refactoring raspberry server

car_srv/kotlinSrv/src/CarState.kt

@@ -1,14 +1,3 @@
-import control.RouteExecutor
-import control.emulator.RouteExecutorImpl.MoveDirection
-
-private val MOVE_VELOCITY = 0.3278
-private val ROTATION_VELOCITY = 12.3
-
-// TODO make Car class mutable state saving entity
-// that almost doesn't have behavior
-/**
- * Created by user on 7/27/16.
- */
 class CarState private constructor() {
     //position
     var x: Double

car_srv/kotlinSrv/src/Config.kt

@@ -1,6 +1,3 @@
-/**
- * Created by user on 8/16/16.
- */
 class Config(val configFileName: String = "config.cfg") {
 
 
@@ -10,7 +7,7 @@ class Config(val configFileName: String = "config.cfg") {
     fun loadConfig(): Boolean {
 
         try {
-            fs.accessSync(configFileName, fs.F_OK);
+            fs.accessSync(configFileName, fs.F_OK)
         } catch (e: dynamic) {
             // create it
             fs.openSync(configFileName, "w")

car_srv/kotlinSrv/src/JSImport.kt

@@ -1,20 +1,2 @@
-/**
- * Created by user on 8/18/16.
- */
-
 @native
 fun require(name: String): dynamic = noImpl
-
-@native
-fun setInterval(callBack: () -> Unit, ms: Int): dynamic = noImpl
-
-@native
-fun setTimeout(callBack: () -> Unit, ms: Int): dynamic = noImpl
-
-fun encodeProtoBuf(protoMessage: dynamic): ByteArray {
-    val protoSize = protoMessage.getSizeNoTag()
-    val routeBytes = ByteArray(protoSize)
-
-    protoMessage.writeTo(CodedOutputStream(routeBytes))
-    return routeBytes
-}

car_srv/kotlinSrv/src/MCConnectObservable.kt

@@ -1,9 +0,0 @@
-/**
- * Created by user on 8/18/16.
- */
-interface MCConnectObservable<V> {
-
-    fun addObserver(MCConnectObserver: MCConnectObserver<V>)
-    fun removeObserver(MCConnectObserver: MCConnectObserver<V>)
-
-}

car_srv/kotlinSrv/src/MCConnectObserver.kt

@@ -1,9 +1,6 @@
-/**
+interface MCConnectObserver<in V> {
- * Created by user on 8/18/16.
- */
-interface MCConnectObserver<V> {
 
-    fun connect(vararg params: V)
+    fun connect(transportFileName: V)
     fun disconnect()
 
 }

car_srv/kotlinSrv/src/MCConnection.kt

@@ -1,34 +1,27 @@
-/**
+class McTransport() : MCConnectObserver<String> {
- * Created by user on 8/16/16.
- */
-
-class McTransport() {
 
     private var writeStream: dynamic = null
     private var readStream: dynamic = null
     private val resultBytes = arrayListOf<Byte>()
     private var callback: (bytes: ByteArray) -> Unit = {}
 
+    init {
+        McConditionMonitor.instance.addObserver(this)
+    }
+
     fun sendBytes(bytes: ByteArray) {
         val bytesHeader = encodeInt(bytes.size)
-        println("write: " + bytesHeader)
+        println("write: $bytesHeader")
         writeStream.write(js("new Buffer(bytesHeader)"))
-        println("write: " + bytes)
+        println("write: $bytes")
         writeStream.write(js("new Buffer(bytes)"))
     }
 
-    fun sendBytes(byte: Byte) {
+    private fun initStreams(pathToFile: String) {
-        sendBytes(ByteArray(1, { idx -> byte }))
+        writeStream = fs.createWriteStream(pathToFile)
-    }
-
-    fun initStreams(pathToFile: String) {
-        writeStream = fs.createWriteStream(pathToFile);
         readStream = fs.createReadStream(pathToFile)
         readStream.on("readable", fun() {
-            val data = readStream.read()
+            val data = readStream.read() ?: return
-            if (data == null) {
-                return
-            }
             var messageLength = getBodyLength(resultBytes)
 
             for (i in 0..data.length - 1) {
@@ -43,11 +36,19 @@ class McTransport() {
         })
     }
 
