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car_srv: room scanning algorithm, small cleanup

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This commit is contained in:
e5l
2016-08-30 10:37:43 +03:00
parent 072232ce35
commit e4474f774c
22 changed files with 206 additions and 132 deletions
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car_fmw/src/Control.kt
+8 -4
View File
@@ -71,11 +71,13 @@ object Control {
val angles = request.angles
val size = angles.size
val attempts = request.attempts
val distances = IntArray(size)
for (i in 0..(size - 1)) {
var i = 0
while (i < size) {
distances[i] = sonarMeasure(request.smoothing, attempts[i], angles[i], request.windowSize)
i++
}
val response = SonarResponse.BuilderSonarResponse(distances).build()
@@ -84,13 +86,15 @@ object Control {
private fun sonarMeasure(smoothing: SonarRequest.Smoothing, attempts: Int, angle: Int, windowSize: Int): Int {
val data = IntArray(attempts)
for (i in 0..(attempts - 1)) {
var i = 0
while (i < attempts) {
data[i] = Sonar.getSmoothDistance(angle, windowSize)
if (smoothing.id == SonarRequest.Smoothing.NONE.id && data[i] != -1) {
return data[i]
}
i++
}
return when (smoothing.id) {
car_fmw/src/ProtoRW.kt
+1 -1
View File
@@ -21,7 +21,7 @@ object Reader {
fun readSonar(): SonarRequest {
val stream = getInputStream()
return SonarRequest.BuilderSonarRequest(IntArray(0), IntArray(0), 0, SonarRequest.Smoothing.NONE, 0).parseFrom(stream).build()
return SonarRequest.BuilderSonarRequest(IntArray(0), IntArray(0), 0, SonarRequest.Smoothing.NONE).parseFrom(stream).build()
}
private fun getInputStream(): CodedInputStream {
car_srv/kotlinSrv/build.gradle
+3
View File
@@ -17,11 +17,13 @@ repositories {
}
apply plugin: "kotlin2js"
apply plugin: 'kotlin'
sourceSets {
main.kotlin.srcDirs += 'src'
main.kotlin.srcDirs += '../../proto/compiler/build/sources'
main.kotlin.srcDirs += '../../proto/protofiles_sources/out'
main.java.srcDirs += 'src/main/kotlin'
}
task copyKotlinLib(type: Copy) {
@@ -38,4 +40,5 @@ compileKotlin2Js.kotlinOptions.outputPrefix = "${projectDir}/kotlinJsRequiredFil
dependencies {
compile "org.jetbrains.kotlin:kotlin-js-library:$kotlin_version"
compile "org.jetbrains.kotlin:kotlin-stdlib:$kotlin_version"
}
car_srv/kotlinSrv/src/control/car/ControllerToUsb.kt
+2 -2
View File
@@ -8,7 +8,7 @@ import mcTransport
class ControllerToUsb : Controller {
override fun executeRoute(route: RouteRequest, callback: (ByteArray) -> Unit) {
println("Execute Route:")
println("Execute route:")
mcTransport.setCallBack { bytes ->
callback.invoke(bytes)
@@ -18,7 +18,7 @@ class ControllerToUsb : Controller {
}
override fun executeMetricRoute(request: RouteMetricRequest, callback: (ByteArray) -> Unit) {
println("Execute Route:")
println("Execute metric route:")
mcTransport.setCallBack { bytes ->
callback.invoke(bytes)
kotstd/include/IntArray.kt
+38 -4
View File
@@ -120,8 +120,10 @@ operator fun IntArray.plus(elements: IntArray): IntArray {
fun IntArray.max(from: Int = 0): Int {
var result = from
for (i in (from + 1)..(size - 1)) {
var i = from
while (i < size - 1) {
result = if (get(i) > get(result)) i else result
i++
}
return get(result)
@@ -129,8 +131,10 @@ fun IntArray.max(from: Int = 0): Int {
fun IntArray.min(from: Int = 0): Int {
var result = from
for (i in 1..(size - 1)) {
var i = from
while (i < size - 1) {
result = if (this.get(i) < this.get(result)) i else result
i++
}
return this.get(result)
