amended to reflect route proto changes

car_srv/kotlinSrv/src/Car.kt

@@ -32,7 +32,7 @@ class Car constructor(routeExecutor: RouteExecutor, controller: Control) {
     }
 
     fun stopCar() {
-        move(MoveDirection.STOP, 0.0, {})
+        move(MoveDirection.STOP, 0, {})
     }
 
     fun refreshLocation(delta: Int) {
@@ -59,7 +59,7 @@ class Car constructor(routeExecutor: RouteExecutor, controller: Control) {
         controller.stopCar()
     }
 
-    fun move(moveDirection: MoveDirection, value: Double, callBack: () -> Unit) {
+    fun move(moveDirection: MoveDirection, value: Int, callBack: () -> Unit) {
         //value - angle for rotation command and distance for forward/backward command
         val functionAfterStty = { error: dynamic, stdOut: dynamic, stdErr: dynamic ->
             if (error != null) {
@@ -86,7 +86,7 @@ class Car constructor(routeExecutor: RouteExecutor, controller: Control) {
 
     }
 
-    fun getTimeForMoving(value: Double, velocity: Double): Int {
+    fun getTimeForMoving(value: Int, velocity: Double): Int {
-        return (1000 * Math.abs(value) / velocity).toInt()
+        return (1000 * Math.abs(value.toDouble()) / velocity).toInt()
     }
 }

car_srv/kotlinSrv/src/MicroController.kt

@@ -35,7 +35,8 @@ class MicroController private constructor() {
             connectToServer(serverIp, serverPort)
         }
 
-        this.transportFilePath = "./temp"//todo need init
+        this.transportFilePath = "./testTtyAcm"//todo need init
+        mcTransport.initStreams(transportFilePath)
 
         setInterval({ this.car.refreshLocation(deltaTimeLocationRefresh) }, deltaTimeLocationRefresh);
         setInterval({
@@ -61,7 +62,7 @@ class MicroController private constructor() {
         if (sid != this.rcSid) {
             throw RcControlException()
         }
-        car.move(command, 0.0, {})
+        car.move(command, 0, {})
         rcHeartBeat(sid)
     }
 

car_srv/kotlinSrv/src/carControl/RouteExecutor.kt

@@ -1,12 +1,12 @@
 package carControl
 
-import Car
+import RouteRequest
 
 /**
  * Created by user on 7/27/16.
  */
 interface RouteExecutor {
 
-    fun executeRoute(route: dynamic)
+    fun executeRoute(route: RouteRequest)
 
 }

car_srv/kotlinSrv/src/carControl/RouteExecutorImpl.kt

@@ -1,5 +1,6 @@
 package carControl
 
+import RouteRequest
 
 /**
  * Created by user on 7/27/16.
@@ -14,13 +15,14 @@ class RouteExecutorImpl : RouteExecutor {
         STOP
     }
 
-    override fun executeRoute(route: dynamic) {
+    override fun executeRoute(route: RouteRequest) {
-        val wayPoints = route.way_points
+        val angles = route.angles
-        val commands: MutableList<Pair<MoveDirection, Double>> = mutableListOf()
+        val distances = route.distances
-        for (wayPoint in wayPoints) {
+        val commands: MutableList<Pair<MoveDirection, Int>> = mutableListOf()
-            val angle: Double = wayPoint.angle_delta
+        for (i in 0..angles.size - 1) {
-            val distance: Double = wayPoint.distance
+            val angle: Int = angles[i]
-            if (angle != 0.0) {
+            val distance: Int = distances[i]
+            if (angle != 0) {
                 val command = if (angle > 180) {
                     MoveDirection.RIGHT
                 } else {
@@ -28,7 +30,7 @@ class RouteExecutorImpl : RouteExecutor {
                 }
                 commands.add(Pair(command, angle))
             }
-            if (distance != 0.0) {
+            if (distance != 0) {
                 val command = if (distance > 0) {
                     MoveDirection.FORWARD
                 } else {
@@ -37,11 +39,11 @@ class RouteExecutorImpl : RouteExecutor {
                 commands.add(Pair(command, distance))
             }
         }
-        commands.add(Pair(MoveDirection.STOP, 0.0))
+        commands.add(Pair(MoveDirection.STOP, 0))
         executeCommand(commands, 0)
     }
 
-    fun executeCommand(commands: List<Pair<MoveDirection, Double>>, currentCommandIdx: Int) {
+    fun executeCommand(commands: List<Pair<MoveDirection, Int>>, currentCommandIdx: Int) {
         if (currentCommandIdx == commands.size) {
             MicroController.instance.car.routeDone()
         }

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

@@ -19,12 +19,9 @@ class SetRoute : AbstractHandler {
 
     override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
         val car = MicroController.instance.car
-
         val message = fromServerObjectBuilder.build()
         message.mergeFrom(CodedInputStream(data))
-
         car.routeExecutor.executeRoute(message)
-
         val responseMessage = toServerObjectBuilder.setCode(0).build()
         val resultByteArray = ByteArray(responseMessage.getSizeNoTag())
         responseMessage.writeTo(CodedOutputStream(resultByteArray))