translator: object field default initialization

car_fmw/Makefile

@@ -22,6 +22,7 @@ KT=$(TRANSLATOR_DIR)/build/libs/translator-1.0.jar
 LD=arm-none-eabi-ld
 OBJ_COPY=arm-none-eabi-objcopy
 GDB=arm-none-eabi-gdb
+PROTOC=$(PWD)/../proto/build/protoc
 
 LL=llc-3.6
 LLINK=llvm-link-3.6
@@ -73,6 +74,9 @@ $(LIB_DIR)/app.ll: $(SRC_DIR)/**/*.kt $(SRC_DIR)/*.kt
 $(KT):
 	cd $(TRANSLATOR_DIR) && ./gradlew jar
 
+proto:
+	$(PROTOC) -I$(SRC_DIR)/proto --kotlin_out=$(SRC_DIR)/proto_src $(SRC_DIR)/proto/*.proto
+
 flash: $(CAR_FMW_BIN)
 	$(ST_DIR)/st-flash write $(CAR_FMW_BIN) 0x8000000
 

car_fmw/src/include/communication.kt

@@ -0,0 +1,8 @@
+
+external fun VCP_init()
+external fun send_int(i: Int)
+external fun send_buffer(size: Int, pointer: Int)
+
+fun sendByteArray(arr: ByteArray) {
+    send_buffer(arr.size, arr.data)
+}

car_fmw/src/include/general.kt

@@ -3,4 +3,5 @@ fun init() {
     time_init()
     engine_init()
     leds_init()
+    VCP_init()
 }

car_fmw/src/main.kt

@@ -1,5 +1,16 @@
 
+fun writeProto() {
+    val msg = DirectionResponse.BuilderDirectionResponse(4242).build()
+//    val size = msg.getSizeNoTag()
+//    val buffer = ByteArray(size)
+//    val outputStream = CodedOutputStream(buffer)
+//
+//    msg.writeTo(outputStream)
+//    sendByteArray(buffer)
+}
+
 fun main() {
     init()
+    writeProto()
     simpleRoute()
 }

car_fmw/src/proto/direction.proto

@@ -0,0 +1,21 @@
+syntax = "proto3";
+package carkot;
+
+option java_package = "proto.car";
+option java_outer_classname = "Direction";
+
+message DirectionRequest {
+    enum Command {
+        stop = 0;
+        forward = 1;
+        backward = 2;
+        left = 3;
+        right = 4;
+    }
+    Command command = 1;
+    int32 sid = 2;
+}
+
+message DirectionResponse {
+    int32 code = 1;
+}

