simple refactoring

car_srv/kotlinSrv/src/Car.kt

@@ -2,14 +2,15 @@ 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) {
-
-    val velocityMove = 0.3278
-    val velocityRotation = 12.3
-
     //position
     var x: Double
     var y: Double
@@ -32,15 +33,15 @@ class Car constructor(val routeExecutor: RouteExecutor, val controller: Control)
         val deltaSeconds = delta.toDouble() / 1000
         when (moveDirection) {
             MoveDirection.FORWARD -> {
-                this.x += this.velocityMove * deltaSeconds * Math.cos(this.angle * Math.PI / 180);
+                this.x += MOVE_VELOCITY * deltaSeconds * Math.cos(this.angle * Math.PI / 180);
-                this.y += this.velocityMove * deltaSeconds * Math.sin(this.angle * Math.PI / 180);
+                this.y += MOVE_VELOCITY * deltaSeconds * Math.sin(this.angle * Math.PI / 180);
             }
             MoveDirection.BACKWARD -> {
-                this.x -= this.velocityMove * deltaSeconds * Math.cos(this.angle * Math.PI / 180);
+                this.x -= MOVE_VELOCITY * deltaSeconds * Math.cos(this.angle * Math.PI / 180);
-                this.y -= this.velocityMove * deltaSeconds * Math.sin(this.angle * Math.PI / 180);
+                this.y -= MOVE_VELOCITY * deltaSeconds * Math.sin(this.angle * Math.PI / 180);
             }
-            MoveDirection.LEFT -> this.angle += velocityRotation * deltaSeconds
+            MoveDirection.LEFT -> this.angle += ROTATION_VELOCITY * deltaSeconds
-            MoveDirection.RIGHT -> this.angle -= velocityRotation * deltaSeconds
+            MoveDirection.RIGHT -> this.angle -= ROTATION_VELOCITY * deltaSeconds
             else -> {
 
             }
@@ -64,9 +65,9 @@ class Car constructor(val routeExecutor: RouteExecutor, val controller: Control)
         }
         if (moveDirection != MoveDirection.STOP) {
             if (moveDirection == MoveDirection.FORWARD || moveDirection == MoveDirection.BACKWARD) {
-                controller.delay(getTimeForMoving(value, velocityMove), callBack)
+                controller.delay(getTimeForMoving(value, MOVE_VELOCITY), callBack)
             } else {
-                controller.delay(getTimeForMoving(value, velocityRotation), callBack)
+                controller.delay(getTimeForMoving(value, ROTATION_VELOCITY), callBack)
             }
         }
     }

car_srv/kotlinSrv/src/McTransport.kt

@@ -9,14 +9,16 @@ class McTransport() {
     private val resultBytes = arrayListOf<Byte>()
     private var callback: (bytes: ByteArray) -> Unit = {}
 
-    fun writeToFile(bytes: ByteArray) {
+    fun sendBytes(bytes: ByteArray) {
+        val bytesHeader = encodeInt(bytes.size)
+        println("write: " + bytesHeader)
+        writeStream.write(js("new Buffer(bytesHeader)"))
         println("write: " + bytes)
-        val bytesTemp = bytes
+        writeStream.write(js("new Buffer(bytes)"))
-        writeStream.write(js("new Buffer(bytesTemp)"))
     }
 
-    fun writeToFile(byte: Byte) {
+    fun sendBytes(byte: Byte) {
-        writeToFile(ByteArray(1, { idx -> byte }))
+        sendBytes(ByteArray(1, { idx -> byte }))
     }
 
     fun initStreams(pathToFile: String) {
@@ -56,20 +58,29 @@ class McTransport() {
             //need first ${protoHeaderLength} bytes - header
             return -1
         }
-        var res = 0
+        return decodeInt(resultBytes.toByteArray())
-        for (i in 0..protoHeaderLength - 1) {
+    }
-            val curByte = resultBytes.get(i)
+
-            val curBytePositive: Int = if (curByte < 0) {
+    private fun encodeInt(i: Int): ByteArray {
-                256 + curByte
+        val result = ByteArray(4)
-            } else {
+        result[0] = i.shr(24).toByte()
-                curByte.toInt()
+        result[1] = i.shr(16).toByte()
-            }
+        result[2] = i.shr(8).toByte()
-            res += curBytePositive * Math.pow(2.0, 24.0 - i * 8).toInt()
+        result[3] = i.toByte()
-        }
+
-        return res
+        return result
+    }
+
+    private fun decodeInt(bytes: ByteArray): Int {
+        var result = 0
+        result += bytes[3]
+        result += bytes[2].toInt().shl(8)
+        result += bytes[1].toInt().shl(16)
+        result += bytes[0].toInt().shl(24)
+        return result
     }
 
