From 6c641de854f0c0234e6ef34257aa98d3ea6cffd4 Mon Sep 17 00:00:00 2001
From: MaximZaitsev <AnterKan1@gmail.com>
Date: Fri, 26 Aug 2016 12:08:15 +0300
Subject: [PATCH] add param for select test room

---
 car_srv/kotlinSrv/src/Main.kt      |   4 ++
 car_srv/kotlinSrv/src/Test.kt      |   4 +-
 car_srv/kotlinSrv/src/room/Room.kt | 109 ++++++++++++++++-------------
 3 files changed, 65 insertions(+), 52 deletions(-)

diff --git a/car_srv/kotlinSrv/src/Main.kt b/car_srv/kotlinSrv/src/Main.kt
index 55dedcd738a..21e436a94cf 100644
--- a/car_srv/kotlinSrv/src/Main.kt
+++ b/car_srv/kotlinSrv/src/Main.kt
@@ -9,6 +9,7 @@ import net.server.handlers.main.GetSonarData
 import net.server.handlers.main.SetRoute
 import net.server.handlers.main.SetRouteMetric
 import net.server.handlers.rc.Control
+import room.Room
 
 val carServerPort: Int = 8888
 val mainServerPort = 7925
@@ -28,6 +29,9 @@ fun main(args: Array<String>) {
         when (arg) {
             "-t" -> runTests = true
             "-e" -> runAsEmulator = true
+            "-tr1" -> Room.walls = Room.testRoom1()
+            "-tr2" -> Room.walls = Room.testRoom2()
+            "-tr3" -> Room.walls = Room.testRoom3()
         }
     }
     val carController =
diff --git a/car_srv/kotlinSrv/src/Test.kt b/car_srv/kotlinSrv/src/Test.kt
index 6ffa3ce9d8b..33f4268ab7d 100644
--- a/car_srv/kotlinSrv/src/Test.kt
+++ b/car_srv/kotlinSrv/src/Test.kt
@@ -13,8 +13,8 @@ private fun testCarEmulator() {
         sonarResponse.mergeFrom(CodedInputStream(bytes))
         val dist0 = sonarResponse.distances[0]
         val dist90 = sonarResponse.distances[1]
-        eq(dist0.toDouble(), Math.abs(Room.rightLine.C / Room.rightLine.A), "check angle 0", 2.5)
-        eq(dist90.toDouble(), Room.bottomLine.C / Room.bottomLine.B, "check angle 90", 2.5)
+        eq(dist0.toDouble(), 200.0, "check angle 0", 2.5)
+        eq(dist90.toDouble(), 20.0, "check angle 90", 2.5)
     })
 
     println("--------------------")
diff --git a/car_srv/kotlinSrv/src/room/Room.kt b/car_srv/kotlinSrv/src/room/Room.kt
index f64e78fc697..9570225b77c 100644
--- a/car_srv/kotlinSrv/src/room/Room.kt
+++ b/car_srv/kotlinSrv/src/room/Room.kt
@@ -5,6 +5,8 @@ import geometry.Line
 object Room {
 
 
+    var walls = testRoom1()
+
     /*
     _________
     |        |
@@ -13,61 +15,68 @@ object Room {
 