+    override fun connect(transportFileName: String) {
+        initStreams(transportFileName)
+    }
+
+    override fun disconnect() {
+        closeStreams()
+    }
+
     fun setCallBack(cb: (bytes: ByteArray) -> Unit) {
         this.callback = cb
     }
 
-    fun closeStreams() {
+    private fun closeStreams() {
         writeStream.end()
         writeStream = null
         readStream = null

car_srv/kotlinSrv/src/Main.kt

@@ -1,22 +1,18 @@
-import control.car.RouteExecutorToUsb
+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
 import net.server.handlers.main.SetRoute
 import net.server.handlers.rc.Control
 
-/**
- * Created by user on 7/26/16.
- */
-
-val deltaTimeLocationRefresh: Int = 100
-
 val carServerPort: Int = 8888
 val mainServerPort = 7925
 
 val config = Config()
-val fs = require("fs")
+val fs: dynamic = require("fs")
 fun main(args: Array<String>) {
     if (!config.loadConfig()) {
         println("incorrect config format!")
@@ -25,17 +21,21 @@ fun main(args: Array<String>) {
 
     val handlers: MutableMap<String, AbstractHandler> = mutableMapOf()
 
-    val routeExecutor = RouteExecutorToUsb()
+    val carController = ControllerToUsb()
     handlers.put("/rc/control", Control())
     handlers.put("/loadBin", LoadBin())
-    handlers.put("/route", SetRoute(routeExecutor))
+    handlers.put("/route", SetRoute(carController))
     handlers.put("/getLocation", GetLocation())
-    handlers.put("/debug/memoty", Memory())
+    handlers.put("/debug/memory", Memory())
+    handlers.put("/protoType", ProtoType())
+
+    Client.instance.connectToServer(config.getCarIp(), carServerPort)
+
+    mcTransport.setCallBack { bytes ->
+        println("read: " + bytes.toString())
+    }
 
     net.server.start(handlers, carServerPort)
     val mcConditionMonitor = McConditionMonitor.instance
     mcConditionMonitor.start()
-
-    MicroController.instance.start()
-
 }

car_srv/kotlinSrv/src/McConditionMonitor.kt

@@ -2,7 +2,7 @@
  * Created by user on 7/27/16.
  * observable class, check mc condition and notify observers about changes
  */
-class McConditionMonitor private constructor() : MCConnectObservable<String> {
+class McConditionMonitor private constructor() {
 
     private val udev: dynamic = require("udev")
     private val exec: dynamic = require("child_process").execSync
@@ -25,14 +25,10 @@ class McConditionMonitor private constructor() : MCConnectObservable<String> {
         readFileIfMcConnected()
     }
 
-    override fun addObserver(MCConnectObserver: MCConnectObserver<String>) {
+    fun addObserver(MCConnectObserver: MCConnectObserver<String>) {
         observersList.add(MCConnectObserver)
     }
 
-    override fun removeObserver(MCConnectObserver: MCConnectObserver<String>) {
-        observersList.remove(MCConnectObserver)
-    }
-
     private fun notifyMCConnect(nodeName: String) {
         for (observer in observersList) {
             observer.connect(nodeName)
@@ -46,9 +42,9 @@ class McConditionMonitor private constructor() : MCConnectObservable<String> {
     }
 
     private fun isOurMcDevice(device: dynamic): Boolean {
-        val microController = MicroController.instance
+        val mcState = McState.instance
-        return (device.ID_VENDOR_ID == microController.vendorID)
+        return (device.ID_VENDOR_ID == mcState.VENDORID)
-                && (device.ID_MODEL_ID == microController.modelID)
+                && (device.ID_MODEL_ID == mcState.MODELID)
                 && (device.SUBSYSTEM == "tty")
     }
 
@@ -59,8 +55,6 @@ class McConditionMonitor private constructor() : MCConnectObservable<String> {
 
     private fun connectDevice(device: dynamic) {
         val transportFile: String = device.DEVNAME
-        mcTransport.initStreams(transportFile)
-        McState.instance.connect()
         println("mc connected. transport file is " + transportFile)
         exec("stty -F $transportFile raw -echo -echoe -echok")
         notifyMCConnect(transportFile)

car_srv/kotlinSrv/src/McState.kt

@@ -1,20 +1,27 @@
-/**
+class McState : MCConnectObserver<String> {
- * Created by user on 8/18/16.
- */
-class McState {
 
