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refactoring raspberry server

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This commit is contained in:
MaximZaitsev
2016-08-19 11:45:06 +03:00
parent aa36856a0a
commit 3921963424
32 changed files with 412 additions and 522 deletions
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car_srv/kotlinSrv/README.md
+25 -17
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@@ -1,24 +1,8 @@
# Car server
## Building
move to this directory
$ ./build.sh
This command run gradle build and execute *npm install* for downloading used js modules.
## Run car server
for run server you can use script
$ ./run.sh
## Deploying car server
*note:* This feature is under development
*note:* this script use expect script languane. You have to install it
*note:* this script use expect script language. You have to install it
for install expect on ubuntu
@@ -31,3 +15,27 @@ for deploy server on car use
where:
{ip_addr} - ip address of raspberry.
{user_name} and {password} - user name and password for login on raspberry
## Config file
on root of compile files (~/server/ after deploy or ./build/js/) you can create
config file config.cfg. options write as key:value.
all available options. here value - its default value
mainServerIp:127.0.0.1
thisServerIp:127.0.0.1
## Building and run (for start on local computer)
move to this directory
$ ./build.sh
This command run gradle build and execute *npm install* for downloading used js modules.
for run server you can use script
$ ./run.sh
car_srv/kotlinSrv/build.gradle
+3 -13
View File
@@ -25,26 +25,16 @@ sourceSets {
}
task copyKotlinLib(type: Copy) {
from "${projectDir}/helpers/kotlin.js"
from "${projectDir}/helpers/package.json"
from "${projectDir}/kotlinJsRequiredFiles/kotlin.js"
from "${projectDir}/kotlinJsRequiredFiles/package.json"
into "${projectDir}/build/js"
}
task copyProtoFiles(type: Copy) {
from "${projectDir}/../../proto/carkot.proto"
from "${projectDir}/../../proto/server_car/"
into "${projectDir}/build/js/proto"
}
build.dependsOn copyKotlinLib
build.dependsOn copyProtoFiles
compileKotlin2Js.kotlinOptions.outputFile = "${projectDir}/build/js/main.js"
compileKotlin2Js.kotlinOptions.outputPrefix = "${projectDir}/helpers/prefix.js"
compileKotlin2Js.kotlinOptions.outputPrefix = "${projectDir}/kotlinJsRequiredFiles/connectKotlinLib.js"
dependencies {
compile "org.jetbrains.kotlin:kotlin-js-library:$kotlin_version"
car_srv/kotlinSrv/deploy.sh
-2
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@@ -1,7 +1,5 @@
#!/usr/bin/expect
# XXX this script works super slow on eugene's machine
set host ""
set userName "pi"
set password "111"
car_srv/kotlinSrv/package.json
+17
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@@ -0,0 +1,17 @@
{
"name": "CarServer",
"version": "1.0.0",
"description": "",
"main": "main.js",
"scripts": {
"test": "echo \"Error: no test specified\" && exit 1",
"start": "node main.js"
},
"author": "maxim",
"license": "ISC",
"devDependencies": {
"udev": "^0.3.0",
"commander": "^2.9.0",
"protobufjs": "^5.0.1"
}
}
car_srv/kotlinSrv/run.sh
-2
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@@ -1,5 +1,3 @@
#!/bin/bash
# TODO main server ip address should be read from configuration file that is
# not overwritten during deploy.
cd build/js
node main.js
car_srv/kotlinSrv/src/Car.kt
-78
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@@ -1,78 +0,0 @@
import carControl.Control
import carControl.RouteExecutor
import carControl.RouteExecutorImpl.MoveDirection
private val MOVE_VELOCITY = 0.3278
private val ROTATION_VELOCITY = 12.3
// TODO make Car class mutable state saving entity
// that almost doesn't have behavior
/**
* Created by user on 7/27/16.