@@ -138,8 +142,10 @@ fun IntArray.min(from: Int = 0): Int {
fun IntArray.sum(): Int {
var result = 0
for (i in 0..(size - 1)) {
var i = 0
while (i < size - 1) {
result += this.get(i)
i++
}
return result
@@ -147,8 +153,10 @@ fun IntArray.sum(): Int {
fun IntArray.sort(): IntArray {
val result = this.clone()
for (i in 0..(size - 1)) {
var i = 0
while (i < size - 1) {
result[i] = this.max(i)
i++
}
return result
@@ -159,3 +167,29 @@ fun IntArray.mean(): Int =
fun IntArray.median(): Int =
this.sort()[this.size / 2]
fun IntArray.filter(predicate: (Int) -> Boolean): IntArray {
var resultSize = 0
var i = 0
while (i < size - 1) {
if (predicate(get(i))) {
resultSize++
}
i++
}
val result = IntArray(resultSize)
var j = 0
i = 0
while (i < size - 1) {
if (predicate(get(i))) {
result[j] = get(i)
j++
}
i++
}
return result
}
proto/protofiles_sources/server_car/sonar.proto
+1 -2
View File
@@ -3,9 +3,8 @@ syntax = "proto3";
message SonarRequest {
repeated int32 angles = 1;
repeated int32 attempts = 2;
int32 threshold = 3;
int32 windowSize = 3;
Smoothing smoothing = 4;
int32 windowSize = 5;
enum Smoothing {
NONE = 0;
server/.idea/libraries/Gradle__io_netty_netty_all_4_1_2_Final.xml
Generated
-11
View File
@@ -1,11 +0,0 @@
<component name="libraryTable">
<library name="Gradle: io.netty:netty-all:4.1.2.Final">
<CLASSES>
<root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/io.netty/netty-all/4.1.2.Final/e82c56c2b1269d4c5e9d504463f6b388c819c897/netty-all-4.1.2.Final.jar!/" />
</CLASSES>
<JAVADOC />
<SOURCES>
<root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/io.netty/netty-all/4.1.2.Final/e17e0092b321fbe3b786cda64f3d5cc3392774d8/netty-all-4.1.2.Final-sources.jar!/" />
</SOURCES>
</library>
</component>
server/build.gradle
+3
View File
@@ -51,6 +51,9 @@ jar {
dependencies {
compile "org.jetbrains.kotlin:kotlin-stdlib:$kotlin_version"
compile "org.jetbrains.kotlin:kotlin-reflect:$kotlin_version"
compile "io.netty:netty-all:4.1.2.Final"
compile group: 'org.asynchttpclient', name: 'async-http-client', version: '2.0.0-RC9'
compile files ("../proto/compiler/build/protokot-runtime.jar")
}
server/src/main/java/DebugClInterface.kt
+19 -21
View File
@@ -5,6 +5,7 @@ import car.client.Client
import io.netty.buffer.Unpooled
import io.netty.handler.codec.http.*
import objects.Car
import objects.Environment
import java.util.concurrent.Exchanger
object DebugClInterface {
@@ -14,7 +15,6 @@ object DebugClInterface {
private val routeRegex = Regex("route [0-9]{1,10}")
private val sonarRegex = Regex("sonar [0-9]{1,10}")
private val environment = objects.Environment.instance
private val helpString = "available commands:\n" +
"cars - get list of connected cars\n" +
"route [car_id] - setting a route for car with car id.\n" +
@@ -50,8 +50,8 @@ object DebugClInterface {
val commandType = readString.split(" ")[0].toLowerCase()
when (commandType) {
"cars" -> {
synchronized(environment, {
println(environment.map.values)
synchronized(Environment, {
println(Environment.map.values)
})
}
"route" -> executeRouteCommand(readString)
@@ -81,7 +81,7 @@ object DebugClInterface {
} else 1
if (algorithmImpl == null) {
algorithmImpl = RoomBypassingAlgorithm(environment.map.values.last(), exchanger)
algorithmImpl = RoomBypassingAlgorithm(Environment.map.values.last(), exchanger)
}
while (count > 0) {
count--
@@ -106,8 +106,8 @@ object DebugClInterface {
return
}
val car: Car? =
synchronized(environment, {
environment.map[id]
synchronized(Environment, {
