fixed bugs

car_srv/kotlinSrv/src/JSImport.kt

@@ -33,13 +33,6 @@ fun <T> encodeProtoBuf(protoMessage: T): ByteArray {
             protoMessage.writeTo(codedOutput)
         }
 
-        is DirectionResponse -> {
-            val protoSize = protoMessage.getSizeNoTag()
-            routeBytes = ByteArray(protoSize)
-            val codedOutput = CodedOutputStream(routeBytes)
-            protoMessage.writeTo(codedOutput)
-        }
-
         is RouteResponse -> {
             val protoSize = protoMessage.getSizeNoTag()
             routeBytes = ByteArray(protoSize)

car_srv/kotlinSrv/src/control/emulator/ControllerEmulator.kt

@@ -123,7 +123,7 @@ class ControllerEmulator : Controller {
                 continue
             }
             val currentDistance = Math.round(Math.sqrt(Math.pow(xIntersection - xSensor0, 2.0)
-                    + Math.pow(yIntersection - ySensor0, 2.0))*100000)
+                    + Math.pow(yIntersection - ySensor0, 2.0)))
             if (currentDistance < result) {
                 result = currentDistance
             }

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

@@ -8,7 +8,7 @@ import control.Controller
 import encodeProtoBuf
 import net.server.handlers.AbstractHandler
 
-class GetSonarData(val controller: Controller): AbstractHandler() {
+class GetSonarData(val controller: Controller) : AbstractHandler() {
     val fromServerObjectBuilder = SonarRequest.BuilderSonarRequest(IntArray(0))
     val toServerObjectBuilder = SonarResponse.BuilderSonarResponse(IntArray(0))
 
@@ -18,6 +18,7 @@ class GetSonarData(val controller: Controller): AbstractHandler() {
 
         if (McState.instance.isConnected()) {
             controller.executeRequestSensorData(message, callback)
+            return
         }
 
         println("mc is disconnected!")

car_srv/kotlinSrv/src/net/server/handlers/rc/Control.kt

@@ -1,21 +1,11 @@
 package net.server.handlers.rc
 
-import CodedInputStream
 import DirectionRequest
-import DirectionResponse
-import control.emulator.ControllerEmulator.MoveDirection
-import encodeProtoBuf
 import net.server.handlers.AbstractHandler
 
-class Control : AbstractHandler {
+class Control() : AbstractHandler() {
 
-    val fromServerObjectBuilder: DirectionRequest.BuilderDirectionRequest
-    val toServerObjectBuilder: DirectionResponse.BuilderDirectionResponse
-
-    constructor() : super() {
-        this.fromServerObjectBuilder = DirectionRequest.BuilderDirectionRequest(DirectionRequest.Command.fromIntToCommand(0), 0)
-        this.toServerObjectBuilder = DirectionResponse.BuilderDirectionResponse(0)
-    }
+    val request = DirectionRequest.BuilderDirectionRequest(DirectionRequest.Command.fromIntToCommand(0), 0, false)
 
     override fun getBytesResponse(data: ByteArray, callback: (b: ByteArray) -> Unit) {
         //TODO now this handler don't make nothing. need fix:)
@@ -41,8 +31,6 @@ class Control : AbstractHandler {
 //            }
 //            else -> MoveDirection.STOP
 //        }
-        val resultCode: Int = 0
-        val resultMessage = toServerObjectBuilder.setCode(resultCode).build()
-        callback.invoke(encodeProtoBuf(resultMessage))
+        callback.invoke(ByteArray(0))
     }
 }

car_srv/kotlinSrv/src/room/Room.kt

@@ -13,16 +13,16 @@ 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)
+
+    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)
+    )
 
 
     /*
@@ -57,17 +57,17 @@ 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(-1.2, 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)
+//    )
 
 }