*/
class Car constructor(val routeExecutor: RouteExecutor, val controller: Control) {
//position
var x: Double
var y: Double
var angle: Double
var moveDirection: MoveDirection = MoveDirection.STOP
init {
this.x = 0.0
this.y = 0.0
this.angle = 0.0
}
fun stopCar() {
move(MoveDirection.STOP, 0, {})
}
fun refreshLocation(delta: Int) {
val deltaSeconds = delta.toDouble() / 1000
when (moveDirection) {
MoveDirection.FORWARD -> {
this.x += MOVE_VELOCITY * deltaSeconds * Math.cos(this.angle * Math.PI / 180);
this.y += MOVE_VELOCITY * deltaSeconds * Math.sin(this.angle * Math.PI / 180);
}
MoveDirection.BACKWARD -> {
this.x -= MOVE_VELOCITY * deltaSeconds * Math.cos(this.angle * Math.PI / 180);
this.y -= MOVE_VELOCITY * deltaSeconds * Math.sin(this.angle * Math.PI / 180);
}
MoveDirection.LEFT -> this.angle += ROTATION_VELOCITY * deltaSeconds
MoveDirection.RIGHT -> this.angle -= ROTATION_VELOCITY * deltaSeconds
else -> {
}
}
// println("x=$x; y=$y; angle=$angle")
}
fun routeDone() {
controller.stopCar()
}
fun move(moveDirection: MoveDirection, value: Int, callBack: () -> Unit) {
//value - angle for rotation command and distance for forward/backward command
this.moveDirection = moveDirection
when (moveDirection) {
MoveDirection.STOP -> controller.stopCar()
MoveDirection.FORWARD -> controller.moveCarForward()
MoveDirection.BACKWARD -> controller.moveCarBackward()
MoveDirection.LEFT -> controller.moveCarLeft()
MoveDirection.RIGHT -> controller.moveCarRight()
}
if (moveDirection != MoveDirection.STOP) {
if (moveDirection == MoveDirection.FORWARD || moveDirection == MoveDirection.BACKWARD) {
controller.delay(getTimeForMoving(value, MOVE_VELOCITY), callBack)
} else {
controller.delay(getTimeForMoving(value, ROTATION_VELOCITY), callBack)
}
}
}
fun getTimeForMoving(value: Int, velocity: Double): Int {
return (1000 * Math.abs(value.toDouble()) / velocity).toInt()
}
}
car_srv/kotlinSrv/src/CarState.kt
+27
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@@ -0,0 +1,27 @@
import control.RouteExecutor
import control.emulator.RouteExecutorImpl.MoveDirection
private val MOVE_VELOCITY = 0.3278
private val ROTATION_VELOCITY = 12.3
// TODO make Car class mutable state saving entity
// that almost doesn't have behavior
/**
* Created by user on 7/27/16.
*/
class CarState private constructor() {
//position
var x: Double
var y: Double
var angle: Double
init {
this.x = 0.0
this.y = 0.0
this.angle = 0.0
}
companion object {
val instance = CarState()
}
}
car_srv/kotlinSrv/src/Config.kt
+13 -3
View File
@@ -1,14 +1,23 @@
/**
* Created by user on 8/16/16.
*/
class Config(val configFileName: String) {
class Config(val configFileName: String = "config.cfg") {
private var serverIp = "127.0.0.1"
private var thisCarIp = "127.0.0.1"
fun loadConfig(): Boolean {
try {
fs.accessSync(configFileName, fs.F_OK);
} catch (e: dynamic) {
// create it
fs.openSync(configFileName, "w")
}
val data: String = fs.readFileSync(configFileName, "utf8")
println("reader $data")
data.split("\n").forEach { line ->
val keyValue = line.split(":")
if (!line.equals("")) {
@@ -16,9 +25,10 @@ class Config(val configFileName: String) {
return false
}
println(keyValue.toString())
when (keyValue[0]) {
"ip" -> serverIp = keyValue[1]
"thisIp" -> thisCarIp = keyValue[1]
"mainServerIp" -> serverIp = keyValue[1]
"thisServerIp" -> thisCarIp = keyValue[1]
}
}
}
car_srv/kotlinSrv/src/JSImport.kt
+20
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@@ -0,0 +1,20 @@
/**
* Created by user on 8/18/16.
*/
@native
fun require(name: String): dynamic = noImpl
@native
fun setInterval(callBack: () -> Unit, ms: Int): dynamic = noImpl
@native
fun setTimeout(callBack: () -> Unit, ms: Int): dynamic = noImpl
fun encodeProtoBuf(protoMessage: dynamic): ByteArray {
val protoSize = protoMessage.getSizeNoTag()
val routeBytes = ByteArray(protoSize)
protoMessage.writeTo(CodedOutputStream(routeBytes))
return routeBytes
}
car_srv/kotlinSrv/src/MCConnectObservable.kt
+9
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@@ -0,0 +1,9 @@
/**
* Created by user on 8/18/16.
*/
interface MCConnectObservable<V> {
fun addObserver(MCConnectObserver: MCConnectObserver<V>)
fun removeObserver(MCConnectObserver: MCConnectObserver<V>)
}
car_srv/kotlinSrv/src/MCConnectObserver.kt
+9
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@@ -0,0 +1,9 @@
/**
* Created by user on 8/18/16.
