refactoring main server, corrected errors

2016-08-23 12:47:04 +03:00
parent abd2b39565
commit e7120103ee
16 changed files with 436 additions and 393 deletions
@@ -4,226 +4,264 @@ import io.netty.buffer.Unpooled
 import io.netty.handler.codec.http.*
 import objects.Car

-/**
- * Created by user on 8/18/16.
- */
 class 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" +
+            "refloc - refresh all car locations\n" +
+            "sonar [car_id] - get sonar data\n" +
+            "dbinfo [car_id] [type] - refresh all car locations\n." +
+            "type is string name of value or int value. available values: MEMORYSTATS - 0"
+
    fun run() {

-        val helpString = "available commands:\n" +
-                "cars - get list of connected cars\n" +
-                "route [car_id] - setting a route for car with car id.\n" +
-                "refloc - refresh all car locations\n" +
-                "sonar [car_id] - get sonar data\n" +
-                "dbinfo [car_id] [type] - refresh all car locations\n." +
-                "type is string name of value or int value. available values: MEMORYSTATS - 0"
-        //        "stop - exit from this interface and stop all servers\n"//todo sometimes server not completed. some threads dont stop
        println(helpString)
-        val routeRegex = Regex("route [0-9]{1,10}")
-        val sonarRegex = Regex("sonar [0-9]{1,10}")
-        val environment = objects.Environment.instance
        while (true) {
-            val readedString = readLine()
-            if (readedString == null) {
+            val readString = readLine()
+            if (readString == null || readString.equals("stop")) {
                break
            }
-            if (readedString.equals("cars", true)) {
+            if (readString.equals("")) {
+                continue
+            }
+            executeCommand(readString)
+        }
+    }
+
+    private fun printNotSupportedCommand(command: String) {
+        println("not supported command: $command")
+        println(helpString)
+    }
+
+    private fun executeCommand(readString: String) {
+        val commandType = readString.split(" ")[0].toLowerCase()
+        when (commandType) {
+            "cars" -> {
                synchronized(environment, {
                    println(environment.map.values)
                })
-            } else if (routeRegex.matches(readedString)) {
+            }
+            "route" -> executeRouteCommand(readString)
+            "refloc" -> executeRefreshLocationCommand()
+            "sonar" -> executeSonarCommand(readString)
+            "dbinfo" -> executeDebugInfoCommand(readString)
+            else -> printNotSupportedCommand(readString)
+        }
+    }

