added handlers for main server requests

car_srv/kotlinSrv/src/Main.kt

@@ -1,6 +1,8 @@
 import exceptions.RcControlException
 import net.server.handlers.AbstractHandler
 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
@@ -22,6 +24,9 @@ fun main(args: Array<String>) {
     val rcSessionConstructor = protoBuf.loadProtoFile(getRelativePathToProto("rc_session.proto")).build("carkot")
     val carkotConstructor = protoBuf.loadProtoFile(getRelativePathToProto("carkot.proto")).build("carkot")
 
+    val routeConstructor = protoBuf.loadProtoFile(getRelativePathToProto("route.proto")).build("carkot")
+    val locationConstructor = protoBuf.loadProtoFile(getRelativePathToProto("location.proto")).build("carkot")
+
 
     val handlers: MutableMap<String, AbstractHandler> = mutableMapOf()
     handlers.put("/rc/control", Control(controlConstructor.DirectionRequest, controlConstructor.DirectionResponse))
@@ -31,7 +36,8 @@ fun main(args: Array<String>) {
 
     handlers.put("/loadBin", LoadBin(carkotConstructor.Upload, carkotConstructor.UploadResult))
 
-    //todo work with main server
+    handlers.put("/route", SetRoute(routeConstructor.RouteRequest, routeConstructor.RouteResponse))
+    handlers.put("/getLocation", GetLocation(null, locationConstructor.LocationResponse))
 
     net.server.start(handlers, serverPort)
     val udev = Udev()
@@ -61,4 +67,9 @@ fun require(name: String): dynamic {
 @native
 fun setInterval(callBack: () -> Unit, ms: Int) {
 
+}
+
+@native
+fun setTimeout(callBack: () -> Unit, ms: Int) {
+
 }

car_srv/kotlinSrv/src/net/server/handlers/AbstractHandler.kt

@@ -18,17 +18,16 @@ abstract class AbstractHandler(protoDecoder: dynamic, protoEncoder: dynamic) {
 
     fun execute(data: List<Byte>, response: dynamic) {
 
-
         val message = if (protoDecoder != null) protoDecoder.decode(data.toByteArray()) else null
         val resultMessage: dynamic = {}
-        js("resultMessage = {}")//todo bad?
+        js("resultMessage = {}")
         val afterExecute: () -> Unit = {
             if (this.protoEncoder != null) {
                 val protoEn = this.protoEncoder//temporarily:)
                 val resultMsg = resultMessage
-                val resultObject = js("new protoEn(resultMsg)")
+                val resultBuffer = js("new protoEn(resultMsg)").encode()
-                val resultBuffer = resultObject.encode()
+                val trimBuffer = trimBuffer(resultBuffer.buffer, resultBuffer.limit)
-                response.write(trimBuffer(resultBuffer.buffer, resultBuffer.limit))
+                response.write(trimBuffer)
             }
             response.end()
         }

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

@@ -0,0 +1,19 @@
+package net.server.handlers.main
+
+import net.server.handlers.AbstractHandler
+
+/**
+ * Created by user on 7/28/16.
+ */
+class GetLocation : AbstractHandler {
+
+    constructor(protoDecoder: dynamic, protoEncoder: dynamic) : super(protoDecoder, protoEncoder)
+
+    override fun makeResponse(message: dynamic, responseMessage: dynamic, finalCallback: () -> Unit) {
+        val car = MicroController.instance.car
+        val locationResponseData = {}
+        js("locationResponseData = {x:car.x, y:car.y, angle:car.angle}")
+        responseMessage.locationResponseData = locationResponseData
+        finalCallback.invoke()
+    }
+}

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

@@ -0,0 +1,22 @@
+package net.server.handlers.main
+
+import net.server.handlers.AbstractHandler
+
+/**
+ * Created by user on 7/28/16.
+ */
+class SetRoute : AbstractHandler {
+
+    constructor(protoDecoder: dynamic, protoEncoder: dynamic) : super(protoDecoder, protoEncoder)
+
+    override fun makeResponse(message: dynamic, responseMessage: dynamic, finalCallback: () -> Unit) {
+        val car = MicroController.instance.car
+
+        car.routeExecutor.executeRoute(message)
+
+        responseMessage.code = 0
+        responseMessage.errorMsg = ""
+
+        finalCallback.invoke()
+    }
+}