From d293bb8b6b934b438d4007bcea9303dab26d3f75 Mon Sep 17 00:00:00 2001
From: MaximZaitsev <AnterKan1@gmail.com>
Date: Thu, 1 Sep 2016 16:54:26 +0300
Subject: [PATCH] add exception for try get new sonar data

---
 .../java/Exceptions/SonarDataException.kt     |  4 +++
 .../main/java/algorithm/AbstractAlgorithm.kt  | 31 ++++++++++++-------
 .../java/algorithm/RoomBypassingAlgorithm.kt  | 15 ++++-----
 3 files changed, 32 insertions(+), 18 deletions(-)
 create mode 100644 server/src/main/java/Exceptions/SonarDataException.kt

diff --git a/server/src/main/java/Exceptions/SonarDataException.kt b/server/src/main/java/Exceptions/SonarDataException.kt
new file mode 100644
index 00000000000..536e13a789c
--- /dev/null
+++ b/server/src/main/java/Exceptions/SonarDataException.kt
@@ -0,0 +1,4 @@
+package Exceptions
+
+class SonarDataException() : Exception() {
+}
\ No newline at end of file
diff --git a/server/src/main/java/algorithm/AbstractAlgorithm.kt b/server/src/main/java/algorithm/AbstractAlgorithm.kt
index 4c61b58a75f..65c1236509b 100644
--- a/server/src/main/java/algorithm/AbstractAlgorithm.kt
+++ b/server/src/main/java/algorithm/AbstractAlgorithm.kt
@@ -2,6 +2,7 @@ package algorithm
 
 import CodedOutputStream
 import Exceptions.InactiveCarException
+import Exceptions.SonarDataException
 import RouteMetricRequest
 import SonarRequest
 import algorithm.geometry.Angle
@@ -38,12 +39,14 @@ abstract class AbstractAlgorithm(val thisCar: Car, val exchanger: Exchanger<IntA
 
     //    private val defaultAngles = arrayOf(Angle(0), Angle(60), Angle(70), Angle(80), Angle(90), Angle(100), Angle(110), Angle(120), Angle(180))
     protected var requiredAngles = defaultAngles
+
     protected enum class CarState {
         WALL,
         INNER,
         OUTER
 
     }
+
     private var iterationCounter = 0
 
     protected fun getData(angles: Array<Angle>): IntArray {
@@ -115,10 +118,16 @@ abstract class AbstractAlgorithm(val thisCar: Car, val exchanger: Exchanger<IntA
 
         this.requiredAngles = defaultAngles
 
-        val state = getCarState(anglesDistances) ?: return
-        val command = getCommand(anglesDistances, state)
-
-        if (command == null) {
+        val command: RouteMetricRequest
+        val state: CarState
+        try {
+            state = getCarState(anglesDistances)
+            command = getCommand(anglesDistances, state)
+        } catch (e: SonarDataException) {
+            Logger.log("iteration cancelled. need more data from sonar")
+            Logger.outdent()
+            Logger.log("============= FINISHING ITERATION ${iterationCounter} ============")
+            Logger.log("")
             return
         }
 
@@ -157,7 +166,7 @@ abstract class AbstractAlgorithm(val thisCar: Car, val exchanger: Exchanger<IntA
 
     private fun addToHistory(command: RouteMetricRequest) {
         history.push(command)
-        while(history.size > historySize) {
+        while (history.size > historySize) {
             history.removeAt(0)
         }
     }
@@ -186,10 +195,10 @@ abstract class AbstractAlgorithm(val thisCar: Car, val exchanger: Exchanger<IntA
     protected fun rollback() {
         val lastCommand = popFromHistory()
         val invertedCommand = inverseCommand(lastCommand)
-        Logger.log ("Rollback:")
+        Logger.log("Rollback:")
         Logger.indent()
-        Logger.log ("Last command: ${lastCommand.toString()}")
-        Logger.log ("Inverted cmd: ${invertedCommand.toString()}")
+        Logger.log("Last command: ${lastCommand.toString()}")
+        Logger.log("Inverted cmd: ${invertedCommand.toString()}")
         Logger.outdent()
         moveCar(invertedCommand)
     }
@@ -198,7 +207,7 @@ abstract class AbstractAlgorithm(val thisCar: Car, val exchanger: Exchanger<IntA
         Logger.log("=== Starting rollback for ${steps} steps ===")
         Logger.indent()
         var stepsRemaining = steps
-        while(stepsRemaining > 0 && history.size > 0) {
+        while (stepsRemaining > 0 && history.size > 0) {
             Logger.log("Step: ${steps - stepsRemaining + 1}")
             rollback()
             stepsRemaining--
@@ -207,8 +216,8 @@ abstract class AbstractAlgorithm(val thisCar: Car, val exchanger: Exchanger<IntA
         Logger.log("=== Finished rollback ===")
     }
 