car_fmw/src/proto_runtime/CodedInputStream.kt

@@ -0,0 +1,208 @@
+/**
+ * Created by Dmitry Savvinov on 7/6/16.
+ *
+ * Hides details of work with Protobuf encoding
+ *
+ * Note that CodedInputStream reads protobuf-defined types from stream (such as int32, sint32, etc),
+ * while CodedOutputStream has methods for writing Kotlin-types (such as Boolean, Int, Long, Short, etc)
+ *
+ */
+
+// TODO: refactor correctness checks into readTag
+class CodedInputStream(val buffer: ByteArray) {
+    val inputStream: KotlinInputStream
+    init {
+        inputStream = KotlinInputStream(buffer)  // TODO: Java's realization uses hand-written buffers. Why?
+    }
+
+    fun readInt32(expectedFieldNumber: Int): Int {
+        val tag = readTag(expectedFieldNumber, WireType.VARINT)
+        val actualFieldNumber = WireFormat.getTagFieldNumber(tag)
+        val actualWireType = WireFormat.getTagWireType(tag)
+        checkFieldCorrectness(expectedFieldNumber, actualFieldNumber, WireType.VARINT, actualWireType)
+        return readInt32NoTag()
+    }
+
+    // Note that unsigned integer types are stored as their signed counterparts with top bit
+    // simply stored in the sign bit - similar to Java's protobuf implementation. Hence, all
+    // methods reading unsigned ints simply redirect call to corresponding signed-reading method
+    fun readUInt32(expectedFieldNumber: Int): Int {
+        val tag = readTag(expectedFieldNumber, WireType.VARINT)
+        return readUInt32NoTag()
+    }
+
+    fun readUInt32NoTag(): Int {
+        return readInt32NoTag()
+    }
+
+    fun readInt64(expectedFieldNumber: Int): Long {
+        val tag = readTag(expectedFieldNumber, WireType.VARINT)
+        return readInt64NoTag()
+    }
+
+    // See note on unsigned integers implementations above
+    fun readUInt64(expectedFieldNumber: Int): Long {
+        val tag = readTag(expectedFieldNumber, WireType.VARINT)
+        return readUInt64NoTag()
+    }
+
+    fun readUInt64NoTag(): Long {
+        return readInt64NoTag()
+    }
+
+    fun readBool(expectedFieldNumber: Int): Boolean {
+        val tag = readTag(expectedFieldNumber, WireType.VARINT)
+        return readBoolNoTag()
+    }
+
+    fun readBoolNoTag(): Boolean {
+        val readValue = readInt32NoTag()
+        val boolValue = when (readValue) {
+            0 -> false
+            1 -> true
+            else -> false
+        }
+        return boolValue
+    }
+
+    // Reading enums is like reading one int32 number. Caller is responsible for converting this ordinal to enum-object
+    fun readEnum(expectedFieldNumber: Int): Int {
+        val tag = readTag(expectedFieldNumber, WireType.VARINT)
+        return readEnumNoTag()
+    }
+
+    fun readEnumNoTag(): Int {
+        return readUInt32NoTag()
+    }
+
+    fun readSInt32(expectedFieldNumber: Int): Int {
+        val tag = readTag(expectedFieldNumber, WireType.VARINT)
+        return readSInt32NoTag()
+    }
+
+    fun readSInt32NoTag(): Int {
+        return readZigZag32NoTag()
+    }
+
+    fun readSInt64(expectedFieldNumber: Int): Long {
+        val tag = readTag(expectedFieldNumber, WireType.VARINT)
+        return readSInt64NoTag()
+    }
+
+    fun readSInt64NoTag(): Long {
+        return readZigZag64NoTag()
+    }
+    fun readBytes(expectedFieldNumber: Int): ByteArray {
+        val tag = readTag(expectedFieldNumber, WireType.LENGTH_DELIMITED)
+        return readBytesNoTag()
+    }
+
+    fun readBytesNoTag(): ByteArray {
+        val length = readInt32NoTag()
+        return readRawBytes(length)
+    }
+
+    /** ============ Utility methods ==================
+     *  They are left non-private for cases when one wants to implement her/his own protocol format.
+     *  Then she/he can re-use low-level methods for operating with raw values, that are not annotated with Protobuf tags.
+     */
+
+    fun checkFieldCorrectness(
+            expectedFieldNumber: Int,
+            actualFieldNumber: Int,
+            expectedWireType: WireType,
+            actualWireType: WireType) {
+        if (expectedFieldNumber != actualFieldNumber) {
+            return
+        }
+
+        if (expectedWireType.id != actualWireType.id) {
+            return
+        }
+    }
+
+    fun readRawBytes(count: Int): ByteArray {
+        val ba = ByteArray(count)
+        var i = 0
+        while (i < count) {
+            ba[i] = inputStream.read().toByte()
+            i++
+        }
+        return ba
+    }
+
+    // reads tag. Note that it returns 0 for the end of message!
+    fun readTag(expectedFieldNumber: Int, expectedWireType: WireType): Int {
+        if (isAtEnd()) {
+            return 0        // we can safely return 0 as sign of end of message, because 0-tags are illegal
+        }
+        val tag = readInt32NoTag()
+        if (tag == 0) {     // if we somehow had read 0-tag, then message is corrupted
+            return 0
+        }
+
+        val actualFieldNumber = WireFormat.getTagFieldNumber(tag)
+        val actualWireType = WireFormat.getTagWireType(tag)
+        checkFieldCorrectness(expectedFieldNumber, actualFieldNumber, expectedWireType, actualWireType)
+        return tag
+    }
+
+    // reads varint not larger than 32-bit integer according to protobuf varint-encoding
+    fun readInt32NoTag(): Int {
+        var done: Boolean = false
+        var result: Int = 0
+        var step: Int = 0
+        while (!done) {
+            val byte: Int = inputStream.read().toInt()
+            result = result or
+                    (
+                        (byte and WireFormat.VARINT_INFO_BITS_MASK)
+                        shl
+                        (WireFormat.VARINT_INFO_BITS_COUNT * step)
+                    )
+            step++
+            if ((byte and WireFormat.VARINT_UTIL_BIT_MASK) == 0) {
+                done = true
+            }
+        }
+        return result
+    }
+
+    // reads varint not larger than 64-bit integer according to protobuf varint-encoding
+    fun readInt64NoTag(): Long {
+        var done: Boolean = false
+        var result: Long = 0
+        var step: Int = 0
+        while (!done) {
+            val byte: Int = inputStream.read().toInt()
+            result = result or
+                    (
+                        (byte and WireFormat.VARINT_INFO_BITS_MASK).toLong()
+                        shl
+                        (WireFormat.VARINT_INFO_BITS_COUNT * step)
+                    )
+            step++
+            if ((byte and WireFormat.VARINT_UTIL_BIT_MASK) == 0 /* || byte == -1 ???? */) {
+                done = true
+            }
+        }
+        return result
+    }
+
+    // reads zig-zag encoded integer not larger than 32-bit long
+    fun readZigZag32NoTag(): Int {
+        val value = readInt32NoTag()
+        return (value shr 1) xor (-(value and 1))   // bit magic for decoding zig-zag number
+    }
+
+    // reads zig-zag encoded integer not larger than 64-bit long
+    fun readZigZag64NoTag(): Long {
+        val value = readInt64NoTag()
+        return (value shr 1) xor (-(value and 1L))  // bit magic for decoding zig-zag number
+    }
+
+    // checks if at least one more byte can be read from underlying input stream
+    fun isAtEnd(): Boolean {
+        return inputStream.isAtEnd()
+    }
+}

