Addition of new backend Emscripten pathfinding algorithm and new datastore generation

.eslintignore

@@ -0,0 +1,2 @@
+src/**/emscripten.pathfinding.js
+src/**/priority-queue.min.js

Gruntfile.js

@@ -33,20 +33,27 @@ module.exports = function (grunt) {
 				'jshint',
 				'eslint'
 			],
+			// C++ compilation step
+			'build': [
+				'shell:makeClean',
+				'shell:compileEmscripten'
+			],
 			'test': [ // run all tests
 				'connect:test',
 				'karma:unit'
 			],
 			'package': [
 				'clean',
-				'uglify'
+				'uglify',
+				'shell:emscriptenPathfinding',
+				'shell:priorityQueue'
 			],
 			'document': [
 				'jsdoc'
 			],
 			'open-docs': [
 				'open:docs',
-				'open:coverage'
+				//'open:coverage'
 			],
 			'benchmark': [ // separate from document as it adds a milestone each time
 				'plato',
@@ -79,7 +86,11 @@ module.exports = function (grunt) {
 		jshint: {
 			options: {
 				jshintrc: '.jshintrc',
-				reporter: require('jshint-stylish')
+				reporter: require('jshint-stylish'),
+                ignores: [
+                    'src/**/emscripten.pathfinding.js',
+                    'src/**/priority-queue.min.js'
+                ]
 			},
 			gruntfile: {
 				src: 'Gruntfile.js'
@@ -94,7 +105,7 @@ module.exports = function (grunt) {
 		eslint: {
 			options: {
 				config: 'eslint.json',
-				format: 'stylish'
+				format: 'stylish',
 			},
 			target: [
 				'<%= config.app %>/src/{,*/}*.js',
@@ -109,7 +120,11 @@ module.exports = function (grunt) {
 				banner: '<%= banner %>'
 			},
 			dist: {
-				src: ['src/**/*.js'],
+				src: [
+                    'src/**/*.js',
+                    '!src/**/emscripten.pathfinding.js',
+                    '!src/**/priority-queue.js'
+                ],
 				dest: 'dist/jquery.<%= pkg.name %>.min.js'
 			}
 		},
@@ -177,7 +192,9 @@ module.exports = function (grunt) {
 				// The rest of your configuration.
 				src: [
 					'<%= config.app %>/src/**/*.js',
-					'README.md'
+					'README.md',
+                    '!src/**/emscripten.pathfinding.js',
+                    '!src/**/priority-queue.min.js'
 				],
 				options: {
 					destination: 'docs/',
@@ -200,7 +217,9 @@ module.exports = function (grunt) {
 				},
 				files: {
 					'plato': [
-						'<%= config.dev %>/{,*/}*.js'
+						'<%= config.dev %>/{,*/}*.js',
+						'!<%= config.dev %>/{,*/}emscripten.pathfinding.js',
+						'!<%= config.dev %>/{,*/}priority-queue.min.js'
 					]
 				}
 			}
@@ -245,6 +264,38 @@ module.exports = function (grunt) {
 						cwd: '.'
 					}
 				}
+			},
+			emscriptenPathfinding: {
+				command: 'cp src/emscripten.pathfinding.js dist/',
+				options: {
+					execOptions: {
+						cwd: '.'
+					}
+				}
+			},
+			priorityQueue: {
+				command: 'cp src/priority-queue.min.js dist/',
+				options: {
+					execOptions: {
+						cwd: '.'
+					}
+				}
+			},
+			makeClean: {
+				command: 'make clean',
+				options: {
+					execOptions: {
+						cwd: '.'
+					}
+				}
+			},
+			compileEmscripten: {
+				command: 'make',
+				options: {
+					execOptions: {
+						cwd: '.'
+					}
+				}
 			}
 		}
 	});

Makefile

@@ -0,0 +1,14 @@
+# EMSCRIPTEN SECTION
+EMCC = em++
+CPPFILE = src/emscripten.pathfinding.cpp
+EMPPFLAGS = -Oz --bind --memory-init-file 0
+CPPFLAGS = -std='c++11'
+EMJS = src/emscripten.pathfinding.js
+
+$(EMJS): $(CPPFILE)
+	$(EMCC) $(CPPFLAGS) $(CPPFILE) $(EMPPFLAGS) -o $(EMJS)
+
+# CLEAN SECTION
+JUNK = src/*.dSYM src/*.mem src/*.map
+clean:
+	rm -rf $(EMJS) $(JUNK)

README.md

@@ -3,6 +3,61 @@ Wayfinding
 
 jQuery plugin for interactive SVG maps. Wayfinding provides the shortest route through a series of one or more svg maps. It supports client side map processing or pretraversal of the maps with the server holding the cached traversals. It is useful for kiosks and interactive digital signage, but can also be used to share mobile maps.
 
