car_fmw: add route response, blink in start and end task

car_fmw/src/Control.kt

@@ -7,6 +7,8 @@ enum class RouteType(val id: Int) {
 }
 
 object Control {
+    val BLINK_DURATION = 1000
+
     fun run() {
         Memory.setHeap(Memory.DYNAMIC_HEAP)
         while (true) {
@@ -17,10 +19,16 @@ object Control {
 
     fun executeCommand() {
         val task = Reader.readTask()
+        Leds.blink()
+        Time.wait(BLINK_DURATION)
+
         when (task.type.id) {
             TaskRequest.Type.DEBUG.id -> debugTask()
             TaskRequest.Type.ROUTE.id -> routeTask()
         }
+
+        Leds.blink()
+        Time.wait(BLINK_DURATION)
     }
 
     fun debugTask() {
@@ -54,6 +62,8 @@ object Control {
             j++
         }
 
+        val response = RouteResponse.BuilderRouteResponse(0).build()
+        Writer.writeRoute(response)
     }
 
     fun sendMemoryStats() {

car_fmw/src/ProtoRW.kt

@@ -21,7 +21,7 @@ object Reader {
 }
 
 object Writer {
-    fun writeRoute(route: RouteRequest) {
+    fun writeRoute(route: RouteResponse) {
         val stream = makeOutputStream(route.getSizeNoTag())
         route.writeTo(stream)
         Connection.sendByteArray(stream.buffer)

car_fmw/src/include/Connection.kt

@@ -39,6 +39,6 @@ object Connection {
 
     fun sendByteArray(array: ByteArray) {
         car_conn_snd_int(array.size)
-        car_conn_rcv_buf(array.size, array.data)
+        car_conn_snd_buf(array.size, array.data)
     }
 }