CommonAPI: enhanced position plugin OK

18 files changed, 306 insertions, 53 deletions

diff --git a/src/navigation/CMakeLists.txt b/src/navigation/CMakeLists.txt
index bb599cc..da2a773 100644
--- a/src/navigation/CMakeLists.txt
+++ b/src/navigation/CMakeLists.txt
@@ -19,8 +19,6 @@ project(navigation)
 cmake_minimum_required(VERSION 2.8)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++11")
 
-option(WITH_FRANCA_DBUS_INTERFACE
-       "Build using the Franca interfaces" OFF)
 option(WITH_DBUS_INTERFACE
        "Build using the D-Bus interfaces" ON)
 option(WITH_DEBUG
@@ -40,7 +38,6 @@ option(NAVIT_NULL_VEHICLE
 option(NAVIT_QTPAINTER
         "qtqpainter for navit" 0)
 
-message(STATUS "WITH_FRANCA_DBUS_INTERFACE = ${WITH_FRANCA_DBUS_INTERFACE}")
 message(STATUS "WITH_DBUS_INTERFACE = ${WITH_DBUS_INTERFACE}")
 message(STATUS "WITH_DEBUG = ${WITH_DEBUG}")
 message(STATUS "WITH_SPEECH = ${WITH_SPEECH}")
@@ -84,12 +81,26 @@ set(DBUS_GENERATED_INCLUDE_DIR_POSITIONING_PARENT_SCOPE ${DBUS_GENERATED_INCLUDE
 endif(hasParent)
 
 if(NOT ${YOCTO_CONFIG})
+    # for enhanced position service
     if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/positioning")
         message(FATAL_ERROR "Don't you forget to download additional code ? Please see README first")
     endif()
     set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/lib)
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bin)
-        add_subdirectory(positioning)
+    if (WITH_PLUGIN_MIGRATION)
+        set(FRANCA_POSITIONING_DIR "${CMAKE_CURRENT_SOURCE_DIR}/positioning/enhanced-position-service/franca/api")
+        execute_process(COMMAND uname -i OUTPUT_VARIABLE OS_VERSION)
+        if("${OS_VERSION}" MATCHES "i686")
+          set(OS_VERSION "x86")
+        else()
+          set(OS_VERSION "x86_64")
+        endif()
+        set(WITH_FRANCA_DBUS_INTERFACE "ON" CACHE INTERNAL "")
+        set(COMMONAPI_TOOL_GENERATOR "${COMMONAPI_TOOL_DIR}/org.genivi.commonapi.core.cli.product/target/products/org.genivi.commonapi.core.cli.product/linux/gtk/${OS_VERSION}/commonapi-generator-linux-${OS_VERSION}" CACHE INTERNAL "")
+        set(COMMONAPI_DBUS_TOOL_GENERATOR "${COMMONAPI_DBUS_TOOL_DIR}/org.genivi.commonapi.dbus.cli.product/target/products/org.genivi.commonapi.dbus.cli.product/linux/gtk/${OS_VERSION}/commonapi-dbus-generator-linux-${OS_VERSION}" CACHE INTERNAL "")
+        set(COMMONAPI_GEN_DIR_POSITIONING "${CMAKE_CURRENT_BINARY_DIR}/enhanced-position-service/franca/api")
+    endif()
+    add_subdirectory(positioning)
     unset(CMAKE_LIBRARY_OUTPUT_DIRECTORY)
     unset(CMAKE_RUNTIME_OUTPUT_DIRECTORY)
 endif()
@@ -107,11 +118,6 @@ endif()
 
 add_subdirectory(map)
 
-add_subdirectory(${API_DIR}/navigation-core "${DBUS_GENERATED_INCLUDE_DIR}/navigation-core")
-
-add_subdirectory(${API_DIR}/map-viewer "${DBUS_GENERATED_INCLUDE_DIR}/map-viewer")
-
-add_subdirectory(${API_DIR}/poi-service "${DBUS_GENERATED_INCLUDE_DIR}/poi-service")
 