car_fmw/src/proto_runtime/CodedOutputStream.kt

@@ -0,0 +1,153 @@
+/**
+ * Created by user on 7/6/16.
+ */
+
+class CodedOutputStream(val buffer: ByteArray) {
+    val output = KotlinOutputStream(buffer)
+
+    fun toByteArray(): ByteArray {
+        return buffer
+    }
+
+    fun writeTag(fieldNumber: Int, type: WireType) {
+        val tag = (fieldNumber shl 3) or type.id
+        writeInt32NoTag(tag)
+    }
+
+    fun writeInt32(fieldNumber: Int, value: Int) {
+        writeTag(fieldNumber, WireType.VARINT)
+        writeInt32NoTag(value)
+    }
+
+    // Note that unsigned integer types are stored as their signed counterparts with top bit
+    // simply stored in the sign bit - similar to Java's protobuf implementation. Hence, all
+    // methods, writing unsigned ints simply redirect call to corresponding signed-writing method
+    fun writeUInt32(fieldNumber: Int, value: Int) {
+        writeInt32(fieldNumber, value)
+    }
+
+    fun writeUInt32NoTag(value: Int) {
+        writeInt32NoTag(value)
+    }
+
+    fun writeInt64(fieldNumber: Int, value: Long) {
+        writeTag(fieldNumber, WireType.VARINT)
+        writeInt64NoTag(value)
+    }
+
+    // See notes on unsigned integers implementation above
+    fun writeUInt64(fieldNumber: Int, value: Long) {
+        writeInt64(fieldNumber, value)
+    }
+
+    fun writeUInt64NoTag(value: Long) {
+        writeInt64NoTag(value)
+    }
+
+    fun writeBool(fieldNumber: Int, value: Boolean) {
+        writeTag(fieldNumber, WireType.VARINT)
+        writeBoolNoTag(value)
+    }
+
+    fun writeBoolNoTag(value: Boolean) {
+        writeInt32NoTag(if (value) 1 else 0)
+    }
+
+    // Writing enums is like writing one int32 number. Caller is responsible for converting enum-object to ordinal
+    fun writeEnum(fieldNumber: Int, value: Int) {
+        writeTag(fieldNumber, WireType.VARINT)
+        writeEnumNoTag(value)
+    }
+
+    fun writeEnumNoTag(value: Int) {
+        writeInt32NoTag(value)
+    }
+
+    fun writeSInt32(fieldNumber: Int, value: Int) {
+        writeTag(fieldNumber, WireType.VARINT)
+        writeSInt32NoTag(value)
+    }
+
+    fun writeSInt32NoTag(value: Int) {
+        writeInt32NoTag((value shl 1) xor (value shr 31))
+    }
+
+    fun writeSInt64(fieldNumber: Int, value: Long) {
+        writeTag(fieldNumber, WireType.VARINT)
+        writeSInt64NoTag(value)
+    }
+
+    fun writeSInt64NoTag(value: Long) {
+        writeInt64NoTag((value shl 1) xor (value shr 63))
+    }
+
+    fun writeBytes(fieldNumber: Int, value: ByteArray) {
+        if (value.size == 0) {
+            return
+        }
+        writeTag(fieldNumber, WireType.LENGTH_DELIMITED)
+        writeBytesNoTag(value)
+    }
+
+    fun writeBytesNoTag(value: ByteArray) {
+        writeInt32NoTag(value.size)
+        output.write(value)
+    }
+
+    /** ============ Utility methods ==================
+     *  They are left non-private for cases when one wants to implement her/his own protocol format.
+     *  Then she/he can re-use low-level methods for operating with raw values, that are not annotated with Protobuf tags.
+     */
+
+     fun writeInt32NoTag(value: Int) {
+        var curValue: Int = value
+
+        // we have at most 32 information bits. With overhead of 1 bit per 7 bits we need at most 5 bytes for encoding
+        val res = ByteArray(5)
+
+        var resSize = 0
+        do {
+            // encode current 7 bits
+            var curByte = (curValue and WireFormat.VARINT_INFO_BITS_MASK)
+
+            // discard encoded bits. Note that unsigned shift is needed for cases with negative numbers
+            curValue = curValue ushr WireFormat.VARINT_INFO_BITS_COUNT
+
+            // check if there will be next byte in encoding and set util bit if needed
+            if (curValue != 0) {
+                curByte = curByte or WireFormat.VARINT_UTIL_BIT_MASK
+            }
+
+            res[resSize] = curByte.toByte()
+            resSize++
+        } while (curValue != 0)
+        output.write(res, 0, resSize)
+    }
+
+    fun writeInt64NoTag(value: Long) {
+        var curValue: Long = value
+
+        // we have at most 64 information bits. With overhead of 1 bit per 7 bits we need at most 10 bytes for encoding
+        val res = ByteArray(10)
+
+        var resSize = 0
+        while(curValue != 0L) {
+            // encode current 7 bits
+            var curByte = (curValue and WireFormat.VARINT_INFO_BITS_MASK.toLong())
+
+            // discard encoded bits. Note that unsigned shift is needed for cases with negative numbers
+            curValue = curValue ushr WireFormat.VARINT_INFO_BITS_COUNT
+
+            // check if there will be next byte and set util bit if needed
+            if (curValue != 0L) {
+                curByte = curByte or WireFormat.VARINT_UTIL_BIT_MASK.toLong()
+            }
+
+            res[resSize] = curByte.toByte()
+            resSize++
+        }
+        output.write(res, 0, resSize)
+    }
+
+
+}

