car emulator and corrected srv
This commit is contained in:
MaximZaitsev
@@ -1,2 +1,3 @@
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.idea/workspace.xml
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.idea/uiDesigner.xml
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out
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@@ -9,5 +9,6 @@
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<orderEntry type="sourceFolder" forTests="false" />
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<orderEntry type="library" name="KotlinJavaRuntime" level="project" />
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<orderEntry type="library" name="netty-all-4.1.2.Final-sources" level="project" />
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<orderEntry type="library" name="protobuf-java-3.0.0-beta-3" level="project" />
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</component>
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</module>
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@@ -0,0 +1,79 @@
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import client.Client
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import io.netty.bootstrap.ServerBootstrap
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import io.netty.buffer.Unpooled
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import io.netty.channel.nio.NioEventLoopGroup
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import io.netty.channel.socket.nio.NioServerSocketChannel
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import io.netty.handler.codec.http.*
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import proto.car.ConnectP
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import proto.car.RouteDoneP
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import server.Initializer
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import java.util.*
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import kotlin.concurrent.thread
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/**
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* Created by user on 7/6/16.
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*/
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val serverHost = "127.0.0.1"
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val serverPort = 7925
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val carHost = "127.0.0.1"
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val getLocationUrl = "getLocation"
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val routeDoneUrl = "routeDone"
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val setRouteUrl = "route"
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val connectUrl = "connect"
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fun main(args: Array<String>) {
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val port = Random().nextInt(10000) + 10000
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println("car started on port $port")
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val serverCarThread = thread {
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val bossGroup = NioEventLoopGroup(1)
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val workerGroup = NioEventLoopGroup()
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val b = ServerBootstrap()
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b.group(bossGroup, workerGroup)
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.channel(NioServerSocketChannel().javaClass)
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.childHandler(Initializer())
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try {
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val channel = b.bind(port).sync().channel()
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channel.closeFuture().sync()
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} catch (e: InterruptedException) {
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println("car server stoped!")
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e.printStackTrace()
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} finally {
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bossGroup.shutdownGracefully()
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workerGroup.shutdownGracefully()
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}
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}
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//connect
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val connect = ConnectP.ConnectionRequest.newBuilder().setIp(carHost).setPort(port).build()
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val request = DefaultFullHttpRequest(HttpVersion.HTTP_1_1, HttpMethod.POST, connectUrl, Unpooled.copiedBuffer(connect.toByteArray()))
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request.headers().set(HttpHeaderNames.HOST, serverHost)
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request.headers().set(HttpHeaderNames.CONNECTION, HttpHeaderValues.CLOSE)
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request.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, request.content().readableBytes())
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Client.sendRequest(request, serverHost, serverPort)
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val car = ThisCar.instance
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var lastTime: Long = System.currentTimeMillis()
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while (true) {
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val deltaTimeMs = (System.currentTimeMillis() - lastTime)
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if (deltaTimeMs > 50) {
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if (!car.pathDone) {
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println(car)
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}
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var pathDone = car.move(deltaTimeMs.toDouble()/ 1000)
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if (pathDone) {
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val routeDone = RouteDoneP.RouteDone.newBuilder().setUid(car.id).build()
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val pathDoneRequest = DefaultFullHttpRequest(HttpVersion.HTTP_1_1, HttpMethod.POST, setRouteUrl, Unpooled.copiedBuffer(routeDone.toByteArray()))
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pathDoneRequest.headers().set(HttpHeaderNames.HOST, serverHost)
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pathDoneRequest.headers().set(HttpHeaderNames.CONNECTION, HttpHeaderValues.CLOSE)
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pathDoneRequest.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, pathDoneRequest.content().readableBytes())
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Client.sendRequest(pathDoneRequest, serverHost, serverPort)
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}
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lastTime = System.currentTimeMillis()
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}
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}
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}
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@@ -1,7 +0,0 @@
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/**
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* Created by user on 7/6/16.
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*/
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fun main(args: Array<String>) {
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println("test")
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}
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@@ -0,0 +1,95 @@
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import client.Client
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import io.netty.buffer.Unpooled
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import io.netty.handler.codec.http.*
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import proto.car.RouteDoneP
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import proto.car.RouteP.Route.WayPoint
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/**
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* Created by user on 7/8/16.
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*/
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class ThisCar private constructor() {
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var id = ""
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//metr
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var x: Double = 0.toDouble()
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var y: Double = 0.toDouble()
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//Degree
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var angle: Double = 0.toDouble();//0 - положительное направление по OX
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val velocityMove: Double = 0.1//metr/sec
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val velocityRotation: Double = 10.toDouble()//Degree/sec
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val wayPoints: MutableList<WayPoint> = mutableListOf()
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var nextWayPointIndex = 0
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var pathDone = true
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var distanceToNext: Double = 0.toDouble()
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var angleToNext: Double = 0.toDouble()
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var anglePositive = true//true - поворот по часовой, false - против
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companion object {
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val instance = ThisCar()
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}
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@Synchronized
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fun move(deltaTime: Double) :Boolean {
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if (pathDone) {
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//маршрут не задан и сервер "в курсе", что маршрут пройден
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return false;
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}
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if (distanceToNext > 0 || angleToNext > 0) {
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if (angleToNext > 0) {
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//поворачиваемся
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val angleDelta: Double = velocityRotation * deltaTime
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angle += (if (anglePositive) 1 else -1) * angleDelta
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angleToNext -= angleDelta
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if (angleToNext < 0) {
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angleToNext = 0.toDouble()
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}
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} else {
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//машинка повернута в нужную сторону, можно ехать
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var xDelta = deltaTime * velocityMove * Math.cos(angle * Math.PI / 180)
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var yDelta = deltaTime * velocityMove * Math.sin(angle * Math.PI / 180)
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x += xDelta
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y += yDelta
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distanceToNext -= deltaTime * velocityMove
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if (distanceToNext < 0) {
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distanceToNext = 0.toDouble()
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}
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}
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} else if (nextWayPointIndex == wayPoints.size) {
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pathDone = true
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return true;
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} else {
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val wayPoint = wayPoints.get(nextWayPointIndex)
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angleToNext = Math.abs(wayPoint.angleDelta)
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distanceToNext = Math.abs(wayPoint.distance)//задний ход пока отключаем:)
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anglePositive = (wayPoint.angleDelta > 0)
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nextWayPointIndex++
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}
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return false;
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}
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@Synchronized
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fun setPath(wayPoints: List<WayPoint>) {
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println("in set path")
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this.pathDone = false
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distanceToNext = 0.toDouble()
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angleToNext = 0.toDouble()
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nextWayPointIndex = 0
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this.wayPoints.clear()
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this.wayPoints.addAll(wayPoints)
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}
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override fun toString(): String {
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return "x:$x; y:$y; angle:$angle"
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}
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}
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@@ -0,0 +1,40 @@
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package client
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import io.netty.bootstrap.Bootstrap
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import io.netty.channel.ChannelInitializer
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import io.netty.channel.nio.NioEventLoopGroup
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import io.netty.channel.socket.SocketChannel
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import io.netty.channel.socket.nio.NioSocketChannel
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import io.netty.handler.codec.http.HttpRequest
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import io.netty.util.AttributeKey
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/**
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* Created by user on 7/8/16.
