Feature/initialexample

CMakeLists.txt

@@ -1,6 +1,9 @@
-cmake_minimum_required(VERSION 2.6.0)
+cmake_minimum_required(VERSION 3.5.0)
+set (CMAKE_CXX_STANDARD 11)
 
-include_directories(include)
+# project(proj VERSION 0.0.1 DESCRIPTION "GraphSDK wrapper to Julia system.")
 
+# include_directories(include)
+include_directories(src/test)
 
 add_subdirectory(src)

src/test/CMakeLists.txt

@@ -14,8 +14,28 @@ find_library(ZeroMQ_LIBRARY
         PATHS ${PC_ZeroMQ_LIBRARY_DIRS}
         )
 
+message("CMAKE_SOURCE_DIR=${CMAKE_SOURCE_DIR}")
+
+add_library(graffsdk SHARED GraffSDK.cpp)
+# set_target_properties(graffsdk PROPERTIES VERSION ${PROJECT_VERSION})
+set_target_properties(graffsdk PROPERTIES PUBLIC_HEADER GraffSDK.h)
+target_include_directories(graffsdk PRIVATE .)
+include(GNUInstallDirs)
+install(TARGETS graffsdk
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
 add_executable(feitor-test main.cpp)
 ## add the include directory to our compile directives
 target_include_directories(feitor-test PUBLIC ${ZeroMQ_INCLUDE_DIR})
 ## at the 0mq library to our link directive
 target_link_libraries(feitor-test PUBLIC ${ZeroMQ_LIBRARY})
+# target_link_libraries(feitor-test PUBLIC graffsdk)
+
+# the api testing program
+add_executable(api-test apitest.cpp)
+## add the include directory to our compile directives
+target_include_directories(api-test PUBLIC ${ZeroMQ_INCLUDE_DIR})
+## at the 0mq library to our link directive
+target_link_libraries(api-test PUBLIC ${ZeroMQ_LIBRARY})
+target_link_libraries(api-test PUBLIC graffsdk)

src/test/GraffSDK.cpp

@@ -0,0 +1,17 @@
+// GraffSDK
+#include "GraffSDK.h"
+#include <iostream>
+#include "json.hpp"
+
+using nlohmann::json;
+
+
+std::string getStatus(const GraffConfig &cfg) {
+  json request;
+  request["userId"] = cfg.userId;
+  request["robotId"] = cfg.robotId;
+  request["sessionId"] = cfg.sessionId;
+  request["type"] = "getStatus";
+  std::string request_str = request.dump(2); // serialize
+  return request_str;
+}

src/test/GraffSDK.h

@@ -0,0 +1,13 @@
+// GraffSDK
+
+#include <iostream>
+#include "json.hpp"
+
+
+struct GraffConfig {
+  std::string userId;
+  std::string robotId;
+  std::string sessionId;
+};
+
+std::string getStatus(const GraffConfig &cfg);

src/test/apitest.cpp

@@ -0,0 +1,77 @@
+#include <chrono>
+#include <iostream>
+#include <string>
+#include <thread>
+
+#include <zmq.hpp>
+
+#include "json.hpp"
+#include "GraffSDK.h"
+
+using nlohmann::json;
+
+const double PI = 3.141592653589793238463;
+
+
+
+int main(int argCount, char **argValues) {
+  //  Prepare our context and socket
+  zmq::context_t context(1);
+  zmq::socket_t socket(context, ZMQ_REQ);
+
+  std::cout << "Connecting to navi server…" << std::endl;
+  socket.connect("tcp://localhost:5555");
+
+  std::string robot_id = "FeitorBot";
+  std::string session_id = "FeitorBotTestSession001";
+
+  GraffConfig gff;
+  gff.userId = "Pedro";
+  gff.robotId = "PedroBot";
+  gff.sessionId = "ThisIsACTest001";
+
+  std::cout << "made it this far" << std::endl;
+
+  std::string stsr = getStatus(gff);
+
+  zmq::message_t msg(stsr.length());
+  memcpy(msg.data(), stsr.c_str(), stsr.length());
+  socket.send(msg);
+
+
+  std::cout << "Asked for status" << std::endl;
+
+  // for (int i = 0; i < 6; ++i) {
+    // create request
+    // json request;
+    // request["robot_id"] = robot_id;
+    // request["session_id"] = session_id;
+    // request["type"] = "AddOdometry2D";
+    // request["measurement"] = {10.0, 0.0, PI / 3.0};
+    // request["covariance"] = {{0.1, 0.0, 0.1}, {0.1, 0.0, 0.1}, {0.1, 0.0, 0.1}};
+    // std::string request_str = request.dump(2); // serialize
+    //
+    // // send it
+    // zmq::message_t msg(request_str.length());
+    // memcpy(msg.data(), request_str.c_str(), request_str.length());
+    // socket.send(msg);
+    //
+    // std::cout << "Sent request " << i << "…";
+  // 
+  //   // wait for reply
+  //   zmq::message_t reply;
+  //   if (socket.recv(&reply) < 0) {
+  //     std::cerr << "something went wrong :(";
+  //     break;
+  //   }
+  //   std::string result =
+  //       std::string(static_cast<char *>(reply.data()), reply.size());
+  //   std::cout << result << "\n";
+  //
+  //   if (result.compare("OK")) {
+  //     std::cerr << "server is unhappy with request." << "\n";
+  //     break;
+  //   }
+  // }
+  return(0);
+}

src/test/main.cpp

@@ -11,6 +11,8 @@ using nlohmann::json;
 
 const double PI = 3.141592653589793238463;
 
+
+
 int main(int argCount, char **argValues) {
   //  Prepare our context and socket
   zmq::context_t context(1);