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// Copyright 2017 AISIN AW CO.,LTD
#pragma once
#include <map>
#include <string>
#include <tuple>
#include <vector>
#include <stdint.h>
namespace naviapi {
static const uint32_t NAVICORE_TIMESTAMP = 0x0010;
static const uint32_t NAVICORE_LATITUDE = 0x00a0;
static const uint32_t NAVICORE_LONGITUDE = 0x00a1;
static const uint32_t NAVICORE_HEADING = 0x00a3;
static const uint32_t NAVICORE_SPEED = 0x00a4;
static const uint32_t NAVICORE_SIMULATION_MODE = 0x00e3;
typedef union
{
bool _bool;
int32_t _int32_t;
uint32_t _uint32_t;
double _double;
} variant;
typedef std::tuple<double, double> Waypoint;
class NavicoreListener
{
public:
NavicoreListener();
virtual ~NavicoreListener();
virtual void getAllSessions_reply(const std::map< uint32_t, std::string >& allSessions);
virtual void getPosition_reply(std::map< int32_t, variant > position);
virtual void getAllRoutes_reply(std::vector< uint32_t > allRoutes);
virtual void createRoute_reply(uint32_t routeHandle);
}; // class NavicoreListener
class Navicore
{
private:
NavicoreListener* mListener;
public:
Navicore();
virtual ~Navicore();
bool connect(int argc, char *argv[], NavicoreListener* listener);
void disconnect();
void getAllSessions();
void getPosition(std::vector<int32_t> params);
void getAllRoutes();
void createRoute(uint32_t session);
void pauseSimulation(uint32_t session);
void setSimulationMode(uint32_t session, bool activate);
void cancelRouteCalculation(uint32_t session, uint32_t routeHandle);
void setWaypoints(uint32_t session, uint32_t routeHandle, bool flag, std::vector<Waypoint>);
void calculateRoute(uint32_t session, uint32_t routeHandle);
}; // class Navicore
}; // namespace naviapi
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