Environment.map[id]
})
if (car == null) {
println("car with id=$id not found")
@@ -154,10 +154,9 @@ object DebugClInterface {
println(helpString)
return
}
val car: Car? =
synchronized(environment, {
environment.map[id]
})
val car: Car? = synchronized(Environment, {
Environment.map[id]
})
if (car == null) {
println("car with id=$id not found")
return
@@ -169,8 +168,8 @@ object DebugClInterface {
try {
Client.sendRequest(request, car.host, car.port, mapOf(Pair("angles", requestMessage.angles)))
} catch (e: InactiveCarException) {
synchronized(environment, {
environment.map.remove(id)
synchronized(Environment, {
Environment.map.remove(id)
})
}
}
@@ -183,7 +182,7 @@ object DebugClInterface {
when (command) {
"reset" -> return null
"done" -> {
val sonarBuilder = SonarRequest.BuilderSonarRequest(angles.toIntArray(), IntArray(angles.size, {1}), 0, SonarRequest.Smoothing.NONE)
val sonarBuilder = SonarRequest.BuilderSonarRequest(angles.toIntArray(), IntArray(angles.size, { 1 }), 0, SonarRequest.Smoothing.NONE)
return sonarBuilder.build()
}
else -> {
@@ -207,7 +206,7 @@ object DebugClInterface {
}
private fun executeRefreshLocationCommand() {
val cars = synchronized(environment, { environment.map.values })
val cars = synchronized(Environment, { Environment.map.values })
val inactiveCars = mutableListOf<Int>()
for (car in cars) {
val request = getDefaultHttpRequest(car.host, getLocationUrl, ByteArray(0))
@@ -218,9 +217,9 @@ object DebugClInterface {
}
println("ref loc done")
}
synchronized(environment, {
synchronized(Environment, {
for (id in inactiveCars) {
environment.map.remove(id)
Environment.map.remove(id)
}
})
}
@@ -241,8 +240,8 @@ object DebugClInterface {
return
}
val car: Car? =
synchronized(environment, {
environment.map[id]
synchronized(Environment, {
Environment.map[id]
})
if (car == null) {
println("car with id=$id not found")
@@ -255,8 +254,8 @@ object DebugClInterface {
try {
Client.sendRequest(request, car.host, car.port, mapOf(Pair("uid", id)))
} catch (e: InactiveCarException) {
synchronized(environment, {
environment.map.remove(id)
synchronized(Environment, {
Environment.map.remove(id)
})
}
}
@@ -295,7 +294,6 @@ object DebugClInterface {
}
}
private fun getDefaultHttpRequest(host: String, url: String, bytes: ByteArray): DefaultFullHttpRequest {
val request = DefaultFullHttpRequest(HttpVersion.HTTP_1_1, HttpMethod.POST, url, Unpooled.copiedBuffer(bytes))
request.headers().set(HttpHeaderNames.HOST, host)
server/src/main/java/RoomScanner/CarController.kt
+34 -11
View File
@@ -1,5 +1,11 @@
package RoomScanner
import CodedInputStream
import CodedOutputStream
import RouteMetricRequest
import SonarRequest
import SonarResponse
import car.client.CarClient
import objects.Car
class CarController(var car: Car) {
@@ -30,21 +36,38 @@ class CarController(var car: Car) {
val direction = if (rotateAngle > 0) Direction.RIGHT else Direction.LEFT
drive(direction, rotateAngle.toInt())
angle = rotateAngle
angle = target
}
private fun drive(direction: Direction, distance: Int) {
when (direction) {
Direction.BACKWARD -> {}
Direction.FORWARD -> {}
Direction.LEFT -> {}
Direction.RIGHT -> {}
val request = RouteMetricRequest.BuilderRouteMetricRequest(intArrayOf(distance), intArrayOf(direction.id)).build()
val data = serialize(request.getSizeNoTag(), { i -> request.writeTo(i) })
CarClient.sendRequest(car, CarClient.Request.ROUTE_METRIC, data).get()
}
fun scan(angles: IntArray): List<Pair<Double, Double>> {
