simple refactoring

car_srv/kotlinSrv/src/McTransport.kt

@@ -23,19 +23,20 @@ class McTransport() {
     fun initStreams(pathToFile: String) {
         writeStream = fs.createWriteStream(pathToFile);
         readStream = fs.createReadStream(pathToFile)
-        readStream.on("readable", {
+        readStream.on("readable", fun() {
             val data = readStream.read()
-            if (data != null) {
-                var messageLength = getBodyLength(resultBytes)
-                for (i in 0..data.length - 1) {
-                    resultBytes.add(data[i])
-                    if (messageLength != -1 && messageLength + protoHeaderLength == resultBytes.size) {
+            if (data == null) {
+                return
+            }
+            var messageLength = getBodyLength(resultBytes)
 
-                        callback.invoke(resultBytes.toByteArray())
-                        resultBytes.clear()
-                    } else if (messageLength == -1) {
-                        messageLength = getBodyLength(resultBytes)
-                    }
+            for (i in 0..data.length - 1) {
+                resultBytes.add(data[i])
+                if (messageLength != -1 && messageLength + protoHeaderLength == resultBytes.size) {
+                    callback.invoke(resultBytes.toByteArray())
+                    resultBytes.clear()
+                } else if (messageLength == -1) {
+                    messageLength = getBodyLength(resultBytes)
                 }
             }
         })

car_srv/kotlinSrv/src/MicroController.kt

@@ -79,7 +79,7 @@ class MicroController private constructor() {
             throw RcControlException()
         }
         val sid = (Math.random() * 100000).toInt()
-        this.rcSid = sid;
+        this.rcSid = sid
         rcHeartBeat(sid)
         return sid
     }

car_srv/kotlinSrv/src/carControl/RouteExecutorToUsb.kt

@@ -4,27 +4,45 @@ import RouteRequest
 import mcTransport
 import CodedOutputStream
 
-/**
- * Created by user on 8/17/16.
- */
+fun encode(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 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 routeBytes = encodeRouteRequest(route)
 
-        val protoSize = route.getSizeNoTag()
-        val routeBytes = ByteArray(protoSize)
-        route.writeTo(CodedOutputStream(routeBytes))
-
-        val fullBytes = ByteArray(route.getSizeNoTag() + 4)
-
-        for (i in 0..routeBytes.size - 1) {
-            fullBytes[i + 4] = routeBytes[i]
+        mcTransport.setCallBack { bytes ->
+            println("Read $bytes; decoded: ${decode(bytes)}")
         }
-        fullBytes[0] = protoSize.shr(24).toByte()
-        fullBytes[1] = protoSize.shr(16).toByte()
-        fullBytes[2] = protoSize.shr(8).toByte()
-        fullBytes[3] = protoSize.toByte()
 
-        mcTransport.writeToFile(fullBytes)
+        mcTransport.writeToFile(size)
+        mcTransport.writeToFile(routeBytes)
     }
-}
+}