 if(${WITH_SPEECH})
     add_subdirectory(${API_DIR}/speech-service "${DBUS_GENERATED_INCLUDE_DIR}/speech-service")
@@ -125,19 +131,11 @@ if (WITH_PLUGIN_MIGRATION)
     # for hmi and navigation
     set(FRANCA_DIR "${API_DIR}/franca")
     add_subdirectory(${FRANCA_DIR} "${CMAKE_CURRENT_BINARY_DIR}/franca")
-    # for enhanced position service
-    set(FRANCA_POSITIONING_DIR "${CMAKE_CURRENT_SOURCE_DIR}/positioning/enhanced-position-service/franca/api")
-    execute_process(COMMAND uname -i OUTPUT_VARIABLE OS_VERSION)
-    if("${OS_VERSION}" MATCHES "i686")
-      set(OS_VERSION "x86")
-    else()
-      set(OS_VERSION "x86_64")
-    endif()
-    set(COMMONAPI_TOOL_GENERATOR "${COMMONAPI_TOOL_DIR}/org.genivi.commonapi.core.cli.product/target/products/org.genivi.commonapi.core.cli.product/linux/gtk/${OS_VERSION}/commonapi-generator-linux-${OS_VERSION}")
-    set(COMMONAPI_DBUS_TOOL_GENERATOR "${COMMONAPI_DBUS_TOOL_DIR}/org.genivi.commonapi.dbus.cli.product/target/products/org.genivi.commonapi.dbus.cli.product/linux/gtk/${OS_VERSION}/commonapi-dbus-generator-linux-${OS_VERSION}")
-    set(WITH_FRANCA_DBUS_INTERFACE "ON")
-    set(COMMONAPI_GEN_DIR_POSITIONING "${CMAKE_CURRENT_BINARY_DIR}/enhanced-position-service/franca/api")
-    add_subdirectory(${FRANCA_POSITIONING_DIR} "${CMAKE_CURRENT_BINARY_DIR}/franca-positioning")
+else()
+    #generates the GLib DBus proxies and adaptors
+    add_subdirectory(${API_DIR}/navigation-core "${DBUS_GENERATED_INCLUDE_DIR}/navigation-core")
+    add_subdirectory(${API_DIR}/map-viewer "${DBUS_GENERATED_INCLUDE_DIR}/map-viewer")
+    add_subdirectory(${API_DIR}/poi-service "${DBUS_GENERATED_INCLUDE_DIR}/poi-service")
 endif()
 
 add_subdirectory(navigation-core)
diff --git a/src/navigation/README.md b/src/navigation/README.md
index 7794076..b3389ae 100644
--- a/src/navigation/README.md
+++ b/src/navigation/README.md
@@ -34,7 +34,7 @@ or to build updated parts
 
 ## How to test
 Some python scripts can be used for test. 
-Goto ../../test/navigation
+Go to ../../test/navigation
 For Python, you need to install some modules
 sudo apt-get install python-pip python-dbus python-gobject python-pil
 sudo pip install --upgrade pip
@@ -68,6 +68,44 @@ basic code of navit
 positioning/
 the code of positioning
 
+## How to for the CommonAPI based version (draft)
+The former version of the POCs is based on GLib DBus. A migration to CommonAPI is under progress. 
+
+###Prerequisites
+You need CommonAPI 3.1.5 and Franca 0.9.1 installed 
+For the Ubuntu 64 bits, due to the use of symbol versioning LIBDBUS_1_0 by CommonAPI-DBus, the patched version of DBus has to be >= 1.10.0
+NB: the patch common-api-dbus-runtime/src/dbus-patches/capi-dbus-add-support-for-custom-marshalling.patch failed a little bit, it's needed to update the dbus/dbus-string.h manually
+
+### How to build
+First it's required to set some paths:
+```
+export DBUS_LIB_PATH=<path to the patched version of the DBus lib>
+export COMMONAPI_DBUS_TOOL_DIR=<path to the common-api-dbus-tools folder>
+export COMMONAPI_TOOL_DIR=<path to the common-api-tools folder> 
+```
+A script allows either:
+to clean and rebuild all (including invoking cmake) 
+./build.sh -cm
+or to build updated parts
+./build.sh -m
+
+### How to test
+Some python scripts can be used for test. 
+Go to ../../test/navigation
+For Python, you need to install some modules (see explanations above)
+
+To test, launch the navigation middleware by entering:
+./run-capi -r
+test files:
+./test-route-calculation-capi.py
+./test-location-input-capi.py
+./test-map-viewer-control-capi.py
+NB: there's a bug when the map is closed, so you need to restart the navigation after the last one
+
+If everything is OK, you must see:
+
+Test PASSED
+
 ##Known issues
 
 There's an issue with navit against gtk. 
diff --git a/src/navigation/build.sh b/src/navigation/build.sh
index c36b681..af333f4 100755
--- a/src/navigation/build.sh
+++ b/src/navigation/build.sh
@@ -2,9 +2,11 @@
 
 clean=0
 capi=0
+commonapi_tools_option=""
 
 function check_path_for_capi
 {
+	echo 'check path for CommonAPI'
 	if [ ! $COMMONAPI_TOOL_DIR ]
 	then 
 		echo 'Set the dir of the common api tools'
@@ -25,6 +27,7 @@ function check_path_for_capi
 		echo 'export DBUS_LIB_PATH=<path>'
 		exit 1
 	fi
+	commonapi_tools_option="-DDBUS_LIB_PATH="$DBUS_LIB_PATH" -DCOMMONAPI_DBUS_TOOL_DIR="$COMMONAPI_DBUS_TOOL_DIR" -DCOMMONAPI_TOOL_DIR="$COMMONAPI_TOOL_DIR
 }
  
