add car ip to config file, add new route executor (send proto to usb)

car_srv/kotlinSrv/src/Config.kt

@@ -5,17 +5,21 @@ class Config(val configFileName: String) {
 
 
     private var serverIp = "127.0.0.1"
+    private var thisCarIp = "127.0.0.1"
 
     fun loadConfig(): Boolean {
         val data: String = fs.readFileSync(configFileName, "utf8")
         data.split("\n").forEach { line ->
             val keyValue = line.split(":")
-            if (keyValue.size == 2) {
+            if (!line.equals("")) {
+                if (keyValue.size != 2) {
+                    return false
+                }
+
                 when (keyValue[0]) {
                     "ip" -> serverIp = keyValue[1]
+                    "thisIp" -> thisCarIp = keyValue[1]
                 }
-            } else {
-                return false
             }
         }
         return true
@@ -24,4 +28,8 @@ class Config(val configFileName: String) {
     fun getIp(): String {
         return serverIp
     }
+
+    fun getCarIp(): String {
+        return thisCarIp
+    }
 }

car_srv/kotlinSrv/src/Main.kt

@@ -14,10 +14,8 @@ import net.server.handlers.rc.Heartbeat
 val deltaTimeLocationRefresh: Int = 100//ms
 
 val serverPort: Int = 8888
-val serverIp: String = "127.0.0.1"
-
-val mainServerAddress = "127.0.0.1"
 val mainServerPort = 7925
+
 val config = Config("config.cfg")
 val fs = require("fs")
 fun main(args: Array<String>) {
@@ -25,6 +23,7 @@ fun main(args: Array<String>) {
         println("incorrect config format!")
         return
     }
+
     val handlers: MutableMap<String, AbstractHandler> = mutableMapOf()
     handlers.put("/rc/control", Control(DirectionRequest.BuilderDirectionRequest(DirectionRequest.Command.fromIntToCommand(0), 0), DirectionResponse.BuilderDirectionResponse(0)))
     handlers.put("/rc/connect", Connect(SessionUpResponse.BuilderSessionUpResponse(0, 0)))

car_srv/kotlinSrv/src/McTransport.kt

@@ -10,7 +10,7 @@ class McTransport() {
     private var callback: (bytes: ByteArray) -> Unit = {}
 
     fun writeToFile(bytes: ByteArray) {
-        println("writewrite uiii!")
+        println("write: " + bytes)
         val bytesT = bytes
         writeStream.write(js("new Buffer(bytesT)"));
 //        writeStream.end();

car_srv/kotlinSrv/src/MicroController.kt

@@ -1,5 +1,6 @@
 import carControl.ControlImpl
 import carControl.RouteExecutorImpl
+import carControl.RouteExecutorToUsb
 import exceptions.RcControlException
 
 /**
@@ -26,17 +27,17 @@ class MicroController private constructor() {
         this.modelID = "5740"
         this.transportFilePath = ""
 
-        this.car = Car(RouteExecutorImpl(), ControlImpl())
+        this.car = Car(RouteExecutorToUsb(), ControlImpl())
     }
 
     fun start() {
 
         if (!isConnected()) {
-            connectToServer(serverIp, serverPort)
+            connectToServer(config.getCarIp(), serverPort)
         }
 
-        this.transportFilePath = "./testTtyAcm"//todo need init
+//        this.transportFilePath = "./testTtyAcm"//todo need init
-        mcTransport.initStreams(transportFilePath)
+//        mcTransport.initStreams(transportFilePath)
         mcTransport.setCallBack { bytes ->
             println("read: " + bytes.toString())
         }
@@ -99,7 +100,7 @@ class MicroController private constructor() {
     }
 
     fun connectToServer(thisIp: String, thisPort: Int) {
-        val requestObject = ConnectionRequest.BuilderConnectionRequest(serverIp.split(".").map { str -> parseInt(str, 10) }.toIntArray(), serverPort).build()
+        val requestObject = ConnectionRequest.BuilderConnectionRequest(config.getCarIp().split(".").map { str -> parseInt(str, 10) }.toIntArray(), serverPort).build()
         val bytes = ByteArray(requestObject.getSizeNoTag())
         requestObject.writeTo(CodedOutputStream(bytes))
         net.sendRequest(js("new Buffer(bytes)"), "/connect", { resultData ->

car_srv/kotlinSrv/src/carControl/RouteExecutorToUsb.kt

@@ -0,0 +1,30 @@
+package carControl
+
+import RouteRequest
+import mcTransport
+import CodedOutputStream
+
+/**
+ * Created by user on 8/17/16.
+ */
+class RouteExecutorToUsb : RouteExecutor {
+
+    override fun executeRoute(route: RouteRequest) {
+
+        val protoSize = route.getSizeNoTag()
+        val routeBytes = ByteArray(protoSize)
+        route.writeTo(CodedOutputStream(routeBytes))
+
+        val fullBytes = ByteArray(route.getSizeNoTag() + 4)
+
+        for (i in 0..routeBytes.size - 1) {
+            fullBytes[i + 4] = routeBytes[i]
+        }
+        fullBytes[0] = protoSize.shr(24).toByte()
+        fullBytes[1] = protoSize.shr(16).toByte()
+        fullBytes[2] = protoSize.shr(8).toByte()
+        fullBytes[3] = protoSize.toByte()
+
+        mcTransport.writeToFile(fullBytes)
+    }
+}

car_srv/kotlinSrv/src/net/Client.kt

@@ -1,8 +1,8 @@
 package net
 
 import require
-import mainServerAddress
 import mainServerPort
+import config
 
 /**
  * Created by user on 7/28/16.
@@ -11,7 +11,7 @@ val http = require("http")
 
 fun sendRequest(dataBuffer: dynamic, url: String, successCallback: (responseData: ByteArray) -> Unit, errorCallback: (err: dynamic) -> Unit) {
     val options: dynamic = {}
-    val serverAddress = mainServerAddress
+    val serverAddress = config.getIp()
     val port = mainServerPort
     js("options = {hostname:serverAddress, port:port, path:url, method:'POST'}")