car_fmw/src/proto_runtime/KotlinInputStream.kt

@@ -0,0 +1,16 @@
+/**
+ * Created by user on 8/8/16.
+ */
+
+class KotlinInputStream(val buffer: ByteArray) {
+    var pos = 0
+
+    fun read(): Byte {
+        pos += 1
+        return buffer[pos - 1]
+    }
+
+    fun isAtEnd(): Boolean {
+        return pos >= buffer.size
+    }
+}

car_fmw/src/proto_runtime/KotlinOutputStream.kt

@@ -0,0 +1,20 @@
+/**
+ * Created by user on 8/8/16.
+ */
+
+class KotlinOutputStream(val buffer: ByteArray) {
+    var pos = 0
+
+    fun write (data: ByteArray) {
+        write(data, 0, data.size)
+    }
+
+    fun write (data: ByteArray, begin: Int, size: Int) {
+        var i = begin
+        while (i < begin + size) {
+            buffer[pos] = data[i]
+            pos += 1
+            i++
+        }
+    }
+}

car_fmw/src/proto_runtime/WireFormat.kt

@@ -0,0 +1,161 @@
+
+object WireFormat {
+    // couple of constants for magic numbers
+    val TAG_TYPE_BITS: Int = 3
+    val TAG_TYPE_MASK: Int = (1 shl TAG_TYPE_BITS) - 1
+    val VARINT_INFO_BITS_COUNT: Int = 7
+    val VARINT_INFO_BITS_MASK: Int = 0b01111111    // mask for separating lowest 7 bits, where actual information stored
+    val VARINT_UTIL_BIT_MASK: Int = 0b10000000     // mask for separating highest bit, that indicates next byte presence
+    val FIXED_32_BYTE_SIZE: Int = 4
+    val FIXED_64_BYTE_SIZE: Int = 8
+
+    fun getTagWireType(tag: Int): WireType {
+        return WireType.from((tag and TAG_TYPE_MASK).toByte())
+    }
+
+    fun getTagFieldNumber(tag: Int): Int {
+        return tag ushr TAG_TYPE_BITS
+    }
+
+    // TODO: refactor casts into function overloading as soon as translator will support it
+    fun getTagSize(fieldNumber: Int, wireType: WireType): Int {
+        return getVarint32Size((fieldNumber shl 3) or wireType.id)
+    }
+
+    fun getVarint32Size(value: Int): Int {
+        var curValue = value
+        var size = 0
+        while (curValue != 0) {
+            size += 1
+            curValue = curValue ushr VARINT_INFO_BITS_COUNT
+        }
+        return size
+    }
+
+    fun getVarint64Size(value: Long): Int {
+        var curValue = value
+        var size = 0
+        while (curValue != 0L) {
+            size += 1
+            curValue = curValue ushr VARINT_INFO_BITS_COUNT
+        }
+        return size
+    }
+
+    fun getZigZag32Size(value: Int): Int {
+        return getVarint32Size((value shl 1) xor (value shr 31))
+    }
+
+    fun getZigZag64Size(value: Long): Int {
+        return getVarint64Size((value shl 1) xor (value shr 63))
+    }
+
+    fun getInt32Size(fieldNumber: Int, value: Int): Int {
+        return getTagSize(fieldNumber, WireType.VARINT) + getVarint32Size(value)
+    }
+
+    fun getInt32SizeNoTag(value: Int): Int {
+        return getVarint32Size(value)
+    }
+
+    fun getUInt32Size(fieldNumber: Int, value: Int): Int {
+        return getInt32Size(fieldNumber, value)
+    }
+
+    fun getUInt32SizeNoTag(value: Int): Int {
+        return getVarint32Size(value)
+    }
+
+    fun getInt64Size(fieldNumber: Int, value: Long): Int {
+        return getTagSize(fieldNumber, WireType.VARINT) + getVarint64Size(value)
+    }
+
+    fun getInt64SizeNoTag(value: Long): Int {
+        return getVarint64Size(value)
+    }
+
+    fun getUInt64Size(fieldNumber: Int, value: Long): Int {
+        return getInt64Size(fieldNumber, value)
+    }
+
+    fun getUInt64SizeNoTag(value: Long): Int {
+        return getVarint64Size(value)
+    }
+
+    fun getBoolSize(fieldNumber: Int, value: Boolean): Int {
+        val intValue = if (value) 1 else 0
+        return getInt32Size(fieldNumber, intValue)
+    }
+
+    fun getBoolSizeNoTag(value: Boolean): Int {
+        val intValue = if (value) 1 else 0
+        return getInt32SizeNoTag(intValue)
+    }
+
+    fun getEnumSize(fieldNumber: Int, value: Int): Int {
+        return getInt32Size(fieldNumber, value)
+    }
+
+    fun getEnumSizeNoTag(value: Int): Int {
+        return getInt32SizeNoTag(value)
+    }
+
+    fun getSInt32Size(fieldNumber: Int, value: Int): Int {
+        return getTagSize(fieldNumber, WireType.VARINT) + getZigZag32Size(value)
+    }
+
+    fun getSInt32SizeNoTag(value: Int): Int {
+        return getZigZag32Size(value)
+    }
+
+    fun getSInt64Size(fieldNumber: Int, value: Long): Int {
+        return getTagSize(fieldNumber, WireType.VARINT) + getZigZag64Size(value)
+    }
+
+    fun getSInt64SizeNoTag(value: Long): Int {
+        return getZigZag64Size(value)
+    }
+
+    fun getFixed32Size(fieldNumber: Int, value: Int): Int {
+        return getTagSize(fieldNumber, WireType.FIX_32) + FIXED_32_BYTE_SIZE
+    }
+
+    fun getFixed32SizeNoTag(value: Int): Int {
+        return FIXED_32_BYTE_SIZE
+    }
+
+    fun getFixed64Size(fieldNumber: Int, value: Long): Int {
+        return getTagSize(fieldNumber, WireType.FIX_64) + FIXED_64_BYTE_SIZE
+    }
+
+    fun getFixed64SizeNoTag(value: Long): Int  {
+        return FIXED_64_BYTE_SIZE
+    }
+
+    fun getDoubleSize(fieldNumber: Int, value: Double): Int {
+        return getTagSize(fieldNumber, WireType.FIX_64) + FIXED_64_BYTE_SIZE
+    }
+
+    fun getDoubleSizeNoTag(value: Double): Int {
+        return FIXED_64_BYTE_SIZE
+    }
+
+    fun getFloatSize(fieldNumber: Int, value: Float): Int {
+        return getTagSize(fieldNumber, WireType.FIX_32) + FIXED_32_BYTE_SIZE
+    }
+
+    fun getFloatSizeNoTag(value: Float): Int {
+        return FIXED_32_BYTE_SIZE
+    }
+
+    fun getBytesSize(fieldNumber: Int, value: ByteArray): Int {
+        if (value.size == 0)
+            return 0
+        var size = 0
+        return value.size + getTagSize(fieldNumber, WireType.LENGTH_DELIMITED) + getVarint32Size(value.size)
+    }
+
+    fun getBytesSizeNoTag(value: ByteArray): Int {
+        return value.size + getVarint32Size(value.size)
+    }
+}

