add sending debug info to web client

proto/protofiles_sources/server_client/client_debug.proto

@@ -1,7 +1,7 @@
 syntax = "proto3";
 package carkot;
 
-message Response {
+message DebugResponse {
     repeated int32 A = 1 [packed=true];
     repeated int32 B = 2 [packed=true];
     repeated int32 C = 3 [packed=true];

server/src/main/java/algorithm/RoomModel.kt

@@ -1,14 +1,21 @@
 package algorithm
+
 import Waypoints
 import algorithm.geometry.Line
+import DebugResponse
+import objects.Car
 
 object RoomModel {
 
-    val point = arrayListOf<Pair<Double, Double>>()
     val lines = arrayListOf<Line>()
 
+    val linesModel = listOf(Line(0.0, 1.0, -300.0),
+            Line(1.0, 0.0, 150.0),
+            Line(0.0, 1.0, 20.0),
+            Line(1.0, 0.0, -200.0))
 
-//  DEBUG BELOW
+
+    //  DEBUG BELOW
     val rng = java.util.Random(42)
     var iter = 0
     var currentPosition_x = 0
@@ -37,4 +44,31 @@ object RoomModel {
         iter++
         return Waypoints.BuilderWaypoints(begin_x, begin_y, end_x, end_y, false).build()
     }
+
+    fun getDebugInfo(): DebugResponse {
+
+        val aRef = IntArray(linesModel.size)
+        val bRef = IntArray(linesModel.size)
+        val cRef = IntArray(linesModel.size)
+        val a = IntArray(lines.size)
+        val b = IntArray(lines.size)
+        val c = IntArray(lines.size)
+
+        val alg = DebugClInterface.algorithmImpl
+        val car = if (alg == null) Car(0, "", 0) else alg.thisCar
+        val mult = 1000000
+        linesModel.forEachIndexed { idx, line ->
+            aRef[idx] = (line.A * mult).toInt()
+            bRef[idx] = (line.B * mult).toInt()
+            cRef[idx] = (line.C * mult).toInt()
+        }
+        lines.forEachIndexed { idx, line ->
+            a[idx] = (line.A * mult).toInt()
+            b[idx] = (line.B * mult).toInt()
+            c[idx] = (line.C * mult).toInt()
+        }
+
+        val resultBuilder = DebugResponse.BuilderDebugResponse(a, b, c, car.x, car.y, car.angle, aRef, bRef, cRef)
+        return resultBuilder.build()
+    }
 }

server/src/main/java/web/server/Constants.kt

@@ -4,4 +4,5 @@ object Constants {
     val changeModeURL = "/change-mode"
     val getWaypointsURL = "/get-waypoints"
     val directionOrderURL = "/direction-order"
+    val getDebug = "/get-debug"
 }

server/src/main/java/web/server/Handler.kt

@@ -8,6 +8,7 @@ import io.netty.util.CharsetUtil
 import GenericResponse
 import CodedOutputStream
 import CodedInputStream
+import algorithm.RoomModel
 import java.util.*
 
 class Handler : SimpleChannelInboundHandler<Any>() {
@@ -96,6 +97,23 @@ class Handler : SimpleChannelInboundHandler<Any>() {
                 response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Type, Content-Length");
                 ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE)
             }
+            Constants.getDebug -> {
+
+                val msg = RoomModel.getDebugInfo()
+                val outs = CodedOutputStream(ByteArray(msg.getSizeNoTag()))
+                msg.writeTo(outs)
+
+                val response = DefaultFullHttpResponse(
+                        HttpVersion.HTTP_1_1,
+                        HttpResponseStatus.OK,
+                        Unpooled.copiedBuffer(Base64.getEncoder().encodeToString(outs.buffer), CharsetUtil.UTF_8)
+                )
+                response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
+                response.headers().add("Access-Control-Allow-Origin", "*");
+                response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS");
+                response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Type, Content-Length");
+                ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE)
+            }
         }
     }