+    val VENDORID = "0483"
+    val MODELID = "5740"
 
     private var connected = false
+    private var transportFileName = ""
 
+    init {
+        McConditionMonitor.instance.addObserver(this)
+    }
 
     fun isConnected(): Boolean {
         return connected
     }
 
-    fun connect() {
+    override fun connect(transportFileName: String) {
-        this.connected = true
+        this.transportFileName = transportFileName
+        connected = true
     }
 
+    override fun disconnect() {
+        connected = false
+    }
 
     companion object {
         val instance = McState()

car_srv/kotlinSrv/src/MicroController.kt

@@ -1,67 +0,0 @@
-import control.emulator.RouteExecutorImpl
-import control.car.RouteExecutorToUsb
-import exceptions.RcControlException
-import kotlin.js.Date
-
-/**
- * Created by user on 7/28/16.
- */
-class MicroController private constructor() {
-
-    var uid: Int
-
-    var rcSid: Int
-    var rcLastRequest: Int//heartbeat
-
-    val vendorID: String
-    val modelID: String
-    var transportFilePath: String
-
-    val car: CarState
-
-    init {
-        this.rcSid = 0
-        this.rcLastRequest = 0
-        this.uid = 0
-        this.vendorID = "0483"
-        this.modelID = "5740"
-        this.transportFilePath = ""
-
-
-        this.car = CarState.instance
-    }
-
-    fun start() {
-
-        connectToServer(config.getCarIp(), carServerPort)
-
-        mcTransport.setCallBack { bytes ->
-            println("read: " + bytes.toString())
-        }
-
-//        setInterval({ this.car.refreshLocation(deltaTimeLocationRefresh) }, deltaTimeLocationRefresh);
-    }
-
-    fun connectToServer(thisIp: String, thisPort: Int) {
-        val requestObject = ConnectionRequest.BuilderConnectionRequest(thisIp.split(".").map { str -> parseInt(str, 10) }.toIntArray(), thisPort).build()
-        val bytes = ByteArray(requestObject.getSizeNoTag())
-        requestObject.writeTo(CodedOutputStream(bytes))
-        net.sendRequest(js("new Buffer(bytes)"), "/connect", { resultData ->
-            val responseObject = ConnectionResponse.BuilderConnectionResponse(0, 0).build()
-            responseObject.mergeFrom(CodedInputStream(resultData))
-            if (responseObject.code == 0) {
-                this.uid = responseObject.uid
-            } else {
-                println("server login error\n" +
-                        "code: ${responseObject.code}")
-            }
-        }, { error ->
-            println("connection error (to main server). error message:\n" + error)
-        })
-    }
-
-    companion object {
-        val instance = MicroController()
-    }
-
-}

car_srv/kotlinSrv/src/control/Controller.kt

@@ -2,11 +2,10 @@ package control
 
 import RouteRequest
 
-/**
+interface Controller {
- * Created by user on 7/27/16.
- */
-interface RouteExecutor {
 
     fun executeRoute(route: RouteRequest)
 
+    fun getSensorData(degrees: IntArray): IntArray
+
 }

car_srv/kotlinSrv/src/control/car/ControllerToUsb.kt

@@ -1,12 +1,11 @@
 package control.car
 
-import RouteRequest
-import control.RouteExecutor
-import encodeProtoBuf
-import mcTransport
 import CodedOutputStream
+import RouteRequest
+import control.Controller
+import mcTransport
 
-class RouteExecutorToUsb : RouteExecutor {
+class ControllerToUsb : Controller {
 
     override fun executeRoute(route: RouteRequest) {
         println("Execute Route:")
@@ -21,4 +20,8 @@ class RouteExecutorToUsb : RouteExecutor {
 
         mcTransport.sendBytes(routeBytes)
     }
+
+    override fun getSensorData(degrees: IntArray): IntArray {
+        return IntArray(0)//todo make after connect sensor to car
+    }
 }

