refactoring raspberry server

car_srv/kotlinSrv/README.md

@@ -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 language. You have to install it
-
-*note:* this script use expect script languane. 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

@@ -25,26 +25,16 @@ sourceSets {
 }
 
 task copyKotlinLib(type: Copy) {
-    from "${projectDir}/helpers/kotlin.js"
+    from "${projectDir}/kotlinJsRequiredFiles/kotlin.js"
-    from "${projectDir}/helpers/package.json"
+    from "${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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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]
+                    "mainServerIp" -> serverIp = keyValue[1]
-                    "thisIp" -> thisCarIp = keyValue[1]
+                    "thisServerIp" -> thisCarIp = keyValue[1]
                 }
             }
         }

car_srv/kotlinSrv/src/JSImport.kt

@@ -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

@@ -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

@@ -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/MCConnection.kt

@@ -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

@@ -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()
+    val mcConditionMonitor = McConditionMonitor.instance
-    udev.start()
+    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

@@ -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

@@ -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

@@ -1,7 +1,7 @@
-import carControl.ControlImpl
+import control.emulator.RouteExecutorImpl
-import carControl.RouteExecutorImpl
+import control.car.RouteExecutorToUsb
-import carControl.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({ 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()
     }
 
     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

@@ -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

@@ -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

@@ -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

@@ -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/control/RouteExecutor.kt

@@ -1,4 +1,4 @@
-package carControl
+package control
 
 import RouteRequest
 

car_srv/kotlinSrv/src/control/car/RouteExecutorToUsb.kt

@@ -1,16 +1,19 @@
-package carControl
+package control.car
 
 import RouteRequest
-import mcTransport
+import control.RouteExecutor
-import encodeInt
-import decodeInt
 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

@@ -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

@@ -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

@@ -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

@@ -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() {
+    constructor() : super() {
-        this.fromServerObjectBuilder = fromSrv
+        this.fromServerObjectBuilder = Upload.BuilderUpload(ByteArray(0))
-        this.toServerObjectBuilder = toSrv
+        this.toServerObjectBuilder = UploadResult.BuilderUploadResult(0)
         this.exec = require("child_process").exec
     }
 

car_srv/kotlinSrv/src/net/server/handlers/main/GetLocation.kt

@@ -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() {
+    constructor() : super() {
-        this.toServerObjectBuilder = toSrv
+        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

@@ -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() {
+    constructor(routeExecutor: RouteExecutor) : super() {
-        this.fromServerObjectBuilder = fromSrv
+        this.routeExecutor = routeExecutor
-        this.toServerObjectBuilder = toSrv
+        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

@@ -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

@@ -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() {
+    constructor() : super() {
-        this.fromServerObjectBuilder = fromSrv
+        this.fromServerObjectBuilder = DirectionRequest.BuilderDirectionRequest(DirectionRequest.Command.fromIntToCommand(0), 0)
-        this.toServerObjectBuilder = toSrv
+        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

@@ -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

@@ -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))
-    }
-}