndef OCTOMAP_MSGS_CONVERT_MSGS_H
#define OCTOMAP_MSGS_CONVERT_MSGS_H

#include <octomap/octomap.h>
#include <octomap_msgs/msg/octomap.hpp>
#include <octomap/ColorOcTree.h>

// new conversion functions
namespace octomap_msgs{
  // Note: fullMsgDataToMap() deleted, potentially causes confusion
  // and (silent) errors in deserialization

  static inline octomap::AbstractOcTree* fullMsgToMap(const octomap_msgs::msg::Octomap& msg){
    octomap::AbstractOcTree* tree = octomap::AbstractOcTree::createTree(msg.id, msg.resolution);
    if (tree){
      std::stringstream datastream;
      if (msg.data.size() > 0){
    datastream.write((const char*) &msg.data[0], msg.data.size());
    tree->readData(datastream);
      }
    }

    return tree;
  }


  template<class TreeType>
  void readTree(TreeType* octree, const octomap_msgs::msg::Octomap& msg){
    std::stringstream datastream;
    if (msg.data.size() > 0){
      datastream.write((const char*) &msg.data[0], msg.data.size());
      octree->readBinaryData(datastream);
    }
  }


  static inline octomap::AbstractOcTree* binaryMsgToMap(const octomap_msgs::msg::Octomap& msg){
    if (!msg.binary)
      return NULL;

    octomap::AbstractOcTree* tree;
    if (msg.id == "ColorOcTree"){
      octomap::ColorOcTree* octree = new octomap::ColorOcTree(msg.resolution);
      readTree(octree, msg);
      tree = octree;
    } else {
      octomap::OcTree* octree = new octomap::OcTree(msg.resolution);
      readTree(octree, msg);
      tree = octree;
    }
    return tree;
  }

  // Note: binaryMsgDataToMap() deleted, potentially causes confusion
  // and (silent) errors in deserialization


  static inline octomap::AbstractOcTree* msgToMap(const octomap_msgs::msg::Octomap& msg){
    if (msg.binary)
      return binaryMsgToMap(msg);
    else
      return fullMsgToMap(msg);
  }

  // conversions via stringstream

  // TODO: read directly into buffer? see
  // http://stackoverflow.com/questions/132358/how-to-read-file-content-into-istringstream

  template <class OctomapT>
  static inline bool binaryMapToMsgData(const OctomapT& octomap, std::vector<int8_t>& mapData){
    std::stringstream datastream;
    if (!octomap.writeBinaryConst(datastream))
      return false;

    std::string datastring = datastream.str();
    mapData = std::vector<int8_t>(datastring.begin(), datastring.end());
    return true;
  }

  template <class OctomapT>
  static inline bool fullMapToMsgData(const OctomapT& octomap, std::vector<int8_t>& mapData){
    std::stringstream datastream;
    if (!octomap.write(datastream))
      return false;

    std::string datastring = datastream.str();
    mapData = std::vector<int8_t>(datastring.begin(), datastring.end());
    return true;
  }

  template <class OctomapT>
  static inline bool binaryMapToMsg(const OctomapT& octomap, octomap_msgs::msg::Octomap& msg){
    msg.resolution = octomap.getResolution();
    msg.id = octomap.getTreeType();
    msg.binary = true;

    std::stringstream datastream;
    if (!octomap.writeBinaryData(datastream))
      return false;

    std::string datastring = datastream.str();
    msg.data = std::vector<int8_t>(datastring.begin(), datastring.end());
    return true;
  }

  template <class OctomapT>
  static inline bool fullMapToMsg(const OctomapT& octomap, octomap_msgs::msg::Octomap& msg){
    msg.resolution = octomap.getResolution();
    msg.id = octomap.getTreeType();
    msg.binary = false;

    std::stringstream datastream;
    if (!octomap.writeData(datastream))
      return false;

    std::string datastring = datastream.str();
    msg.data = std::vector<int8_t>(datastring.begin(), datastring.end());
    return true;
  }

}


#endif