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make sending type message before protobuf request message

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This commit is contained in:
MaximZaitsev
2016-08-19 15:01:37 +03:00
parent b1b41ef511
commit 994bf0e146
11 changed files with 118 additions and 118 deletions
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car_srv/kotlinSrv/src/JSImport.kt
+49
View File
@@ -1,2 +1,51 @@
@native
fun require(name: String): dynamic = noImpl
fun <T> encodeProtoBuf(protoMessage: T): ByteArray {
val routeBytes: ByteArray
if (protoMessage is LocationResponse) {
val protoSize = protoMessage.getSizeNoTag()
routeBytes = ByteArray(protoSize)
val codedOutput = CodedOutputStream(routeBytes)
protoMessage.writeTo(codedOutput)
} else if (protoMessage is UploadResult) {
val protoSize = protoMessage.getSizeNoTag()
routeBytes = ByteArray(protoSize)
val codedOutput = CodedOutputStream(routeBytes)
protoMessage.writeTo(codedOutput)
} else if (protoMessage is DebugResponseMemoryStats) {
val protoSize = protoMessage.getSizeNoTag()
routeBytes = ByteArray(protoSize)
val codedOutput = CodedOutputStream(routeBytes)
protoMessage.writeTo(codedOutput)
} else if (protoMessage is DirectionResponse) {
val protoSize = protoMessage.getSizeNoTag()
routeBytes = ByteArray(protoSize)
val codedOutput = CodedOutputStream(routeBytes)
protoMessage.writeTo(codedOutput)
} else if (protoMessage is RouteResponse) {
val protoSize = protoMessage.getSizeNoTag()
routeBytes = ByteArray(protoSize)
val codedOutput = CodedOutputStream(routeBytes)
protoMessage.writeTo(codedOutput)
} else if (protoMessage is RouteRequest) {
val protoSize = protoMessage.getSizeNoTag()
routeBytes = ByteArray(protoSize)
val codedOutput = CodedOutputStream(routeBytes)
protoMessage.writeTo(codedOutput)
} else if (protoMessage is TaskRequest) {
val protoSize = protoMessage.getSizeNoTag()
routeBytes = ByteArray(protoSize)
val codedOutput = CodedOutputStream(routeBytes)
protoMessage.writeTo(codedOutput)
} else if (protoMessage is RouteDoneRequest) {
val protoSize = protoMessage.getSizeNoTag()
routeBytes = ByteArray(protoSize)
val codedOutput = CodedOutputStream(routeBytes)
protoMessage.writeTo(codedOutput)
} else {
println("PROTO MESSAGE DON'T ENCODE!")
routeBytes = ByteArray(0)
}
return routeBytes
}
car_srv/kotlinSrv/src/MCConnection.kt
+24 -1
View File
@@ -9,7 +9,7 @@ class McTransport() : MCConnectObserver<String> {
McConditionMonitor.instance.addObserver(this)
}
fun sendBytes(bytes: ByteArray) {
private fun sendBytes(bytes: ByteArray) {
val bytesHeader = encodeInt(bytes.size)
println("write: $bytesHeader")
writeStream.write(js("new Buffer(bytesHeader)"))
@@ -17,6 +17,29 @@ class McTransport() : MCConnectObserver<String> {
writeStream.write(js("new Buffer(bytes)"))
}
fun sendProtoBuf(message: DebugRequest) {
val typeMessage = getProtoBufTypeMessage(TaskRequest.Type.DEBUG)
sendProtoBufType(typeMessage)
sendBytes(encodeProtoBuf(message))
}
fun sendProtoBuf(message: RouteRequest) {
val typeMessage = getProtoBufTypeMessage(TaskRequest.Type.ROUTE)
sendProtoBufType(typeMessage)
sendBytes(encodeProtoBuf(message))
}
private fun sendProtoBufType(messageType: TaskRequest) {
val typeBytes = encodeProtoBuf(messageType)
sendBytes(typeBytes)
}
private fun getProtoBufTypeMessage(type: TaskRequest.Type): TaskRequest {
val result = TaskRequest.BuilderTaskRequest(type)
return result.build()
}
private fun initStreams(pathToFile: String) {
writeStream = fs.createWriteStream(pathToFile)
readStream = fs.createReadStream(pathToFile)
car_srv/kotlinSrv/src/Main.kt
-2
View File
@@ -1,7 +1,6 @@
import control.car.ControllerToUsb
import net.Client
import net.server.handlers.AbstractHandler
import net.server.handlers.ProtoType
