make cl args for run tests and run server as emulator. fixed errors.

car_srv/kotlinSrv/run.sh

@@ -1,3 +1,3 @@
 #!/bin/bash
 cd build/js
-node main.js
+node main.js $*

car_srv/kotlinSrv/src/JSImport.kt

@@ -6,7 +6,6 @@ fun setTimeout(callBack: () -> Unit, ms: Int): dynamic = noImpl
 
 fun <T> encodeProtoBuf(protoMessage: T): ByteArray {
     val routeBytes: ByteArray
-    println(protoMessage.toString())
     when (protoMessage) {
         is LocationResponse -> {
             val protoSize = protoMessage.getSizeNoTag()

car_srv/kotlinSrv/src/Main.kt

@@ -20,10 +20,29 @@ fun main(args: Array<String>) {
         js("process.exit(1)")
     }
 
+
+    val clArgs = js("process.argv")
+    var runAsEmulator = false
+    var runTests = false
+    for (arg in clArgs) {
+        when (arg) {
+            "-t" -> runTests = true
+            "-e" -> runAsEmulator = true
+        }
+    }
+    val carController =
+            if (runAsEmulator) {
+                McState.instance.connect("")
+                ControllerEmulator()
+            } else {
+                ControllerToUsb()
+            }
+
+    if (runTests) {
+        runTests()
+    }
+
     val handlers: MutableMap<String, AbstractHandler> = mutableMapOf()
-
-    val carController = ControllerEmulator()
-
     handlers.put("/rc/control", Control())
     handlers.put("/loadBin", LoadBin())
     handlers.put("/sonar", GetSonarData(carController))

car_srv/kotlinSrv/src/Test.kt

@@ -49,11 +49,14 @@ private fun testCarEmulator() {
     })
 }
 
+private var testNum = 1
 
 private fun eq(value1: Double, value2: Double, msg: String, eps: Double) {
     if (Math.abs(value1 - value2) > eps) {
         println("test failed! $msg")
         println("returned: $value1")
         println("waited: $value2")
+    } else {
+        println("test ${testNum++} ok!")
     }
 }

car_srv/kotlinSrv/src/control/emulator/ControllerEmulator.kt

@@ -146,6 +146,7 @@ class ControllerEmulator : Controller {
         if (currentCommandIdx == commands.size) {
             val responseMessage = RouteResponse.BuilderRouteResponse(0).build()
             callBack.invoke(encodeProtoBuf(responseMessage))
+            return
         }
         val currentCommand = commands.get(currentCommandIdx)
 

car_srv/kotlinSrv/src/net/server/handlers/AbstractHandler.kt

@@ -3,11 +3,20 @@ package net.server.handlers
 abstract class AbstractHandler {
 
     fun execute(data: List<Byte>, response: dynamic) {
-        getBytesResponse(data.toByteArray(), { resultBytes ->
+
+        val callBack = { resultBytes: ByteArray ->
             val resultBuffer = js("new Buffer(resultBytes)")
             response.write(resultBuffer)
             response.end()
-        })
+        }
+
+        try {
+            getBytesResponse(data.toByteArray(), callBack)
+        } catch (e: dynamic) {
+            println("error in executing handler!")
+            println(e.toString())
+            callBack.invoke(ByteArray(0))
+        }
     }