car_fmw: add metric route, improve Engine module

car_fmw/src/Control.kt

@@ -1,4 +1,3 @@
-
 object Control {
     val BLINK_DURATION = 1000
 
@@ -18,6 +17,7 @@ object Control {
         when (task.type.id) {
             TaskRequest.Type.DEBUG.id -> debugTask()
             TaskRequest.Type.ROUTE.id -> routeTask()
+            TaskRequest.Type.ROUTE_METRIC.id -> routeMetricTask()
             TaskRequest.Type.SONAR.id -> sonarTask()
         }
 
@@ -55,6 +55,23 @@ object Control {
         Writer.writeRoute(response)
     }
 
+    private fun routeMetricTask() {
+        val route = Reader.readMetricRoute()
+        val distances = route.distances
+        var i = 0
+
+        while (i < distances.size) {
+            val distance = distances[i]
+            val direction = route.directions[i]
+            Engine.drive(direction, distance)
+
+            i++
+        }
+
+        val response = RouteResponse.BuilderRouteResponse(0).build()
+        Writer.writeRoute(response)
+    }
+
     private fun sonarTask() {
         val request = Reader.readSonar()
         val size = request.angles.size

car_fmw/src/ProtoRW.kt

@@ -4,6 +4,11 @@ object Reader {
         return RouteRequest.BuilderRouteRequest(IntArray(0), IntArray(0)).parseFrom(stream).build()
     }
 
+    fun readMetricRoute(): RouteMetricRequest {
+        val stream = getInputStream()
+        return RouteMetricRequest.BuilderRouteMetricRequest(IntArray(0), IntArray(0)).parseFrom(stream).build()
+    }
+
     fun readTask(): TaskRequest {
         val stream = getInputStream()
         return TaskRequest.BuilderTaskRequest(TaskRequest.Type.DEBUG).parseFrom(stream).build()

car_fmw/src/Voyager.kt

@@ -12,7 +12,7 @@ object Voyager {
                 distance = Sonar.getSmoothDistance(0)
             }
 
-            Engine.rotate(RouteType.LEFT.id, 45)
+            Engine.drive(RouteType.LEFT.id, 45)
         }
     }
 }

car_fmw/src/include/Engine.kt

@@ -51,14 +51,16 @@ object Engine {
     }
 
     fun drive(direction: Int, distance: Int) {
-        go(direction)
+        val duration = when (direction) {
-        Time.wait((distance.toDouble() / VELOCITY_DRIVE).toInt())
+            RouteType.FORWARD.id,
-        stop()
+            RouteType.BACKWARD.id -> (distance.toDouble() / VELOCITY_DRIVE).toInt()
-    }
+            RouteType.LEFT.id,
+            RouteType.RIGHT.id -> (distance.toDouble() / VEL0CITY_ROTATE).toInt()
+            else -> 0
+        }
 
-    fun rotate(direction: Int, degree: Int) {
         go(direction)
-        Time.wait((degree.toDouble() / VEL0CITY_ROTATE).toInt())
+        Time.wait(duration)
         stop()
     }
 }

car_fmw/src/proto/Route.proto

@@ -6,6 +6,11 @@ message RouteRequest {
     repeated int32 directions = 2;
 }
 
+message RouteMetricRequest {
+    repeated int32 distances = 1;
+    repeated int32 directions = 2;
+}
+
 message RouteResponse {
     int32 code = 1;
 }

car_fmw/src/proto/Task.proto

@@ -9,5 +9,6 @@ message TaskRequest {
         DEBUG = 0;
         ROUTE = 1;
         SONAR = 2;
+        ROUTE_METRIC = 3;
     }
 }

car_fmw/src/proto_src/Route.kt

@@ -384,6 +384,392 @@ class RouteRequest private constructor (var times: IntArray, var directions: Int
 }
 