car_fmw/src/proto_runtime/WireType.kt

@@ -0,0 +1,29 @@
+/**
+ * Created by Dmitry Savvinov on 7/6/16.
+ * Enum for possible WireTypes.
+ * See details at [official Google reference](https://developers.google.com/protocol-buffers/docs/encoding#structure)
+ */
+
+enum class WireType(val id: Int) {
+    VARINT(0),              // int32, int64, uint32, uint64, sint32, sint64, bool, enum
+    FIX_64(1),              // fixed64, sfixed64, double
+    LENGTH_DELIMITED(2),    // string, bytes, embedded messages, packed repeated fields
+    START_GROUP(3),         // groups (deprecated)
+    END_GROUP(4),           // groups (deprecated)
+    FIX_32(5),              // fixed32, sfixed32, float
+    UNDEFINED(6);           // indicates error when parsing from Int
+
+    companion object {
+        fun from (value: Byte): WireType {
+            return when (value) {
+                0.toByte() -> VARINT
+                1.toByte() -> FIX_64
+                2.toByte() -> LENGTH_DELIMITED
+                3.toByte() -> START_GROUP
+                4.toByte() -> END_GROUP
+                5.toByte() -> FIX_32
+                else -> UNDEFINED
+            }
+        }
+    }
+}

car_fmw/src/proto_src/direction.kt

@@ -0,0 +1,301 @@
+class DirectionRequest private constructor (var command: DirectionRequest.Command, var sid: Int) {
+  //========== Properties ===========
+  //enum command = 1
+
+  //int32 sid = 2
+
+  var errorCode: Int = 0
+
+  //========== Nested enums declarations ===========
+  enum class Command(val ord: Int) {
+    stop (0),
+    forward (1),
+    backward (2),
+    left (3),
+    right (4),
+    Unexpected(5);
+
+    companion object {
+      fun fromIntToCommand (ord: Int): Command {
+        return when (ord) {
+          0 -> Command.stop
+          1 -> Command.forward
+          2 -> Command.backward
+          3 -> Command.left
+          4 -> Command.right
+          else -> Unexpected
+        }
+      }
+    }
+  }
+  //========== Serialization methods ===========
+  fun writeTo (output: CodedOutputStream) {
+    //enum command = 1
+    if (command != DirectionRequest.Command.fromIntToCommand(0)) {
+      output.writeEnum (1, command.ord)
+    }
+
+    //int32 sid = 2
+    if (sid != 0) {
+      output.writeInt32 (2, sid)
+    }
+
+  }
+
+  fun mergeWith (other: DirectionRequest) {
+    command = other.command
+    sid = other.sid
+  }
+
+  fun mergeFromWithSize (input: CodedInputStream, expectedSize: Int) {
+    val builder = DirectionRequest.BuilderDirectionRequest(DirectionRequest.Command.fromIntToCommand(0), 0)
+    mergeWith(builder.parseFromWithSize(input, expectedSize).build())
+  }
+
+  fun mergeFrom (input: CodedInputStream) {
+    val builder = DirectionRequest.BuilderDirectionRequest(DirectionRequest.Command.fromIntToCommand(0), 0)
+    mergeWith(builder.parseFrom(input).build())
+  }
+
+  //========== Size-related methods ===========
+  fun getSize(fieldNumber: Int): Int {
+    var size = 0
+    if (command != DirectionRequest.Command.fromIntToCommand(0)) {
+      size += WireFormat.getEnumSize(1, command.ord)
+    }
+    if (sid != 0) {
+      size += WireFormat.getInt32Size(2, sid)
+    }
+    size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
+    return size
+  }
+
+  fun getSizeNoTag(): Int {
+    var size = 0
+    if (command != DirectionRequest.Command.fromIntToCommand(0)) {
+      size += WireFormat.getEnumSize(1, command.ord)
+    }
+    if (sid != 0) {
+      size += WireFormat.getInt32Size(2, sid)
+    }
+    return size
+  }
+
+  //========== Builder ===========
+  class BuilderDirectionRequest constructor (var command: DirectionRequest.Command, var sid: Int) {
+    //========== Properties ===========
+    //enum command = 1
+    fun setCommand(value: DirectionRequest.Command): DirectionRequest.BuilderDirectionRequest {
+      command = value
+      return this
+    }
+
+    //int32 sid = 2
+    fun setSid(value: Int): DirectionRequest.BuilderDirectionRequest {
+      sid = value
+      return this
+    }
+
+    var errorCode: Int = 0
+
+    //========== Serialization methods ===========
+    fun writeTo (output: CodedOutputStream) {
+      //enum command = 1
+      if (command != DirectionRequest.Command.fromIntToCommand(0)) {
+        output.writeEnum (1, command.ord)
+      }
+
+      //int32 sid = 2
+      if (sid != 0) {
+        output.writeInt32 (2, sid)
+      }
+
+    }
+
+    //========== Mutating methods ===========
+    fun build(): DirectionRequest {
+      return DirectionRequest(command, sid)
+    }
+
+    fun parseFieldFrom(input: CodedInputStream): Boolean {
+      if (input.isAtEnd()) { return false }
+      val tag = input.readInt32NoTag()
+      if (tag == 0) { return false } 
+      val fieldNumber = WireFormat.getTagFieldNumber(tag)
+      val wireType = WireFormat.getTagWireType(tag)
