add function map viewer

www/map-yaml.js

@@ -0,0 +1,104 @@
+(() => {
+  function stripComment(line) {
+    const pos = line.indexOf("#");
+    return pos === -1 ? line : line.slice(0, pos);
+  }
+
+  function trim(s) {
+    return String(s || "").trim();
+  }
+
+  function parseOriginArray(value) {
+    const start = value.indexOf("[");
+    const end = value.indexOf("]");
+    if (start === -1 || end === -1 || end <= start) return null;
+    const parts = value
+      .slice(start + 1, end)
+      .split(",")
+      .map((p) => Number(trim(p)))
+      .filter((n) => !Number.isNaN(n));
+    if (parts.length < 2) return null;
+    return { origin_x: parts[0], origin_y: parts[1], origin_yaw: parts[2] || 0 };
+  }
+
+  function parseNumber(value) {
+    const n = Number(value);
+    return Number.isFinite(n) ? n : null;
+  }
+
+  function parseIntField(value) {
+    const n = parseInt(value, 10);
+    return Number.isFinite(n) ? n : null;
+  }
+
+  /**
+   * Parse ROS map_server yaml (resolution, origin, thresholds).
+   * @param {string} text
+   * @param {{ requireImage?: boolean }} opts
+   */
+  function parse(text, opts = {}) {
+    const requireImage = !!opts.requireImage;
+    const out = {
+      image: "",
+      resolution: null,
+      origin_x: 0,
+      origin_y: 0,
+      origin_yaw: 0,
+      negate: 0,
+      occupied_thresh: 0.65,
+      free_thresh: 0.196,
+    };
+
+    for (const rawLine of String(text || "").split(/\r?\n/)) {
+      const line = trim(stripComment(rawLine));
+      if (!line) continue;
+      const colon = line.indexOf(":");
+      if (colon === -1) continue;
+      const key = trim(line.slice(0, colon));
+      const value = trim(line.slice(colon + 1));
+      if (!value && key !== "image") continue;
+
+      if (key === "image") out.image = value;
+      else if (key === "resolution") out.resolution = parseNumber(value);
+      else if (key === "origin") {
+        const origin = parseOriginArray(value);
+        if (origin) Object.assign(out, origin);
+      } else if (key === "negate") {
+        const n = parseIntField(value);
+        if (n != null) out.negate = n;
+      } else if (key === "occupied_thresh") {
+        const n = parseNumber(value);
+        if (n != null) out.occupied_thresh = n;
+      } else if (key === "free_thresh") {
+        const n = parseNumber(value);
+        if (n != null) out.free_thresh = n;
+      }
+    }
+
+    if (requireImage && !out.image) return { error: "yaml missing image field" };
+    if (out.resolution == null || out.resolution <= 0) return { error: "yaml missing resolution field" };
+    return out;
+  }
+
+  function serialize(meta) {
+    const image = meta.image || "map.png";
+    const resolution = meta.resolution != null ? meta.resolution : 0.05;
+    const ox = meta.origin_x != null ? meta.origin_x : 0;
+    const oy = meta.origin_y != null ? meta.origin_y : 0;
+    const oyaw = meta.origin_yaw != null ? meta.origin_yaw : 0;
+    const negate = meta.negate != null ? meta.negate : 0;
+    const occ = meta.occupied_thresh != null ? meta.occupied_thresh : 0.65;
+    const free = meta.free_thresh != null ? meta.free_thresh : 0.196;
+    return [
+      `image: ${image}`,
+      `resolution: ${Number(resolution).toFixed(6)}`,
+      `origin: [${Number(ox).toFixed(6)}, ${Number(oy).toFixed(6)}, ${Number(oyaw).toFixed(6)}]`,
+      `negate: ${negate}`,
+      `occupied_thresh: ${Number(occ).toFixed(3)}`,
+      `free_thresh: ${Number(free).toFixed(3)}`,
+      "",
+    ].join("\n");
+  }
+
+  window.MapYaml = { parse, serialize };
+})();