 while getopts cm opt
@@ -77,7 +80,10 @@ then
 	then
 		cmake -DWITH_PLUGIN_MIGRATION=0 ../
 	else
-		cmake -DWITH_PLUGIN_MIGRATION=1 -DDBUS_LIB_PATH=$DBUS_LIB_PATH -DCOMMONAPI_TOOL_DIR=$COMMONAPI_TOOL_DIR -DCOMMONAPI_DBUS_TOOL_DIR=$COMMONAPI_DBUS_TOOL_DIR ../
+		cmake -DWITH_PLUGIN_MIGRATION=ON -DWITH_DBUS_INTERFACE=OFF $commonapi_tools_option ../
+		echo 'fix a bug in the generation of CommonAPI hpp'
+		sed -i -e 's/(const TimeStampedEnum::/(const ::v4::org::genivi::navigation::navigationcore::NavigationCoreTypes::TimeStampedEnum::/' ./franca/src-gen/v4/org/genivi/navigation/navigationcore/LocationInput.hpp
+		sed -i -e 's/(const TimeStampedEnum::/(const ::v4::org::genivi::navigation::navigationcore::NavigationCoreTypes::TimeStampedEnum::/' ./franca/src-gen/v4/org/genivi/navigation/navigationcore/MapMatchedPosition.hpp
 	fi
 fi
 make
diff --git a/src/navigation/commonapi-dbus.ini b/src/navigation/commonapi-dbus.ini
index 2541d48..b6ec224 100644
--- a/src/navigation/commonapi-dbus.ini
+++ b/src/navigation/commonapi-dbus.ini
@@ -42,4 +42,16 @@ interface=org.genivi.navigation.mapviewer.MapViewerControl
 service=org.genivi.navigation.mapviewer
 path=/org/genivi/navigation/mapviewer/Session
 interface=org.genivi.navigation.mapviewer.Session
+[local:org.genivi.EnhancedPositionService.PositionFeedback:EnhancedPositionService]
+service=org.genivi.EnhancedPositionService
+path=/org/genivi/EnhancedPositionService/PositionFeedback
+interface=org.genivi.EnhancedPositionService.PositionFeedback
+[local:org.genivi.EnhancedPositionService.EnhancedPosition:EnhancedPositionService]
+service=org.genivi.EnhancedPositionService
+path=/org/genivi/EnhancedPositionService/EnhancedPosition
+interface=org.genivi.EnhancedPositionService.EnhancedPosition
+[local:org.genivi.EnhancedPositionService.Configuration:EnhancedPositionService]
+service=org.genivi.EnhancedPositionService
+path=/org/genivi/EnhancedPositionService/Configuration
+interface=org.genivi.EnhancedPositionService.Configuration
 