*/
interface MCConnectObserver<V> {
fun connect(vararg params: V)
fun disconnect()
}
car_srv/kotlinSrv/src/McTransport.kt → car_srv/kotlinSrv/src/MCConnection.kt
-1
View File
@@ -79,7 +79,6 @@ class McTransport() {
result += bytes[0].toInt().shl(24)
return result
}
}
private val protoHeaderLength: Int = 4
car_srv/kotlinSrv/src/Main.kt
+11 -37
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@@ -1,23 +1,21 @@
import control.car.RouteExecutorToUsb
import net.server.handlers.AbstractHandler
import net.server.handlers.debug.Memory
import net.server.handlers.flash.LoadBin
import net.server.handlers.main.GetLocation
import net.server.handlers.main.SetRoute
import net.server.handlers.rc.Connect
import net.server.handlers.rc.Control
import net.server.handlers.rc.Disconnect
import net.server.handlers.rc.Heartbeat
/**
* Created by user on 7/26/16.
*/
val deltaTimeLocationRefresh: Int = 100//ms
val deltaTimeLocationRefresh: Int = 100
val carServerPort: Int = 8888
val mainServerPort = 7925
val config = Config("config.cfg")
val config = Config()
val fs = require("fs")
fun main(args: Array<String>) {
if (!config.loadConfig()) {
@@ -26,42 +24,18 @@ fun main(args: Array<String>) {
}
val handlers: MutableMap<String, AbstractHandler> = mutableMapOf()
// TODO remove injection of all internal builders from here
handlers.put("/rc/control", Control(DirectionRequest.BuilderDirectionRequest(DirectionRequest.Command.fromIntToCommand(0), 0), DirectionResponse.BuilderDirectionResponse(0)))
handlers.put("/rc/connect", Connect(SessionUpResponse.BuilderSessionUpResponse(0, 0)))
handlers.put("/rc/disconnect", Disconnect(SessionDownRequest.BuilderSessionDownRequest(0), SessionDownResponse.BuilderSessionDownResponse(0)))
handlers.put("/rc/heartbeat", Heartbeat(HeartBeatRequest.BuilderHeartBeatRequest(0), HeartBeatResponse.BuilderHeartBeatResponse(0)))
handlers.put("/loadBin", LoadBin(Upload.BuilderUpload(ByteArray(0)), UploadResult.BuilderUploadResult(0)))
handlers.put("/route", SetRoute(RouteRequest.BuilderRouteRequest(IntArray(0), IntArray(0)), RouteResponse.BuilderRouteResponse(0)))
handlers.put("/getLocation", GetLocation(LocationResponse.BuilderLocationResponse(LocationResponse.LocationData.BuilderLocationData(0, 0, 0).build(), 0)))
val routeExecutor = RouteExecutorToUsb()
handlers.put("/rc/control", Control())
handlers.put("/loadBin", LoadBin())
handlers.put("/route", SetRoute(routeExecutor))
handlers.put("/getLocation", GetLocation())
handlers.put("/debug/memoty", Memory())
net.server.start(handlers, carServerPort)
val udev = Udev()
udev.start()
val mcConditionMonitor = McConditionMonitor.instance
mcConditionMonitor.start()
MicroController.instance.start()
}
// TODO move this dump of arbitrary functions that don't have any relation to
// to Main.kt from Main.kt
fun encodeProtoBuf(protoMessage: dynamic): ByteArray {
val protoSize = protoMessage.getSizeNoTag()
val routeBytes = ByteArray(protoSize)
protoMessage.writeTo(CodedOutputStream(routeBytes))
return routeBytes
}
@native
fun require(name: String): dynamic = noImpl
@native
fun setInterval(callBack: () -> Unit, ms: Int) : dynamic = noImpl
@native
fun setTimeout(callBack: () -> Unit, ms: Int) : dynamic = noImpl
}
car_srv/kotlinSrv/src/McConditionMonitor.kt
+83
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@@ -0,0 +1,83 @@
/**
* Created by user on 7/27/16.
* observable class, check mc condition and notify observers about changes
*/
class McConditionMonitor private constructor() : MCConnectObservable<String> {
private val udev: dynamic = require("udev")
private val exec: dynamic = require("child_process").execSync
private val observersList: MutableList<MCConnectObserver<String>> = arrayListOf()
fun start() {
val monitor = udev.monitor()
monitor.on("add", { device ->
if (isOurMcDevice(device)) {
connectDevice(device)
}
})
monitor.on("remove", { device ->
if (isOurMcDevice(device)) {
disconnectDevice()
}
})
readFileIfMcConnected()
}
override fun addObserver(MCConnectObserver: MCConnectObserver<String>) {
observersList.add(MCConnectObserver)
}
override fun removeObserver(MCConnectObserver: MCConnectObserver<String>) {
observersList.remove(MCConnectObserver)
}
private fun notifyMCConnect(nodeName: String) {
for (observer in observersList) {
observer.connect(nodeName)
}
}
private fun notifyMCDisconnect() {
for (observer in observersList) {
observer.disconnect()
}
}
private fun isOurMcDevice(device: dynamic): Boolean {
val microController = MicroController.instance
return (device.ID_VENDOR_ID == microController.vendorID)
&& (device.ID_MODEL_ID == microController.modelID)
&& (device.SUBSYSTEM == "tty")
}
private fun disconnectDevice() {
println("mc disconnected")
notifyMCDisconnect()
}
private fun connectDevice(device: dynamic) {
val transportFile: String = device.DEVNAME
mcTransport.initStreams(transportFile)
McState.instance.connect()
println("mc connected. transport file is " + transportFile)
exec("stty -F $transportFile raw -echo -echoe -echok")
notifyMCConnect(transportFile)
}
private fun readFileIfMcConnected() {
val allTtyDevices = udev.list("tty")
for (device in allTtyDevices) {
if (isOurMcDevice(device)) {
connectDevice(device)
break
}
}
}
companion object {
val instance = McConditionMonitor()
}
}
car_srv/kotlinSrv/src/McState.kt
+23
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@@ -0,0 +1,23 @@
/**
* Created by user on 8/18/16.