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

@@ -1,49 +1,47 @@
 package control.emulator
 
 import RouteRequest
-import control.RouteExecutor
+import control.Controller
 
-/**
+class ControllerEmulator : Controller {
- * Created by user on 7/27/16.
+
- */
+    private val MOVE_VELOCITY = 0.3278
-class RouteExecutorImpl : RouteExecutor {
+    private val ROTATION_VELOCITY = 12.3
 
     enum class MoveDirection {
         LEFT,
         RIGHT,
         FORWARD,
         BACKWARD,
-        STOP
+        ERROR
     }
 
     override fun executeRoute(route: RouteRequest) {
-        val angles = route.angles
+        val moveTimes = route.moveTime
-        val distances = route.distances
+        val moveDirections = route.moveDirection
+        //list of move direction and time to this move in ms
         val commands: MutableList<Pair<MoveDirection, Int>> = mutableListOf()
-        for (i in 0..angles.size - 1) {
+
-            val angle: Int = angles[i]
+        moveTimes.forEachIndexed { idx, value ->
-            val distance: Int = distances[i]
+            val moveDirection =
-            if (angle != 0) {
+                    when (moveDirections[idx]) {
-                val command = if (angle > 180) {
+                        0 -> MoveDirection.FORWARD
-                    MoveDirection.RIGHT
+                        1 -> MoveDirection.BACKWARD
-                } else {
+                        2 -> MoveDirection.LEFT
-                    MoveDirection.LEFT
+                        3 -> MoveDirection.RIGHT
-                }
+                        else -> MoveDirection.ERROR
-                commands.add(Pair(command, angle))
+                    }
-            }
+
-            if (distance != 0) {
+            commands.add(Pair(moveDirection, value))
-                val command = if (distance > 0) {
-                    MoveDirection.FORWARD
-                } else {
-                    MoveDirection.BACKWARD
-                }
-                commands.add(Pair(command, distance))
-            }
         }
-        commands.add(Pair(MoveDirection.STOP, 0))
+
         executeCommand(commands, 0)
     }
 
+    override fun getSensorData(degrees: IntArray): IntArray {
+        throw UnsupportedOperationException("not implemented") //To change body of created functions use File | Settings | File Templates.
+    }
+
     fun executeCommand(commands: List<Pair<MoveDirection, Int>>, currentCommandIdx: Int) {
 //        if (currentCommandIdx == commands.size) {
 //            MicroController.instance.car.routeDone()

car_srv/kotlinSrv/src/exceptions/RcControlException.kt

@@ -1,8 +0,0 @@
-package exceptions
-
-/**
- * Created by user on 7/28/16.
- */
-class RcControlException : Exception() {
-
-}

car_srv/kotlinSrv/src/net/Client.kt

@@ -1,34 +1,62 @@
 package net
 
-import require
+import CodedInputStream
-import mainServerPort
+import CodedOutputStream
+import ConnectionRequest
+import ConnectionResponse
 import config
+import mainServerPort
+import require
 
-/**
+class Client() {
- * Created by user on 7/28/16.
- */
-val http = require("http")
 
-fun sendRequest(dataBuffer: dynamic, url: String, successCallback: (responseData: ByteArray) -> Unit, errorCallback: (err: dynamic) -> Unit) {
+    private val http = require("http")
-    val options: dynamic = {}
+    private var uid: Int = -1
-    val serverAddress = config.getIp()
-    val port = mainServerPort
-    js("options = {hostname:serverAddress, port:port, path:url, method:'POST'}")
 
