Added handling of web-requests in central server

proto/protofiles_sources/compile_proto.sh

@@ -1,5 +1,6 @@
 #!/bin/bash
-parent_path=$( cd "$(dirname "${BASH_SOURCE}")" ; pwd -P )
+PROTOC="../compiler/build/protoc"
-cd "$parent_path"
+cd "$(dirname "${BASH_SOURCE}")"
 mkdir out -p
-../compiler/build/protoc --kotlin_out="./out/" --proto_path="./server_car" ./server_car/*.proto
+${PROTOC} --kotlin_out="./out/" --proto_path="./server_car" ./server_car/*.proto
+${PROTOC} --kotlin_out="./out/" --proto_path="./server_client" ./server_client/*.proto

proto/protofiles_sources/server_client/cars.proto

@@ -1,8 +0,0 @@
-package carkot;
-
-option java_package = "client";
-option java_out_classname = "Car";
-
-message car {
-    repeated string ids = 1;
-}

proto/protofiles_sources/server_client/direction.proto

@@ -11,8 +11,5 @@ message DirectionRequest {
     }
     Command command = 1;
     int32 sid = 2;
-}
+    bool stop = 3;
-
-message DirectionResponse {
-    int32 code = 1;
 }

server/.idea/modules/server.iml

@@ -20,8 +20,6 @@
     <orderEntry type="inheritedJdk" />
     <orderEntry type="sourceFolder" forTests="false" />
     <orderEntry type="library" name="Gradle: org.jetbrains.kotlin:kotlin-stdlib:1.0.3" level="project" />
-    <orderEntry type="library" name="Gradle: org.jetbrains.kotlin:kotlin-runtime:1.0.3" level="project" />
-    <orderEntry type="library" name="Gradle: io.netty:netty-all:4.1.2.Final" level="project" />
     <orderEntry type="module-library">
       <library name="Gradle: protokot-runtime">
         <CLASSES>
@@ -31,5 +29,7 @@
         <SOURCES />
       </library>
     </orderEntry>
+    <orderEntry type="library" name="Gradle: io.netty:netty-all:4.1.2.Final" level="project" />
+    <orderEntry type="library" name="Gradle: org.jetbrains.kotlin:kotlin-runtime:1.0.3" level="project" />
   </component>
 </module>

server/src/main/java/algorithm/RoomModel.kt

@@ -1,5 +1,5 @@
 package algorithm
-
+import Waypoints
 /**
  * Created by user on 8/23/16.
  */
@@ -7,4 +7,34 @@ object RoomModel {
 
     val point = arrayListOf<Pair<Int, Int>>()
 
+
+//  DEBUG BELOW
+    val rng = java.util.Random(42)
+    var iter = 0
+    var currentPosition_x = 0
+    var currentPosition_y = 0
+    fun getUpdate(): Waypoints {
+        if (iter == 5) {
+            web.server.Server.changeMode(web.server.Server.ServerMode.IDLE)
+            return Waypoints.BuilderWaypoints(IntArray(0), IntArray(0), IntArray(0), IntArray(0), true).build()
+        }
+
+        val begin_x = IntArray(10)
+        val begin_y = IntArray(10)
+        val end_x = IntArray(10)
+        val end_y = IntArray(10)
+
+        for (i in 0..9) {
+            begin_x[i] = currentPosition_x
+            begin_y[i] = currentPosition_y
+
+            currentPosition_x += rng.nextInt(3)
+            currentPosition_y += rng.nextInt(3)
+
+            end_x[i] = currentPosition_x
+            end_y[i] = currentPosition_y
+        }
+        iter++
+        return Waypoints.BuilderWaypoints(begin_x, begin_y, end_x, end_y, false).build()
+    }
 }

server/src/main/java/car/client/ClientHandler.kt

@@ -98,6 +98,7 @@ class ClientHandler : SimpleChannelInboundHandler<Any> {
 
     override fun channelRead0(ctx: ChannelHandlerContext?, msg: Any?) {
         if (msg is DefaultHttpContent) {
+            // TODO: refactor variable names. It's hard as hell to read code with "contentBytes" and "content(!)s(!)Bytes" in lines of code.
             val contentsBytes = msg.content()
             contentBytes = ByteArray(contentsBytes.capacity())
             contentsBytes.readBytes(contentBytes)

server/src/main/java/web/server/Handler.kt

@@ -5,26 +5,117 @@ import io.netty.channel.ChannelHandlerContext
 import io.netty.channel.SimpleChannelInboundHandler
 import io.netty.handler.codec.http.*
 import io.netty.util.CharsetUtil
+import GenericResponse
+import CodedOutputStream
+import CodedInputStream
+import java.util.*
 
 class Handler : SimpleChannelInboundHandler<Any>() {
 
     var contentBytes: ByteArray = ByteArray(0)
+    var url: String? = null
+    var method: HttpMethod? = null
 
     override fun channelReadComplete(ctx: ChannelHandlerContext) {
+        when (url) {
+            Constants.changeModeURL -> {
+                if (Server.serverMode != Server.ServerMode.IDLE && Server.serverMode != Server.ServerMode.MANUAL_MODE) {
+                    throw IllegalStateException("Can't change server mode in algorithm execution mode!")
+                }
 
