translator: send proto

car_fmw/src/main.kt

@@ -1,16 +1,16 @@
 
 fun writeProto() {
     val msg = DirectionResponse.BuilderDirectionResponse(4242).build()
-//    val size = msg.getSizeNoTag()
+    val size = msg.getSizeNoTag()
-//    val buffer = ByteArray(size)
+    val buffer = ByteArray(size)
-//    val outputStream = CodedOutputStream(buffer)
+    val outputStream = CodedOutputStream(buffer)
-//
+
-//    msg.writeTo(outputStream)
+    msg.writeTo(outputStream)
-//    sendByteArray(buffer)
+    sendByteArray(buffer)
+    send_int(0xDDEEFF)
 }
 
 fun main() {
     init()
-    writeProto()
     simpleRoute()
 }

car_fmw/src/simpleRoute.kt

@@ -16,20 +16,8 @@ fun blink() {
 
 fun simpleRoute() {
     while (true) {
-        engine_forward()
-        wait(PROGRAM_DURATION)
-        blink()
-
-        engine_turn_right()
-        wait(PROGRAM_DURATION)
-        blink()
-
-        engine_backward()
-        wait(PROGRAM_DURATION)
-        blink()
-
-        engine_turn_left()
         wait(PROGRAM_DURATION)
         blink()
+        writeProto()
     }
 }

car_hw/src/communication.c

@@ -9,9 +9,11 @@ void send_int(int n)
     int i = 0;
     char* buffer = (char*) &n;
 
+    VCP_put_char(0xAA);
     for (; i < sizeof(int); ++i) {
         VCP_put_char(buffer[i]);
     }
+    VCP_put_char(0xAA);
 }
 
 void send_buffer(int size, int pointer)
@@ -19,10 +21,12 @@ void send_buffer(int size, int pointer)
     int i = 0;
 
     send_int(size);
+    VCP_put_char(0xAA);
     char* buffer = (char*) pointer;
     for (; i < size; ++i) {
         VCP_put_char(buffer[i]);
     }
+    VCP_put_char(0xAA);
 }
 
 int receive_int()