-    val request = http.request(options, { response ->
+    fun sendRequest(dataBuffer: dynamic, url: String, successCallback: (responseData: ByteArray) -> Unit, errorCallback: (err: dynamic) -> Unit) {
-        val resData = mutableListOf<Byte>()
+        val options: dynamic = {}
-        response.on("data", { datas ->
+        //serverAddress, port and url used on js function. Idea don's see this
-            for (i in 0..datas.length - 1) {
+        val serverAddress = config.getIp()
-                resData.add(datas[i])
+        val port = mainServerPort
+        js("options = {hostname:serverAddress, port:port, path:url, method:'POST'}")
+
+        val request = http.request(options, { response ->
+            val resData = mutableListOf<Byte>()
+            response.on("data", { data ->
+                for (i in 0..data.length - 1) {
+                    resData.add(data[i])
+                }
+            })
+            response.on("end", {
+                successCallback.invoke(resData.toByteArray())
+            })
+        })
+        request.on("error", { err ->
+            errorCallback.invoke(err)
+        })
+        request.write(dataBuffer)
+        request.end()
+    }
+
+    fun connectToServer(thisIp: String, thisPort: Int) {
+        val requestObject = ConnectionRequest.BuilderConnectionRequest(thisIp.split(".").map { str -> parseInt(str, 10) }.toIntArray(), thisPort).build()
+        val bytes = ByteArray(requestObject.getSizeNoTag())
+        requestObject.writeTo(CodedOutputStream(bytes))
+        sendRequest(js("new Buffer(bytes)"), "/connect", { resultData ->
+            val responseObject = ConnectionResponse.BuilderConnectionResponse(0, 0).build()
+            responseObject.mergeFrom(CodedInputStream(resultData))
+            if (responseObject.code == 0) {
+                this.uid = responseObject.uid
+            } else {
+                println("server login error\n" +
+                        "code: ${responseObject.code}")
             }
+        }, { error ->
+            println("connection error (to main server). error message:\n" + error)
         })
-        response.on("end", {
+    }
-            successCallback.invoke(resData.toByteArray())
+
-        })
+    companion object {
-    })
+        val instance = Client()
-    request.on("error", { err ->
+    }
-        errorCallback.invoke(err)
-    })
-    request.write(dataBuffer)
-    request.end()
 }

car_srv/kotlinSrv/src/net/server/Server.kt

@@ -1,20 +1,16 @@
 package net.server
 
 
-import require
 import net.server.handlers.AbstractHandler
-
+import require
-/**
- * Created by user on 7/27/16.
- */
 
 fun start(handlers: MutableMap<String, AbstractHandler>, port: Int) {
     val http = require("http")
     val url = require("url")
     http.createServer({ request, response ->
         val content = mutableListOf<Byte>()
-        val urlName = url.parse(request.url).pathname;
+        val urlName = url.parse(request.url).pathname
-        val handler = handlers.get(urlName)
+        val handler = handlers[urlName]
         request.on("data", {
             data ->
             for (i in 0..data.length - 1) {
@@ -23,9 +19,12 @@ fun start(handlers: MutableMap<String, AbstractHandler>, port: Int) {
         })
         request.on("end", {
             if (handler != null) {
-                handler.execute(content, response)
+                try {
+                    handler.execute(content, response)
+                } catch (e: dynamic) {
+                    response.end()
+                }
             } else {
-                //todo write error on incorrect url
                 response.end()
             }
         })

car_srv/kotlinSrv/src/net/server/handlers/AbstractHandler.kt

@@ -1,10 +1,14 @@
 package net.server.handlers
 
 import CodedOutputStream
+import DebugResponseMemoryStats
+import DirectionResponse
+import LocationResponse
+import RouteDoneRequest
+import RouteRequest
+import RouteResponse
+import UploadResult
 
-/**
- * Created by user on 7/27/16.
- */
 abstract class AbstractHandler {
 
     fun execute(data: List<Byte>, response: dynamic) {
@@ -18,4 +22,48 @@ 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

@@ -0,0 +1,24 @@
+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

@@ -3,13 +3,9 @@ package net.server.handlers.debug
 import DebugRequest
 import DebugResponseMemoryStats
 import McState
-import encodeProtoBuf
 import mcTransport
 import net.server.handlers.AbstractHandler
 
-/**
- * Created by user on 8/18/16.
- */
 class Memory : AbstractHandler {
 
     val fromServerObjectBuilder: DebugRequest.BuilderDebugRequest

car_srv/kotlinSrv/src/net/server/handlers/flash/LoadBin.kt

@@ -3,14 +3,10 @@ package net.server.handlers.flash
 import CodedInputStream
 import Upload
 import UploadResult
-import encodeProtoBuf
 import mcTransport
 import net.server.handlers.AbstractHandler
 import require
 