 
+class RouteMetricRequest private constructor (var distances: IntArray, var directions: IntArray) {
+  //========== Properties ===========
+  //repeated int32 distances = 1
+
+  //repeated int32 directions = 2
+
+  var errorCode: Int = 0
+
+  //========== Serialization methods ===========
+  fun writeTo (output: CodedOutputStream) {
+    //repeated int32 distances = 1
+    if (distances.size > 0) {
+      output.writeTag(1, WireType.LENGTH_DELIMITED)
+      var arrayByteSize = 0
+
+      if (distances.size != 0) {
+        do {
+          var arraySize = 0
+          var i = 0
+          while (i < distances.size) {
+            arraySize += WireFormat.getInt32SizeNoTag(distances[i])
+            i += 1
+          } 
+          arrayByteSize += arraySize
+        } while(false)
+      }
+      output.writeInt32NoTag(arrayByteSize)
+
+      do {
+        var i = 0
+        while (i < distances.size) {
+          output.writeInt32NoTag (distances[i])
+          i += 1
+        }
+      } while(false)
+    }
+
+    //repeated int32 directions = 2
+    if (directions.size > 0) {
+      output.writeTag(2, WireType.LENGTH_DELIMITED)
+      var arrayByteSize = 0
+
+      if (directions.size != 0) {
+        do {
+          var arraySize = 0
+          var i = 0
+          while (i < directions.size) {
+            arraySize += WireFormat.getInt32SizeNoTag(directions[i])
+            i += 1
+          } 
+          arrayByteSize += arraySize
+        } while(false)
+      }
+      output.writeInt32NoTag(arrayByteSize)
+
+      do {
+        var i = 0
+        while (i < directions.size) {
+          output.writeInt32NoTag (directions[i])
+          i += 1
+        }
+      } while(false)
+    }
+
+  }
+
+  fun mergeWith (other: RouteMetricRequest) {
+    distances = distances.plus((other.distances))
+    directions = directions.plus((other.directions))
+    this.errorCode = other.errorCode
+  }
+
+  fun mergeFromWithSize (input: CodedInputStream, expectedSize: Int) {
+    val builder = RouteMetricRequest.BuilderRouteMetricRequest(IntArray(0), IntArray(0))
+    mergeWith(builder.parseFromWithSize(input, expectedSize).build())
+  }
+
+  fun mergeFrom (input: CodedInputStream) {
+    val builder = RouteMetricRequest.BuilderRouteMetricRequest(IntArray(0), IntArray(0))
+    mergeWith(builder.parseFrom(input).build())
+  }
+
+  //========== Size-related methods ===========
+  fun getSize(fieldNumber: Int): Int {
+    var size = 0
+    if (distances.size != 0) {
+      do {
+        var arraySize = 0
+        size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
+        var i = 0
+        while (i < distances.size) {
+          arraySize += WireFormat.getInt32SizeNoTag(distances[i])
+          i += 1
+        } 
+        size += arraySize
+        size += WireFormat.getInt32SizeNoTag(arraySize)
+      } while(false)
+    }
+    if (directions.size != 0) {
+      do {
+        var arraySize = 0
+        size += WireFormat.getTagSize(2, WireType.LENGTH_DELIMITED)
+        var i = 0
+        while (i < directions.size) {
+          arraySize += WireFormat.getInt32SizeNoTag(directions[i])
+          i += 1
+        } 
+        size += arraySize
+        size += WireFormat.getInt32SizeNoTag(arraySize)
+      } while(false)
+    }
+    size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
+    return size
+  }
+
+  fun getSizeNoTag(): Int {
+    var size = 0
+    if (distances.size != 0) {
+      do {
+        var arraySize = 0
+        size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
+        var i = 0
+        while (i < distances.size) {
+          arraySize += WireFormat.getInt32SizeNoTag(distances[i])
+          i += 1
+        } 
+        size += arraySize
+        size += WireFormat.getInt32SizeNoTag(arraySize)
+      } while(false)
+    }
+    if (directions.size != 0) {
+      do {
+        var arraySize = 0
+        size += WireFormat.getTagSize(2, WireType.LENGTH_DELIMITED)
+        var i = 0
+        while (i < directions.size) {
+          arraySize += WireFormat.getInt32SizeNoTag(directions[i])
+          i += 1
+        } 
+        size += arraySize
+        size += WireFormat.getInt32SizeNoTag(arraySize)
+      } while(false)
+    }
+    return size
+  }
+
+  //========== Builder ===========
+  class BuilderRouteMetricRequest constructor (var distances: IntArray, var directions: IntArray) {
+    //========== Properties ===========
+    //repeated int32 distances = 1
+    fun setDistances(value: IntArray): RouteMetricRequest.BuilderRouteMetricRequest {
+      distances = value
+      return this
+    }
+    fun setdistancesByIndex(index: Int, value: Int): RouteMetricRequest.BuilderRouteMetricRequest {
+      distances[index] = value
+      return this
+    }
+
+    //repeated int32 directions = 2
+    fun setDirections(value: IntArray): RouteMetricRequest.BuilderRouteMetricRequest {
+      directions = value
+      return this
+    }
+    fun setdirectionsByIndex(index: Int, value: Int): RouteMetricRequest.BuilderRouteMetricRequest {
+      directions[index] = value
+      return this
+    }
+
+    var errorCode: Int = 0
+
+    //========== Serialization methods ===========
+    fun writeTo (output: CodedOutputStream) {
+      //repeated int32 distances = 1
+      if (distances.size > 0) {
