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/*
* Copyright (C) 2022 Open Source Robotics Foundation
*
* 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.
*
*/
use crate::*;
use serde::{Deserialize, Serialize};
use std::collections::BTreeMap;
#[derive(Serialize, Deserialize, Debug, Clone, Default)]
pub struct Navigation {
#[serde(default, skip_serializing_if = "Guided::is_empty")]
pub guided: Guided,
}
impl Navigation {
pub fn is_empty(&self) -> bool {
self.guided.is_empty()
}
}
#[derive(Serialize, Deserialize, Debug, Clone, Default)]
pub struct Guided {
/// Properties of each nav graph
pub graphs: BTreeMap<u32, NavGraph>,
/// The "ranking" of the graphs, which indicates which is displayed on top.
/// Each element is the unique ID of a NavGraph entity. IDs that come
/// earlier in the array will be displayed over IDs that come later.
pub ranking: Vec<u32>,
/// Properties of each robot traffic lane
pub lanes: BTreeMap<u32, Lane<u32>>,
/// Properties of each special location
pub locations: BTreeMap<u32, Location<u32>>,
/// Mutex groups associated with this site
#[serde(default, skip_serializing_if = "BTreeMap::is_empty")]
pub mutex_groups: BTreeMap<u32, MutexGroup>,
}
impl Guided {
pub fn is_empty(&self) -> bool {
self.graphs.is_empty() && self.lanes.is_empty() && self.locations.is_empty()
}
}