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*/
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object Client {
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val bootstrap: Bootstrap = makeBootstrap()
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private fun makeBootstrap(): Bootstrap {
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val group = NioEventLoopGroup();
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val b = Bootstrap();
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b.group(group).channel(NioSocketChannel().javaClass).handler(ClientInitializer())
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.attr(AttributeKey.newInstance<String>("url"), "")
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.attr(AttributeKey.newInstance<String>("uid"), "")
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return b
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}
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fun sendRequest(request: HttpRequest, host: String, port: Int) {
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try {
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bootstrap.attr(AttributeKey.valueOf<String>("url"), request.uri())
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// bootstrap.attr(AttributeKey.valueOf<String>("uid"), carUid)
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val ch = bootstrap.connect(host, port).sync().channel()
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ch.writeAndFlush(request)
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ch.closeFuture().sync()//wait for answer
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// val handler: ClientHandler = ch.pipeline().get(ClientHandler().javaClass)
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} catch (e: InterruptedException) {
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}
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}
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}
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@@ -0,0 +1,62 @@
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package client
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import com.google.protobuf.InvalidProtocolBufferException
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import connectUrl
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import io.netty.channel.ChannelHandlerContext
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import io.netty.channel.SimpleChannelInboundHandler
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import io.netty.handler.codec.http.DefaultHttpContent
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import io.netty.handler.codec.http.HttpContent
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import io.netty.handler.codec.http.HttpRequest
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import io.netty.handler.codec.http.HttpResponse
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import io.netty.util.AttributeKey
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import proto.car.ConnectP
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/**
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* Created by user on 7/8/16.
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*/
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class ClientHandler : SimpleChannelInboundHandler<Any> {
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constructor()
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var url: String = ""
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var contentBytes: ByteArray = ByteArray(0);
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override fun channelReadComplete(ctx: ChannelHandlerContext) {
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val url = ctx.channel().attr(AttributeKey.valueOf<String>("url")).get()
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when (url) {
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connectUrl -> {
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try {
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val uid = ConnectP.ConnectionResponse.parseFrom(contentBytes).uid
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synchronized(ThisCar.instance, {
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ThisCar.instance.id = uid;
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})
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} catch (e: InvalidProtocolBufferException) {
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e.printStackTrace()
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}
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}
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else -> {
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//todo error
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}
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}
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ctx.close()
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}
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override fun channelRead(ctx: ChannelHandlerContext?, msg: Any?) {
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super.channelRead(ctx, msg)
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}
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override fun channelRead0(ctx: ChannelHandlerContext?, msg: Any?) {
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if (msg is HttpResponse) {
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// this.url = msg.uri()
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}
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if (msg is HttpContent) {
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val contentsBytes = msg.content();
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contentBytes = ByteArray(contentsBytes.capacity())
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contentsBytes.readBytes(contentBytes)
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}
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}
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}
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@@ -0,0 +1,19 @@
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package client
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import io.netty.channel.ChannelInitializer
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import io.netty.channel.socket.SocketChannel
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import io.netty.handler.codec.http.HttpClientCodec
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/**
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* Created by user on 7/8/16.
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*/
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class ClientInitializer : ChannelInitializer<SocketChannel> {
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constructor()
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override fun initChannel(ch: SocketChannel) {
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val p = ch.pipeline()
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p.addLast(HttpClientCodec())
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p.addLast(ClientHandler())
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}
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}
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,540 @@
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// Generated by the protocol buffer compiler. DO NOT EDIT!
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// source: location.proto
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package proto.car;
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public final class LocationP {
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private LocationP() {}
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public static void registerAllExtensions(
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com.google.protobuf.ExtensionRegistry registry) {
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}
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public interface LocationOrBuilder extends
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// @@protoc_insertion_point(interface_extends:carkot.Location)
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com.google.protobuf.MessageOrBuilder {
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/**
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* <code>optional double x = 1;</code>
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*/
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||||
double getX();
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||||
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/**
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* <code>optional double y = 2;</code>
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*/
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double getY();
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||||
/**
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||||
* <code>optional double angle = 3;</code>
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*/
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double getAngle();
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||||
}
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/**
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* Protobuf type {@code carkot.Location}
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*/
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public static final class Location extends
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||||
com.google.protobuf.GeneratedMessage implements
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// @@protoc_insertion_point(message_implements:carkot.Location)
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LocationOrBuilder {
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// Use Location.newBuilder() to construct.