diff --git a/src/navigation/map-viewer/configuration-server-plugin/CMakeLists.txt b/src/navigation/map-viewer/configuration-server-plugin/CMakeLists.txt
index 37d7e24..f04c55f 100644
--- a/src/navigation/map-viewer/configuration-server-plugin/CMakeLists.txt
+++ b/src/navigation/map-viewer/configuration-server-plugin/CMakeLists.txt
@@ -31,7 +31,6 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 
 # DBus Path
 if(DBUS_LIB_PATH)
-  message(STATUS "DBUS_LIB_PATH = " ${DBUS_LIB_PATH})
   set(DBUS_INCLUDE_DIRS ${DBUS_LIB_PATH}/include/dbus-1.0 ${DBUS_LIB_PATH}/lib/dbus-1.0/include)
   set(DBUS_LIBDIR ${DBUS_LIB_PATH}/lib)
   set(DBUS_LIBRARIES ${DBUS_LIB_PATH}/lib/libdbus-1.so)
diff --git a/src/navigation/map-viewer/mapviewercontrol-server-plugin/CMakeLists.txt b/src/navigation/map-viewer/mapviewercontrol-server-plugin/CMakeLists.txt
index b8c39e2..115d8ae 100644
--- a/src/navigation/map-viewer/mapviewercontrol-server-plugin/CMakeLists.txt
+++ b/src/navigation/map-viewer/mapviewercontrol-server-plugin/CMakeLists.txt
@@ -31,7 +31,6 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 
 # DBus Path
 if(DBUS_LIB_PATH)
-  message(STATUS "DBUS_LIB_PATH = " ${DBUS_LIB_PATH})
   set(DBUS_INCLUDE_DIRS ${DBUS_LIB_PATH}/include/dbus-1.0 ${DBUS_LIB_PATH}/lib/dbus-1.0/include)
   set(DBUS_LIBDIR ${DBUS_LIB_PATH}/lib)
   set(DBUS_LIBRARIES ${DBUS_LIB_PATH}/lib/libdbus-1.so)
diff --git a/src/navigation/map-viewer/session-server-plugin/CMakeLists.txt b/src/navigation/map-viewer/session-server-plugin/CMakeLists.txt
index bde8c8a..797bf89 100644
--- a/src/navigation/map-viewer/session-server-plugin/CMakeLists.txt
+++ b/src/navigation/map-viewer/session-server-plugin/CMakeLists.txt
@@ -30,7 +30,6 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 
 # DBus Path
 if(DBUS_LIB_PATH)
-  message(STATUS "DBUS_LIB_PATH = " ${DBUS_LIB_PATH})
   set(DBUS_INCLUDE_DIRS ${DBUS_LIB_PATH}/include/dbus-1.0 ${DBUS_LIB_PATH}/lib/dbus-1.0/include)
   set(DBUS_LIBDIR ${DBUS_LIB_PATH}/lib)
   set(DBUS_LIBRARIES ${DBUS_LIB_PATH}/lib/libdbus-1.so)
diff --git a/src/navigation/navigation-core/configuration-server-plugin/CMakeLists.txt b/src/navigation/navigation-core/configuration-server-plugin/CMakeLists.txt
index 26b3376..7b286e6 100644
--- a/src/navigation/navigation-core/configuration-server-plugin/CMakeLists.txt
+++ b/src/navigation/navigation-core/configuration-server-plugin/CMakeLists.txt
@@ -31,7 +31,6 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 
 # DBus Path
 if(DBUS_LIB_PATH)
-  message(STATUS "DBUS_LIB_PATH = " ${DBUS_LIB_PATH})
   set(DBUS_INCLUDE_DIRS ${DBUS_LIB_PATH}/include/dbus-1.0 ${DBUS_LIB_PATH}/lib/dbus-1.0/include)
   set(DBUS_LIBDIR ${DBUS_LIB_PATH}/lib)
   set(DBUS_LIBRARIES ${DBUS_LIB_PATH}/lib/libdbus-1.so)
diff --git a/src/navigation/navigation-core/enhancedposition-client-plugin/CMakeLists.txt b/src/navigation/navigation-core/enhancedposition-client-plugin/CMakeLists.txt
index 83a9142..65bcaa7 100644
--- a/src/navigation/navigation-core/enhancedposition-client-plugin/CMakeLists.txt
+++ b/src/navigation/navigation-core/enhancedposition-client-plugin/CMakeLists.txt
@@ -31,7 +31,6 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 
 # DBus Path
 if(DBUS_LIB_PATH)
-  message(STATUS "DBUS_LIB_PATH = " ${DBUS_LIB_PATH})
   set(DBUS_INCLUDE_DIRS ${DBUS_LIB_PATH}/include/dbus-1.0 ${DBUS_LIB_PATH}/lib/dbus-1.0/include)
   set(DBUS_LIBDIR ${DBUS_LIB_PATH}/lib)
   set(DBUS_LIBRARIES ${DBUS_LIB_PATH}/lib/libdbus-1.so)
diff --git a/src/navigation/navigation-core/enhancedposition-client-plugin/genivi_positioning_enhancedposition.cxx b/src/navigation/navigation-core/enhancedposition-client-plugin/genivi_positioning_enhancedposition.cxx
index 583432a..e1645a2 100644
--- a/src/navigation/navigation-core/enhancedposition-client-plugin/genivi_positioning_enhancedposition.cxx
+++ b/src/navigation/navigation-core/enhancedposition-client-plugin/genivi_positioning_enhancedposition.cxx
@@ -111,13 +111,16 @@ class EnhancedPositionClientProxy
 	{
         dbg(lvl_debug,"enter\n");
 		bool position_found=false;
+        printf("A %ld\n",changedValues);
         if ((changedValues & (EnhancedPositionServiceTypes::PositionInfoKey::LATITUDE | EnhancedPositionServiceTypes::PositionInfoKey::LONGITUDE)) == (EnhancedPositionServiceTypes::PositionInfoKey::LATITUDE | EnhancedPositionServiceTypes::PositionInfoKey::LONGITUDE))
         {
             position_found=true;
 		}
         if (position_found && !mp_priv->cb_pending) {
+            printf("B %ld\n",changedValues);
             event_add_timeout(0, 0, mp_priv->cb);
             mp_priv->cb_pending=1;
+            printf("B %ld\n",changedValues);
 		}
 	}
 };
@@ -218,8 +221,9 @@ static void
 vehicle_process_map(struct vehicle_priv *priv, EnhancedPositionServiceTypes::PositionInfo& map)
 {
     EnhancedPositionServiceTypes::PositionInfo::const_iterator itr;
-	for(itr = map.begin(); itr != map.end(); ++itr) {
-		switch ((*itr).first) {
+
+    for(itr = map.begin(); itr != map.end(); ++itr) {
+        switch ((*itr).first) {
         case EnhancedPositionServiceTypes::PositionInfoKey::LATITUDE:
             priv->geo.lat=(*itr).second.get<double>();
 			break;
@@ -230,7 +234,7 @@ vehicle_process_map(struct vehicle_priv *priv, EnhancedPositionServiceTypes::Pos
 //			priv->height=(*itr).second.get<double>();
 			break;
         case EnhancedPositionServiceTypes::PositionInfoKey::HEADING:
-//			priv->direction=(*itr).second.get<double>();
+//			priv->direction=(*itr).second.get<float>();
 			break;
         case EnhancedPositionServiceTypes::PositionInfoKey::SPEED:
             priv->speed=floor((*itr).second.get<double>()*360+0.5)/100;
@@ -272,17 +276,17 @@ vehicle_enhancedposition_new(struct vehicle_methods *meth,
 	ret = g_new0(struct vehicle_priv, 1);
     //init the enhanced position service client
     const std::string domain = "local";
-    const std::string instanceEnhancedposition = "Enhancedposition";
+    const std::string instanceEnhancedposition = "EnhancedPositionService";
     ret->enhanced_position = new EnhancedPositionClientProxy(domain,instanceEnhancedposition);
     ret->enhanced_position->setListeners();
     ret->enhanced_position->connectToVehicle(ret);
-
 	ret->cb=callback_new_1(callback_cast(vehicle_enhancedposition_callback), ret);
     ret->cbl=cbl;
 