import net.server.handlers.debug.Memory
import net.server.handlers.flash.LoadBin
import net.server.handlers.main.GetLocation
@@ -27,7 +26,6 @@ fun main(args: Array<String>) {
handlers.put("/route", SetRoute(carController))
handlers.put("/getLocation", GetLocation())
handlers.put("/debug/memory", Memory())
handlers.put("/protoType", ProtoType())
Client.instance.connectToServer(config.getCarIp(), carServerPort)
car_srv/kotlinSrv/src/control/car/ControllerToUsb.kt
+1 -6
View File
@@ -1,6 +1,5 @@
package control.car
import CodedOutputStream
import RouteRequest
import control.Controller
import mcTransport
@@ -9,16 +8,12 @@ class ControllerToUsb : Controller {
override fun executeRoute(route: RouteRequest) {
println("Execute Route:")
val protoSize = route.getSizeNoTag()
val routeBytes = ByteArray(protoSize)
route.writeTo(CodedOutputStream(routeBytes))
mcTransport.setCallBack { bytes ->
println("Read $bytes;")
}
mcTransport.sendBytes(routeBytes)
mcTransport.sendProtoBuf(route)
}
override fun getSensorData(degrees: IntArray): IntArray {
car_srv/kotlinSrv/src/net/server/handlers/AbstractHandler.kt
-54
View File
@@ -1,14 +1,5 @@
package net.server.handlers
import CodedOutputStream
import DebugResponseMemoryStats
import DirectionResponse
import LocationResponse
import RouteDoneRequest
import RouteRequest
import RouteResponse
import UploadResult
abstract class AbstractHandler {
fun execute(data: List<Byte>, response: dynamic) {
@@ -21,49 +12,4 @@ abstract class AbstractHandler {
abstract fun getBytesResponse(data: ByteArray, callback: (b: ByteArray) -> Unit)
protected fun <T> encodeProtoBuf(protoMessage: T): ByteArray {
val routeBytes: ByteArray
if (protoMessage is LocationResponse) {
val protoSize = protoMessage.getSizeNoTag()
routeBytes = ByteArray(protoSize)
val codedOutput = CodedOutputStream(routeBytes)
protoMessage.writeTo(codedOutput)
} else if (protoMessage is UploadResult) {
val protoSize = protoMessage.getSizeNoTag()
routeBytes = ByteArray(protoSize)
val codedOutput = CodedOutputStream(routeBytes)
protoMessage.writeTo(codedOutput)
} else if (protoMessage is DebugResponseMemoryStats) {
val protoSize = protoMessage.getSizeNoTag()
routeBytes = ByteArray(protoSize)
val codedOutput = CodedOutputStream(routeBytes)
protoMessage.writeTo(codedOutput)
} else if (protoMessage is DirectionResponse) {
val protoSize = protoMessage.getSizeNoTag()
routeBytes = ByteArray(protoSize)
val codedOutput = CodedOutputStream(routeBytes)
protoMessage.writeTo(codedOutput)
} else if (protoMessage is RouteResponse) {
val protoSize = protoMessage.getSizeNoTag()
routeBytes = ByteArray(protoSize)
val codedOutput = CodedOutputStream(routeBytes)
protoMessage.writeTo(codedOutput)
} else if (protoMessage is RouteRequest) {
val protoSize = protoMessage.getSizeNoTag()
routeBytes = ByteArray(protoSize)
val codedOutput = CodedOutputStream(routeBytes)
protoMessage.writeTo(codedOutput)
} else if (protoMessage is RouteDoneRequest) {
val protoSize = protoMessage.getSizeNoTag()
routeBytes = ByteArray(protoSize)
val codedOutput = CodedOutputStream(routeBytes)
protoMessage.writeTo(codedOutput)
} else {
println("PROTO MESSAGE DON'T ENCODE!")
routeBytes = ByteArray(0)
}
return routeBytes
}
}
car_srv/kotlinSrv/src/net/server/handlers/ProtoType.kt
-24
View File
@@ -1,24 +0,0 @@
package net.server.handlers
import McState
import TaskRequest
import mcTransport
class ProtoType : AbstractHandler {
val fromServerObjectBuilder: TaskRequest.BuilderTaskRequest
constructor() : super() {
fromServerObjectBuilder = TaskRequest.BuilderTaskRequest(TaskRequest.TYPE.DEBUG)
}
override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
if (!McState.instance.isConnected()) {
println("mc is disconnected!")
