57 lines
1.8 KiB
C++
57 lines
1.8 KiB
C++
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/**
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* Copyright 2020 Jonathan Bayless
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*
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* Use of this source code is governed by an MIT-style license that can be found
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* in the LICENSE file or at https://opensource.org/licenses/MIT.
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*/
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#ifndef _SQUIGGLES_IO_HPP_
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#define _SQUIGGLES_IO_HPP_
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#include <optional>
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#include <vector>
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#include "geometry/profilepoint.hpp"
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namespace squiggles {
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/**
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* Writes the path data to a CSV file.
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*
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* @param out The output stream to write the CSV data to. This is usually a
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* file.
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* @param path The path to serialized
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*
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* @return 0 if the path was serialized succesfully or -1 if an error occurred.
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*/
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int serialize_path(std::ostream& out, std::vector<ProfilePoint> path);
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/**
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* Converts CSV data into a path.
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*
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* @param in The input stream containing the CSV data. This is usually a file.
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*
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* @return The path specified by the CSV data or std::nullopt if de-serializing
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* the path was unsuccessful.
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*/
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std::optional<std::vector<ProfilePoint>> deserialize_path(std::istream& in);
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/**
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* Converts CSV data from the Pathfinder library's format to a Squiggles path.
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*
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* NOTE: this code translates data from Jaci Brunning's Pathfinder library.
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* The source for that library can be found at:
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* https://github.com/JaciBrunning/Pathfinder/
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*
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* @param left The input stream containing the left wheels' CSV data. This is
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* usually a file.
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* @param right The input stream containing the right wheels' CSV data. This is
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* usually a file.
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*
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* @return The path specified by the CSV data or std::nullopt if de-serializing
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* the path was unsuccessful.
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*/
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std::optional<std::vector<ProfilePoint>>
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deserialize_pathfinder_path(std::istream& left, std::istream& right);
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} // namespace squiggles
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#endif
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