 	return ret;
 }
 
+
 void plugin_init(void)
 {
 	event_request_system("glib","genivi_navigationcore_enhpos");
diff --git a/src/navigation/navigation-core/guidance-server-plugin/CMakeLists.txt b/src/navigation/navigation-core/guidance-server-plugin/CMakeLists.txt
index 026e166..8477e5b 100644
--- a/src/navigation/navigation-core/guidance-server-plugin/CMakeLists.txt
+++ b/src/navigation/navigation-core/guidance-server-plugin/CMakeLists.txt
@@ -31,7 +31,6 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 
 # DBus Path
 if(DBUS_LIB_PATH)
-  message(STATUS "DBUS_LIB_PATH = " ${DBUS_LIB_PATH})
   set(DBUS_INCLUDE_DIRS ${DBUS_LIB_PATH}/include/dbus-1.0 ${DBUS_LIB_PATH}/lib/dbus-1.0/include)
   set(DBUS_LIBDIR ${DBUS_LIB_PATH}/lib)
   set(DBUS_LIBRARIES ${DBUS_LIB_PATH}/lib/libdbus-1.so)
diff --git a/src/navigation/navigation-core/guidance-server-plugin/genivi_navigationcore_guidance.cxx b/src/navigation/navigation-core/guidance-server-plugin/genivi_navigationcore_guidance.cxx
index 430ece7..b29c718 100644
--- a/src/navigation/navigation-core/guidance-server-plugin/genivi_navigationcore_guidance.cxx
+++ b/src/navigation/navigation-core/guidance-server-plugin/genivi_navigationcore_guidance.cxx
@@ -225,6 +225,7 @@ class  GuidanceServerStub : public GuidanceStubDefault
             throw DBus::ErrorFailed("guidance already active");
         }
         mp_guidance=new GuidanceObj(this, _sessionHandle, _routeHandle);
+        fireGuidanceStatusChangedEvent(Guidance::GuidanceStatus::ACTIVE, _routeHandle);
         _reply();
     }
 
@@ -237,8 +238,12 @@ class  GuidanceServerStub : public GuidanceStubDefault
             dbg(lvl_debug,"no guidance active\n");
             throw DBus::ErrorFailed("no guidance active");
         }
+        Guidance::GuidanceStatus _guidanceStatus;
+        NavigationTypes::Handle _routeHandle;
+        mp_guidance->GetGuidanceStatus(_guidanceStatus,_routeHandle);
         delete(mp_guidance);
-        mp_guidance=NULL;
+        mp_guidance = NULL;
+        fireGuidanceStatusChangedEvent(Guidance::GuidanceStatus::INACTIVE, _routeHandle);
         _reply();
     }
 