-        val response = DefaultFullHttpResponse(HttpVersion.HTTP_1_1, HttpResponseStatus.OK, Unpooled.copiedBuffer("" + Math.random() * 10000, CharsetUtil.UTF_8))
+                // Parse mode change request
-        response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
+                val ins = CodedInputStream(Base64.getDecoder().decode(contentBytes))
-        ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE)
+                val request = ModeChange.BuilderModeChange(ModeChange.Mode.ManualControl).parseFrom(ins)
-    }
 
-    override fun channelRead0(ctx: ChannelHandlerContext, msg: Any) {
+                // Change server mode
-        if (msg is DefaultHttpContent) {
+                Server.changeMode(Server.ServerMode.fromProtoMode(request.newMode))
-            val contentsBytes = msg.content()
+
-            contentBytes = ByteArray(contentsBytes.capacity())
+                // Respond with "OK"-protobuf
-            contentsBytes.readBytes(contentBytes)
+                val protoResponse = GenericResponse.BuilderGenericResponse(Result.BuilderResult(0).build())
+                val outs = CodedOutputStream(ByteArray(protoResponse.getSizeNoTag()))
+                protoResponse.writeTo(outs)
+                val response = DefaultFullHttpResponse(
+                        HttpVersion.HTTP_1_1,
+                        HttpResponseStatus.OK,
+                        Unpooled.copiedBuffer(Base64.getEncoder().encodeToString(outs.buffer), CharsetUtil.UTF_8)
+                    )
+                response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
+                response.headers().add("Access-Control-Allow-Origin", "*");
+                response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS");
+                response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Type, Content-Length");
+                ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE)
+            }
+            Constants.getWaypointsURL -> {
+                if (Server.serverMode != Server.ServerMode.PERIMETER_BUILDING) {
+                    throw IllegalStateException("Can't get waypoints when in not Permiter Building mode")
+                }
+
+                // Build update for UI
+                val msg = RoomModel.getUpdate()
+                val outs = CodedOutputStream(ByteArray(msg.getSizeNoTag()))
+                msg.writeTo(outs)
+                val response = DefaultFullHttpResponse(
+                        HttpVersion.HTTP_1_1,
+                        HttpResponseStatus.OK,
+                        Unpooled.copiedBuffer(Base64.getEncoder().encodeToString(outs.buffer), CharsetUtil.UTF_8)
+                )
+                response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
+                response.headers().add("Access-Control-Allow-Origin", "*");
+                response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS");
+                response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Type, Content-Length");
+                ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE)
+            }
+            Constants.directionOrderURL -> {
+                if (Server.serverMode != Server.ServerMode.MANUAL_MODE) {
+                    throw IllegalStateException("Can't execute move order when not in manual mode")
+                }
+
+                // Parse direction order
+                val ins = CodedInputStream(contentBytes)
+                val order = DirectionRequest.BuilderDirectionRequest(DirectionRequest.Command.FORWARD, 0, false).parseFrom(ins)
+                if (order.stop) {
+                    web.server.Server.changeMode(Server.ServerMode.IDLE)
+                    return
+                }
+
+                sendCarOrder(order.command)
+
+                // TODO: should be done as callback after sending car order
+                // Send update back
+                val msg = RoomModel.getUpdate()
+                val outs = CodedOutputStream(ByteArray(msg.getSizeNoTag()))
+                msg.writeTo(outs)
+                val response = DefaultFullHttpResponse(
+                        HttpVersion.HTTP_1_1,
+                        HttpResponseStatus.OK,
+                        Unpooled.copiedBuffer(Base64.getEncoder().encodeToString(outs.buffer), CharsetUtil.UTF_8)
+                )
+                response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
+                response.headers().add("Access-Control-Allow-Origin", "*");
+                response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS");
+                response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Type, Content-Length");
+                ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE)
+            }
         }
     }
 
+    // TODO: stub!!
+    fun sendCarOrder(cmd: DirectionRequest.Command) {
+        println("Sent order ${cmd.toString()}")
+    }
+
+    override fun channelRead0(ctx: ChannelHandlerContext, msg: Any) {
+        if (msg is HttpRequest) {
+            url = msg.uri()
+            method = msg.method()
+        }
+
+        if (msg is DefaultHttpContent) {
+            val contentBuffer = msg.content()
+            contentBytes = ByteArray(contentBuffer.capacity())
+            contentBuffer.readBytes(contentBytes)
+        }
+    }
 
     override fun exceptionCaught(ctx: ChannelHandlerContext?, cause: Throwable?) {
         println("exception")

server/src/main/java/web/server/Server.kt

@@ -6,7 +6,30 @@ import io.netty.channel.socket.nio.NioServerSocketChannel
 import kotlin.concurrent.thread
 
 object Server {
+    enum class ServerMode {
+        IDLE,
+        MANUAL_MODE,
+        PERIMETER_BUILDING;
+
+        companion object {
+            fun fromProtoMode(mode: ModeChange.Mode): ServerMode {
+                return when (mode) {
+                    ModeChange.Mode.ManualControl -> MANUAL_MODE
+                    ModeChange.Mode.PerimeterBuilding -> PERIMETER_BUILDING
+                    else -> throw IllegalArgumentException("Illegal argument when parsing ServerMode from Protobuf Mode")
+                }
+            }
+        }
+    }
+
     private val handlerThreadsCount: Int = 10
+    var serverMode = ServerMode.IDLE
+
+    fun changeMode(newMode: ServerMode) {
+        println("Changing mode from ${serverMode.toString()} to ${newMode.toString()}")
+        serverMode = newMode
+    }
+
     fun getWebServerThread(webServerPort: Int): Thread {
         return thread(false, false, null, "webServer", -1, {
             println("web server started")