+      when(fieldNumber) {
+        1 -> {
+          if (wireType != WireType.VARINT) { errorCode = 1; return false } 
+          command = DirectionRequest.Command.fromIntToCommand(input.readEnumNoTag())
+        }
+        2 -> {
+          if (wireType != WireType.VARINT) { errorCode = 1; return false } 
+          sid = input.readInt32NoTag()
+        }
+      }
+      return true}
+
+    fun parseFromWithSize(input: CodedInputStream, expectedSize: Int): DirectionRequest.BuilderDirectionRequest {
+      while(getSizeNoTag() < expectedSize) {
+        parseFieldFrom(input)
+      }
+      if (getSizeNoTag() > expectedSize) { errorCode = 2 }
+      return this
+    }
+
+    fun parseFrom(input: CodedInputStream): DirectionRequest.BuilderDirectionRequest {
+      while(parseFieldFrom(input)) {}
+      return this
+    }
+
+    //========== Size-related methods ===========
+    fun getSize(fieldNumber: Int): Int {
+      var size = 0
+      if (command != DirectionRequest.Command.fromIntToCommand(0)) {
+        size += WireFormat.getEnumSize(1, command.ord)
+      }
+      if (sid != 0) {
+        size += WireFormat.getInt32Size(2, sid)
+      }
+      size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
+      return size
+    }
+
+    fun getSizeNoTag(): Int {
+      var size = 0
+      if (command != DirectionRequest.Command.fromIntToCommand(0)) {
+        size += WireFormat.getEnumSize(1, command.ord)
+      }
+      if (sid != 0) {
+        size += WireFormat.getInt32Size(2, sid)
+      }
+      return size
+    }
+
+  }
+
+}
+
+
+class DirectionResponse private constructor (var code: Int) {
+  //========== Properties ===========
+  //int32 code = 1
+
+  var errorCode: Int = 0
+
+  //========== Serialization methods ===========
+  fun writeTo (output: CodedOutputStream) {
+    //int32 code = 1
+    if (code != 0) {
+      output.writeInt32 (1, code)
+    }
+
+  }
+
+  fun mergeWith (other: DirectionResponse) {
+    code = other.code
+  }
+
+  fun mergeFromWithSize (input: CodedInputStream, expectedSize: Int) {
+    val builder = DirectionResponse.BuilderDirectionResponse(0)
+    mergeWith(builder.parseFromWithSize(input, expectedSize).build())
+  }
+
+  fun mergeFrom (input: CodedInputStream) {
+    val builder = DirectionResponse.BuilderDirectionResponse(0)
+    mergeWith(builder.parseFrom(input).build())
+  }
+
+  //========== Size-related methods ===========
+  fun getSize(fieldNumber: Int): Int {
+    var size = 0
+    if (code != 0) {
+      size += WireFormat.getInt32Size(1, code)
+    }
+    size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
+    return size
+  }
+
+  fun getSizeNoTag(): Int {
+    var size = 0
+    if (code != 0) {
+      size += WireFormat.getInt32Size(1, code)
+    }
+    return size
+  }
+
+  //========== Builder ===========
+  class BuilderDirectionResponse constructor (var code: Int) {
+    //========== Properties ===========
+    //int32 code = 1
+    fun setCode(value: Int): DirectionResponse.BuilderDirectionResponse {
+      code = value
+      return this
+    }
+
+    var errorCode: Int = 0
+
+    //========== Serialization methods ===========
+    fun writeTo (output: CodedOutputStream) {
+      //int32 code = 1
+      if (code != 0) {
+        output.writeInt32 (1, code)
+      }
+
+    }
+
+    //========== Mutating methods ===========
+    fun build(): DirectionResponse {
+      return DirectionResponse(code)
+    }
+
+    fun parseFieldFrom(input: CodedInputStream): Boolean {
+      if (input.isAtEnd()) { return false }
+      val tag = input.readInt32NoTag()
+      if (tag == 0) { return false } 
+      val fieldNumber = WireFormat.getTagFieldNumber(tag)
+      val wireType = WireFormat.getTagWireType(tag)
+      when(fieldNumber) {
+        1 -> {
+          if (wireType != WireType.VARINT) { errorCode = 1; return false } 
+          code = input.readInt32NoTag()
+        }
+      }
+      return true}
+
+    fun parseFromWithSize(input: CodedInputStream, expectedSize: Int): DirectionResponse.BuilderDirectionResponse {
+      while(getSizeNoTag() < expectedSize) {
+        parseFieldFrom(input)
+      }
+      if (getSizeNoTag() > expectedSize) { errorCode = 2 }
+      return this
+    }
+
+    fun parseFrom(input: CodedInputStream): DirectionResponse.BuilderDirectionResponse {
+      while(parseFieldFrom(input)) {}
+      return this
+    }
+
+    //========== Size-related methods ===========
+    fun getSize(fieldNumber: Int): Int {
+      var size = 0
+      if (code != 0) {
+        size += WireFormat.getInt32Size(1, code)
+      }
+      size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
+      return size
+    }
+
+    fun getSizeNoTag(): Int {
+      var size = 0
+      if (code != 0) {
+        size += WireFormat.getInt32Size(1, code)
+      }
+      return size
+    }
+
+  }
+
+}
+
+