-/**
- * Created by user on 7/27/16.
- */
 class LoadBin : AbstractHandler {
 
     val exec: dynamic

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

@@ -1,13 +1,9 @@
 package net.server.handlers.main
 
+import CarState
 import LocationResponse
-import MicroController
-import encodeProtoBuf
 import net.server.handlers.AbstractHandler
 
-/**
- * Created by user on 7/28/16.
- */
 class GetLocation : AbstractHandler {
 
     val toServerObjectBuilder: LocationResponse.BuilderLocationResponse
@@ -18,8 +14,8 @@ class GetLocation : AbstractHandler {
     }
 
     override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
-        val car = MicroController.instance.car
+        val carState = CarState.instance
-        val locationData = LocationResponse.LocationData.BuilderLocationData(car.x.toInt(), car.y.toInt(), car.angle.toInt()).build()
+        val locationData = LocationResponse.LocationData.BuilderLocationData(carState.x.toInt(), carState.y.toInt(), carState.angle.toInt()).build()
         val responseMessage = toServerObjectBuilder.setLocationResponseData(locationData).build()
         callback.invoke(encodeProtoBuf(responseMessage))
     }

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

@@ -1,31 +1,25 @@
 package net.server.handlers.main
 
 import CodedInputStream
-import MicroController
+import McState
 import RouteRequest
 import RouteResponse
-import control.RouteExecutor
+import control.Controller
-import CodedOutputStream
 import net.server.handlers.AbstractHandler
 
-/**
- * Created by user on 7/28/16.
- */
 class SetRoute : AbstractHandler {
 
     val fromServerObjectBuilder: RouteRequest.BuilderRouteRequest
     val toServerObjectBuilder: RouteResponse.BuilderRouteResponse
-    val routeExecutor: RouteExecutor
+    val controller: Controller
 
-    constructor(routeExecutor: RouteExecutor) : super() {
+    constructor(routeExecutor: Controller) : super() {
-        this.routeExecutor = routeExecutor
+        this.controller = routeExecutor
         this.fromServerObjectBuilder = RouteRequest.BuilderRouteRequest(IntArray(0), IntArray(0))
         this.toServerObjectBuilder = RouteResponse.BuilderRouteResponse(0)
     }
 
     override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
-        println("set route handler")
-        val car = MicroController.instance.car
         val message = fromServerObjectBuilder.build()
         message.mergeFrom(CodedInputStream(data))
         if (!McState.instance.isConnected()) {
@@ -34,17 +28,9 @@ class SetRoute : AbstractHandler {
             callback.invoke(encodeProtoBuf(responseMessage))
             return
         }
-        routeExecutor.executeRoute(message)
+        controller.executeRoute(message)
         val responseMessage = toServerObjectBuilder.setCode(0).build()
         callback.invoke(encodeProtoBuf(responseMessage))
     }
 
-    fun encodeProtoBuf(protoMessage: RouteResponse): ByteArray {
-        val protoSize = protoMessage.getSizeNoTag()
-        val routeBytes = ByteArray(protoSize)
-
-        protoMessage.writeTo(CodedOutputStream(routeBytes))
-        return routeBytes
-    }
-
 }

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

@@ -3,15 +3,9 @@ package net.server.handlers.rc
 import CodedInputStream
 import DirectionRequest
 import DirectionResponse
-import MicroController
+import control.emulator.ControllerEmulator.MoveDirection
-import control.emulator.RouteExecutorImpl.MoveDirection
-import encodeProtoBuf
-import exceptions.RcControlException
 import net.server.handlers.AbstractHandler
 
-/**
- * Created by user on 7/27/16.
- */
 class Control : AbstractHandler {
 
     val fromServerObjectBuilder: DirectionRequest.BuilderDirectionRequest
@@ -23,6 +17,7 @@ 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
@@ -45,13 +40,7 @@ class Control : AbstractHandler {
             }
             else -> MoveDirection.STOP
         }
-        val resultCode: Int
+        val resultCode: Int = 0
-        try {
-//            MicroController.instance.RcMove(command, sid)
-            resultCode = 0
-        } catch (e: RcControlException) {
-            resultCode = 12
-        }
         val resultMessage = toServerObjectBuilder.setCode(resultCode).build()
         callback.invoke(encodeProtoBuf(resultMessage))
     }