val request = SonarRequest.BuilderSonarRequest(angles, IntArray(angles.size, { 5 }), 0, SonarRequest.Smoothing.MEDIAN).build()
val data = serialize(request.getSizeNoTag(), { i -> request.writeTo(i) })
val response = CarClient.sendRequest(car, CarClient.Request.SONAR, data).get().responseBodyAsBytes
val distances = SonarResponse.BuilderSonarResponse(IntArray(0)).parseFrom(CodedInputStream(response)).build().distances
return distances.mapIndexed { i: Int, distance: Int -> convertToPoint(angles[i].toDouble(), distance.toDouble()) }
}
fun convertToPoint(angle: Double, distance: Double): Pair<Double, Double> {
if (distance <= 0) {
return Pair(0.0, 0.0)
}
val realAngle = Math.toRadians(angle + this.angle)
return Pair(Math.cos(realAngle) * distance + position.first, Math.sin(realAngle) * distance + position.second)
}
fun scan(angles: IntArray): MutableList<Pair<Double, Double>> {
throw UnsupportedOperationException()
inline fun serialize(size: Int, writeTo: (CodedOutputStream) -> Unit): ByteArray {
val bytes = ByteArray(size)
writeTo(CodedOutputStream(bytes))
return bytes
}
}
}
server/src/main/java/RoomScanner/RoomScanner.kt
+5 -5
View File
@@ -1,9 +1,9 @@
package RoomScanner
class RoomScanner(val controller: CarController) {
class RoomScanner(val controller: CarController): Thread() {
private val points = mutableListOf<Pair<Double, Double>>()
fun run() {
override fun run() {
while (true) {
scan()
println("[${points.joinToString { "[${it.first}, ${it.second}]" }}}]")
@@ -12,16 +12,16 @@ class RoomScanner(val controller: CarController) {
fun scan() {
val horizon = IntArray(180 / 5, { it * 5 })
val iterationPoints = mutableListOf<Pair<Double, Double>>()
controller.rotateOn(0.0)
val iterationPoints = controller.scan(horizon)
iterationPoints.addAll(controller.scan(horizon))
controller.rotateOn(180.0)
iterationPoints.addAll(controller.scan(horizon))
points.addAll(iterationPoints)
val target = iterationPoints.maxBy { distance(controller.position, it) }
val target = iterationPoints.filter { it.first > 0 && it.second > 0 }.maxBy { distance(controller.position, it) }
target ?: return
controller.moveTo(target)
server/src/main/java/ServerMain.kt
+13 -1
View File
@@ -1,5 +1,8 @@
import RoomScanner.CarController
import RoomScanner.RoomScanner
import car.Dropper
import car.client.Client
import objects.Environment
val carServerPort: Int = 7925
val webServerPort: Int = 7926
@@ -11,7 +14,7 @@ val debugMemoryUrl = "/debug/memory"
val sonarUrl = "/sonar"
fun main(args: Array<String>) {
var roomScanner: RoomScanner? = null
val carServer = car.server.Server.getCarServerThread(carServerPort)
val webServer = web.server.Server.getWebServerThread(webServerPort)
val carsDestroy = Dropper.getCarsDestroyThread()
@@ -19,6 +22,13 @@ fun main(args: Array<String>) {
carsDestroy.start()
webServer.start()
if (args.contains("--scan")) {
Environment.onCarConnect { car ->
roomScanner = RoomScanner(CarController(car))
roomScanner!!.start()
}
}
//CL user interface
DebugClInterface.run()
@@ -26,4 +36,6 @@ fun main(args: Array<String>) {
carServer.interrupt()
webServer.interrupt()
Client.shutDownClient()
roomScanner?.interrupt()
}
server/src/main/java/algorithm/AbstractAlgorithm.kt
+2 -14
View File
@@ -9,7 +9,6 @@ import io.netty.buffer.Unpooled
import io.netty.handler.codec.http.*
import objects.Car
import setRouteMetricUrl
import setRouteUrl
import sonarUrl
import java.util.*
import java.util.concurrent.Exchanger