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private Location(com.google.protobuf.GeneratedMessage.Builder<?> builder) {
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||||
super(builder);
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||||
}
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||||
private Location() {
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||||
x_ = 0D;
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y_ = 0D;
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||||
angle_ = 0D;
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||||
}
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||||
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@java.lang.Override
|
||||
public final com.google.protobuf.UnknownFieldSet
|
||||
getUnknownFields() {
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||||
return com.google.protobuf.UnknownFieldSet.getDefaultInstance();
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||||
}
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||||
private Location(
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||||
com.google.protobuf.CodedInputStream input,
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||||
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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||||
throws com.google.protobuf.InvalidProtocolBufferException {
|
||||
this();
|
||||
int mutable_bitField0_ = 0;
|
||||
try {
|
||||
boolean done = false;
|
||||
while (!done) {
|
||||
int tag = input.readTag();
|
||||
switch (tag) {
|
||||
case 0:
|
||||
done = true;
|
||||
break;
|
||||
default: {
|
||||
if (!input.skipField(tag)) {
|
||||
done = true;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case 9: {
|
||||
|
||||
x_ = input.readDouble();
|
||||
break;
|
||||
}
|
||||
case 17: {
|
||||
|
||||
y_ = input.readDouble();
|
||||
break;
|
||||
}
|
||||
case 25: {
|
||||
|
||||
angle_ = input.readDouble();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
} catch (com.google.protobuf.InvalidProtocolBufferException e) {
|
||||
throw e.setUnfinishedMessage(this);
|
||||
} catch (java.io.IOException e) {
|
||||
throw new com.google.protobuf.InvalidProtocolBufferException(
|
||||
e).setUnfinishedMessage(this);
|
||||
} finally {
|
||||
makeExtensionsImmutable();
|
||||
}
|
||||
}
|
||||
public static final com.google.protobuf.Descriptors.Descriptor
|
||||
getDescriptor() {
|
||||
return proto.car.LocationP.internal_static_carkot_Location_descriptor;
|
||||
}
|
||||
|
||||
protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
|
||||
internalGetFieldAccessorTable() {
|
||||
return proto.car.LocationP.internal_static_carkot_Location_fieldAccessorTable
|
||||
.ensureFieldAccessorsInitialized(
|
||||
proto.car.LocationP.Location.class, proto.car.LocationP.Location.Builder.class);
|
||||
}
|
||||
|
||||
public static final int X_FIELD_NUMBER = 1;
|
||||
private double x_;
|
||||
/**
|
||||
* <code>optional double x = 1;</code>
|
||||
*/
|
||||
public double getX() {
|
||||
return x_;
|
||||
}
|
||||
|
||||
public static final int Y_FIELD_NUMBER = 2;
|
||||
private double y_;
|
||||
/**
|
||||
* <code>optional double y = 2;</code>
|
||||
*/
|
||||
public double getY() {
|
||||
return y_;
|
||||
}
|
||||
|
||||
public static final int ANGLE_FIELD_NUMBER = 3;
|
||||
private double angle_;
|
||||
/**
|
||||
* <code>optional double angle = 3;</code>
|
||||
*/
|
||||
public double getAngle() {
|
||||
return angle_;
|
||||
}
|
||||
|
||||
private byte memoizedIsInitialized = -1;
|
||||
public final boolean isInitialized() {
|
||||
byte isInitialized = memoizedIsInitialized;
|
||||
if (isInitialized == 1) return true;
|
||||
if (isInitialized == 0) return false;
|
||||
|
||||
memoizedIsInitialized = 1;
|
||||
return true;
|
||||
}
|
||||
|
||||
public void writeTo(com.google.protobuf.CodedOutputStream output)
|
||||
throws java.io.IOException {
|
||||
if (x_ != 0D) {
|
||||
output.writeDouble(1, x_);
|
||||
}
|
||||
if (y_ != 0D) {
|
||||
output.writeDouble(2, y_);
|
||||
}
|
||||
if (angle_ != 0D) {
|
||||
output.writeDouble(3, angle_);
|
||||
}
|
||||
}
|
||||
|
||||
public int getSerializedSize() {
|
||||
int size = memoizedSize;
|
||||
if (size != -1) return size;
|
||||
|
||||
size = 0;
|
||||
if (x_ != 0D) {
|
||||
size += com.google.protobuf.CodedOutputStream
|
||||
.computeDoubleSize(1, x_);
|
||||
}
|
||||
if (y_ != 0D) {
|
||||
size += com.google.protobuf.CodedOutputStream
|
||||
.computeDoubleSize(2, y_);
|
||||
}
|
||||
if (angle_ != 0D) {
|
||||
size += com.google.protobuf.CodedOutputStream
|
||||
.computeDoubleSize(3, angle_);
|
||||
}
|
||||
memoizedSize = size;
|
||||
return size;
|
||||
}
|
||||
|
||||
private static final long serialVersionUID = 0L;
|
||||
public static proto.car.LocationP.Location parseFrom(
|
||||
com.google.protobuf.ByteString data)
|
||||
throws com.google.protobuf.InvalidProtocolBufferException {
|
||||
return PARSER.parseFrom(data);
|
||||
}
|
||||
public static proto.car.LocationP.Location parseFrom(
|
||||
com.google.protobuf.ByteString data,
|
||||
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
|
||||
throws com.google.protobuf.InvalidProtocolBufferException {
|
||||
return PARSER.parseFrom(data, extensionRegistry);
|
||||
}
|
||||
public static proto.car.LocationP.Location parseFrom(byte[] data)
|
||||
throws com.google.protobuf.InvalidProtocolBufferException {
|
||||
return PARSER.parseFrom(data);
|
||||
}
|
||||
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}
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||||
File diff suppressed because it is too large
Load Diff
@@ -1,5 +1,6 @@
|
||||
package server
|
||||
|
||||
import com.google.protobuf.InvalidProtocolBufferException
|
||||
import connectUrl
|
||||
import getLocationUrl
|
||||
import io.netty.buffer.Unpooled
|
||||
@@ -7,67 +8,66 @@ import io.netty.channel.ChannelFutureListener
|
||||
import io.netty.channel.ChannelHandlerContext
|
||||
import io.netty.channel.SimpleChannelInboundHandler
|
||||
import io.netty.handler.codec.http.*
|
||||
import io.netty.util.CharsetUtil
|
||||
import objects.Environment
|
||||
import proto.car.ConnectP.ConnectionRequest
|
||||
import proto.car.RouteDoneP
|
||||
import proto.car.LocationP
|
||||
import proto.car.RouteDoneP.RouteDone
|
||||
import proto.car.RouteP
|
||||
import routeDoneUrl
|
||||
import setRouteUrl
|
||||
import java.nio.charset.Charset
|
||||
import java.text.SimpleDateFormat
|
||||
import java.util.*
|
||||
|
||||
/**
|
||||
* Created by user on 7/6/16.