*/
class McState {
private var connected = false
fun isConnected(): Boolean {
return connected
}
fun connect() {
this.connected = true
}
companion object {
val instance = McState()
}
}
car_srv/kotlinSrv/src/MicroController.kt
+8 -61
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@@ -1,7 +1,7 @@
import carControl.ControlImpl
import carControl.RouteExecutorImpl
import carControl.RouteExecutorToUsb
import control.emulator.RouteExecutorImpl
import control.car.RouteExecutorToUsb
import exceptions.RcControlException
import kotlin.js.Date
/**
* Created by user on 7/28/16.
@@ -17,7 +17,7 @@ class MicroController private constructor() {
val modelID: String
var transportFilePath: String
val car: Car
val car: CarState
init {
this.rcSid = 0
@@ -27,7 +27,8 @@ class MicroController private constructor() {
this.modelID = "5740"
this.transportFilePath = ""
this.car = Car(RouteExecutorToUsb(), ControlImpl())
this.car = CarState.instance
}
fun start() {
@@ -38,65 +39,11 @@ class MicroController private constructor() {
println("read: " + bytes.toString())
}
setInterval({ this.car.refreshLocation(deltaTimeLocationRefresh) }, deltaTimeLocationRefresh);
setInterval({
if (needDropRC()) {
dropRC()
}
}, 500)
}
fun dropRC() {
this.rcSid = 0
car.stopCar()
}
fun disconnectRC(sid: Int) {
if (sid != rcSid) {
throw RcControlException()
}
dropRC()
}
fun RcMove(command: RouteExecutorImpl.MoveDirection, sid: Int) {
if (sid != this.rcSid) {
throw RcControlException()
}
car.move(command, 0, {})
rcHeartBeat(sid)
}
fun needDropRC(): Boolean {
return Date().getTime() > (rcLastRequest + 1000) && controlledByRC()
}
fun connectRC(): Int {
if (controlledByRC()) {
throw RcControlException()
}
val sid = (Math.random() * 100000).toInt()
this.rcSid = sid
rcHeartBeat(sid)
return sid
}
fun controlledByRC(): Boolean {
return (rcSid != 0)
}
fun isConnected(): Boolean {
return transportFilePath != ""
}
fun rcHeartBeat(sid: Int) {
if (sid != this.rcSid) {
throw RcControlException()
}
rcLastRequest = Date().getTime()
// setInterval({ this.car.refreshLocation(deltaTimeLocationRefresh) }, deltaTimeLocationRefresh);
}
fun connectToServer(thisIp: String, thisPort: Int) {
val requestObject = ConnectionRequest.BuilderConnectionRequest(config.getCarIp().split(".").map { str -> parseInt(str, 10) }.toIntArray(), carServerPort).build()
val requestObject = ConnectionRequest.BuilderConnectionRequest(thisIp.split(".").map { str -> parseInt(str, 10) }.toIntArray(), thisPort).build()
val bytes = ByteArray(requestObject.getSizeNoTag())
requestObject.writeTo(CodedOutputStream(bytes))
net.sendRequest(js("new Buffer(bytes)"), "/connect", { resultData ->
car_srv/kotlinSrv/src/Udev.kt
-60
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@@ -1,60 +0,0 @@
/**
* Created by user on 7/27/16.