car_hw/src/communication.c

@@ -0,0 +1,36 @@
+#include "communication.h"
+
+#include <stddef.h>
+#include <stdbool.h>
+#include <usbd_cdc_vcp.h>
+
+void send_int(int n)
+{
+    int i = 0;
+    char* buffer = (char*) &n;
+
+    for (; i < sizeof(int); ++i) {
+        VCP_put_char(buffer[i]);
+    }
+}
+
+void send_buffer(int size, int pointer)
+{
+    int i = 0;
+
+    send_int(size);
+    char* buffer = (char*) pointer;
+    for (; i < size; ++i) {
+        VCP_put_char(buffer[i]);
+    }
+}
+
+int receive_int()
+{
+    return 0;
+}
+
+int receive_buffer()
+{
+    return 0;
+}

car_hw/src/include/communication.h

@@ -0,0 +1,7 @@
+#pragma once
+
+void send_int(int i);
+void send_buffer(int size, int pointer);
+
+int receive_int();
+int receive_buffer();

car_hw/src/main.c

@@ -5,46 +5,9 @@
 #include "car_leds.h"
 #include "car_rc.h"
 #include "car_user_btn.h"
+#include "communication.h"
 #include "time.h"
 
 #include "stm32f4xx_conf.h"
 #include "stm32f4xx_it.h"
 