@@ -44,7 +43,7 @@ abstract class AbstractAlgorithm(val thisCar: Car, val exchanger: Exchanger<IntA
val message = SonarRequest.BuilderSonarRequest(
angles = angles,
attempts = IntArray(angles.size, { attempts }),
threshold = threshold,
windowSize = 0,
smoothing = smoothing)
.build()
val requestBytes = ByteArray(message.getSizeNoTag())
@@ -107,10 +106,7 @@ abstract class AbstractAlgorithm(val thisCar: Car, val exchanger: Exchanger<IntA
this.requiredAngles = defaultAngles
val state = getCarState(anglesDistances)
if (state == null) {
return
}
val state = getCarState(anglesDistances) ?: return
val command = getCommand(anglesDistances, state)
afterGetCommand(command)
println(Arrays.toString(command.directions))
@@ -123,14 +119,6 @@ abstract class AbstractAlgorithm(val thisCar: Car, val exchanger: Exchanger<IntA
}
protected fun getPrevState(): CarState? {
return prevState
}
protected fun getPrevSonarDistances(): Map<Int, AngleData> {
return prevSonarDistances
}
private fun getAngles(): IntArray {
return requiredAngles
}
server/src/main/java/algorithm/RoomModel.kt
+1 -1
View File
@@ -24,7 +24,7 @@ object RoomModel {
fun getUpdate(): Waypoints {
val algorithm = DebugClInterface.algorithmImpl
if (algorithm == null || !(algorithm is RoomBypassingAlgorithm)) {
if (algorithm == null || algorithm !is RoomBypassingAlgorithm) {
val emptyArr = IntArray(0)
return Waypoints.BuilderWaypoints(emptyArr, emptyArr, emptyArr, emptyArr, false).build()
server/src/main/java/car/Dropper.kt
+3 -4
View File
@@ -20,16 +20,15 @@ object Dropper {
return {
var stopped = false
while (!stopped) {
val environment = Environment.instance
synchronized(environment, {
synchronized(Environment, {
val currentTime = System.currentTimeMillis()
val keysToRemove = mutableListOf<Int>()
for ((key, value) in environment.map) {
for ((key, value) in Environment.map) {
if ((value.lastAction + timeDeltaToDrop) < currentTime) {
keysToRemove.add(key)
}
}
dropInactiveCar(keysToRemove, environment)
dropInactiveCar(keysToRemove, Environment)
})
try {
Thread.sleep(60000)
server/src/main/java/car/client/CarClient.kt
+19
View File
@@ -0,0 +1,19 @@
package car.client
import objects.Car
import org.asynchttpclient.ListenableFuture
import org.asynchttpclient.Response
object CarClient {
enum class Request(val url: String) {
CONNECT("connect"),
GET_LOCATION("getLocation"),
ROUTE("route"),
ROUTE_METRIC("routeMetric"),
SONAR("sonar"),
DEBUG_MEMORY("debug/memory");
}
fun sendRequest(car: Car, request: Request, data: ByteArray): ListenableFuture<Response>
= Client.makeRequest("http://${car.host}:${car.port}/${request.url}", data)
}
server/src/main/java/car/client/Client.kt
+19 -12
View File
@@ -6,21 +6,16 @@ import io.netty.channel.nio.NioEventLoopGroup
import io.netty.channel.socket.nio.NioSocketChannel
import io.netty.handler.codec.http.HttpRequest
import io.netty.util.AttributeKey
import org.asynchttpclient.DefaultAsyncHttpClient
import org.asynchttpclient.ListenableFuture
import org.asynchttpclient.Response
import java.net.ConnectException
import java.rmi.UnexpectedException
object Client {
val group: NioEventLoopGroup = NioEventLoopGroup()
val bootstrap: Bootstrap = makeBootstrap()
private fun makeBootstrap(): Bootstrap {
val b = Bootstrap()
b.group(group).channel(NioSocketChannel().javaClass).handler(ClientInitializer())
.attr(AttributeKey.newInstance<String>("url"), "")
.attr(AttributeKey.newInstance<Int>("uid"), 0)