@@ -752,24 +757,23 @@ GuidanceObj::GuidanceObj(GuidanceServerStub *guidance, uint32_t SessionHandle, u
 	if (navit_get_attr(navit, attr_callback_list, &callback_list, NULL)) {
         callback_list_call_attr_4(callback_list.u.callback_list, attr_command, "navit_genivi_get_route", in, &ret, NULL);
         if (ret && ret[0] && ret[1] && ret[0]->type == attr_route && ret[1]->type == attr_vehicleprofile) {
-			struct tracking *tracking=get_tracking();
+            struct tracking *tracking=get_tracking();
 			m_route=*ret[0];
 			m_vehicleprofile=*ret[1];
 			m_tracking_callback.u.callback=callback_new_attr_1(reinterpret_cast<void (*)(void)>(GuidanceObj_TrackingCallback), attr_position_coord_geo, this);
-			tracking_add_attr(tracking, &m_tracking_callback);
-			struct vehicle *demo=get_vehicle("demo:");
-			if (demo) {
-				vehicle_set_attr(demo, &m_route);
-				vehicle_set_attr(demo, &vehicle_speed);
+            tracking_add_attr(tracking, &m_tracking_callback);
+            struct vehicle *demo=get_vehicle("demo:");
+            if (demo) {
+                vehicle_set_attr(demo, &m_route);
+                vehicle_set_attr(demo, &vehicle_speed);
 			}
             navigation_set_route(get_navigation(), m_route.u.route);
-			tracking_set_route(get_tracking(), m_route.u.route);
-			navigation_register_callback(get_navigation(), attr_navigation_speech, m_guidance_callback);
-			GuidanceObj_Callback(this);
-		}
+            tracking_set_route(get_tracking(), m_route.u.route);
+            navigation_register_callback(get_navigation(), attr_navigation_speech, m_guidance_callback);
+            GuidanceObj_Callback(this);
+        }
 		g_free(ret);
 	}
-    m_guidance->fireGuidanceStatusChangedEvent(Guidance::GuidanceStatus::ACTIVE, RouteHandle);
 }
 
