From e3af211cc6b9f1dc2ca2fc3729fe76552bd51d9e Mon Sep 17 00:00:00 2001
From: MaximZaitsev <AnterKan1@gmail.com>
Date: Thu, 14 Jul 2016 13:35:52 +0300
Subject: [PATCH] added proto file to raspberry server. added handler for
 command from car control

---
 car_net/stFlashServer/handlers.js       | 44 +++++++++++++++++++++++--
 car_net/stFlashServer/main.js           | 22 ++++++++++---
 car_net/stFlashServer/proto/route.proto | 25 ++++++++++++++
 3 files changed, 85 insertions(+), 6 deletions(-)
 create mode 100644 car_net/stFlashServer/proto/route.proto

diff --git a/car_net/stFlashServer/handlers.js b/car_net/stFlashServer/handlers.js
index 383a504bc3f..ac54f090ddc 100644
--- a/car_net/stFlashServer/handlers.js
+++ b/car_net/stFlashServer/handlers.js
@@ -8,7 +8,7 @@ const exec = require('child_process').exec;
 function loadBin(httpContent, response) {
 
     console.log(httpContent.length);
-    var uploadClass = main.protoConstructor.Upload;
+    var uploadClass = main.protoConstructorCarkot.Upload;
     var uploadObject = uploadClass.decode(httpContent);
     fs.writeFile(main.binFilePath, uploadObject.data.buffer, "binary", function (error) {
         var uploadResultClass = main.protoConstructor.UploadResult;
@@ -54,5 +54,45 @@ function other(httpContent, response) {
     response.end();
 }
 
+//контроль машинкой, как с пульта управления
+function control(httpContent, response) {
+    var directionClass = main.protoConstructorControl.Direction;
+    var directionObject = directionClass.decode(httpContent);
+    var resultByte;
+    switch (directionObject.command) {
+        case directionClass.Command.stop :
+        {
+            resultByte = 0;
+            break;
+        }
+        case directionClass.Command.forward :
+        {
+            resultByte = 1;
+            break;
+        }
+
+        case directionClass.Command.backward :
+        {
+            resultByte = 2;
+            break;
+        }
+        case directionClass.Command.right :
+        {
+            resultByte = 4;
+            break;
+        }
+        case directionClass.Command.left :
+        {
+            resultByte = 3;
+            break;
+        }
+
+    }
+    console.log("byte for car: " + resultByte);
+    response.writeHead(200, {"Content-Type": "text/plain"});
+    response.end();
+}
+
 exports.loadBin = loadBin;
-exports.other = other;
\ No newline at end of file
+exports.other = other;
+exports.control = control;
diff --git a/car_net/stFlashServer/main.js b/car_net/stFlashServer/main.js
index 23ffe617c1d..4e4fa0a209f 100644
--- a/car_net/stFlashServer/main.js
+++ b/car_net/stFlashServer/main.js
@@ -9,14 +9,27 @@ const protoBuf = require("protobufjs");
 
 commander
     .version('1.0.0')
-    .option('-p, --protopath [path]', 'path to proto file. default ./proto/carkot.proto')
+    .option('-p, --protopath [path]', 'path to dir with proto files. need here carkot.proto and route.proto. default ./proto/')
     .option('-b, --binfile [path]', 'path to save bin file with name f.bin. default ./')
     .parse(process.argv);
 
-const builder = protoBuf.loadProtoFile(commander.protopath ? commander.protopath : "./proto/carkot.proto");
-const protoConstructor = builder.build("carkot");
+//add slash to end of paths if need
+if (commander.protopath) {
+    if (commander.protopath.substr(commander.protopath.length - 1) != "/") {
+        commander.protopath = commander.protopath + "/";
+    }
+}
+if (commander.binfile) {
+    if (commander.binfile.substr(commander.binfile.length - 1) != "/") {
+        commander.binfile = commander.binfile + "/";
+    }
+}
 
-exports.protoConstructor = protoConstructor;
+const builderCarkot = protoBuf.loadProtoFile(commander.protopath ? commander.protopath + "carkot.proto" : "./proto/carkot.proto");//todo!!1 путь до каталога, прото файлы - в нём
+const builderControl = protoBuf.loadProtoFile(commander.protopath ? commander.protopath + "route.proto" : "./proto/route.proto");
+
+exports.protoConstructorCarkot = builderCarkot.build("carkot");
+exports.protoConstructorControl = builderControl.build("carkot");
 exports.commandPrefix = "./st-flash write";
 exports.binFilePath = (commander.binfile ? commander.binfile : "./") + "f.bin";
 
@@ -24,6 +37,7 @@ var handlers = require("./handlers.js");
 var handle = {};
 handle["/"] = handlers.other;
 handle["/loadBin"] = handlers.loadBin;
+handle["/control"] = handlers.control;
 handle["/other"] = handlers.other;
 
 server.start(router.route, handle);
\ No newline at end of file
diff --git a/car_net/stFlashServer/proto/route.proto b/car_net/stFlashServer/proto/route.proto
new file mode 100644
index 00000000000..50ac625c415
--- /dev/null
+++ b/car_net/stFlashServer/proto/route.proto
@@ -0,0 +1,25 @@
+syntax = "proto3";
+package carkot;
+
+option java_package = "proto.car";
+option java_outer_classname = "RouteP";
+
+message Route {
+   repeated WayPoint way_points = 1; 
+
+    message WayPoint {
+        double distance = 2;
+        double angle_delta = 3; 
+    }
+}
+
+message Direction {
+    enum Command {
+        stop = 0;
+        forward = 1;
+        backward = 2;
+        left = 3;
+        right = 4;
+    }
+    Command command = 1;
+}