*/
class Udev {
val udev: dynamic
val exec: dynamic
init {
udev = require("udev")
exec = require("child_process").execSync
}
fun start() {
val monitor = udev.monitor()
monitor.on("add", { device ->
if (isOurMcDevice(device)) {
connectDevice(device)
}
})
monitor.on("remove", { device ->
if (isOurMcDevice(device)) {
disconnectDevice()
}
})
readFileIfMcConnected()
}
fun isOurMcDevice(device: dynamic): Boolean {
val microController = MicroController.instance
return (device.ID_VENDOR_ID == microController.vendorID)
&& (device.ID_MODEL_ID == microController.modelID)
&& (device.SUBSYSTEM == "tty")
}
fun disconnectDevice() {
println("mc disconnected")
MicroController.instance.transportFilePath = ""
mcTransport.closeStreams()
}
fun connectDevice(device: dynamic) {
println("mc connected. transport file is " + device.DEVNAME)
MicroController.instance.transportFilePath = device.DEVNAME;
mcTransport.initStreams(device.DEVNAME)
exec("stty -F ${MicroController.instance.transportFilePath} raw -echo -echoe -echok")
}
fun readFileIfMcConnected() {
val allTtyDevices = udev.list("tty")
for (device in allTtyDevices) {
if (isOurMcDevice(device)) {
connectDevice(device)
break
}
}
}
}
car_srv/kotlinSrv/src/carControl/Control.kt
-17
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@@ -1,17 +0,0 @@
package carControl
/**
* Created by user on 7/27/16.
*/
interface Control {
fun moveCarLeft()
fun moveCarRight()
fun moveCarForward()
fun moveCarBackward()
fun stopCar()
fun delay(ms: Int, callBack:()->Unit)
}
car_srv/kotlinSrv/src/carControl/ControlImpl.kt
-43
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@@ -1,43 +0,0 @@
package carControl
import MicroController
import mcTransport
import fs
import setTimeout
/**
* Created by user on 7/27/16.
*/
class ControlImpl : Control {
override fun moveCarLeft() {
println("move left")
mcTransport.sendBytes(4)
}
override fun moveCarRight() {
println("move rigth")
mcTransport.sendBytes(3)
}
override fun moveCarForward() {
println("move forward")
mcTransport.sendBytes(1)
}
override fun moveCarBackward() {
println("move backward")
mcTransport.sendBytes(2)
}
override fun stopCar() {
println("stopped")
mcTransport.sendBytes(0)
}
override fun delay(ms: Int, callBack: () -> Unit) {
setTimeout(callBack, ms)
}
}
car_srv/kotlinSrv/src/carControl/RouteExecutorImpl.kt
-56
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@@ -1,56 +0,0 @@
package carControl
import RouteRequest
/**
* Created by user on 7/27/16.
*/
class RouteExecutorImpl : RouteExecutor {
enum class MoveDirection {
LEFT,
RIGHT,
FORWARD,
BACKWARD,
STOP
}
override fun executeRoute(route: RouteRequest) {
val angles = route.angles
val distances = route.distances
val commands: MutableList<Pair<MoveDirection, Int>> = mutableListOf()
for (i in 0..angles.size - 1) {
val angle: Int = angles[i]
val distance: Int = distances[i]
if (angle != 0) {
val command = if (angle > 180) {
MoveDirection.RIGHT
} else {
MoveDirection.LEFT
}
commands.add(Pair(command, angle))
}
if (distance != 0) {
val command = if (distance > 0) {
MoveDirection.FORWARD
} else {
MoveDirection.BACKWARD
}
commands.add(Pair(command, distance))
}
}
commands.add(Pair(MoveDirection.STOP, 0))
executeCommand(commands, 0)
}
fun executeCommand(commands: List<Pair<MoveDirection, Int>>, currentCommandIdx: Int) {
if (currentCommandIdx == commands.size) {
MicroController.instance.car.routeDone()
}
val currentCommand = commands.get(currentCommandIdx)
MicroController.instance.car.move(currentCommand.first, currentCommand.second, {
executeCommand(commands, currentCommandIdx + 1)
})
}
}
car_srv/kotlinSrv/src/carControl/RouteExecutor.kt → car_srv/kotlinSrv/src/control/RouteExecutor.kt
+1 -1
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@@ -1,4 +1,4 @@
package carControl
package control
import RouteRequest
car_srv/kotlinSrv/src/carControl/RouteExecutorToUsb.kt → car_srv/kotlinSrv/src/control/car/RouteExecutorToUsb.kt
+8 -5
View File
@@ -1,16 +1,19 @@
package carControl
package control.car
import RouteRequest
import mcTransport
import encodeInt
import decodeInt
import control.RouteExecutor
import encodeProtoBuf
import mcTransport
import CodedOutputStream
class RouteExecutorToUsb : RouteExecutor {
override fun executeRoute(route: RouteRequest) {
println("Execute Route:")
val routeBytes = encodeProtoBuf(route)
val protoSize = route.getSizeNoTag()
val routeBytes = ByteArray(protoSize)
route.writeTo(CodedOutputStream(routeBytes))
mcTransport.setCallBack { bytes ->
println("Read $bytes;")
car_srv/kotlinSrv/src/control/emulator/RouteExecutorImpl.kt
+110
View File
@@ -0,0 +1,110 @@
package control.emulator
import RouteRequest
import control.RouteExecutor
/**
* Created by user on 7/27/16.