-                val id: Int
-                try {
-                    id = readedString.split(" ")[1].toInt()
-                } catch (e: NumberFormatException) {
-                    e.printStackTrace()
-                    println("error in converting id to int type")
-                    println(helpString)
-                    continue
-                }
-                val car: Car? =
-                        synchronized(environment, {
-                            environment.map.get(id)
-                        })
-                if (car != null) {
-                    println("print way points in polar coordinate als [distance] [rotation angle] in metres and degrees. after enter all points print \"done\". for reset route print \"reset\"")
-                    println("e.g. for move from (x,y) to (x+1,y) and back to (x,y) u need enter: 1 0[press enter] 1 180[press enter] done")
-
-                    val distances = arrayListOf<Int>()
-                    val angles = arrayListOf<Int>()
-                    while (true) {
-                        val wayPointInputString = readLine()!!
-                        if (wayPointInputString.equals("reset", true)) {
-                            break
-                        } else if (wayPointInputString.equals("done", true)) {
-                            val routeBuilder = RouteRequest.BuilderRouteRequest(distances.toIntArray(), angles.toIntArray())
-                            val requestObject = routeBuilder.build()
-                            val requestBytes = ByteArray(requestObject.getSizeNoTag())
-                            requestObject.writeTo(CodedOutputStream(requestBytes))
-                            val request = getDefaultHttpRequest(car.host, setRouteUrl, requestBytes)
-                            try {
-                                Client.sendRequest(request, car.host, car.port, id)
-                            } catch (e: InactiveCarException) {
-                                synchronized(environment, {
-                                    environment.map.remove(id)
-                                })
-                            }
-                            break
-                        } else {
-                            val wayPointData = wayPointInputString.split(" ")
-                            val distance: Int
-                            val angle: Int
-                            try {
-                                distance = wayPointData[0].toInt()
-                                angle = wayPointData[1].toInt()
-                            } catch (e: NumberFormatException) {
-                                println("error in converting angle or distance to int. try again")
-                                continue
-                            } catch (e: IndexOutOfBoundsException) {
-                                println("format error, u must print two number separated by spaces. Try again")
-                                continue
-                            }
-                            distances.add(distance)
-                            angles.add(angle)
-                        }
-                    }
-                } else {
-                    println("car with id=$id not found")
-                }
-            } else if (readedString.equals("refloc", true)) {
-                val cars = synchronized(environment, { environment.map.values })
-                val inactiveCarUids = mutableListOf<Int>()
-                for (car in cars) {
-                    val request = getDefaultHttpRequest(car.host, getLocationUrl, ByteArray(0))
-                    try {
-                        Client.sendRequest(request, car.host, car.port, car.uid)
-                    } catch (e: InactiveCarException) {
-                        inactiveCarUids.add(car.uid)
-                    }
-                    println("ref loc done")
-                }
+    private fun executeDebugInfoCommand(readString: String) {
+        val params = readString.split(" ")
+        if (params.size != 3) {
+            println("incorrect args of command debug info.")
+            println(helpString)
+            return
+        }
+        val id: Int
+        try {
+            id = params[1].toInt()
+        } catch (e: NumberFormatException) {
+            e.printStackTrace()
+            println("error in converting id to int type")
+            println(helpString)
+            return
+        }
+        val car: Car? =
                synchronized(environment, {
-                    for (id in inactiveCarUids) {
-                        environment.map.remove(id)
-                    }
+                    environment.map[id]
                })
-            } else if (readedString.equals("stop")) {
-                break
-            } else if (sonarRegex.matches(readedString)) {
-                val id: Int
-                try {
-                    id = readedString.split(" ")[1].toInt()
-                } catch (e: NumberFormatException) {
-                    e.printStackTrace()
-                    println("error in converting id to int type")
-                    println(helpString)
-                    continue
-                }
-                val car: Car? =
-                        synchronized(environment, {
-                            environment.map.get(id)
-                        })
-                if (car == null) {
-                    println("car with id=$id not found")
-                    continue
-                }
-                println("print angles, after printing all angles print done")
-                val angles = arrayListOf<Int>()
-                while (true) {
-                    val command = readLine()!!
-                    if (command.equals("done", true)) {
-                        val sonarBuilder = SonarRequest.BuilderSonarRequest(angles.toIntArray())
-                        val requestObject = sonarBuilder.build()
-                        val requestBytes = ByteArray(requestObject.getSizeNoTag())
-                        requestObject.writeTo(CodedOutputStream(requestBytes))
-                        val request = getDefaultHttpRequest(car.host, sonarUrl, requestBytes)
-                        try {
-                            Client.sendRequest(request, car.host, car.port, id)
-                        } catch (e: InactiveCarException) {
-                            synchronized(environment, {
-                                environment.map.remove(id)
-                            })
-                        }
-                        break
-                    } else {
-                        try {
-                            val angle = command.toInt()
-                            if (angle < 0 || angle > 180) {
-                                println("incorrect angle $angle. angle must be in [0,180] and div on 4")
-                                continue
-                            }
-                            angles.add(angle)
-                        } catch (e: NumberFormatException) {
-                            println("error in converting angle to int. try again")
-                            continue
-                        }
-                    }
-                }
+        if (car == null) {
+            println("car with id=$id not found")
+            return
+        }
+        val paramType = params[2]//maybe string or int
+        val type: DebugRequest.Type
+        try {
+            type = DebugRequest.Type.fromIntToType(paramType.toInt())
+        } catch (e: NumberFormatException) {
+            try {
+                type = DebugRequest.Type.valueOf(paramType)
+            } catch (e: IllegalArgumentException) {
+                type = DebugRequest.Type.Unexpected
+            }
+        }
+        if (type == DebugRequest.Type.Unexpected) {
+            println("type with name/id $paramType not found")
+            return
+        }
+        val requestObject = DebugRequest.BuilderDebugRequest(type).build()
+        val bytes = ByteArray(requestObject.getSizeNoTag())
+        requestObject.writeTo(CodedOutputStream(bytes))
+        val request = getDefaultHttpRequest(car.host, debugMemoryUrl, bytes)
+        try {
+            Client.sendRequest(request, car.host, car.port, getRequestOptionId(car.uid))
+        } catch (e: InactiveCarException) {
+            println("this car is inactive")
+        }
+    }

