maps 1.10.1

Inspect, compare and align multiple grid maps in an intuitive & fast GUI
Documentation 
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use std::sync::{Arc, Mutex};

use eframe::egui;
use rfd::AsyncFileDialog;

use crate::app::AppState;
use crate::wasm::async_data::AsyncData;
use maps_io_ros::MapPose;

/// Pick a map pose file via rfd dialog (websys -> <input> html).
#[cfg(target_arch = "wasm32")]
fn pick_load_map_pose(data: Arc<Mutex<AsyncData>>, map_name: String) {
    let dialog = AsyncFileDialog::new()
        .set_title("Select a map pose YAML file:")
        .add_filter("YAML", &["yml", "yaml"]);

    let future = dialog.pick_file();

    wasm_bindgen_futures::spawn_local(async move {
        if data.try_lock().is_err() {
            return;
        }

        if let Some(file_handle) = future.await {
            let result = {
                match MapPose::from_bytes(&file_handle.read().await) {
                    Ok(map_pose) => Ok(map_pose),
                    Err(e) => Err(format!("Loading map pose file: {e}")),
                }
            };
            match result {
                Ok(map_pose) => {
                    if let Ok(mut locked_data) = data.try_lock() {
                        locked_data.map_poses.insert(map_name, map_pose);
                    }
                }
                Err(err_msg) => {
                    if let Ok(mut locked_data) = data.try_lock() {
                        locked_data.error.clone_from(&err_msg);
                    }
                }
            }
        }
    });
}

#[cfg(target_arch = "wasm32")]
fn pick_save_map_pose(data: Arc<Mutex<AsyncData>>, map_name: String, map_pose: MapPose) {
    let dialog = AsyncFileDialog::new()
        .set_title("Save map pose YAML file:")
        .add_filter("YAML", &["yml", "yaml"])
        .set_file_name("map_pose.yaml");

    let future = dialog.save_file();

    wasm_bindgen_futures::spawn_local(async move {
        if data.try_lock().is_err() {
            return;
        }

        let Some(file_handle) = future.await else {
            return;
        };
        let result = {
            if let Ok(bytes) = map_pose.to_bytes() {
                match file_handle.write(bytes.as_slice()).await {
                    Ok(_) => Ok(()),
                    Err(e) => Err(format!(
                        "Error saving map pose file for map {map_name}: {e:?}"
                    )),
                }
            } else {
                Err(format!(
                    "Error serializing map pose file for map {map_name}"
                ))
            }
        };
        if let Err(err_msg) = result
            && let Ok(mut locked_data) = data.try_lock()
        {
            locked_data.error.clone_from(&err_msg);
        }
    });
}

impl AppState {
    /// wasm-compatible replacement for load_map_pose_button.
    #[cfg(target_arch = "wasm32")]
    pub(crate) fn load_map_pose_button(&mut self, ui: &mut egui::Ui, map_name: &str) {
        if ui.button("📂 Load Pose").clicked() {
            pick_load_map_pose(self.data.wasm_io.clone(), map_name.to_string());
        }
        // ui repaint is needed to trigger the handler also without ui interaction.
        ui.ctx().request_repaint();
    }

    /// wasm-compatible replacement for save_map_pose_button.
    #[cfg(target_arch = "wasm32")]
    pub(crate) fn save_map_pose_button(&mut self, ui: &mut egui::Ui, map_name: &str) {
        if ui.button("💾 Save Pose").clicked() {
            let Some(map_pose) = self.data.maps.get(map_name).map(|map| map.pose.clone()) else {
                self.status.error = format!("Can't save pose, map {map_name} not found.");
                return;
            };

            pick_save_map_pose(self.data.wasm_io.clone(), map_name.to_string(), map_pose);
        }
        // ui repaint is needed to trigger the handler also without ui interaction.
        ui.ctx().request_repaint();
    }
}