 GuidanceObj::~GuidanceObj()
@@ -784,7 +788,6 @@ GuidanceObj::~GuidanceObj()
 		navigation_unregister_callback(get_navigation(), attr_navigation_speech, m_guidance_callback);
 		callback_destroy(m_guidance_callback);
 	}
-    m_guidance->fireGuidanceStatusChangedEvent(Guidance::GuidanceStatus::INACTIVE, 0);
 #if (SPEECH_ENABLED)
     delete(m_speechoutput);
 #endif
diff --git a/src/navigation/navigation-core/locationinput-server-plugin/CMakeLists.txt b/src/navigation/navigation-core/locationinput-server-plugin/CMakeLists.txt
index 5610143..5cee666 100644
--- a/src/navigation/navigation-core/locationinput-server-plugin/CMakeLists.txt
+++ b/src/navigation/navigation-core/locationinput-server-plugin/CMakeLists.txt
@@ -31,7 +31,6 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 
 # DBus Path
 if(DBUS_LIB_PATH)
-  message(STATUS "DBUS_LIB_PATH = " ${DBUS_LIB_PATH})
   set(DBUS_INCLUDE_DIRS ${DBUS_LIB_PATH}/include/dbus-1.0 ${DBUS_LIB_PATH}/lib/dbus-1.0/include)
   set(DBUS_LIBDIR ${DBUS_LIB_PATH}/lib)
   set(DBUS_LIBRARIES ${DBUS_LIBDIR}/libdbus-1.so)
diff --git a/src/navigation/navigation-core/mapmatchedposition-server-plugin/CMakeLists.txt b/src/navigation/navigation-core/mapmatchedposition-server-plugin/CMakeLists.txt
index 3526409..1251da4 100644
--- a/src/navigation/navigation-core/mapmatchedposition-server-plugin/CMakeLists.txt
+++ b/src/navigation/navigation-core/mapmatchedposition-server-plugin/CMakeLists.txt
@@ -31,7 +31,6 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 
 # DBus Path
 if(DBUS_LIB_PATH)
-  message(STATUS "DBUS_LIB_PATH = " ${DBUS_LIB_PATH})
   set(DBUS_INCLUDE_DIRS ${DBUS_LIB_PATH}/include/dbus-1.0 ${DBUS_LIB_PATH}/lib/dbus-1.0/include)
   set(DBUS_LIBDIR ${DBUS_LIB_PATH}/lib)
   set(DBUS_LIBRARIES ${DBUS_LIB_PATH}/lib/libdbus-1.so)
diff --git a/src/navigation/navigation-core/poicam-server-plugin/CMakeLists.txt b/src/navigation/navigation-core/poicam-server-plugin/CMakeLists.txt
index 5ac8680..dee705b 100644
--- a/src/navigation/navigation-core/poicam-server-plugin/CMakeLists.txt
+++ b/src/navigation/navigation-core/poicam-server-plugin/CMakeLists.txt
@@ -31,7 +31,6 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 
 # DBus Path
 if(DBUS_LIB_PATH)
-  message(STATUS "DBUS_LIB_PATH = " ${DBUS_LIB_PATH})
   set(DBUS_INCLUDE_DIRS ${DBUS_LIB_PATH}/include/dbus-1.0 ${DBUS_LIB_PATH}/lib/dbus-1.0/include)
   set(DBUS_LIBDIR ${DBUS_LIB_PATH}/lib)
   set(DBUS_LIBRARIES ${DBUS_LIB_PATH}/lib/libdbus-1.so)
diff --git a/src/navigation/navigation-core/routing-server-plugin/CMakeLists.txt b/src/navigation/navigation-core/routing-server-plugin/CMakeLists.txt
index ecbdb8b..c8d0a5b 100644
--- a/src/navigation/navigation-core/routing-server-plugin/CMakeLists.txt
+++ b/src/navigation/navigation-core/routing-server-plugin/CMakeLists.txt
@@ -31,7 +31,6 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 
 # DBus Path
 if(DBUS_LIB_PATH)
-  message(STATUS "DBUS_LIB_PATH = " ${DBUS_LIB_PATH})
   set(DBUS_INCLUDE_DIRS ${DBUS_LIB_PATH}/include/dbus-1.0 ${DBUS_LIB_PATH}/lib/dbus-1.0/include)
   set(DBUS_LIBDIR ${DBUS_LIB_PATH}/lib)
   set(DBUS_LIBRARIES ${DBUS_LIB_PATH}/lib/libdbus-1.so)
diff --git a/src/navigation/navigation-core/session-server-plugin/CMakeLists.txt b/src/navigation/navigation-core/session-server-plugin/CMakeLists.txt
index 5c3652b..680f83c 100644
--- a/src/navigation/navigation-core/session-server-plugin/CMakeLists.txt
+++ b/src/navigation/navigation-core/session-server-plugin/CMakeLists.txt
@@ -30,7 +30,6 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 
 # DBus Path
 if(DBUS_LIB_PATH)
-  message(STATUS "DBUS_LIB_PATH = " ${DBUS_LIB_PATH})
   set(DBUS_INCLUDE_DIRS ${DBUS_LIB_PATH}/include/dbus-1.0 ${DBUS_LIB_PATH}/lib/dbus-1.0/include)
   set(DBUS_LIBDIR ${DBUS_LIB_PATH}/lib)
   set(DBUS_LIBRARIES ${DBUS_LIB_PATH}/lib/libdbus-1.so)
diff --git a/src/navigation/run-capi b/src/navigation/run-capi
new file mode 100755
index 0000000..4a5a7a0
--- /dev/null
+++ b/src/navigation/run-capi
@@ -0,0 +1,203 @@
+#!/bin/bash
+
+###########################################################################
+# @licence app begin@
+# SPDX-License-Identifier: MPL-2.0
+#
+# \copyright Copyright (C) 2013-2014, PCA Peugeot Citroen
+#
+# \file run
+#
+# \brief This file is part of the Build System.
+#
+# \author Martin Schaller <martin.schaller@it-schaller.de>
+#
+# \version 1.0
+#
+# This Source Code Form is subject to the terms of the