*/
class RouteExecutorImpl : RouteExecutor {
enum class MoveDirection {
LEFT,
RIGHT,
FORWARD,
BACKWARD,
STOP
}
override fun executeRoute(route: RouteRequest) {
val angles = route.angles
val distances = route.distances
val commands: MutableList<Pair<MoveDirection, Int>> = mutableListOf()
for (i in 0..angles.size - 1) {
val angle: Int = angles[i]
val distance: Int = distances[i]
if (angle != 0) {
val command = if (angle > 180) {
MoveDirection.RIGHT
} else {
MoveDirection.LEFT
}
commands.add(Pair(command, angle))
}
if (distance != 0) {
val command = if (distance > 0) {
MoveDirection.FORWARD
} else {
MoveDirection.BACKWARD
}
commands.add(Pair(command, distance))
}
}
commands.add(Pair(MoveDirection.STOP, 0))
executeCommand(commands, 0)
}
fun executeCommand(commands: List<Pair<MoveDirection, Int>>, currentCommandIdx: Int) {
// if (currentCommandIdx == commands.size) {
// MicroController.instance.car.routeDone()
// }
// val currentCommand = commands.get(currentCommandIdx)
// MicroController.instance.car.move(currentCommand.first, currentCommand.second, {
// executeCommand(commands, currentCommandIdx + 1)
// })
}
// var moveDirection: MoveDirection = MoveDirection.STOP
//
// fun stopCar() {
// move(MoveDirection.STOP, 0, {})
// }
//
// fun refreshLocation(delta: Int) {
// val deltaSeconds = delta.toDouble() / 1000
// when (moveDirection) {
// MoveDirection.FORWARD -> {
// this.x += MOVE_VELOCITY * deltaSeconds * Math.cos(this.angle * Math.PI / 180);
// this.y += MOVE_VELOCITY * deltaSeconds * Math.sin(this.angle * Math.PI / 180);
// }
// MoveDirection.BACKWARD -> {
// this.x -= MOVE_VELOCITY * deltaSeconds * Math.cos(this.angle * Math.PI / 180);
// this.y -= MOVE_VELOCITY * deltaSeconds * Math.sin(this.angle * Math.PI / 180);
// }
// MoveDirection.LEFT -> this.angle += ROTATION_VELOCITY * deltaSeconds
// MoveDirection.RIGHT -> this.angle -= ROTATION_VELOCITY * deltaSeconds
// else -> {
//
// }
// }
//// println("x=$x; y=$y; angle=$angle")
// }
//
// fun routeDone() {
// controller.stopCar()
// }
//
// fun move(moveDirection: MoveDirection, value: Int, callBack: () -> Unit) {
// //value - angle for rotation command and distance for forward/backward command
// this.moveDirection = moveDirection
// when (moveDirection) {
// MoveDirection.STOP -> controller.stopCar()
// MoveDirection.FORWARD -> controller.moveCarForward()
// MoveDirection.BACKWARD -> controller.moveCarBackward()
// MoveDirection.LEFT -> controller.moveCarLeft()
// MoveDirection.RIGHT -> controller.moveCarRight()
// }
// if (moveDirection != MoveDirection.STOP) {
// if (moveDirection == MoveDirection.FORWARD || moveDirection == MoveDirection.BACKWARD) {
// controller.delay(getTimeForMoving(value, MOVE_VELOCITY), callBack)
// } else {
// controller.delay(getTimeForMoving(value, ROTATION_VELOCITY), callBack)
// }
// }
// }
//
// fun getTimeForMoving(value: Int, velocity: Double): Int {
// return (1000 * Math.abs(value.toDouble()) / velocity).toInt()
// }
}
car_srv/kotlinSrv/src/net/server/handlers/AbstractHandler.kt
+3
View File
@@ -1,5 +1,7 @@
package net.server.handlers
import CodedOutputStream
/**
* Created by user on 7/27/16.