-            } else if (readedString.contains("dbinfo")) {
-                val params = readedString.split(" ")
-                if (!params[0].equals("dbinfo")) {
-                    println("not supported command: $readedString")
-                    println(helpString)
-                    continue
+    private fun executeSonarCommand(readString: String) {
+        if (!sonarRegex.matches(readString)) {
+            println("incorrect args of command sonar.")
+            println(helpString)
+            return
+        }
+        val id: Int
+        try {
+            id = readString.split(" ")[1].toInt()
+        } catch (e: NumberFormatException) {
+            e.printStackTrace()
+            println("error in converting id to int type")
+            println(helpString)
+            return
+        }
+        val car: Car? =
+                synchronized(environment, {
+                    environment.map[id]
+                })
+        if (car == null) {
+            println("car with id=$id not found")
+            return
+        }
+        val requestMessage = getSonarRequest() ?: return
+        val requestBytes = ByteArray(requestMessage.getSizeNoTag())
+        requestMessage.writeTo(CodedOutputStream(requestBytes))
+        val request = getDefaultHttpRequest(car.host, sonarUrl, requestBytes)
+        try {
+            Client.sendRequest(request, car.host, car.port, mapOf(Pair("angles", requestMessage.angles)))
+        } catch (e: InactiveCarException) {
+            synchronized(environment, {
+                environment.map.remove(id)
+            })
+        }
+    }
+
+    private fun getSonarRequest(): SonarRequest? {
+        println("print angles, after printing all angles print done")
+        val angles = arrayListOf<Int>()
+        while (true) {
+            val command = readLine()!!.toLowerCase()
+            when (command) {
+                "reset" -> return null
+                "done" -> {
+                    val sonarBuilder = SonarRequest.BuilderSonarRequest(angles.toIntArray())
+                    return sonarBuilder.build()
                }
-                if (params.size != 3) {
-                    println("incorrect args of command dbinfo.")
-                    println(helpString)
-                    continue
-                }
-                val id: Int
-                try {
-                    id = params[1].toInt()
-                } catch (e: NumberFormatException) {
-                    e.printStackTrace()
-                    println("error in converting id to int type")
-                    println(helpString)
-                    continue
-                }
-                val car: Car? =
-                        synchronized(environment, {
-                            environment.map.get(id)
-                        })
-                if (car == null) {
-                    println("car with id=$id not found")
-                    continue
-                }
-                val paramType = params[2]//maybe string or int
-                val type: DebugRequest.Type
-                try {
-                    type = DebugRequest.Type.fromIntToType(paramType.toInt())
-                } catch (e: NumberFormatException) {
+                else -> {
                    try {
-                        type = DebugRequest.Type.valueOf(paramType)
-                    } catch (e: IllegalArgumentException) {
-                        type = DebugRequest.Type.Unexpected
+                        val angle = command.toInt()
+                        if (angle < 0 || angle > 180) {
+                            println("incorrect angle $angle. angle must be in [0,180] and div on 4")
+                        } else {
+                            angles.add(angle)
+                        }
+                    } catch (e: NumberFormatException) {
+                        println("error in converting angle to int. try again")
                    }
                }
-                if (type == DebugRequest.Type.Unexpected) {
-                    println("type with name/id $paramType not found")
-                    continue
-                }
-                val requestObject = DebugRequest.BuilderDebugRequest(type).build()
-                val bytes = ByteArray(requestObject.getSizeNoTag())
-                requestObject.writeTo(CodedOutputStream(bytes))
-                val request = getDefaultHttpRequest(car.host, debugMemoryUrl, bytes)
-                try {
-                    Client.sendRequest(request, car.host, car.port, car.uid)
-                } catch (e: InactiveCarException) {
-                    println("this car is inactive")
-                }
-            } else {
-                println("not supported command: $readedString")
-                println(helpString)
            }
        }
    }

+    private fun getRequestOptionId(id: Int): Map<String, Int> {
+        return mapOf(Pair("uid", id))
+    }
+
+    private fun executeRefreshLocationCommand() {
+        val cars = synchronized(environment, { environment.map.values })
+        val inactiveCars = mutableListOf<Int>()
+        for (car in cars) {
+            val request = getDefaultHttpRequest(car.host, getLocationUrl, ByteArray(0))
+            try {
+                Client.sendRequest(request, car.host, car.port, getRequestOptionId(car.uid))
+            } catch (e: InactiveCarException) {
+                inactiveCars.add(car.uid)
+            }
+            println("ref loc done")
+        }
+        synchronized(environment, {
+            for (id in inactiveCars) {
+                environment.map.remove(id)
+            }
+        })
+    }
+
+    private fun executeRouteCommand(readString: String) {
+        if (!routeRegex.matches(readString)) {
+            println("incorrect args of command route.")
+            println(helpString)
+            return
+        }
+        val id: Int
+        try {
+            id = readString.split(" ")[1].toInt()
+        } catch (e: NumberFormatException) {
+            e.printStackTrace()
+            println("error in converting id to int type")
+            println(helpString)
+            return
+        }
+        val car: Car? =
+                synchronized(environment, {
+                    environment.map[id]
+                })
+        if (car == null) {
+            println("car with id=$id not found")
+            return
+        }
+        val routeMessage = getRouteMessage() ?: return
+        val requestBytes = ByteArray(routeMessage.getSizeNoTag())
+        routeMessage.writeTo(CodedOutputStream(requestBytes))
+        val request = getDefaultHttpRequest(car.host, setRouteUrl, requestBytes)
+        try {
+            Client.sendRequest(request, car.host, car.port, mapOf(Pair("uid", id)))
+        } catch (e: InactiveCarException) {
+            synchronized(environment, {
+                environment.map.remove(id)
+            })
+        }
+    }
+
+    private fun getRouteMessage(): RouteRequest? {
+        println("print way points in polar coordinate als [distance] [rotation angle] in metres and degrees." +
+                "after enter all points print \"done\". for reset route print \"reset\"")
+        println("e.g. for move from (x,y) to (x+1,y) and back to (x,y) you need enter:" +
+                "1 0[enter] 1 180[enter] done")
+        val distances = arrayListOf<Int>()
+        val angles = arrayListOf<Int>()
+        while (true) {
+            val readLine = readLine()!!.toLowerCase()
+            when (readLine) {
+                "reset" -> return null
+                "done" -> {
+                    val routeBuilder = RouteRequest.BuilderRouteRequest(distances.toIntArray(), angles.toIntArray())
+                    return routeBuilder.build()
+                }
+                else -> {
+                    val wayPointData = readLine.split(" ")
+                    val distance: Int
+                    val angle: Int
+                    try {
+                        distance = wayPointData[0].toInt()
+                        angle = wayPointData[1].toInt()
+                        distances.add(distance)
+                        angles.add(angle)
+                    } catch (e: NumberFormatException) {
+                        println("error in converting angle or distance to int. try again")
+                    } catch (e: IndexOutOfBoundsException) {
+                        println("format error, u must print two number separated by spaces. Try again")
+                    }
+                }
+            }
+        }
+    }
+
+
    fun getDefaultHttpRequest(host: String, url: String, bytes: ByteArray): DefaultFullHttpRequest {
-        val request = DefaultFullHttpRequest(HttpVersion.HTTP_1_1, HttpMethod.POST, url, Unpooled.copiedBuffer(bytes));
+        val request = DefaultFullHttpRequest(HttpVersion.HTTP_1_1, HttpMethod.POST, url, Unpooled.copiedBuffer(bytes))
        request.headers().set(HttpHeaderNames.HOST, host)
        request.headers().set(HttpHeaderNames.CONNECTION, HttpHeaderValues.CLOSE)
        request.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, request.content().readableBytes())
@@ -1,7 +1,5 @@
 package Exceptions