-    protected abstract fun getCarState(anglesDistances: Map<Angle, AngleData>): CarState?
-    protected abstract fun getCommand(anglesDistances: Map<Angle, AngleData>, state: CarState): RouteMetricRequest?
+    protected abstract fun getCarState(anglesDistances: Map<Angle, AngleData>): CarState
+    protected abstract fun getCommand(anglesDistances: Map<Angle, AngleData>, state: CarState): RouteMetricRequest
     protected abstract fun afterGetCommand(route: RouteMetricRequest)
     abstract fun isCompleted(): Boolean
 
diff --git a/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt b/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt
index 56874d02cb2..3099c8fad8f 100644
--- a/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt
+++ b/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt
@@ -1,5 +1,6 @@
 package algorithm
 
+import Exceptions.SonarDataException
 import Logger.log
 import RouteMetricRequest
 import SonarRequest
@@ -134,7 +135,7 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
         }
     }
 
-    override fun getCommand(anglesDistances: Map<Angle, AngleData>, state: CarState): RouteMetricRequest? {
+    override fun getCommand(anglesDistances: Map<Angle, AngleData>, state: CarState): RouteMetricRequest {
         val dist0 = anglesDistances[Angle(0)]!!
         val dist70 = anglesDistances[Angle(70)]!!
         val dist80 = anglesDistances[Angle(80)]!!
@@ -151,7 +152,7 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
             log("Found to many -1 in angle distances, falling back")
             rollback()
             //todo Теоретически такая ситуация может быть валидной, если сразу после внутреннего угла идёт внешний
-            return null
+            throw SonarDataException()
         }
 
         val average = (anglesDistances.values
@@ -233,7 +234,7 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
         log("")
 
         // Check if wall is too close or too far
-        log ("5. Check if we have to move closer or farther to the wall")
+        log("5. Check if we have to move closer or farther to the wall")
         if (dist90.distance > DISTANCE_TO_WALL_UPPER_BOUND || dist90.distance < DISTANCE_TO_WALL_LOWER_BOUND) {
             log("Flaw in distance to the parallel wall found, correcting")
             return correctDistanceToParallelWall(anglesDistances, state)
@@ -242,21 +243,21 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
 
         // Approaching inner corner and getting spurious reflection from 2 walls on 60;
         // Just move forward to get closer to the corner;
-        log ("6. Check if we are detecting echo reflections approaching inner corner")
+        log("6. Check if we are detecting echo reflections approaching inner corner")
         if (dist70.distance - dist0.distance > ECHO_REFLECTION_DIFF) {
             log("Echo reflection detected, moving forward")
             return moveForward(dist0.distance)
         }
-        log ("")
+        log("")
 
         // Approaching outer corner (parallel wall is ending soon, but not yet);
         // Just move forward to get to the end of the wall
-        log ("7. Check if we are detecting far wall approaching outer corner")
+        log("7. Check if we are detecting far wall approaching outer corner")
         if (dist80.distance == -1 || Math.abs(dist100.distance - dist80.distance) > ISOSCALENESS_MAX_DIFF) {
             log("Approaching outer corner, moving forward")
             return moveForward(dist0.distance)
         }
-        log ("")
+        log("")
 
         // default case: everything is ok, just move forward
         log("8. Default case: moving forward")