|
||||
*/
|
||||
class ServerHandler : SimpleChannelInboundHandler<Any>() {
|
||||
class Handler : SimpleChannelInboundHandler<Any>() {
|
||||
|
||||
var url: String = ""
|
||||
var contentBytes: ByteArray = ByteArray(0);
|
||||
|
||||
override fun channelReadComplete(ctx: ChannelHandlerContext) {
|
||||
|
||||
val environment = Environment.instance
|
||||
val car = ThisCar.instance
|
||||
var success = true;
|
||||
|
||||
var dataAnswer: ByteArray = ByteArray(0)
|
||||
when (url) {
|
||||
connectUrl -> {
|
||||
val data = ConnectionRequest.parseFrom(contentBytes)
|
||||
//todo
|
||||
getLocationUrl -> {
|
||||
dataAnswer = LocationP.Location.newBuilder().setAngle(car.angle).setX(car.x).setY(car.y).build().toByteArray();
|
||||
}
|
||||
routeDoneUrl -> {
|
||||
val data = RouteDone.parseFrom(contentBytes)
|
||||
val id = data.uid
|
||||
synchronized(environment.map, {
|
||||
val car = environment.map.get(id)
|
||||
if (car != null) {
|
||||
car.free = true
|
||||
} else {
|
||||
success = false
|
||||
}
|
||||
})
|
||||
setRouteUrl -> {
|
||||
var data: RouteP.Route? = null;
|
||||
try {
|
||||
data = RouteP.Route.parseFrom(contentBytes)
|
||||
} catch (e: InvalidProtocolBufferException) {
|
||||
//todo error answer
|
||||
}
|
||||
if (data != null) {
|
||||
val wayPoints = data.wayPointsList
|
||||
println("try set path")
|
||||
ThisCar.instance.setPath(wayPoints)
|
||||
}
|
||||
}
|
||||
else -> {
|
||||
success = false
|
||||
//todo unsup operation
|
||||
//todo unsup operation. error answer
|
||||
}
|
||||
}
|
||||
|
||||
val response = DefaultFullHttpResponse(HttpVersion.HTTP_1_1, if (success) HttpResponseStatus.OK else HttpResponseStatus.NOT_FOUND)
|
||||
val response = DefaultFullHttpResponse(HttpVersion.HTTP_1_1, if (success) HttpResponseStatus.OK else HttpResponseStatus.NOT_FOUND, Unpooled.copiedBuffer(dataAnswer))
|
||||
response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
|
||||
ctx.writeAndFlush(response).addListener(ChannelFutureListener.CLOSE);
|
||||
}
|
||||
|
||||
override fun channelRead(ctx: ChannelHandlerContext?, msg: Any?) {
|
||||
super.channelRead(ctx, msg)
|
||||
}
|
||||
|
||||
override fun channelRead0(ctx: ChannelHandlerContext, msg: Any) {
|
||||
if (msg is HttpRequest) {
|
||||
this.url = msg.uri()
|
||||
// sb.append("" + msg.method() + " " + msg.protocolVersion() + "\n" + msg.uri())
|
||||
// for (header in msg.headers()) {
|
||||
// sb.append(header.key + ":" + header.value + "\n")
|
||||
// }
|
||||
}
|
||||
|
||||
if (msg is DefaultHttpContent) {
|
||||
if (msg is HttpContent) {
|
||||
val contentsBytes = msg.content();
|
||||
contentBytes = ByteArray(contentsBytes.capacity())
|
||||
contentsBytes.readBytes(contentBytes)
|
||||
@@ -0,0 +1,29 @@
|
||||
package server
|
||||
|
||||
import io.netty.channel.ChannelInitializer
|
||||
import io.netty.channel.ChannelPipeline
|
||||
import io.netty.channel.socket.SocketChannel
|
||||
import io.netty.handler.codec.http.HttpRequestDecoder
|
||||
import io.netty.handler.codec.http.HttpResponseEncoder
|
||||
import io.netty.handler.codec.http.HttpServerCodec
|
||||
import io.netty.util.concurrent.DefaultEventExecutorGroup
|
||||
import io.netty.util.concurrent.EventExecutorGroup
|
||||
|
||||
/**
|
||||
* Created by user on 7/6/16.