-/**
- * Created by user on 7/28/16.
- */
+
 class InactiveCarException : Exception() {
 }
@@ -0,0 +1,5 @@
+object RoomBypassingAlgorithm {
+
+
+
+}
@@ -1,14 +1,8 @@
-import io.netty.bootstrap.ServerBootstrap
-import io.netty.channel.nio.NioEventLoopGroup
-import io.netty.channel.socket.nio.NioServerSocketChannel
-import kotlin.concurrent.thread
+import car.Dropper

-val timeDeltaToDrop = 600000//time in ms. if car is inactive more than this time, server drop session with car
 val carServerPort: Int = 7925
 val webServerPort: Int = 7926
-val handlerThreadsCount: Int = 100
 val getLocationUrl = "/getLocation"
-val routeDoneUrl = "/routeDone"
 val setRouteUrl = "/route"
 val connectUrl = "/connect"
 val debugMemoryUrl = "/debug/memory"
@@ -16,9 +10,9 @@ val sonarUrl = "/sonar"

 fun main(args: Array<String>) {

-    val carServer = getCarServerThread()
-    val webServer = getWebServerThread()
-    val carsDestroy = getCarsDestroyThread()
+    val carServer = car.server.Server.getCarServerThread(carServerPort)
+    val webServer = web.server.Server.getWebServerThread(webServerPort)
+    val carsDestroy = Dropper.getCarsDestroyThread()
    carServer.start()
    carsDestroy.start()
    webServer.start()
@@ -28,81 +22,5 @@ fun main(args: Array<String>) {

