add exception for try get new sonar data

server/src/main/java/Exceptions/SonarDataException.kt

@@ -0,0 +1,4 @@
+package Exceptions
+
+class SonarDataException() : Exception() {
+}

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: RouteMetricRequest
-        val command = getCommand(anglesDistances, state)
+        val state: CarState
-
+        try {
-        if (command == null) {
+            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
         }
 
@@ -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 getCarState(anglesDistances: Map<Angle, AngleData>): CarState
-    protected abstract fun getCommand(anglesDistances: Map<Angle, AngleData>, state: CarState): RouteMetricRequest?
+    protected abstract fun getCommand(anglesDistances: Map<Angle, AngleData>, state: CarState): RouteMetricRequest
     protected abstract fun afterGetCommand(route: RouteMetricRequest)
     abstract fun isCompleted(): Boolean
 

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