// Copyright 2019 Rover Robotics

//

// 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.

#include "nav2_map_server/map_mode.hpp"

#include <stdexcept>

#include <string>

namespace nav2_map_server

{

const char * map_mode_to_string(MapMode map_mode)

{

switch (map_mode) {

case MapMode::Trinary:

return "trinary";

case MapMode::Scale:

return "scale";

case MapMode::Raw:

return "raw";

default:

throw std::invalid_argument("map_mode");

}

}

MapMode map_mode_from_string(std::string map_mode_name)

{

for (auto & c : map_mode_name) {

c = tolower(c);

}

if (map_mode_name == "scale") {

return MapMode::Scale;

} else if (map_mode_name == "raw") {

return MapMode::Raw;

} else if (map_mode_name == "trinary") {

return MapMode::Trinary;

} else {

throw std::invalid_argument("map_mode_name");

}

}

} // namespace nav2_map_server