.attr(AttributeKey.newInstance<IntArray>("angles"), IntArray(0))
return b
}
val group = NioEventLoopGroup()
val bootstrap = makeBootstrap()
val client = DefaultAsyncHttpClient()
fun shutDownClient() {
group.shutdownGracefully()
@@ -41,4 +36,16 @@ object Client {
throw InactiveCarException()
}
}
fun makeRequest(request: String, data: ByteArray): ListenableFuture<Response> =
client.preparePost(request).setBody(data).execute() ?: throw UnexpectedException(request)
private fun makeBootstrap(): Bootstrap {
val b = Bootstrap()
b.group(group).channel(NioSocketChannel().javaClass).handler(ClientInitializer())
.attr(AttributeKey.newInstance<String>("url"), "")
.attr(AttributeKey.newInstance<Int>("uid"), 0)
.attr(AttributeKey.newInstance<IntArray>("angles"), IntArray(0))
return b
}
}
server/src/main/java/car/client/ClientHandler.kt
+4 -7
View File
@@ -19,9 +19,7 @@ import java.util.*
import java.util.concurrent.TimeUnit
import java.util.concurrent.TimeoutException
class ClientHandler : SimpleChannelInboundHandler<Any> {
constructor()
class ClientHandler : SimpleChannelInboundHandler<Any>() {
var contentBytes: ByteArray = ByteArray(0)
@@ -64,11 +62,10 @@ class ClientHandler : SimpleChannelInboundHandler<Any> {
}
private fun handlerGetLocationResponse(message: LocationResponse, carUid: Int) {
val environment = Environment.instance
if (message.code == 0) {
val data = message.locationResponseData
synchronized(environment, {
val car = environment.map[carUid]
synchronized(Environment, {
val car = Environment.map[carUid]
if (car != null) {
car.x = data.x
car.y = data.y
@@ -106,4 +103,4 @@ class ClientHandler : SimpleChannelInboundHandler<Any> {
contentsBytes.readBytes(contentBytes)
}
}
}
}
server/src/main/java/car/server/Handler.kt
+1 -4
View File
@@ -13,13 +13,10 @@ import io.netty.handler.codec.http.*
import objects.Environment
class Handler : SimpleChannelInboundHandler<Any>() {
var url: String = ""
var contentBytes: ByteArray = ByteArray(0)
override fun channelReadComplete(ctx: ChannelHandlerContext) {
val environment = Environment.instance
var success = true
var answer = ByteArray(0)
when (url) {
@@ -27,7 +24,7 @@ class Handler : SimpleChannelInboundHandler<Any>() {
val data = ConnectionRequest.BuilderConnectionRequest(IntArray(0), 0).build()
data.mergeFrom(CodedInputStream(contentBytes))
val ipStr = data.ipValues.map { elem -> elem.toString() }.reduce { elem1, elem2 -> elem1 + "." + elem2 }
val uid = environment.connectCar(ipStr, data.port)
val uid = Environment.connectCar(ipStr, data.port)
val responseObject = ConnectionResponse.BuilderConnectionResponse(uid, 0).build()
answer = ByteArray(responseObject.getSizeNoTag())
responseObject.writeTo(CodedOutputStream(answer))
server/src/main/java/objects/Environment.kt
+11 -12
View File
@@ -1,22 +1,21 @@
package objects
class Environment private constructor() {
val map: MutableMap<Int, Car>
object Environment {
private var uid = 0
companion object {
val instance = Environment()
}
init {
map = mutableMapOf()
}
private val onConnect = mutableListOf<(Car) -> Unit>()
val map = mutableMapOf<Int, Car>()
@Synchronized
fun connectCar(host: String, port: Int): Int {
uid++
map.put(uid, Car(uid, host, port))
val car = Car(uid, host, port)
onConnect.forEach { it(car) }
map.put(uid, car)
return uid
}
@Synchronized
fun onCarConnect(callback: (Car) -> Unit) {
onConnect.add(callback)
}
}
server/src/main/java/utils.kt
View File
server/src/main/java/web/server/Handler.kt
+19 -16
View File