-/* typedef enum { */
-/*     CAR_MODE_PROGRAMMED, */
-/*     CAR_MODE_REMOTE_CONTROL, */
-/*     CAR_MODE_LAST */
-/* } CAR_MODE; */
-/* static CAR_MODE cur_mode = CAR_MODE_PROGRAMMED; */
-/* static __IO bool cur_mode_stop = false; */
-
-/* void stop_cur_mode(void) */
-/* { */
-/*     cur_mode_stop = true; */
-/* } */
-
-//int main(void)
-//{
-//    /*!< At this stage the microcontroller clock setting is already configured,
-//       this is done through SystemInit() function which is called from startup
-//       file (startup_stm32f4xx.s) before to branch to application main.
-//       To reconfigure the default setting of SystemInit() function, refer to
-//       system_stm32f4xx.c file
-//     */
-//
-//    /* time_init(); */
-//    /* leds_init(); */
-//    /* engine_init(); */
-//    /* user_btn_init(stop_cur_mode); */
-//    /* VCP_init(); */
-//
-//    /* while(1) { */
-//    /*     if (cur_mode == CAR_MODE_PROGRAMMED) */
-//    /*         run_programmed_car(&cur_mode_stop); */
-//    /*     else if(cur_mode == CAR_MODE_REMOTE_CONTROL) */
-//    /*         run_rc_car(&cur_mode_stop); */
-//
-//    /*     cur_mode = (cur_mode + 1) % CAR_MODE_LAST; */
-//    /*     cur_mode_stop = false; */
-//    /* } */
-//}

translator/src/main/kotlin/org/kotlinnative/translator/ObjectCodegen.kt

@@ -32,7 +32,10 @@ class ObjectCodegen(state: TranslationState,
         super.prepareForGenerate()
 
         val classInstance = LLVMVariable("object.instance.$fullName", type, objectDeclaration.name, LLVMVariableScope(), pointer = 1)
-        codeBuilder.addGlobalInitialize(classInstance, type)
+        codeBuilder.addGlobalInitialize(classInstance, fields, initializedFields.map {
+            val type = state.bindingContext.get(BindingContext.EXPRESSION_TYPE_INFO, it.value)!!.type!!
+            Pair(it.key, state.bindingContext.get(BindingContext.COMPILE_TIME_VALUE, it.value)!!.getValue(type).toString())
+        }.toMap() , type)
         variableManager.addGlobalVariable(fullName, classInstance)
     }
 

translator/src/main/kotlin/org/kotlinnative/translator/StructCodegen.kt

@@ -35,6 +35,8 @@ abstract class StructCodegen(val state: TranslationState,
         get() = "${if (type.location.size > 0) "${type.location.joinToString(".")}." else ""}$structName"
 
     open fun prepareForGenerate() {
+        generateStruct()
+
         for (declaration in classOrObject.declarations) {
             when (declaration) {
                 is KtNamedFunction -> {
@@ -46,7 +48,6 @@ abstract class StructCodegen(val state: TranslationState,
     }
 
     open fun generate() {
-        generateStruct()
         generateEnumFields()
         generatePrimaryConstructor()
 
@@ -70,7 +71,7 @@ abstract class StructCodegen(val state: TranslationState,
                     field.offset = offset
                     offset++
 
-                    if ((declaration.initializer != null) && this !is ObjectCodegen) {
+                    if (declaration.initializer != null) {
                         initializedFields.put(field, declaration.initializer!!)
                     }
                     fields.add(field)

translator/src/main/kotlin/org/kotlinnative/translator/llvm/LLVMBuilder.kt

@@ -4,6 +4,7 @@ import org.kotlinnative.translator.llvm.types.LLVMCharType
 import org.kotlinnative.translator.llvm.types.LLVMIntType
 import org.kotlinnative.translator.llvm.types.LLVMStringType
 import org.kotlinnative.translator.llvm.types.LLVMType
+import java.util.*
 
 class LLVMBuilder(val arm: Boolean = false) {
     private val POINTER_SIZE = 4
@@ -81,8 +82,10 @@ class LLVMBuilder(val arm: Boolean = false) {
         globalCode.appendln("$variable = private unnamed_addr constant  ${type.fullType()} c\"$value\\00\", align 1")
     }
 
-    fun addGlobalInitialize(target: LLVMVariable, classType: LLVMType) {
+    fun addGlobalInitialize(target: LLVMVariable, fields: ArrayList<LLVMVariable>, initializers: Map<LLVMVariable, String>, classType: LLVMType) {
-        val code = "$target = internal global $classType zeroinitializer, align ${classType.align}"
+        val code = "$target = internal global $classType { ${
+            fields.map { it.getType() + " " + if (initializers.containsKey(it)) initializers[it] else "0"}.joinToString()
+        } }, align ${classType.align}"
         globalCode.appendln(code)
     }
 

translator/src/test/kotlin/tests/input/object_1.txt

@@ -1 +1,2 @@
 singleton_test_Int(5) == 40
+singleton_test2() == 123456789

translator/src/test/kotlin/tests/kotlin/object_1.kt

@@ -1,4 +1,7 @@
 object Singleton {
+
+    val i: Int = 123456789
+
     fun create(x : Int): Int {
         return x * 8
     }
@@ -7,3 +10,7 @@ object Singleton {
 fun singleton_test(i: Int): Int {
     return Singleton.create(i)
 }
+
+fun singleton_test2(): Int {
+    return Singleton.i
+}