From 8136e9ec81cf8c6b1e7ff39954d3ef9a72b786eb Mon Sep 17 00:00:00 2001
From: FrankE <support@frank-ebner.de>
Date: Wed, 7 Sep 2016 11:51:56 +0200
Subject: [PATCH] added missing stuff

---
 api/DummyAPI.h | 96 ++++++++++++++++++++++++++++++++++++++++++++++++++
 api/api.h      | 48 +++++++++++++++++++++++++
 main.cpp       |  4 ++-
 3 files changed, 147 insertions(+), 1 deletion(-)

diff --git a/api/DummyAPI.h b/api/DummyAPI.h
index cb9e17c..73b9d11 100644
--- a/api/DummyAPI.h
+++ b/api/DummyAPI.h
@@ -1,4 +1,100 @@
 #ifndef DUMMYAPI_H
 #define DUMMYAPI_H
 
+#include "api.h"
+
+class DummyAPI : public API {
+
+private:
+
+	/** all attached listeners */
+	std::vector<APIListener*> listeners;
+
+	int dstID = -1;
+	bool enabled;
+	std::thread thread;
+	std::string dataFolder;
+	float speed = 1.0f;
+	std::vector<Point3> points;
+
+
+public:
+
+	/** ctor with the folder where the data-files reside */
+	DummyAPI(const std::string& dataFolder) : dataFolder(dataFolder) {
+		;
+	}
+
+	void setSpeed(const float speed) {
+		this->speed = speed;
+	}
+
+	void setTarget(const Point3 p) override {
+		(void) p;
+		throw Exception("not yet implemented!");
+	}
+
+	void setTarget(const int id) override {
+
+		const std::string fileName = dataFolder + "/" + std::to_string(id) + ".dat";
+		std::ifstream in(fileName);
+
+		if (id == -1) {throw Exception("call setTarget(id) first!");}
+		if (!in.good()) {throw Exception("failed to load file: '" + fileName + "'");}
+
+		// load
+		while (in.good() && !in.eof()) {
+			float x, y, z;
+			in >> x;
+			in >> y;
+			in >> z;
+			points.push_back(Point3(x,y,z));
+		}
+
+	}
+
+	void startNavigation() override {
+		enabled = true;
+		dummySender();
+	}
+
+	void stopNavigation() override {
+		enabled = false;
+		thread.join();
+	}
+
+	void addListener(APIListener* l) override {
+		listeners.push_back(l);
+	}
+
+	Point3 getDst() {
+		return points[points.size() - 2];
+	}
+
+private:
+
+	/** send dummy data using the given file */
+	void dummySender() {
+
+		// run-loop
+		auto run = [&] () {
+
+			std::vector<Point3> pts = points;	// local copy
+
+			while(!pts.empty() && enabled) {
+				Point3 cur = pts.front();
+				pts.erase(pts.begin());
+				for (APIListener* l : listeners) {l->onPositionUpdate(cur);}
+				std::this_thread::sleep_for(std::chrono::milliseconds( (int)(500/speed) ));
+			}
+
+		};
+
+		// run
+		thread = std::thread(run);
+
+	}
+
+
+};
 #endif // DUMMYAPI_H
diff --git a/api/api.h b/api/api.h
index 4ee2cc4..33b958b 100644
--- a/api/api.h
+++ b/api/api.h
@@ -1,4 +1,52 @@
 #ifndef API_H
 #define API_H
 
+#include <vector>
+#include <thread>
+#include <chrono>
+#include <fstream>
+
+#include "../geo/Point3.h"
+
+class APIListener {
+
+public:
+
+	/** dtor */
+	virtual ~APIListener() {;}
+
+	/** the currently estimated path to the target has changed */
+	virtual void onPathUpdate(const std::vector<Point3>& curPath) = 0;
+
+	/** the currently estimated position has changed */
+	virtual void onPositionUpdate(const Point3 curPos) = 0;
+
+};
+
+class API {
+
+public:
+
+	/** dtor */
+	virtual ~API() {;}
+
+	/** set the desired target by using the given position */
+	virtual void setTarget(const Point3 p) = 0;
+
+	/** set the desired target by using the given POI-ID */
+	virtual void setTarget(const int id) = 0;
+
+	/** start the navigation process */
+	virtual void startNavigation() = 0;
+
+	/** stop the navigation process */
+	virtual void stopNavigation() = 0;
+
+	/** attach as listener to the API */
+	virtual void addListener(APIListener* l) = 0;
+
+};
+
+
+
 #endif // API_H
diff --git a/main.cpp b/main.cpp
index 51db809..7e30379 100755
--- a/main.cpp
+++ b/main.cpp
@@ -19,7 +19,9 @@ int main(int argc, char** argv) {
 	// skip all tests starting with LIVE_
 	::testing::GTEST_FLAG(filter) = "-*.LIVE_*";
 
-	::testing::GTEST_FLAG(filter) = "*Grid.*";
+	::testing::GTEST_FLAG(filter) = "*GridWalk2HeadingControl*";
+
+	//::testing::GTEST_FLAG(filter) = "*Grid.*";
 	//::testing::GTEST_FLAG(filter) = "*Dijkstra.*";
 
 	//::testing::GTEST_FLAG(filter) = "*LogDistanceCeilingModel*";