|
||||
*/
|
||||
class Initializer : ChannelInitializer<SocketChannel> {
|
||||
|
||||
|
||||
constructor() {
|
||||
}
|
||||
|
||||
override fun initChannel(channel: SocketChannel) {
|
||||
val p: ChannelPipeline = channel.pipeline()
|
||||
|
||||
p.addLast(HttpServerCodec())
|
||||
// p.addLast(HttpRequestDecoder())
|
||||
// p.addLast(HttpResponseEncoder())
|
||||
p.addLast(Handler())
|
||||
}
|
||||
}
|
||||
@@ -1,23 +0,0 @@
|
||||
import server.Server
|
||||
import java.awt.Robot
|
||||
import java.util.*
|
||||
import kotlin.concurrent.thread
|
||||
import kotlin.jvm.internal.iterator
|
||||
|
||||
/**
|
||||
* Created by user on 7/6/16.
|
||||
*/
|
||||
|
||||
//хардкод это плохо, но пока так...:)
|
||||
val port:Int = 7925
|
||||
val handlerThreadsCount:Int = 100
|
||||
val getLocationUrl = "getLocation"
|
||||
val routeDoneUrl = "routeDone"
|
||||
val setRouteUrl = "route"
|
||||
val connectUrl = "connect"
|
||||
|
||||
fun main(args: Array<String>) {
|
||||
println("server started")
|
||||
val server = Server(port, handlerThreadsCount)
|
||||
val serverThread = thread{server.run()}
|
||||
}
|
||||
@@ -0,0 +1,116 @@
|
||||
import car.client.Client
|
||||
import io.netty.bootstrap.ServerBootstrap
|
||||
import io.netty.buffer.Unpooled
|
||||
import io.netty.channel.nio.NioEventLoopGroup
|
||||
import io.netty.channel.socket.nio.NioServerSocketChannel
|
||||
import io.netty.handler.codec.http.*
|
||||
import objects.Car
|
||||
import proto.car.RouteP
|
||||
import java.util.*
|
||||
import kotlin.concurrent.thread
|
||||
|
||||
/**
|
||||
* Created by user on 7/6/16.
|
||||
*/
|
||||
|
||||
//хардкод это плохо, но пока так...:)
|
||||
val carServerPort: Int = 7925
|
||||
val webServerPort: Int = 7926
|
||||
val handlerThreadsCount: Int = 100
|
||||
val getLocationUrl = "getLocation"
|
||||
val routeDoneUrl = "routeDone"
|
||||
val setRouteUrl = "route"
|
||||
val connectUrl = "connect"
|
||||
|
||||
fun main(args: Array<String>) {
|
||||
|
||||
println("car server started")
|
||||
val serverCarThread = thread {
|
||||
val bossGroup = NioEventLoopGroup(1)
|
||||
val workerGroup = NioEventLoopGroup()
|
||||
val b = ServerBootstrap()
|
||||
b.group(bossGroup, workerGroup)
|
||||
.channel(NioServerSocketChannel().javaClass)
|
||||
.childHandler(car.server.Initializer(handlerThreadsCount))
|
||||
|
||||
try {
|
||||
val channel = b.bind(carServerPort).sync().channel()
|
||||
channel.closeFuture().sync()
|
||||
} catch (e: InterruptedException) {
|
||||
println("car server stoped!")
|
||||
e.printStackTrace()
|
||||
} finally {
|
||||
bossGroup.shutdownGracefully()
|
||||
workerGroup.shutdownGracefully()
|
||||
}
|
||||
}
|
||||
|
||||
// val serverWebThread = thread {
|
||||
// val bossGroup = NioEventLoopGroup(1)
|
||||
// val workerGroup = NioEventLoopGroup()
|
||||
// val b = ServerBootstrap()
|
||||
// b.group(bossGroup, workerGroup)
|
||||
// .channel(NioServerSocketChannel().javaClass)
|
||||
// .childHandler(web.server.Initializer(handlerThreadsCount))
|
||||
//
|
||||
// try {
|
||||
// val channel = b.bind(webServerPort).sync().channel()
|
||||
// channel.closeFuture().sync()
|
||||
// } catch (e: InterruptedException) {
|
||||
// println("web server stoped!")
|
||||
// } finally {
|
||||
// bossGroup.shutdownGracefully()
|
||||
// workerGroup.shutdownGracefully()
|
||||
// }
|
||||
// }
|
||||
val serverWebThread = thread {
|
||||
val environment = objects.Environment.instance
|
||||
val scanner = Scanner(System.`in`)
|
||||
while (scanner.hasNext()) {
|
||||
val s = scanner.nextLine()
|
||||
if (s.equals("cars", true)) {
|
||||
synchronized(environment, {
|
||||
println(environment.map.values)
|
||||
})
|
||||
} else if (s.equals("pathto", true)) {
|
||||
println("print datas. format: [string id] [double distance] [double angle]")
|
||||
val data = scanner.nextLine()
|
||||
val datas = data.split(" ")
|
||||
try {
|
||||
val id = datas[0]
|
||||
val distance = datas[1].toDouble()
|
||||
val angle = datas[2].toDouble()
|
||||
|
||||
val car: Car? =
|
||||
synchronized(environment, {
|
||||
environment.map.get(id)
|
||||
})
|
||||
if (car != null) {
|
||||
val wayPoint = RouteP.Route.WayPoint.newBuilder().setDistance(distance).setAngleDelta(angle).build()
|
||||
val route = RouteP.Route.newBuilder().addWayPoints(wayPoint).build()
|
||||
val request = DefaultFullHttpRequest(HttpVersion.HTTP_1_1, HttpMethod.POST, setRouteUrl, Unpooled.copiedBuffer(route.toByteArray()))
|
||||
request.headers().set(HttpHeaderNames.HOST, car.host)
|
||||
request.headers().set(HttpHeaderNames.CONNECTION, HttpHeaderValues.CLOSE)
|
||||
request.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, request.content().readableBytes())
|
||||
Client.sendRequest(request, car.host, car.port, id)
|
||||
}
|
||||
|
||||
} catch (e: Exception) {
|
||||
e.printStackTrace()
|
||||
println("incorrect format")
|
||||
}
|
||||
} else if (s.equals("refloc", true)) {
|
||||
val cars = synchronized(environment, {environment.map.values})
|
||||
for (car in cars) {
|
||||
val request = DefaultFullHttpRequest(HttpVersion.HTTP_1_1, HttpMethod.POST, getLocationUrl, Unpooled.EMPTY_BUFFER)
|
||||
request.headers().set(HttpHeaderNames.HOST, car.host)
|
||||
request.headers().set(HttpHeaderNames.CONNECTION, HttpHeaderValues.CLOSE)
|
||||
request.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, request.content().readableBytes())
|
||||
Client.sendRequest(request, car.host, car.port, car.id)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,40 @@
|
||||
package car.client
|
||||
|
||||
import io.netty.bootstrap.Bootstrap
|
||||
import io.netty.channel.ChannelFutureListener
|
||||
import io.netty.channel.ChannelInitializer
|
||||
import io.netty.channel.nio.NioEventLoopGroup
|
||||
import io.netty.channel.socket.SocketChannel
|
||||
import io.netty.channel.socket.nio.NioSocketChannel
|
||||
import io.netty.handler.codec.http.HttpRequest
|
||||
import io.netty.util.AttributeKey
|
||||
|
||||
/**
|
||||
* Created by user on 7/8/16.