    carsDestroy.interrupt()
    carServer.interrupt()
+    webServer.interrupt()
 }
-
-fun getCarServerThread(): Thread {
-    return thread(false, false, null, "carServer", -1, {
-        println("car server started")
-        val bossGroup = NioEventLoopGroup(1)
-        val workerGroup = NioEventLoopGroup()
-        val b = ServerBootstrap()
-        val initializer = car.server.Initializer(handlerThreadsCount)
-        b.group(bossGroup, workerGroup)
-                .channel(NioServerSocketChannel().javaClass)
-                .childHandler(initializer)
-
-        try {
-            val channel = b.bind(carServerPort).sync().channel()
-            channel.closeFuture().sync()
-        } catch (e: InterruptedException) {
-            println("car server stoped")
-        } finally {
-            bossGroup.shutdownGracefully()
-            workerGroup.shutdownGracefully()
-            initializer.group.shutdownGracefully()
-        }
-    })
-}
-
-fun getWebServerThread(): Thread {
-    return thread(false, false, null, "webServer", -1, {
-        println("web server started")
-        val bossGroup = NioEventLoopGroup(1)
-        val workerGroup = NioEventLoopGroup()
-        val b = ServerBootstrap()
-        val initializer = web.server.Initializer(handlerThreadsCount)
-        b.group(bossGroup, workerGroup)
-                .channel(NioServerSocketChannel().javaClass)
-                .childHandler(initializer)
-
-        try {
-            val channel = b.bind(webServerPort).sync().channel()
-            channel.closeFuture().sync()
-        } catch (e: InterruptedException) {
-            println("web server stoped")
-        } finally {
-            bossGroup.shutdownGracefully()
-            workerGroup.shutdownGracefully()
-            initializer.group.shutdownGracefully()
-        }
-    })
-}
-
-//thread, that dropped inactive car. every minute check all connected cars and if car is inactive more, als timeDeltaToDrop then remove this car.
-fun getCarsDestroyThread(): Thread {
-    return thread(false, false, null, "dropCar", -1, {
-        var stoped = false
-        while (!stoped) {
-            val environment = objects.Environment.instance
-            synchronized(environment, {
-                val currentTime = System.currentTimeMillis()
-                val keysToRemove = mutableListOf<Int>();
-                for (keyValue in environment.map) {
-                    if ((keyValue.value.lastAction + timeDeltaToDrop) < currentTime) {
-                        keysToRemove.add(keyValue.key)
-                    }
-                }
-                for (key in keysToRemove) {
-                    //todo this car is MAYBE disconnect. need ping this car and if dont have answer - drop
-//                    environment.map.remove(key)
-                }
-            })
-            try {
-                Thread.sleep(60000)
-            } catch (e: InterruptedException) {
-                println("thread for destroy cars stoped")
-                stoped = true
-            }
-        }
-    })
-}
@@ -0,0 +1,55 @@
+package car
+
+import Exceptions.InactiveCarException
+import car.client.Client
+import io.netty.handler.codec.http.DefaultHttpRequest
+import io.netty.handler.codec.http.HttpMethod
+import io.netty.handler.codec.http.HttpVersion
+import objects.Environment
+import kotlin.concurrent.thread
+
+object Dropper {
+    private val timeDeltaToDrop = 600000//time in ms.
+    // if car is inactive more than this time, this thread drop session with car
+
+    fun getCarsDestroyThread(): Thread {
+        return thread(false, false, null, "dropCar", -1, getThreadCode())
+    }
+
+    private fun getThreadCode(): () -> Unit {
+        return {
+            var stopped = false
+            while (!stopped) {
+                val environment = Environment.instance
+                synchronized(environment, {
+                    val currentTime = System.currentTimeMillis()
+                    val keysToRemove = mutableListOf<Int>()
+                    for ((key, value) in environment.map) {
+                        if ((value.lastAction + timeDeltaToDrop) < currentTime) {
+                            keysToRemove.add(key)
+                        }
+                    }
+                    dropInactiveCar(keysToRemove, environment)
+                })
+                try {
+                    Thread.sleep(60000)
+                } catch (e: InterruptedException) {
+                    println("thread for destroy cars stopped")
+                    stopped = true
+                }
+            }
+        }
+    }
+
+    private fun dropInactiveCar(keysToRemove: List<Int>, environment: Environment) {
+        for (key in keysToRemove) {
+            try {
+                val carValue = environment.map[key] ?: continue
+                val request = DefaultHttpRequest(HttpVersion.HTTP_1_1, HttpMethod.POST, "/ping")
+                Client.sendRequest(request, carValue.host, carValue.port, mapOf(Pair("uid", key)))
+            } catch (e: InactiveCarException) {
+                environment.map.remove(key)
+            }
+        }
+    }
+}
@@ -8,9 +8,6 @@ import io.netty.handler.codec.http.HttpRequest
 import io.netty.util.AttributeKey
 import java.net.ConnectException

-/**
- * Created by user on 7/8/16.
- */
 object Client {

    val bootstrap: Bootstrap = makeBootstrap()
@@ -24,18 +21,19 @@ object Client {
        return b
    }

-    fun sendRequest(request: HttpRequest, host: String, port: Int, carUid: Int) {
+    fun <T> sendRequest(request: HttpRequest, host: String, port: Int, options: Map<String, T>) {
        try {
            bootstrap.attr(AttributeKey.valueOf<String>("url"), request.uri())
-            bootstrap.attr(AttributeKey.valueOf<Int>("uid"), carUid)
+            for ((key, value) in options) {
+                bootstrap.attr(AttributeKey.valueOf<T>(key), value)
+            }
            val ch = bootstrap.connect(host, port).sync().channel()
            ch.writeAndFlush(request)
-            ch.closeFuture().sync()//wait for answer
+//            ch.closeFuture().sync()//wait for answer
        } catch (e: InterruptedException) {

        } catch (e: ConnectException) {
            throw InactiveCarException()
        }
    }
-
 }
@@ -1,7 +1,9 @@
 package car.client

 import CodedInputStream
+import DebugResponseMemoryStats
 import LocationResponse
+import SonarResponse
 import debugMemoryUrl
 import getLocationUrl
 import io.netty.channel.ChannelHandlerContext
@@ -12,47 +14,32 @@ import objects.Environment
 import sonarUrl
 import java.util.*

-/**
- * Created by user on 7/8/16.
- */
 class ClientHandler : SimpleChannelInboundHandler<Any> {

    constructor()