      */
 
-    val upLine = Line(0.0, 1.0, -300.0)
-    val leftLine = Line(1.0, 0.0, 150.0)
-    val bottomLine = Line(0.0, 1.0, 20.0)
-    val rightLine = Line(1.0, 0.0, -200.0)
-
-    val walls = listOf<Wall>(Wall(upLine, 200, -150, 300, 300),
-            Wall(leftLine, -150, -150, 300, -20),
-            Wall(bottomLine, -150, 200, -20, -20),
-            Wall(rightLine, 200, 200, -20, 300)
-    )
-
-
-    /*
-    ________
-    |       |
-    |    ___|
-    |___|
-
-    */
-//    val upLine = Line(0.0, 1.0, -300.0)
-//    val leftLine = Line(1.0, 0.0, 150.0)
-//    val bottomLine = Line(0.0, 1.0, 20.0)
-//    val rightLine = Line(1.0, 0.0, -200.0)
+    fun testRoom1(): List<Wall> {
+        val upLine = Line(0.0, 1.0, -300.0)
+        val leftLine = Line(1.0, 0.0, 150.0)
+        val bottomLine = Line(0.0, 1.0, 20.0)
+        val rightLine = Line(1.0, 0.0, -200.0)
 //
-//    val bottomLine2 = Line(0.0, 1.0, -100.0)
-//    val rightLine2 = Line(1.0, 0.0, -300.0)
-//
-//    val walls = listOf<Wall>(Wall(upLine, 300, -150, 300, 300),
-//            Wall(leftLine, -150, -150, 300, -20),
-//            Wall(bottomLine, -150, 200, -20, -20),
-//            Wall(rightLine, 200, 200, -20, 100),
-//            Wall(bottomLine2, 200, 300, 100, 100),
-//            Wall(rightLine2, 300, 300, 100, 300)
-//    )
+        val walls = listOf<Wall>(Wall(upLine, 200, -150, 300, 300),
+                Wall(leftLine, -150, -150, 300, -20),
+                Wall(bottomLine, -150, 200, -20, -20),
+                Wall(rightLine, 200, 200, -20, 300)
+        )
+        return walls
+    }
 
-    /*
+    fun testRoom2(): List<Wall> {
+        /*
+        ________
+        |       |
+        |    ___|
+        |___|
 
-    _______
-    |     |
-    |____/
+        */
+        val upLine = Line(0.0, 1.0, -300.0)
+        val leftLine = Line(1.0, 0.0, 150.0)
+        val bottomLine = Line(0.0, 1.0, 20.0)
+        val rightLine = Line(1.0, 0.0, -200.0)
+
+        val bottomLine2 = Line(0.0, 1.0, -100.0)
+        val rightLine2 = Line(1.0, 0.0, -300.0)
+
+        val walls = listOf<Wall>(Wall(upLine, 300, -150, 300, 300),
+                Wall(leftLine, -150, -150, 300, -20),
+                Wall(bottomLine, -150, 200, -20, -20),
+                Wall(rightLine, 200, 200, -20, 100),
+                Wall(bottomLine2, 200, 300, 100, 100),
+                Wall(rightLine2, 300, 300, 100, 300)
+        )
+        return walls
+    }
 
 
-     */
+    fun testRoom3(): List<Wall> {
+        /*
+        _______
+        |     |
+        |____/
 
-//    val upLine = Line(0.0, 1.0, -300.0)
-//    val leftLine = Line(1.0, 0.0, 150.0)
-//    val bottomLine = Line(0.0, 1.0, 20.0)
-//    val rightLine = Line(-1.2, 1.0, 140.0)
-//    val rightLine2 = Line(1.0, 1.0, -350.0)
-//
-//    val walls = listOf<Wall>(Wall(upLine, 200, -150, 300, 300),
-//            Wall(leftLine, -150, -150, 300, -20),
-//            Wall(bottomLine, -150, 100, -20, -20),
-//            Wall(rightLine, 100, 200, -20, 100),
-//            Wall(rightLine2, 200, 200, 100, 300)
-//    )
+
+         */
+        val upLine = Line(0.0, 1.0, -300.0)
+        val leftLine = Line(1.0, 0.0, 150.0)
+        val bottomLine = Line(0.0, 1.0, 20.0)
+        val rightLine = Line(-1.2, 1.0, 140.0)
+        val rightLine2 = Line(1.0, 1.0, -350.0)
+
+        val walls = listOf<Wall>(Wall(upLine, 200, -150, 300, 300),
+                Wall(leftLine, -150, -150, 300, -20),
+                Wall(bottomLine, -150, 100, -20, -20),
+                Wall(rightLine, 100, 200, -20, 100),
+                Wall(rightLine2, 200, 200, 100, 300)
+        )
+        return walls
+    }
 
 }
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