|
||||
*/
|
||||
object Client {
|
||||
|
||||
val bootstrap: Bootstrap = makeBootstrap()
|
||||
|
||||
private fun makeBootstrap(): Bootstrap {
|
||||
val group = NioEventLoopGroup();
|
||||
val b = Bootstrap();
|
||||
b.group(group).channel(NioSocketChannel().javaClass).handler(ClientInitializer())
|
||||
.attr(AttributeKey.newInstance<String>("url"), "")
|
||||
.attr(AttributeKey.newInstance<String>("uid"), "")
|
||||
return b
|
||||
}
|
||||
|
||||
fun sendRequest(request: HttpRequest, host: String, port: Int, carUid: String) {
|
||||
try {
|
||||
bootstrap.attr(AttributeKey.valueOf<String>("url"), request.uri())
|
||||
bootstrap.attr(AttributeKey.valueOf<String>("uid"), carUid)
|
||||
val ch = bootstrap.connect(host, port).sync().channel()
|
||||
ch.writeAndFlush(request)
|
||||
ch.closeFuture().sync()//wait for answer
|
||||
} catch (e: InterruptedException) {
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,60 @@
|
||||
package car.client
|
||||
|
||||
import com.google.protobuf.InvalidProtocolBufferException
|
||||
import getLocationUrl
|
||||
import io.netty.channel.ChannelHandlerContext
|
||||
import io.netty.channel.SimpleChannelInboundHandler
|
||||
import io.netty.handler.codec.http.HttpContent
|
||||
import io.netty.util.AttributeKey
|
||||
import objects.Environment
|
||||
import proto.car.LocationP
|
||||
import setRouteUrl
|
||||
import java.util.*
|
||||
|
||||
/**
|
||||
* Created by user on 7/8/16.
|
||||
*/
|
||||
class ClientHandler : SimpleChannelInboundHandler<Any> {
|
||||
|
||||
constructor()
|
||||
|
||||
var contentBytes: ByteArray = ByteArray(0);
|
||||
|
||||
override fun channelReadComplete(ctx: ChannelHandlerContext) {
|
||||
val url = ctx.channel().attr(AttributeKey.valueOf<String>("url")).get()
|
||||
val carUid = ctx.channel().attr(AttributeKey.valueOf<String>("uid")).get()
|
||||
val environment = Environment.instance
|
||||
when (url) {
|
||||
setRouteUrl -> {
|
||||
|
||||
}
|
||||
getLocationUrl -> {
|
||||
|
||||
try {
|
||||
val data = LocationP.Location.parseFrom(contentBytes)
|
||||
synchronized(environment, {
|
||||
val car = environment.map.get(carUid)
|
||||
if (car != null) {
|
||||
car.x = data.x
|
||||
car.y = data.y
|
||||
}
|
||||
})
|
||||
} catch (e: InvalidProtocolBufferException) {
|
||||
//todo error answer
|
||||
}
|
||||
}
|
||||
else -> {
|
||||
|
||||
}
|
||||
}
|
||||
ctx.close()
|
||||
}
|
||||
|
||||
override fun channelRead0(ctx: ChannelHandlerContext?, msg: Any?) {
|
||||
if (msg is HttpContent) {
|
||||
val contentsBytes = msg.content();
|
||||
contentBytes = ByteArray(contentsBytes.capacity())
|
||||
contentsBytes.readBytes(contentBytes)
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,19 @@
|
||||
package car.client
|
||||
|
||||
import io.netty.channel.ChannelInitializer
|
||||
import io.netty.channel.socket.SocketChannel
|
||||
import io.netty.handler.codec.http.HttpClientCodec
|
||||
|
||||
/**
|
||||
* Created by user on 7/8/16.
|
||||
*/
|
||||
class ClientInitializer : ChannelInitializer<SocketChannel> {
|
||||
|
||||
constructor()
|
||||
|
||||
override fun initChannel(ch: SocketChannel) {
|
||||
val p = ch.pipeline()
|
||||
p.addLast(HttpClientCodec())
|
||||
p.addLast(ClientHandler())
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,95 @@
|
||||
package car.server
|
||||
|
||||
import com.google.protobuf.InvalidProtocolBufferException
|
||||
import connectUrl
|
||||
import io.netty.buffer.Unpooled
|
||||
import io.netty.channel.ChannelFutureListener
|
||||
import io.netty.channel.ChannelHandlerContext
|
||||
import io.netty.channel.SimpleChannelInboundHandler
|
||||
import io.netty.handler.codec.http.*
|
||||
import objects.Car
|
||||
import objects.Environment
|
||||
import proto.car.ConnectP
|
||||
import proto.car.ConnectP.ConnectionRequest
|
||||
import proto.car.RouteDoneP.RouteDone
|
||||
import routeDoneUrl
|
||||
import java.util.*
|
||||
|
||||
/**
|
||||
* Created by user on 7/6/16.