*/
@@ -13,6 +15,7 @@ abstract class AbstractHandler {
})
}
abstract fun getBytesResponse(data: ByteArray, callback: (b: ByteArray) -> Unit)
}
car_srv/kotlinSrv/src/net/server/handlers/debug/Memory.kt
+2 -3
View File
@@ -1,9 +1,8 @@
package net.server.handlers.debug
import CodedInputStream
import DebugRequest
import DebugResponseMemoryStats
import MicroController
import McState
import encodeProtoBuf
import mcTransport
import net.server.handlers.AbstractHandler
@@ -23,7 +22,7 @@ class Memory : AbstractHandler {
override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
if (!MicroController.instance.isConnected()) {
if (!McState.instance.isConnected()) {
println("mc is disconnected!")
val responseMessage = toServerObjectBuilder.build()
callback.invoke(encodeProtoBuf(responseMessage))
car_srv/kotlinSrv/src/net/server/handlers/flash/LoadBin.kt
+7 -5
View File
@@ -1,10 +1,12 @@
package net.server.handlers.flash
import net.server.handlers.AbstractHandler
import require
import CodedInputStream
import Upload
import UploadResult
import encodeProtoBuf
import mcTransport
import net.server.handlers.AbstractHandler
import require
/**
* Created by user on 7/27/16.
@@ -16,9 +18,9 @@ class LoadBin : AbstractHandler {
val fromServerObjectBuilder: Upload.BuilderUpload
val toServerObjectBuilder: UploadResult.BuilderUploadResult
constructor(fromSrv: Upload.BuilderUpload, toSrv: UploadResult.BuilderUploadResult) : super() {
this.fromServerObjectBuilder = fromSrv
this.toServerObjectBuilder = toSrv
constructor() : super() {
this.fromServerObjectBuilder = Upload.BuilderUpload(ByteArray(0))
this.toServerObjectBuilder = UploadResult.BuilderUploadResult(0)
this.exec = require("child_process").exec
}
car_srv/kotlinSrv/src/net/server/handlers/main/GetLocation.kt
+6 -3
View File
@@ -1,7 +1,9 @@
package net.server.handlers.main
import net.server.handlers.AbstractHandler
import LocationResponse
import MicroController
import encodeProtoBuf
import net.server.handlers.AbstractHandler
/**
* Created by user on 7/28/16.
@@ -10,8 +12,9 @@ class GetLocation : AbstractHandler {
val toServerObjectBuilder: LocationResponse.BuilderLocationResponse
constructor(toSrv: LocationResponse.BuilderLocationResponse) : super() {
this.toServerObjectBuilder = toSrv
constructor() : super() {
val defaultLocationData = LocationResponse.LocationData.BuilderLocationData(0, 0, 0).build()
this.toServerObjectBuilder = LocationResponse.BuilderLocationResponse(defaultLocationData, 0)
}
override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
car_srv/kotlinSrv/src/net/server/handlers/main/SetRoute.kt
+18 -6
View File
@@ -4,7 +4,8 @@ import CodedInputStream
import MicroController
import RouteRequest
import RouteResponse
import encodeProtoBuf
import control.RouteExecutor
import CodedOutputStream
import net.server.handlers.AbstractHandler
/**
@@ -14,25 +15,36 @@ class SetRoute : AbstractHandler {
val fromServerObjectBuilder: RouteRequest.BuilderRouteRequest
val toServerObjectBuilder: RouteResponse.BuilderRouteResponse
val routeExecutor: RouteExecutor
constructor(fromSrv: RouteRequest.BuilderRouteRequest, toSrv: RouteResponse.BuilderRouteResponse) : super() {
this.fromServerObjectBuilder = fromSrv
this.toServerObjectBuilder = toSrv
constructor(routeExecutor: RouteExecutor) : super() {
this.routeExecutor = routeExecutor
this.fromServerObjectBuilder = RouteRequest.BuilderRouteRequest(IntArray(0), IntArray(0))
this.toServerObjectBuilder = RouteResponse.BuilderRouteResponse(0)
}
override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
println("set route handler")
val car = MicroController.instance.car
val message = fromServerObjectBuilder.build()
message.mergeFrom(CodedInputStream(data))
if (!MicroController.instance.isConnected()) {
if (!McState.instance.isConnected()) {
println("mc is disconnected!")
val responseMessage = toServerObjectBuilder.setCode(16).build()
callback.invoke(encodeProtoBuf(responseMessage))
return
}
car.routeExecutor.executeRoute(message)
routeExecutor.executeRoute(message)
val responseMessage = toServerObjectBuilder.setCode(0).build()
callback.invoke(encodeProtoBuf(responseMessage))
}
fun encodeProtoBuf(protoMessage: RouteResponse): ByteArray {
val protoSize = protoMessage.getSizeNoTag()
val routeBytes = ByteArray(protoSize)
protoMessage.writeTo(CodedOutputStream(routeBytes))
return routeBytes
}
}
car_srv/kotlinSrv/src/net/server/handlers/rc/Connect.kt
-32
View File
@@ -1,32 +0,0 @@
package net.server.handlers.rc
import exceptions.RcControlException
import net.server.handlers.AbstractHandler
import encodeProtoBuf
/**
* Created by user on 7/27/16.
