js server. added interaction with main server

car_srv/src/car.js

@@ -6,8 +6,8 @@ const fs = require("fs");
 const main = require("./main.js");
 const directionClass = main.protoConstructorControl.DirectionRequest;
 
-function Car(uid) {
-    this.uid = uid;
+function Car() {
+    this.uid = "";
     this.x = 0;
     this.y = 0;
     this.angle = 0;
@@ -47,7 +47,7 @@ function resume() {
 
 function move(delta) {
     var deltaSeconds = delta / 1000;
-    // console.log("x=" + this.x + " y=" + this.y + " angle=" + this.angle);
+    console.log("x=" + this.x + " y=" + this.y + " angle=" + this.angle);
     if (this.paused) {
         return;
     }
@@ -107,8 +107,8 @@ function setDirection(directionByte, callBack) {
     fs.appendFile(main.transportFilePath, directionByte, "binary", function (error) {
         var code = 0;
         var errorMsg = "";
-        console.log(error);
         if (error) {
+            console.log(error);
             errorMsg = error;
         }
         if (callBack != null) {

car_srv/src/client.js

@@ -0,0 +1,33 @@
+/**
+ * Created by user on 7/22/16.
+ */
+const main = require("./main.js");
+const http = require("http");
+function sendData(data, url, callBack) {
+    var options = {
+        hostname: main.serverAddress,
+        port: main.serverPort,
+        path: url,
+        method: 'POST',
+        headers: {
+            'Content-Type': 'application/x-www-form-urlencoded',
+            'Content-Length': Buffer.byteLength(data)
+        }
+    };
+    var req = http.request(options, function (response) {
+        var answerData = [];
+        response.on("data", function (datas) {
+            for (var i = 0; i < datas.length; i++) {
+                answerData.push(datas[i]);
+            }
+        });
+        response.on("end", function () {
+            callBack(answerData)
+        });
+    });
+    //todo errors
+    req.write(data);
+    req.end();
+}
+
+exports.sendData = sendData;

car_srv/src/handlers/setRouteHandler.js

@@ -5,9 +5,26 @@
 const main = require("./../main.js");
 
 function handle(httpContent, response) {
-    var routeClass = main.protoConstructorRoute.RouteRequest;
-    var routeObject = routeClass.decode(httpContent);
-    console.log(routeObject)//todo сделать
+    const routeClass = main.protoConstructorRoute.RouteRequest;
+    const routeObject = routeClass.decode(httpContent);
+    const wayPoints = routeObject.way_points;
+    main.thisCar.setPath(wayPoints);
+
+    var routeResponse = new main.protoConstructorRoute.RouteResponse({
+        "code": 0,
+        "errorMsg": ""
+    });
+
+    var byteBuffer = routeResponse.encode();
+    var byteArray = [];
+    for (var i = 0; i < byteBuffer.limit; i++) {
+        byteArray.push(byteBuffer.buffer[i]);
+    }
+
+    response.writeHead(200, {"Content-Type": "text/plain", "Content-length": byteArray.length});
+    response.write(new Buffer(byteArray));
+    response.end();
+
 }
 
 exports.handler = handle;

car_srv/src/main.js

@@ -8,6 +8,7 @@ const commander = require("commander");
 const protoBuf = require("protobufjs");
 const fs = require("fs");
 const udev = require("udev");
+const client = require("./client.js");
 
 //parsing command line args
 commander
@@ -33,18 +34,30 @@ if (commander.flash) {
 const builderCarkot = protoBuf.loadProtoFile((commander.protopath ? commander.protopath : "./proto/") + "carkot.proto");
 const builderControl = protoBuf.loadProtoFile((commander.protopath ? commander.protopath : "./proto/" + "direction.proto"));
 const builderRoute = protoBuf.loadProtoFile((commander.protopath ? commander.protopath : "./proto/" + "route.proto"));
+const builderConnect = protoBuf.loadProtoFile((commander.protopath ? commander.protopath : "./proto/" + "connect.proto"));
 
 var executeShell = "./st-flash";
 exports.protoConstructorCarkot = builderCarkot.build("carkot");
 exports.protoConstructorControl = builderControl.build("carkot");
 exports.protoConstructorRoute = builderRoute.build("carkot");
+exports.protoConstructorConnect = builderConnect.build("carkot");
 exports.commandPrefix = executeShell + " write";
 exports.binFilePath = (commander.flash ? commander.flash : "./") + "flash.bin";
-exports.transportFilePath = "";
+exports.transportFilePath = "/dev/ttyACM0";//todo плохо:)
+exports.serverAddress = "127.0.0.1";
+exports.serverPort = 7925;
 
 //init this car
-var uid = "";//todo connect to srv
-var car = require("./Car").getCar(uid);
+var connectRequest = new exports.protoConstructorConnect.ConnectionRequest({
+    // "ip": "192.168.43.135",//todo its ip of this server in local wifi network. hardcore is bad here:)
+    "ip": "127.0.0.1",//todo for tests on local mashine
+    "port": 8888
+});
+client.sendData(connectRequest.encode().buffer, "/connect", function (data) {
+    var connectionResponse = exports.protoConstructorConnect.ConnectionResponse.decode(data);
+    exports.thisCar.uid = connectionResponse.uid
+});
+var car = require("./Car").getCar();
 exports.thisCar = car;
 
 //handlers for client requests
@@ -52,7 +65,7 @@ var handle = {};
 handle["/loadBin"] = require("./handlers/loadBinHandler").handler;
 handle["/control"] = require("./handlers/controlHandler").handler;
 handle["/route"] = require("./handlers/setRouteHandler").handler;
-exports.transportFilePath = "/dev/ttyACM0";
+
 //add event handlers from udev monitor (add device and remove device)
 const monitor = udev.monitor();
 monitor.on('add', function (device) {

car_srv/src/server.js

@@ -16,6 +16,8 @@ function start(route, handlers) {
         });
 
         request.on("end", function () {
+            console.log(pathname);
+            console.log(httpContent);
             route(handlers, pathname, httpContent, response);
         });
     }