|
||||
*/
|
||||
class Handler : SimpleChannelInboundHandler<Any>() {
|
||||
|
||||
var url: String = ""
|
||||
var contentBytes: ByteArray = ByteArray(0);
|
||||
|
||||
override fun channelReadComplete(ctx: ChannelHandlerContext) {
|
||||
|
||||
val environment = Environment.instance
|
||||
var success = true;
|
||||
|
||||
var answer:ByteArray = ByteArray(0)
|
||||
when (url) {
|
||||
connectUrl -> {
|
||||
var data: ConnectionRequest? = null
|
||||
try {
|
||||
data = ConnectionRequest.parseFrom(contentBytes)
|
||||
} catch (e: InvalidProtocolBufferException) {
|
||||
//todo error answer
|
||||
}
|
||||
if (data != null) {
|
||||
val uid = environment.connectCar(data.ip, data.port)
|
||||
answer = ConnectP.ConnectionResponse.newBuilder().setUid(uid).build().toByteArray()
|
||||
}
|
||||
}
|
||||
routeDoneUrl -> {
|
||||
var data: RouteDone? = null
|
||||
try {
|
||||
data = RouteDone.parseFrom(contentBytes)
|
||||
} catch (e: InvalidProtocolBufferException) {
|
||||
//todo error answer
|
||||
}
|
||||
if (data != null) {
|
||||
val id = data.uid
|
||||
synchronized(environment.map, {
|
||||
val car = environment.map.get(id)
|
||||
if (car != null) {
|
||||
car.free = true
|
||||
} else {
|
||||
success = false
|
||||
}
|
||||
})
|
||||
}
|
||||
}
|
||||
else -> {
|
||||
success = false
|
||||
//todo unsup operation. error answer
|
||||
}
|
||||
}
|
||||
|
||||
val response = DefaultFullHttpResponse(HttpVersion.HTTP_1_1, if (success) HttpResponseStatus.OK else HttpResponseStatus.NOT_FOUND, Unpooled.copiedBuffer(answer))
|
||||
response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
|
||||
ctx.writeAndFlush(response).addListener(ChannelFutureListener.CLOSE);
|
||||
}
|
||||
|
||||
override fun channelRead0(ctx: ChannelHandlerContext, msg: Any) {
|
||||
if (msg is HttpRequest) {
|
||||
this.url = msg.uri()
|
||||
}
|
||||
|
||||
if (msg is DefaultHttpContent) {
|
||||
val contentsBytes = msg.content();
|
||||
contentBytes = ByteArray(contentsBytes.capacity())
|
||||
contentsBytes.readBytes(contentBytes)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
override fun exceptionCaught(ctx: ChannelHandlerContext?, cause: Throwable?) {
|
||||
println("exception")
|
||||
cause?.printStackTrace()
|
||||
if (ctx != null) {
|
||||
ctx.close()
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,31 @@
|
||||
package car.server
|
||||
|
||||
import io.netty.channel.ChannelInitializer
|
||||
import io.netty.channel.ChannelPipeline
|
||||
import io.netty.channel.socket.SocketChannel
|
||||
import io.netty.handler.codec.http.HttpRequestDecoder
|
||||
import io.netty.handler.codec.http.HttpResponseEncoder
|
||||
import io.netty.handler.codec.http.HttpServerCodec
|
||||
import io.netty.util.concurrent.DefaultEventExecutorGroup
|
||||
import io.netty.util.concurrent.EventExecutorGroup
|
||||
|
||||
/**
|
||||
* Created by user on 7/6/16.
|
||||
*/
|
||||
class Initializer : ChannelInitializer<SocketChannel> {
|
||||
|
||||
val group: EventExecutorGroup;
|
||||
|
||||
constructor(handlerThreadCount: Int) {
|
||||
this.group = DefaultEventExecutorGroup(handlerThreadCount)
|
||||
}
|
||||
|
||||
override fun initChannel(channel: SocketChannel) {
|
||||
val p: ChannelPipeline = channel.pipeline()
|
||||
|
||||
p.addLast(HttpServerCodec())
|
||||
// p.addLast(HttpRequestDecoder())
|
||||
// p.addLast(HttpResponseEncoder())
|
||||
p.addLast(group, Handler())
|
||||
}
|
||||
}
|
||||
@@ -1,21 +1,31 @@
|
||||
package objects
|
||||
|
||||
import car.client.Client
|
||||
|
||||
/**
|
||||
* Created by user on 7/7/16.
|
||||
*/
|
||||
class Car constructor(id: String, host: String, port: Int) {
|
||||
|
||||
private val id: String
|
||||
private val host: String
|
||||
private val port: Int
|
||||
val id: String
|
||||
val host: String
|
||||
val port: Int
|
||||
|
||||
var free:Boolean
|
||||
var free: Boolean
|
||||
|
||||
var x: Double
|
||||
var y: Double
|
||||
|
||||
init {
|
||||
this.id = id
|
||||
this.host = host
|
||||
this.port = port
|
||||
this.free = true
|
||||
x = 0.toDouble()
|
||||
y = 0.toDouble()
|
||||
}
|
||||
|
||||
override fun toString(): String {
|
||||
return "$id ; x:$x; y:$y"
|
||||
}
|
||||
}
|
||||
@@ -1,5 +1,7 @@
|
||||
package objects
|
||||
|
||||
import java.util.*
|
||||
|
||||
/**
|
||||
* Created by user on 7/7/16.
