add seed random on rapsberry emulator, add launch params: -r (use random), -s [number] - set seed in random

car_srv/kotlinSrv/src/Main.kt

@@ -1,5 +1,6 @@
 import control.car.ControllerToUsb
 import control.emulator.ControllerEmulator
+import control.emulator.Rng
 import net.Client
 import net.server.handlers.AbstractHandler
 import net.server.handlers.debug.Memory
@@ -22,13 +23,21 @@ fun main(args: Array<String>) {
     val clArgs = js("process.argv")
     var runAsEmulator = false
     var runTests = false
+    var nextSeed = false
     for (arg in clArgs) {
+        if (nextSeed) {
+            Rng.SEED = parseInt(arg, 10).toLong()
+            Rng.curState = Rng.SEED.toLong()
+            nextSeed = false
+        }
         when (arg) {
             "-t" -> runTests = true
             "-e" -> runAsEmulator = true
             "-tr1" -> Room.walls = Room.testRoom1()
             "-tr2" -> Room.walls = Room.testRoom2()
             "-tr3" -> Room.walls = Room.testRoom3()
+            "-r" -> Room.randomOn()
+            "-s" -> nextSeed = true
         }
     }
     val carController =

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

@@ -18,8 +18,6 @@ class ControllerEmulator : Controller {
     private val MOVE_VELOCITY = 0.05//sm/ms
     private val ROTATION_VELOCITY = 0.05//degrees/ms
 
-    private val ADD_RANDOM = false
-
     enum class MoveDirection {
         LEFT,
         RIGHT,
@@ -113,7 +111,7 @@ class ControllerEmulator : Controller {
             if (distance == -1) {
                 distances.add(distance)
             } else {
-                val delta = if (ADD_RANDOM) getRandomIntFrom(IntArray(5, { x -> x - 2 })) else 0//return one of -2 -1 0 1 or 2
+                val delta = if (Room.ADD_RANDOM) Rng.nextInt(-2, 2) else 0//return one of -2 -1 0 1 or 2
                 distances.add(distance + delta)
             }
         }
@@ -184,8 +182,8 @@ class ControllerEmulator : Controller {
         //refresh car state
         val carInstance = CarState.instance
         val commandDistance = currentCommand.second
-        val delta = if (ADD_RANDOM) Math.random() * 0.2 + 0.9 else 1.0// delta in [0.9, 1.1)
-        val commandDistanceIncludeRandom = (commandDistance * delta).toInt()
+        val coef = if (Room.ADD_RANDOM) Rng.nextInt(900, 1100).toDouble() / 1000.0 else 1.0
+        val commandDistanceIncludeRandom = (commandDistance * coef).toInt()
         when (currentCommand.first) {
             MoveDirection.FORWARD -> carInstance.moving(commandDistanceIncludeRandom)
             MoveDirection.BACKWARD -> carInstance.moving(commandDistanceIncludeRandom)

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

@@ -0,0 +1,29 @@
+package control.emulator
+
+object Rng {
+    var SEED = 55L
+    var curState = SEED
+    val a = 1664525L
+    val c = 1013904223L
+    val mod = 2147483648L
+
+    fun abs(value: Long): Long {
+        if (value < 0)
+            return -value
+        return value
+    }
+
+    fun nextInt(): Int {
+        val res = curState
+        curState = abs(a * curState + c) % mod
+        return (res % mod).toInt()
+    }
+
+    fun nextInt(min_val: Int, max_val: Int): Int {
+        val rand = nextInt()
+        val size = max_val - min_val + 1
+        val randInRange = rand % size
+        val res = randInRange + min_val
+        return res
+    }
+}

car_srv/kotlinSrv/src/room/Room.kt

@@ -6,6 +6,7 @@ object Room {
 
 
     var walls = testRoom1()
+    var ADD_RANDOM = false
 
     /*
     _________
@@ -15,6 +16,10 @@ object Room {
 
      */
 
+    fun randomOn() {
+        ADD_RANDOM = true
+    }
+
     fun testRoom1(): List<Wall> {
         val upLine = Line(0.0, 1.0, -300.0)
         val leftLine = Line(1.0, 0.0, 150.0)