 }
 
-val protoHeaderLength: Int = 4
+private val protoHeaderLength: Int = 4
 val mcTransport = McTransport()

car_srv/kotlinSrv/src/MicroController.kt

@@ -32,7 +32,7 @@ class MicroController private constructor() {
 
     fun start() {
 
-        connectToServer(config.getCarIp(), serverPort)
+        connectToServer(config.getCarIp(), carServerPort)
 
         mcTransport.setCallBack { bytes ->
             println("read: " + bytes.toString())
@@ -96,7 +96,7 @@ class MicroController private constructor() {
     }
 
     fun connectToServer(thisIp: String, thisPort: Int) {
-        val requestObject = ConnectionRequest.BuilderConnectionRequest(config.getCarIp().split(".").map { str -> parseInt(str, 10) }.toIntArray(), serverPort).build()
+        val requestObject = ConnectionRequest.BuilderConnectionRequest(config.getCarIp().split(".").map { str -> parseInt(str, 10) }.toIntArray(), carServerPort).build()
         val bytes = ByteArray(requestObject.getSizeNoTag())
         requestObject.writeTo(CodedOutputStream(bytes))
         net.sendRequest(js("new Buffer(bytes)"), "/connect", { resultData ->

car_srv/kotlinSrv/src/Udev.kt

@@ -30,7 +30,9 @@ class Udev {
 
     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"
+        return (device.ID_VENDOR_ID == microController.vendorID)
+                && (device.ID_MODEL_ID == microController.modelID)
+                && (device.SUBSYSTEM == "tty")
     }
 
     fun disconnectDevice() {

car_srv/kotlinSrv/src/carControl/ControlImpl.kt

@@ -14,27 +14,27 @@ class ControlImpl : Control {
 
     override fun moveCarLeft() {
         println("move left")
-        mcTransport.writeToFile(4)
+        mcTransport.sendBytes(4)
     }
 
     override fun moveCarRight() {
         println("move rigth")
-        mcTransport.writeToFile(3)
+        mcTransport.sendBytes(3)
     }
 
     override fun moveCarForward() {
         println("move forward")
-        mcTransport.writeToFile(1)
+        mcTransport.sendBytes(1)
     }
 
     override fun moveCarBackward() {
         println("move backward")
-        mcTransport.writeToFile(2)
+        mcTransport.sendBytes(2)
     }
 
     override fun stopCar() {
         println("stopped")
-        mcTransport.writeToFile(0)
+        mcTransport.sendBytes(0)
     }
 
     override fun delay(ms: Int, callBack: () -> Unit) {

car_srv/kotlinSrv/src/carControl/RouteExecutorToUsb.kt

@@ -10,14 +10,12 @@ class RouteExecutorToUsb : RouteExecutor {
 
     override fun executeRoute(route: RouteRequest) {
         println("Execute Route:")
-        val size = encodeInt(route.getSizeNoTag())
         val routeBytes = encodeProtoBuf(route)
 
         mcTransport.setCallBack { bytes ->
-            println("Read $bytes; decoded: ${decodeInt(bytes)}")
+            println("Read $bytes;")
         }
 
-        mcTransport.writeToFile(size)
+        mcTransport.sendBytes(routeBytes)
-        mcTransport.writeToFile(routeBytes)
     }
 }

car_srv/kotlinSrv/src/net/server/handlers/flash/LoadBin.kt

@@ -26,7 +26,7 @@ class LoadBin : AbstractHandler {
         val message = fromServerObjectBuilder.build()
         message.mergeFrom(CodedInputStream(data))
         val responseMessage = toServerObjectBuilder.build()
-        mcTransport.writeToFile(message.data)
+        mcTransport.sendBytes(message.data)
         val stFlashCommand = "./st-flash write ./flash.bin " + "0x08000000"
         exec(stFlashCommand, { err, stdOutRes, stdErrRes ->
             val resultCode = if (err != null) 15 else 0

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

@@ -1,9 +1,11 @@
 package net.server.handlers.main
 
-import net.server.handlers.AbstractHandler
 import CodedInputStream
+import MicroController
+import RouteRequest
+import RouteResponse
 import encodeProtoBuf
-import mcTransport
+import net.server.handlers.AbstractHandler
 
 /**
  * Created by user on 7/28/16.