simple refactoring

car_srv/kotlinSrv/src/Main.kt

@@ -43,6 +43,33 @@ fun main(args: Array<String>) {
 
 }
 
+fun encodeInt(i: Int): ByteArray {
+    val result = ByteArray(4)
+    result[0] = i.shr(24).toByte()
+    result[1] = i.shr(16).toByte()
+    result[2] = i.shr(8).toByte()
+    result[3] = i.toByte()
+
+    return result
+}
+
+fun decodeInt(bytes: ByteArray): Int {
+    var result = 0
+    result += bytes[3]
+    result += bytes[2].toInt().shl(8)
+    result += bytes[1].toInt().shl(16)
+    result += bytes[0].toInt().shl(24)
+    return result
+}
+
+fun encodeProtoBuf(protoMessage: dynamic): ByteArray {
+    val protoSize = protoMessage.getSizeNoTag()
+    val routeBytes = ByteArray(protoSize)
+
+    protoMessage.writeTo(CodedOutputStream(routeBytes))
+    return routeBytes
+}
+
 @native
 fun require(name: String): dynamic {
     return null

car_srv/kotlinSrv/src/carControl/RouteExecutorToUsb.kt

@@ -2,44 +2,19 @@ package carControl
 
 import RouteRequest
 import mcTransport
-import CodedOutputStream
+import encodeInt
-
+import decodeInt
-fun encode(i: Int): ByteArray {
+import encodeProtoBuf
-    val result = ByteArray(4)
-    result[0] = i.shr(24).toByte()
-    result[1] = i.shr(16).toByte()
-    result[2] = i.shr(8).toByte()
-    result[3] = i.toByte()
-
-    return result
-}
-
-fun decode(bytes: ByteArray): Int {
-    var result = 0
-    result += bytes[3]
-    result += bytes[2].toInt().shl(8)
-    result += bytes[1].toInt().shl(16)
-    result += bytes[0].toInt().shl(24)
-    return result
-}
-
-fun encodeRouteRequest(route: RouteRequest): ByteArray {
-    val protoSize = route.getSizeNoTag()
-    val routeBytes = ByteArray(protoSize)
-
-    route.writeTo(CodedOutputStream(routeBytes))
-    return routeBytes
-}
 
 class RouteExecutorToUsb : RouteExecutor {
 
     override fun executeRoute(route: RouteRequest) {
         println("Execute Route:")
-        val size = encode(route.getSizeNoTag())
+        val size = encodeInt(route.getSizeNoTag())
-        val routeBytes = encodeRouteRequest(route)
+        val routeBytes = encodeProtoBuf(route)
 
         mcTransport.setCallBack { bytes ->
-            println("Read $bytes; decoded: ${decode(bytes)}")
+            println("Read $bytes; decoded: ${decodeInt(bytes)}")
         }
 
         mcTransport.writeToFile(size)

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

@@ -3,7 +3,7 @@ package net.server.handlers.flash
 import net.server.handlers.AbstractHandler
 import require
 import CodedInputStream
-import CodedOutputStream
+import encodeProtoBuf
 import mcTransport
 
 /**
@@ -25,28 +25,13 @@ class LoadBin : AbstractHandler {
     override fun getBytesResponse(data: ByteArray, callback: (b: ByteArray) -> Unit) {
         val message = fromServerObjectBuilder.build()
         message.mergeFrom(CodedInputStream(data))
-        var resultCode = 0
         val responseMessage = toServerObjectBuilder.build()
         mcTransport.writeToFile(message.data)
-//        if (error != null) {
-//            resultCode = 14
-//            responseMessage.resultCode = resultCode
-//            val resultByteArray = ByteArray(responseMessage.getSizeNoTag())
-//            responseMessage.writeTo(CodedOutputStream(resultByteArray))
-//            callback.invoke(resultByteArray)
-//        } else {
         val stFlashCommand = "./st-flash write ./flash.bin " + "0x08000000"
         exec(stFlashCommand, { err, stdOutRes, stdErrRes ->
-            if (err != null) {
+            val resultCode = if (err != null) 15 else 0
-                resultCode = 15
-            } else {
-                resultCode = 0
-            }
             responseMessage.resultCode = resultCode
-            val resultByteArray = ByteArray(responseMessage.getSizeNoTag())
+            callback.invoke(encodeProtoBuf(responseMessage))
-            responseMessage.writeTo(CodedOutputStream(resultByteArray))
-            callback.invoke(resultByteArray)
         })
-//        }
     }
 }

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

@@ -1,7 +1,7 @@
 package net.server.handlers.main
 
 import net.server.handlers.AbstractHandler
-import CodedOutputStream
+import encodeProtoBuf
 