callback.invoke(ByteArray(0))
return
}
mcTransport.sendBytes(data)
callback.invoke(ByteArray(0))
}
}
car_srv/kotlinSrv/src/net/server/handlers/debug/Memory.kt
+5 -1
View File
@@ -3,8 +3,10 @@ package net.server.handlers.debug
import DebugRequest
import DebugResponseMemoryStats
import McState
import encodeProtoBuf
import mcTransport
import net.server.handlers.AbstractHandler
import CodedInputStream
class Memory : AbstractHandler {
@@ -27,6 +29,8 @@ class Memory : AbstractHandler {
mcTransport.setCallBack { bytes ->
callback.invoke(bytes)
}
mcTransport.sendBytes(data)
val message = fromServerObjectBuilder.build()
message.mergeFrom(CodedInputStream(data))
mcTransport.sendProtoBuf(message)
}
}
car_srv/kotlinSrv/src/net/server/handlers/flash/LoadBin.kt
+14 -8
View File
@@ -3,7 +3,8 @@ package net.server.handlers.flash
import CodedInputStream
import Upload
import UploadResult
import mcTransport
import encodeProtoBuf
import fs
import net.server.handlers.AbstractHandler
import require
@@ -23,13 +24,18 @@ class LoadBin : AbstractHandler {
override fun getBytesResponse(data: ByteArray, callback: (b: ByteArray) -> Unit) {
val message = fromServerObjectBuilder.build()
message.mergeFrom(CodedInputStream(data))
val responseMessage = toServerObjectBuilder.build()
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
responseMessage.resultCode = resultCode
callback.invoke(encodeProtoBuf(responseMessage))
fs.writeFile("./flash.bin", js("new Buffer(data)"), fun(err: dynamic) {
if (err) {
println("error in save flash.bin file\n $err")
val responseMessage = toServerObjectBuilder.setResultCode(14).build()
callback.invoke(encodeProtoBuf(responseMessage))
}
val stFlashCommand = "./st-flash write ./flash.bin " + "0x08000000"
exec(stFlashCommand, { err, stdOutRes, stdErrRes ->
val resultCode = if (err != null) 15 else 0
val responseMessage = toServerObjectBuilder.setResultCode(resultCode).build()
callback.invoke(encodeProtoBuf(responseMessage))
})
})
}
}
car_srv/kotlinSrv/src/net/server/handlers/main/GetLocation.kt
+1
View File
@@ -2,6 +2,7 @@ package net.server.handlers.main
import CarState
import LocationResponse
import encodeProtoBuf
import net.server.handlers.AbstractHandler
class GetLocation : AbstractHandler {
car_srv/kotlinSrv/src/net/server/handlers/main/SetRoute.kt
+1
View File
@@ -5,6 +5,7 @@ import McState
import RouteRequest
import RouteResponse
import control.Controller
import encodeProtoBuf
import net.server.handlers.AbstractHandler
class SetRoute : AbstractHandler {
car_srv/kotlinSrv/src/net/server/handlers/rc/Control.kt
+23 -22
View File
@@ -4,6 +4,7 @@ import CodedInputStream
import DirectionRequest
import DirectionResponse
import control.emulator.ControllerEmulator.MoveDirection
import encodeProtoBuf
import net.server.handlers.AbstractHandler
class Control : AbstractHandler {
@@ -18,28 +19,28 @@ class Control : AbstractHandler {
override fun getBytesResponse(data: ByteArray, callback: (b: ByteArray) -> Unit) {
//TODO now this handler don't make nothing. need fix:)
val message = fromServerObjectBuilder.build()
message.mergeFrom(CodedInputStream(data))
val commandNumber = message.command
val sid = message.sid
val command = when (commandNumber) {
DirectionRequest.Command.stop -> {
MoveDirection.STOP
}
DirectionRequest.Command.forward -> {
MoveDirection.FORWARD
}
DirectionRequest.Command.backward -> {
MoveDirection.BACKWARD
}
DirectionRequest.Command.right -> {
MoveDirection.RIGHT
}
DirectionRequest.Command.left -> {
MoveDirection.LEFT
}
else -> MoveDirection.STOP
}
// val message = fromServerObjectBuilder.build()
// message.mergeFrom(CodedInputStream(data))
// val commandNumber = message.command
// val sid = message.sid
// val command = when (commandNumber) {
// DirectionRequest.Command.stop -> {
// MoveDirection.STOP
// }
// DirectionRequest.Command.forward -> {
// MoveDirection.FORWARD
// }
// DirectionRequest.Command.backward -> {
// MoveDirection.BACKWARD
// }
// DirectionRequest.Command.right -> {
// MoveDirection.RIGHT
// }
// DirectionRequest.Command.left -> {
// MoveDirection.LEFT
// }
// else -> MoveDirection.STOP
// }
val resultCode: Int = 0
val resultMessage = toServerObjectBuilder.setCode(resultCode).build()
callback.invoke(encodeProtoBuf(resultMessage))