-    var contentBytes: ByteArray = ByteArray(0);
+    var contentBytes: ByteArray = ByteArray(0)

    override fun channelReadComplete(ctx: ChannelHandlerContext) {
        val url = ctx.channel().attr(AttributeKey.valueOf<String>("url")).get()
-        val carUid = ctx.channel().attr(AttributeKey.valueOf<Int>("uid")).get()
-        val environment = Environment.instance
        when (url) {
            getLocationUrl -> {
-                val response = LocationResponse.BuilderLocationResponse(LocationResponse.LocationData.BuilderLocationData(0, 0, 0).build(), 0).build()
+                val carUid = ctx.channel().attr(AttributeKey.valueOf<Int>("uid")).get()
+                val locData = LocationResponse.LocationData.BuilderLocationData(0, 0, 0).build()
+                val response = LocationResponse.BuilderLocationResponse(locData, 0).build()
                response.mergeFrom(CodedInputStream(contentBytes))
-
-                if (response.code == 0) {
-                    val data = response.locationResponseData
-                    synchronized(environment, {
-                        val car = environment.map.get(carUid)
-                        if (car != null) {
-                            car.x = data.x
-                            car.y = data.y
-                        }
-                    })
-                }
+                handlerGetLocationResponse(response, carUid)
            }
            debugMemoryUrl -> {
                val response = DebugResponseMemoryStats.BuilderDebugResponseMemoryStats(0, 0, 0, 0).build()
                response.mergeFrom(CodedInputStream(contentBytes))
-                println("heapDynamicMaxBytes ${response.heapDynamicMaxBytes}")
-                println("heapDynamicTail ${response.heapDynamicTail}")
-                println("heapDynamicTotalBytes ${response.heapDynamicTotalBytes}")
-                println("heapStaticTail ${response.heapStaticTail}")
+                handlerDebugMemoryResponse(response)
            }
            sonarUrl -> {
-                val sonarDistances = SonarResponse.BuilderSonarResponse(IntArray(0)).build()
-                sonarDistances.mergeFrom(CodedInputStream(contentBytes))
-                println("distances from sonar: ${Arrays.toString(sonarDistances.distances)}")
+                val response = SonarResponse.BuilderSonarResponse(IntArray(0)).build()
+                response.mergeFrom(CodedInputStream(contentBytes))
+                val angles = ctx.channel().attr(AttributeKey.valueOf<IntArray>("angles")).get()
+                handlerSonarResponse(response, angles)
            }
            else -> {

@@ -61,9 +48,36 @@ class ClientHandler : SimpleChannelInboundHandler<Any> {
        ctx.close()
    }

+    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]
+                if (car != null) {
+                    car.x = data.x
+                    car.y = data.y
+                    car.angle = data.angle
+                }
+            })
+        }
+    }
+
+    private fun handlerDebugMemoryResponse(message: DebugResponseMemoryStats) {
+        println("heapDynamicMaxBytes ${message.heapDynamicMaxBytes}")
+        println("heapDynamicTail ${message.heapDynamicTail}")
+        println("heapDynamicTotalBytes ${message.heapDynamicTotalBytes}")
+        println("heapStaticTail ${message.heapStaticTail}")
+    }
+
+    private fun handlerSonarResponse(message: SonarResponse, angles: IntArray) {
+        println("request angles: ${Arrays.toString(angles)}")
+        println("distances from sonar: ${Arrays.toString(message.distances)}")
+    }
+
    override fun channelRead0(ctx: ChannelHandlerContext?, msg: Any?) {
        if (msg is DefaultHttpContent) {
-            val contentsBytes = msg.content();
+            val contentsBytes = msg.content()
            contentBytes = ByteArray(contentsBytes.capacity())
            contentsBytes.readBytes(contentBytes)
        }
@@ -4,9 +4,6 @@ import io.netty.channel.ChannelInitializer
 import io.netty.channel.socket.SocketChannel
 import io.netty.handler.codec.http.HttpClientCodec

-/**
- * Created by user on 7/8/16.
- */
 class ClientInitializer : ChannelInitializer<SocketChannel> {

    constructor()
@@ -4,8 +4,6 @@ import CodedInputStream
 import CodedOutputStream
 import ConnectionRequest
 import ConnectionResponse
-import RouteDoneRequest
-import RouteDoneResponse
 import connectUrl
 import io.netty.buffer.Unpooled
 import io.netty.channel.ChannelFutureListener
@@ -13,59 +11,35 @@ import io.netty.channel.ChannelHandlerContext
 import io.netty.channel.SimpleChannelInboundHandler
 import io.netty.handler.codec.http.*
 import objects.Environment
-import routeDoneUrl

 class Handler : SimpleChannelInboundHandler<Any>() {

    var url: String = ""
-    var contentBytes: ByteArray = ByteArray(0);
+    var contentBytes: ByteArray = ByteArray(0)