 /**
  * Created by user on 7/28/16.
@@ -17,9 +17,7 @@ class GetLocation : AbstractHandler {
     override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
         val car = MicroController.instance.car
         val locationData = LocationResponse.LocationData.BuilderLocationData(car.x.toInt(), car.y.toInt(), car.angle.toInt()).build()
-        val resultMessage = toServerObjectBuilder.setLocationResponseData(locationData).build()
+        val responseMessage = toServerObjectBuilder.setLocationResponseData(locationData).build()
-        val resultByteArray = ByteArray(resultMessage.getSizeNoTag())
+        callback.invoke(encodeProtoBuf(responseMessage))
-        resultMessage.writeTo(CodedOutputStream(resultByteArray))
-        callback.invoke(resultByteArray)
     }
 }

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

@@ -2,7 +2,7 @@ package net.server.handlers.main
 
 import net.server.handlers.AbstractHandler
 import CodedInputStream
-import CodedOutputStream
+import encodeProtoBuf
 
 /**
  * Created by user on 7/28/16.
@@ -23,9 +23,7 @@ class SetRoute : AbstractHandler {
         message.mergeFrom(CodedInputStream(data))
         car.routeExecutor.executeRoute(message)
         val responseMessage = toServerObjectBuilder.setCode(0).build()
-        val resultByteArray = ByteArray(responseMessage.getSizeNoTag())
+        callback.invoke(encodeProtoBuf(responseMessage))
-        responseMessage.writeTo(CodedOutputStream(resultByteArray))
-        callback.invoke(resultByteArray)
     }
 
 }

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

@@ -2,7 +2,7 @@ package net.server.handlers.rc
 
 import exceptions.RcControlException
 import net.server.handlers.AbstractHandler
-import CodedOutputStream
+import encodeProtoBuf
 
 /**
  * Created by user on 7/27/16.
@@ -25,11 +25,8 @@ class Connect : AbstractHandler {
             resultCode = 13
             sid = 0
         }
-
         val responseMessage = toServerObjectBuilder.setCode(resultCode).setSid(sid).build()
-        val resultByteArray = ByteArray(responseMessage.getSizeNoTag())
+        callback.invoke(encodeProtoBuf(responseMessage))
-        responseMessage.writeTo(CodedOutputStream(resultByteArray))
-        callback.invoke(resultByteArray)
     }
 
 }

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

@@ -6,7 +6,7 @@ import exceptions.RcControlException
 import net.server.handlers.AbstractHandler
 import DirectionRequest
 import CodedInputStream
-import CodedOutputStream
+import encodeProtoBuf
 
 /**
  * Created by user on 7/27/16.
@@ -52,8 +52,6 @@ class Control : AbstractHandler {
             resultCode = 12
         }
         val resultMessage = toServerObjectBuilder.setCode(resultCode).build()
-        val resultByteArray = ByteArray(resultMessage.getSizeNoTag())
+        callback.invoke(encodeProtoBuf(resultMessage))
-        resultMessage.writeTo(CodedOutputStream(resultByteArray))
-        callback.invoke(resultByteArray)
     }
 }

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

@@ -3,7 +3,7 @@ package net.server.handlers.rc
 import exceptions.RcControlException
 import net.server.handlers.AbstractHandler
 import CodedInputStream
-import CodedOutputStream
+import encodeProtoBuf
 
 /**
  * Created by user on 7/27/16.
@@ -30,8 +30,6 @@ class Disconnect : AbstractHandler {
             resultCode = 12
         }
         val responseMessage = toServerObjectBuilder.setCode(resultCode).build()
-        val resultByteArray = ByteArray(responseMessage.getSizeNoTag())
+        callback.invoke(encodeProtoBuf(responseMessage))
-        responseMessage.writeTo(CodedOutputStream(resultByteArray))
-        callback.invoke(resultByteArray)
     }
 }

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

@@ -3,7 +3,7 @@ package net.server.handlers.rc
 import exceptions.RcControlException
 import net.server.handlers.AbstractHandler
 import CodedInputStream
-import CodedOutputStream
+import encodeProtoBuf
 
 /**
  * Created by user on 7/27/16.
@@ -29,8 +29,6 @@ class Heartbeat : AbstractHandler {
             resultCode = 12
         }
         val responseMessage = toServerObjectBuilder.setCode(resultCode).build()
-        val resultByteArray = ByteArray(responseMessage.getSizeNoTag())
+        callback.invoke(encodeProtoBuf(responseMessage))
-        responseMessage.writeTo(CodedOutputStream(resultByteArray))
-        callback.invoke(resultByteArray)
     }
 }