*/
class Connect : AbstractHandler {
val toServerObjectBuilder: SessionUpResponse.BuilderSessionUpResponse
constructor(toSrv: SessionUpResponse.BuilderSessionUpResponse) : super() {
this.toServerObjectBuilder = toSrv
}
override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
val resultCode: Int
val sid: Int;
try {
sid = MicroController.instance.connectRC()
resultCode = 0
} catch (e: RcControlException) {
resultCode = 13
sid = 0
}
val responseMessage = toServerObjectBuilder.setCode(resultCode).setSid(sid).build()
callback.invoke(encodeProtoBuf(responseMessage))
}
}
car_srv/kotlinSrv/src/net/server/handlers/rc/Control.kt
+9 -8
View File
@@ -1,12 +1,13 @@
package net.server.handlers.rc
import CodedInputStream
import DirectionRequest
import DirectionResponse
import MicroController
import carControl.RouteExecutorImpl.MoveDirection
import control.emulator.RouteExecutorImpl.MoveDirection
import encodeProtoBuf
import exceptions.RcControlException
import net.server.handlers.AbstractHandler
import DirectionRequest
import CodedInputStream
import encodeProtoBuf
/**
* Created by user on 7/27/16.
@@ -16,9 +17,9 @@ class Control : AbstractHandler {
val fromServerObjectBuilder: DirectionRequest.BuilderDirectionRequest
val toServerObjectBuilder: DirectionResponse.BuilderDirectionResponse
constructor(fromSrv: DirectionRequest.BuilderDirectionRequest, toSrv: DirectionResponse.BuilderDirectionResponse) : super() {
this.fromServerObjectBuilder = fromSrv
this.toServerObjectBuilder = toSrv
constructor() : super() {
this.fromServerObjectBuilder = DirectionRequest.BuilderDirectionRequest(DirectionRequest.Command.fromIntToCommand(0), 0)
this.toServerObjectBuilder = DirectionResponse.BuilderDirectionResponse(0)
}
override fun getBytesResponse(data: ByteArray, callback: (b: ByteArray) -> Unit) {
@@ -46,7 +47,7 @@ class Control : AbstractHandler {
}
val resultCode: Int
try {
MicroController.instance.RcMove(command, sid)
// MicroController.instance.RcMove(command, sid)
resultCode = 0
} catch (e: RcControlException) {
resultCode = 12
car_srv/kotlinSrv/src/net/server/handlers/rc/Disconnect.kt
-35
View File
@@ -1,35 +0,0 @@
package net.server.handlers.rc
import exceptions.RcControlException
import net.server.handlers.AbstractHandler
import CodedInputStream
import encodeProtoBuf
/**
* Created by user on 7/27/16.
*/
class Disconnect : AbstractHandler {
val fromServerObjectBuilder: SessionDownRequest.BuilderSessionDownRequest
val toServerObjectBuilder: SessionDownResponse.BuilderSessionDownResponse
constructor(fromSrv: SessionDownRequest.BuilderSessionDownRequest, toSrv: SessionDownResponse.BuilderSessionDownResponse) : super() {
this.fromServerObjectBuilder = fromSrv
this.toServerObjectBuilder = toSrv
}
override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
val message = fromServerObjectBuilder.build()
message.mergeFrom(CodedInputStream(data))
val resultCode: Int
try {
MicroController.instance.disconnectRC(message.sid)
resultCode = 0
} catch (e: RcControlException) {
resultCode = 12
}
val responseMessage = toServerObjectBuilder.setCode(resultCode).build()
callback.invoke(encodeProtoBuf(responseMessage))
}
}
car_srv/kotlinSrv/src/net/server/handlers/rc/Heartbeat.kt
-34
View File
@@ -1,34 +0,0 @@
package net.server.handlers.rc
import exceptions.RcControlException
import net.server.handlers.AbstractHandler
import CodedInputStream
import encodeProtoBuf
/**
* Created by user on 7/27/16.
*/
class Heartbeat : AbstractHandler {
val fromServerObjectBuilder: HeartBeatRequest.BuilderHeartBeatRequest
val toServerObjectBuilder: HeartBeatResponse.BuilderHeartBeatResponse
constructor(fromSrv: HeartBeatRequest.BuilderHeartBeatRequest, toSrv: HeartBeatResponse.BuilderHeartBeatResponse) : super() {
this.fromServerObjectBuilder = fromSrv
this.toServerObjectBuilder = toSrv
}
override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
val message = fromServerObjectBuilder.build()
message.mergeFrom(CodedInputStream(data))
val resultCode: Int
try {
MicroController.instance.rcHeartBeat(message.sid)
resultCode = 0
} catch (e: RcControlException) {
resultCode = 12
}
val responseMessage = toServerObjectBuilder.setCode(resultCode).build()
callback.invoke(encodeProtoBuf(responseMessage))
}
}