    override fun channelReadComplete(ctx: ChannelHandlerContext) {

        val environment = Environment.instance
-        var success = true;
+        var success = true
        var answer = ByteArray(0)
        when (url) {
            connectUrl -> {
-                val data = ConnectionRequest.BuilderConnectionRequest(IntArray(0), 0).build();
+                val data = ConnectionRequest.BuilderConnectionRequest(IntArray(0), 0).build()
                data.mergeFrom(CodedInputStream(contentBytes))
-                if (success) {
-                    val ipStr = data.ipValues.map { elem -> elem.toString() }.reduce { elem1, elem2 -> elem1 + "." + elem2 }
-                    val uid = environment.connectCar(ipStr, data.port)
-                    val responseObject = ConnectionResponse.BuilderConnectionResponse(uid, 0).build()
-                    answer = ByteArray(responseObject.getSizeNoTag())
-                    responseObject.writeTo(CodedOutputStream(answer))
-                }
-            }
-            routeDoneUrl -> {
-                val data = RouteDoneRequest.BuilderRouteDoneRequest(0).build()
-                data.mergeFrom(CodedInputStream(contentBytes))
-                if (success) {
-                    val id = data.uid
-                    synchronized(environment.map, {
-                        val car = environment.map.get(id)
-                        if (car != null) {
-                            car.free = true
-                            car.lastAction = System.currentTimeMillis()
-                            val responseObject = RouteDoneResponse.BuilderRouteDoneResponse(0).build()
-                            answer = ByteArray(responseObject.getSizeNoTag())
-                            responseObject.writeTo(CodedOutputStream(answer))
-                        } else {
-                            success = false
-                            val responseObject = RouteDoneResponse.BuilderRouteDoneResponse(2).build()
-                            answer = ByteArray(responseObject.getSizeNoTag())
-                            responseObject.writeTo(CodedOutputStream(answer))
-                        }
-                    })
-                }
+                val ipStr = data.ipValues.map { elem -> elem.toString() }.reduce { elem1, elem2 -> elem1 + "." + elem2 }
+                val uid = environment.connectCar(ipStr, data.port)
+                val responseObject = ConnectionResponse.BuilderConnectionResponse(uid, 0).build()
+                answer = ByteArray(responseObject.getSizeNoTag())
+                responseObject.writeTo(CodedOutputStream(answer))
            }
            else -> {
                success = false
            }
        }
-        val response = DefaultFullHttpResponse(HttpVersion.HTTP_1_1, if (success) HttpResponseStatus.OK else HttpResponseStatus.BAD_REQUEST, Unpooled.copiedBuffer(answer))
+        val responseStatus = if (success) HttpResponseStatus.OK else HttpResponseStatus.BAD_REQUEST
+        val response = DefaultFullHttpResponse(HttpVersion.HTTP_1_1, responseStatus, Unpooled.copiedBuffer(answer))
        response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
-        ctx.writeAndFlush(response).addListener(ChannelFutureListener.CLOSE);
+        ctx.writeAndFlush(response).addListener(ChannelFutureListener.CLOSE)
    }

    override fun channelRead0(ctx: ChannelHandlerContext, msg: Any) {
@@ -74,7 +48,7 @@ class Handler : SimpleChannelInboundHandler<Any>() {
        }

        if (msg is DefaultHttpContent) {
-            val contentsBytes = msg.content();
+            val contentsBytes = msg.content()
            contentBytes = ByteArray(contentsBytes.capacity())
            contentsBytes.readBytes(contentBytes)
        }
@@ -84,8 +58,6 @@ class Handler : SimpleChannelInboundHandler<Any>() {
    override fun exceptionCaught(ctx: ChannelHandlerContext?, cause: Throwable?) {
        println("exception")
        cause?.printStackTrace()
-        if (ctx != null) {
-            ctx.close()
-        }
+        ctx?.close()
    }
 }
@@ -7,12 +7,9 @@ import io.netty.handler.codec.http.HttpServerCodec
 import io.netty.util.concurrent.DefaultEventExecutorGroup
 import io.netty.util.concurrent.EventExecutorGroup

-/**
- * Created by user on 7/6/16.
- */
 class Initializer : ChannelInitializer<SocketChannel> {

-    val group: EventExecutorGroup;
+    val group: EventExecutorGroup

    constructor(handlerThreadCount: Int) {
        this.group = DefaultEventExecutorGroup(handlerThreadCount)
@@ -0,0 +1,35 @@
+package car.server
+
+import io.netty.bootstrap.ServerBootstrap
+import io.netty.channel.nio.NioEventLoopGroup
+import io.netty.channel.socket.nio.NioServerSocketChannel
+import kotlin.concurrent.thread
+
+
+object Server {
+    private val handlerThreadsCount: Int = 100
+    fun getCarServerThread(carServerPort: Int): Thread {
+        return thread(false, false, null, "carServer", -1, {
+            println("car server started")
+            val bossGroup = NioEventLoopGroup(1)
+            val workerGroup = NioEventLoopGroup()
+            val b = ServerBootstrap()
+            val initializer = Initializer(handlerThreadsCount)
+            b.group(bossGroup, workerGroup)
+                    .channel(NioServerSocketChannel().javaClass)
+                    .childHandler(initializer)
+
+            try {
+                val channel = b.bind(carServerPort).sync().channel()
+                channel.closeFuture().sync()
+            } catch (e: InterruptedException) {
+                println("car server stopped")
+            } finally {
+                bossGroup.shutdownGracefully()
+                workerGroup.shutdownGracefully()
+                initializer.group.shutdownGracefully()
+            }
+        })
+    }
+
+}
@@ -1,31 +1,29 @@
 package objects