|
||||
*/
|
||||
@@ -16,5 +18,22 @@ class Environment private constructor() {
|
||||
map = mutableMapOf();
|
||||
}
|
||||
|
||||
@Synchronized
|
||||
fun connectCar(host:String, port:Int):String {
|
||||
//todo учетка памяти, тут машинки добавляются,но никогда не удаляются. Если включать и выключать одну и ту же машинку, то либо сервер зациклится, либо out of memory
|
||||
//todo в зависимости от того, что кончится раньше, память или айдишники:) Может сделать поток, который мониторит раз в N минут все машинки и дропает те, которые не активны более какого-то времени?
|
||||
var unique = false
|
||||
val random = Random()
|
||||
var stringUid = ""
|
||||
while (!unique) {
|
||||
stringUid = "id:" + random.nextInt(1000000)
|
||||
if (map.get(stringUid) == null) {
|
||||
unique = true;
|
||||
}
|
||||
}
|
||||
map.put(stringUid, Car(stringUid, host, port))
|
||||
return stringUid
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
@@ -1,44 +0,0 @@
|
||||
package server
|
||||
|
||||
import io.netty.bootstrap.ServerBootstrap
|
||||
import io.netty.channel.nio.NioEventLoopGroup
|
||||
import io.netty.channel.socket.nio.NioServerSocketChannel
|
||||
import io.netty.handler.logging.LogLevel
|
||||
import io.netty.handler.logging.LoggingHandler
|
||||
|
||||
/**
|
||||
* Created by user on 7/6/16.
|
||||
*/
|
||||
class Server : Runnable {
|
||||
|
||||
val port: Int;
|
||||
val handlerThreadsCount: Int;
|
||||
|
||||
constructor(port: Int, handlerThreadsCount: Int) {
|
||||
this.port = port
|
||||
this.handlerThreadsCount = handlerThreadsCount
|
||||
}
|
||||
|
||||
override fun run() {
|
||||
val bossGroup = NioEventLoopGroup(1)
|
||||
val workerGroup = NioEventLoopGroup()
|
||||
val b = ServerBootstrap()
|
||||
b.group(bossGroup, workerGroup)
|
||||
.channel(NioServerSocketChannel().javaClass)
|
||||
.handler(LoggingHandler(LogLevel.INFO))
|
||||
.childHandler(ServerInitializer(handlerThreadsCount))
|
||||
|
||||
try {
|
||||
val channel = b.bind(port).sync().channel()
|
||||
channel.closeFuture().sync()
|
||||
} catch (e: InterruptedException) {
|
||||
e.printStackTrace()
|
||||
//todo
|
||||
} finally {
|
||||
bossGroup.shutdownGracefully()
|
||||
workerGroup.shutdownGracefully()
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,45 @@
|
||||
package web.server
|
||||
|
||||
import connectUrl
|
||||
import getLocationUrl
|
||||
import io.netty.buffer.Unpooled
|
||||
import io.netty.channel.ChannelFutureListener
|
||||
import io.netty.channel.ChannelHandlerContext
|
||||
import io.netty.channel.SimpleChannelInboundHandler
|
||||
import io.netty.handler.codec.http.*
|
||||
import io.netty.util.CharsetUtil
|
||||
import objects.Environment
|
||||
import proto.car.ConnectP.ConnectionRequest
|
||||
import proto.car.RouteDoneP
|
||||
import proto.car.RouteDoneP.RouteDone
|
||||
import routeDoneUrl
|
||||
import setRouteUrl
|
||||
import java.nio.charset.Charset
|
||||
import java.text.SimpleDateFormat
|
||||
import java.util.*
|
||||
|
||||
/**
|
||||
* Created by user on 7/6/16.
|
||||
*/
|
||||
class Handler : SimpleChannelInboundHandler<Any>() {
|
||||
|
||||
var content: StringBuilder = StringBuilder()
|
||||
|
||||
override fun channelReadComplete(ctx: ChannelHandlerContext) {
|
||||
|
||||
content.setLength(0)
|
||||
}
|
||||
|
||||
override fun channelRead0(ctx: ChannelHandlerContext, msg: Any) {
|
||||
println(msg)
|
||||
}
|
||||
|
||||
|
||||
override fun exceptionCaught(ctx: ChannelHandlerContext?, cause: Throwable?) {
|
||||
println("exception")
|
||||
cause?.printStackTrace()
|
||||
if (ctx != null) {
|
||||
ctx.close()
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,17 +1,18 @@
|
||||
package server
|
||||
package web.server
|
||||
|
||||
import io.netty.channel.ChannelInitializer
|
||||
import io.netty.channel.ChannelPipeline
|
||||
import io.netty.channel.socket.SocketChannel
|
||||
import io.netty.handler.codec.http.HttpRequestDecoder
|
||||
import io.netty.handler.codec.http.HttpResponseEncoder
|
||||
import io.netty.handler.codec.http.HttpServerCodec
|
||||
import io.netty.util.concurrent.DefaultEventExecutorGroup
|
||||
import io.netty.util.concurrent.EventExecutorGroup
|
||||
|
||||
/**
|
||||
* Created by user on 7/6/16.
|
||||
*/
|
||||
class ServerInitializer : ChannelInitializer<SocketChannel> {
|
||||
class Initializer : ChannelInitializer<SocketChannel> {
|
||||
|
||||
val group: EventExecutorGroup;
|
||||
|
||||
@@ -21,8 +22,8 @@ class ServerInitializer : ChannelInitializer<SocketChannel> {
|
||||
|
||||
override fun initChannel(channel: SocketChannel) {
|
||||
val p: ChannelPipeline = channel.pipeline()
|
||||
p.addLast(HttpRequestDecoder())
|
||||
p.addLast(HttpResponseEncoder())
|
||||
p.addLast(group, ServerHandler())
|
||||
|
||||
p.addLast(HttpServerCodec())
|
||||
p.addLast(group, Handler())
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user