@@ -1,14 +1,17 @@
package web.server
import CodedInputStream
import CodedOutputStream
import DirectionRequest
import GenericResponse
import ModeChange
import Result
import algorithm.RoomModel
import io.netty.buffer.Unpooled
import io.netty.channel.ChannelHandlerContext
import io.netty.channel.SimpleChannelInboundHandler
import io.netty.handler.codec.http.*
import io.netty.util.CharsetUtil
import GenericResponse
import CodedOutputStream
import CodedInputStream
import algorithm.RoomModel
import java.util.*
class Handler : SimpleChannelInboundHandler<Any>() {
@@ -41,9 +44,9 @@ class Handler : SimpleChannelInboundHandler<Any>() {
Unpooled.copiedBuffer(Base64.getEncoder().encodeToString(outs.buffer), CharsetUtil.UTF_8)
)
response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
response.headers().add("Access-Control-Allow-Origin", "*");
response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS");
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Direction, Content-Length");
response.headers().add("Access-Control-Allow-Origin", "*")
response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS")
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Direction, Content-Length")
ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE)
}
Constants.getWaypointsURL -> {
@@ -61,9 +64,9 @@ class Handler : SimpleChannelInboundHandler<Any>() {
Unpooled.copiedBuffer(Base64.getEncoder().encodeToString(outs.buffer), CharsetUtil.UTF_8)
)
response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
response.headers().add("Access-Control-Allow-Origin", "*");
response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS");
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Direction, Content-Length");
response.headers().add("Access-Control-Allow-Origin", "*")
response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS")
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Direction, Content-Length")
ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE)
}
Constants.directionOrderURL -> {
@@ -92,9 +95,9 @@ class Handler : SimpleChannelInboundHandler<Any>() {
Unpooled.copiedBuffer(Base64.getEncoder().encodeToString(outs.buffer), CharsetUtil.UTF_8)
)
response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
response.headers().add("Access-Control-Allow-Origin", "*");
response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS");
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Direction, Content-Length");
response.headers().add("Access-Control-Allow-Origin", "*")
response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS")
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Direction, Content-Length")
ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE)
}
Constants.getDebug -> {
@@ -108,9 +111,9 @@ class Handler : SimpleChannelInboundHandler<Any>() {
Unpooled.copiedBuffer(Base64.getEncoder().encodeToString(outs.buffer), CharsetUtil.UTF_8)
)
response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
response.headers().add("Access-Control-Allow-Origin", "*");
response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS");
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Direction, Content-Length");
response.headers().add("Access-Control-Allow-Origin", "*")
response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS")
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Direction, Content-Length")
ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE)
}
}