+---
+### Steps we followed for Install & Setup
+1. First, you need to have Emscripten installed. The Makefile uses **em++**.
+2. Make sure npm is up to date. `npm install npm -g`
+3. `npm install` in base directory to install all dependencies listed in
+package.json
+4. `bower install` in base directory to install all front-end library dependcies
+(such as jQuery). If the command *bower* does not exist, install it with `npm
+install bower -g`.
+5. `grunt` in base directory to run all tasks such as validation, testing,
+benchmarking, etc. If the command *grunt* does not exist, install it with `npm
+install grunt`. Also might need to do `npm install grunt-cli -g`.
+6. To generate documentation, `grunt jsdoc`. If it can't find conf file, go
+to **node\_modules/grunt-jsdoc** and run `npm install ink-docstrap`
+7. To get unit testing working, go to
+**node\_modules/karma-phantomjs-loader** and run `npm install`. 
+8. To see a list of all possible grunt tasks, `grunt --help`
+
+---
+### Issues we encountered
+* **grunt** did not exist after doing `npm install`, so we added it to
+  *package.json* using `npm install grunt --save-dev`
+* **grunt jsdoc** was not working after doing `npm install` because ink-docstrap
+  was missing inside **node\_modules/grunt-jsdoc**, so we had to manually run `npm
+  install ink-docstrap` in that directory to get JSdoc working.
+* Unit testing with Karma was not working after doing `npm install` with the
+  error: 
+  `
+  Assertion failed: JS engine does not provide full typed array support' error
+  again?
+  `
+
+  After searching online, this was a bug fixed in PhantomJS v2. The exisiting
+  version of **karma-phantomjs-loader** was not using PhantomJS v2. We need at
+  least v1 of karma-phantomjs-loader, so we upated the package.json
+  devDependency for that module. 
+
+  However, the dependencies of karma-phantomjs-loader are not automatically
+  install by doing `npm install` in the root directory. We have to manually go
+  to **node\_modules/karma-phantomjs-loader** and run `npm install` to get unit
+  testing working.
+* **grunt open:coverage** is broken with the warning:
+  `
+  Warning: Cannot read property 'toString' of undefined Use --force to continue.
+  `
+
+  We have commented it out on *line 56* so that `grunt benchmark` still works.
+* **grunt datastore** does not work. When we try to run it, we get the error:
+  `
+  phantomjs-node: You don't have 'phantomjs' installed
+  `
+
+  Trying `npm install phantomjs --save-dev` does not fix the error.
+
+___
 ![SVG File](http://i.imgur.com/Em7Lb5Z.jpg)
 An example screenshot from a svg file
 

index.html

@@ -79,7 +79,9 @@ <h2>Things to try</h2>
 
 
 		<script src="bower_components/jquery/dist/jquery.js"></script>
-		<script src="src/jquery.wayfinding.js"></script>
+		<script src="dist/priority-queue.min.js"></script>
+		<script src="dist/jquery.wayfinding.min.js"></script>
+		<script src="dist/emscripten.pathfinding.js"></script>
 
 		<script>
 			$(document).ready(function () {
@@ -99,7 +101,8 @@ <h2>Things to try</h2>
 						return 'lcd.1';
 					},
 					'defaultMap': 'floor1',
-					'showLocation': true
+					'showLocation': true,
+          'emscriptenBackend': false
 				}, function(){
 					console.log('callback reached');
 				});
@@ -134,7 +137,6 @@ <h2>Things to try</h2>
 				$('#myMaps').on('wayfinding:roomClicked', function(e, r) {
 					$('#endSelect option[value="' + r.roomId + '"]').attr('selected', true);
 				});
-
 			});
 		</script>
 	</body>

karma.conf.js

@@ -22,7 +22,9 @@ module.exports = function (config) {
 			'bower_components/jasmine-jquery/lib/jasmine-jquery.js',
 
 			// include our JavaScript files
+            'src/priority-queue.min.js',
 			'src/jquery.wayfinding.js',
+            'src/emscripten.pathfinding.js',
 
 			// simple patterns to load the needed testfiles
 			// equals to {pattern: 'test/*-test.js', watched: true, served: true, included: true}

package.json

@@ -29,6 +29,7 @@
     "MD5": "^1.2.1",
     "bower": "^1.3.12",
     "fs-extra": "^0.16.5",
+    "grunt": "^1.0.1",
     "grunt-bower-install": "^1.6.0",
     "grunt-build-lifecycle": "^0.1.1",
     "grunt-contrib-clean": "~0.6.0",
@@ -54,7 +55,7 @@
     "karma-firefox-launcher": "~0.1.4",
     "karma-html-reporter": "~0.2.6",
     "karma-jasmine": "~0.3.5",
-    "karma-phantomjs-launcher": "~0.1.4",
+    "karma-phantomjs-launcher": "^1.0.0",
     "karma-safari-launcher": "~0.1.1",
     "karma-script-launcher": "~0.1.0",
     "load-grunt-tasks": "~3.1.0",