+# Mozilla Public License (MPL), v. 2.0.
+# If a copy of the MPL was not distributed with this file,
+# You can obtain one at http://mozilla.org/MPL/2.0/.
+#
+# For further information see http://www.genivi.org/.
+#
+# List of changes:
+# 
+# 26-6-2014, Marco Residori, Added support of new EnhancedPositionService
+# 4-8-2014, Philippe Colliot, Add some wait for dbus service
+#
+# @licence end@
+###########################################################################
+function run
+{
+	local x=$xterm
+	local g=$gdb
+	local l=$log
+	local title="$1"
+	shift
+	if [ "$1" = "-n" ]
+	then
+		shift
+		x=0
+		log=0
+	fi
+	if [ "$1" = -"g" ]
+	then
+		shift
+		g=0
+	fi
+	if [ "$x" = 1 ]
+	then
+		if [ "$g" = 1 ]
+		then
+			set -- gdb -ex run --args "$@"
+		fi
+		xterm -T "$title" -sb -sl 5000 -e "$@" &
+	elif [ "$log" = 1 ]
+	then
+		"$@" >"$CUR_DIR/$title.log" 2>&1 &
+	else
+		"$@" &
+	fi
+	PIDS="$PIDS $!"
+}
+
+function wait_for_service
+{
+	for i in $(seq 1 50)
+	do
+		if dbus-send --dest=$1 $2 org.freedesktop.DBus.Introspectable.Introspect
+		then
+			return
+		fi
+		echo "Waiting for $1"
+		sleep 0.1
+	done
+}
+
+function terminate
+{
+	set +e
+	trap "" EXIT INT
+	kill $PIDS
+}
+
+gdb=0
+xterm=0
+log=0
+enhpos=1
+replayer=1
+verbose=0 #no debug or log messages displayed
+center="4612 N 0608 E"
+
+CUR_DIR=$PWD
+BIN_DIR=$CUR_DIR/bin
+SRC_DIR=$PWD
+LOGREPLAYER_LOGS_DIR=$SRC_DIR/positioning/log-replayer/logs
+NAVIT_BIN_DIR=$CUR_DIR/build/navit/navit/
+
+while getopts c:gnorvx opt
+do
+	case $opt in
+	c)
+		case "$OPTARG" in
+		paris)
+			center="2.34 48.86"
+			;;
+		tokyo)
+			center="139.74 35.70"
+			;;
+		[0-9-]*)
+			center=$OPTARG
+			;;
+		*)
+			echo "Unsupported center $OPTARG" >&2
+			exit 1
+			;;
+		esac
+		;;
+	g)
+		gdb=1
+		;;
+	n)
+		enhpos=0
+		;;
+	o)
+		log=1
+		;;
+	r)
+		replayer=0
+		;;
+	v) #enable log messages
+		verbose=1
+		;;
+	x)
+		xterm=1
+		;;
+	\?)
+		echo "Usage:"
+		echo "$0 [-c center][-gnorvx]"
+		echo "-c: Set center (supported values: paris,tokyo,longitude,latitude). Default is geneve"
+		echo "-g: Run subprocesses within gdb (only with -x)"
+		echo "-n: Don't start enhanced-position-service"
+		echo "-r: Don't start replayer"
+		echo "-o: Create log file of subprocess output"
+		echo "-v: Enable the output debug messages"
+		echo "-x: Run subprocesses in own xterm to get separated log messages"
+		exit 1
+	esac
+done
+trap "terminate" EXIT INT
+set -e
+
+echo "the graphic for navit is based on sdl"
+export NAVIT_GRAPHICS='sdl'
+
+cd $BIN_DIR
+
+if [ "$enhpos" = 1 ]
+then
+    run EnhancedPositionService ./EnhancedPositionServiceDBus 
+	wait_for_service org.genivi.EnhancedPositionService.EnhancedPosition_EnhancedPositionService /EnhancedPositionService
+
+	if [ "$replayer" = 1 ]
+	then
+		if [ -z "$REPLAYER_LOG_FILE" ]
+		then
+			REPLAYER_LOG_FILE=$LOGREPLAYER_LOGS_DIR/geneve-cologny.log
+		fi
+		run LogReplayer ./log-replayer $REPLAYER_LOG_FILE 
+	fi
+fi
+
+cd $NAVIT_BIN_DIR
+
+>bookmark.txt
+echo "$center" >center.txt
+
+if [ "$verbose" = "1" ]
+then
+	run MapViewer ./navit -d 3 -c navit_genivi_mapviewer.xml
+else
+	run MapViewer ./navit -d 0 -c navit_genivi_mapviewer.xml
+fi
+
+wait_for_service org.genivi.navigation.mapviewer.Configuration_Configuration /org/genivi/navigation/mapviewer
+wait_for_service org.genivi.navigation.mapviewer.MapViewerControl_MapViewerControl /org/genivi/navigation/mapviewer
+wait_for_service org.genivi.navigation.mapviewer.Session_Session /org/genivi/navigation/mapviewer
+
+if [ "$verbose" = "1" ]
+then
+	run NavigationCore ./navit -d 3 -c navit_genivi_navigationcore.xml
+else
+	run NavigationCore ./navit -d 0 -c navit_genivi_navigationcore.xml
+fi
+
+wait_for_service org.genivi.navigation.navigationcore.Configuration_Configuration /org/genivi/navigation/navigationcore
+wait_for_service org.genivi.navigation.navigationcore.Guidance_Guidance /org/genivi/navigation/navigationcore
+wait_for_service org.genivi.navigation.navigationcore.LocationInput_LocationInput /org/genivi/navigation/navigationcore
+wait_for_service org.genivi.navigation.navigationcore.MapMatchedPosition_MapMatchedPosition /org/genivi/navigation/navigationcore
+wait_for_service org.genivi.navigation.navigationcore.Routing_Routing /org/genivi/navigation/navigationcore
+wait_for_service org.genivi.navigation.navigationcore.Session_Session /org/genivi/navigation/navigationcore
+
+wait