-/**
- * Created by user on 7/7/16.
- */
+
 class Car constructor(uid: Int, host: String, port: Int) {

    val uid: Int
    val host: String
    val port: Int

-    var free: Boolean
    var lastAction: Long

    var x: Int
    var y: Int
+    var angle: Int

    init {
        this.uid = uid
        this.host = host
        this.port = port
-        this.free = true
        x = 0
        y = 0
+        angle = 0
        this.lastAction = System.currentTimeMillis()
    }

    override fun toString(): String {
-        return "$uid ; x:$x; y:$y"
+        return "$uid ; x:$x; y:$y; angle:$angle"
    }
 }
@@ -1,22 +1,16 @@
 package objects

-import java.util.Random
-
-/**
- * Created by user on 7/7/16.
- */
 class Environment private constructor() {

    val map: MutableMap<Int, Car>
    private var uid = 0

    companion object {
-
        val instance = Environment()
    }

    init {
-        map = mutableMapOf();
+        map = mutableMapOf()
    }

    @Synchronized
@@ -1,15 +1,11 @@
 package web.server

 import io.netty.buffer.Unpooled
-import io.netty.channel.ChannelFutureListener
 import io.netty.channel.ChannelHandlerContext
 import io.netty.channel.SimpleChannelInboundHandler
 import io.netty.handler.codec.http.*
 import io.netty.util.CharsetUtil

-/**
- * Created by user on 7/6/16.
- */
 class Handler : SimpleChannelInboundHandler<Any>() {

    var contentBytes: ByteArray = ByteArray(0)
@@ -18,12 +14,12 @@ class Handler : SimpleChannelInboundHandler<Any>() {

        val response = DefaultFullHttpResponse(HttpVersion.HTTP_1_1, HttpResponseStatus.OK, Unpooled.copiedBuffer("" + Math.random() * 10000, CharsetUtil.UTF_8))
        response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
-        ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE);
+        ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE)
    }

    override fun channelRead0(ctx: ChannelHandlerContext, msg: Any) {
        if (msg is DefaultHttpContent) {
-            val contentsBytes = msg.content();
+            val contentsBytes = msg.content()
            contentBytes = ByteArray(contentsBytes.capacity())
            contentsBytes.readBytes(contentBytes)
        }
@@ -33,8 +29,6 @@ class Handler : SimpleChannelInboundHandler<Any>() {
    override fun exceptionCaught(ctx: ChannelHandlerContext?, cause: Throwable?) {
        println("exception")
        cause?.printStackTrace()
-        if (ctx != null) {
-            ctx.close()
-        }
+        ctx?.close()
    }
 }
@@ -7,12 +7,9 @@ import io.netty.handler.codec.http.HttpServerCodec
 import io.netty.util.concurrent.DefaultEventExecutorGroup
 import io.netty.util.concurrent.EventExecutorGroup

-/**
- * Created by user on 7/6/16.
- */
 class Initializer : ChannelInitializer<SocketChannel> {

-    val group: EventExecutorGroup;
+    val group: EventExecutorGroup

    constructor(handlerThreadCount: Int) {
        this.group = DefaultEventExecutorGroup(handlerThreadCount)
@@ -0,0 +1,33 @@
+package web.server
+
+import io.netty.bootstrap.ServerBootstrap
+import io.netty.channel.nio.NioEventLoopGroup
+import io.netty.channel.socket.nio.NioServerSocketChannel
+import kotlin.concurrent.thread
+
+object Server {
+    private val handlerThreadsCount: Int = 10
+    fun getWebServerThread(webServerPort: Int): Thread {
+        return thread(false, false, null, "webServer", -1, {
+            println("web server started")
+            val bossGroup = NioEventLoopGroup(1)
+            val workerGroup = NioEventLoopGroup()
+            val b = ServerBootstrap()
+            val initializer = Initializer(handlerThreadsCount)
+            b.group(bossGroup, workerGroup)
+                    .channel(NioServerSocketChannel().javaClass)
+                    .childHandler(initializer)
+
+            try {
+                val channel = b.bind(webServerPort).sync().channel()
+                channel.closeFuture().sync()
+            } catch (e: InterruptedException) {
+                println("web server stopped")
+            } finally {
+                bossGroup.shutdownGracefully()
+                workerGroup.shutdownGracefully()
+                initializer.group.shutdownGracefully()
+            }
+        })
+    }
+}