+        output.writeTag(1, WireType.LENGTH_DELIMITED)
+        var arrayByteSize = 0
+
+        if (distances.size != 0) {
+          do {
+            var arraySize = 0
+            var i = 0
+            while (i < distances.size) {
+              arraySize += WireFormat.getInt32SizeNoTag(distances[i])
+              i += 1
+            } 
+            arrayByteSize += arraySize
+          } while(false)
+        }
+        output.writeInt32NoTag(arrayByteSize)
+
+        do {
+          var i = 0
+          while (i < distances.size) {
+            output.writeInt32NoTag (distances[i])
+            i += 1
+          }
+        } while(false)
+      }
+
+      //repeated int32 directions = 2
+      if (directions.size > 0) {
+        output.writeTag(2, WireType.LENGTH_DELIMITED)
+        var arrayByteSize = 0
+
+        if (directions.size != 0) {
+          do {
+            var arraySize = 0
+            var i = 0
+            while (i < directions.size) {
+              arraySize += WireFormat.getInt32SizeNoTag(directions[i])
+              i += 1
+            } 
+            arrayByteSize += arraySize
+          } while(false)
+        }
+        output.writeInt32NoTag(arrayByteSize)
+
+        do {
+          var i = 0
+          while (i < directions.size) {
+            output.writeInt32NoTag (directions[i])
+            i += 1
+          }
+        } while(false)
+      }
+
+    }
+
+    //========== Mutating methods ===========
+    fun build(): RouteMetricRequest {
+      val res = RouteMetricRequest(distances, directions)
+      res.errorCode = errorCode
+      return res
+    }
+
+    fun parseFieldFrom(input: CodedInputStream): Boolean {
+      if (input.isAtEnd()) { return false }
+      val tag = input.readInt32NoTag()
+      if (tag == 0) { return false } 
+      val fieldNumber = WireFormat.getTagFieldNumber(tag)
+      val wireType = WireFormat.getTagWireType(tag)
+      when(fieldNumber) {
+        1 -> {
+          if (wireType.id != WireType.LENGTH_DELIMITED.id) {
+            errorCode = 1
+            return false
+          }
+          val expectedByteSize = input.readInt32NoTag()
+          var readSize = 0
+          var arraySize = 0
+          input.mark()
+          do {
+            var i = 0
+            while(readSize < expectedByteSize) {
+              var tmp = 0
+              tmp = input.readInt32NoTag()
+              arraySize += 1
+              readSize += WireFormat.getInt32SizeNoTag(tmp)
+            }
+          } while (false)
+          var newArray = IntArray(arraySize)
+          input.reset()
+          do {
+            var i = 0
+            while(i < arraySize) {
+              newArray[i] = input.readInt32NoTag()
+              i += 1}
+            distances = newArray
+          } while (false)
+        }
+        2 -> {
+          if (wireType.id != WireType.LENGTH_DELIMITED.id) {
+            errorCode = 1
+            return false
+          }
+          val expectedByteSize = input.readInt32NoTag()
+          var readSize = 0
+          var arraySize = 0
+          input.mark()
+          do {
+            var i = 0
+            while(readSize < expectedByteSize) {
+              var tmp = 0
+              tmp = input.readInt32NoTag()
+              arraySize += 1
+              readSize += WireFormat.getInt32SizeNoTag(tmp)
+            }
+          } while (false)
+          var newArray = IntArray(arraySize)
+          input.reset()
+          do {
+            var i = 0
+            while(i < arraySize) {
+              newArray[i] = input.readInt32NoTag()
+              i += 1}
+            directions = newArray
+          } while (false)
+        }
+        else -> errorCode = 4
+      }
+      return true
+    }
+
+    fun parseFromWithSize(input: CodedInputStream, expectedSize: Int): RouteMetricRequest.BuilderRouteMetricRequest {
+      while(getSizeNoTag() < expectedSize) {
+        parseFieldFrom(input)
+      }
+      if (getSizeNoTag() > expectedSize) { errorCode = 2 }
+      return this
+    }
+
+    fun parseFrom(input: CodedInputStream): RouteMetricRequest.BuilderRouteMetricRequest {
+      while(parseFieldFrom(input)) {}
+      return this
+    }
+
+    //========== Size-related methods ===========
+    fun getSize(fieldNumber: Int): Int {
+      var size = 0
+      if (distances.size != 0) {
+        do {
+          var arraySize = 0
+          size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
+          var i = 0
+          while (i < distances.size) {
+            arraySize += WireFormat.getInt32SizeNoTag(distances[i])
+            i += 1
+          } 
+          size += arraySize
+          size += WireFormat.getInt32SizeNoTag(arraySize)
+        } while(false)
+      }
+      if (directions.size != 0) {
+        do {
+          var arraySize = 0
+          size += WireFormat.getTagSize(2, WireType.LENGTH_DELIMITED)
+          var i = 0
+          while (i < directions.size) {
+            arraySize += WireFormat.getInt32SizeNoTag(directions[i])
+            i += 1
+          } 
+          size += arraySize
+          size += WireFormat.getInt32SizeNoTag(arraySize)
+        } while(false)
+      }
+      size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
+      return size
+    }
+
+    fun getSizeNoTag(): Int {
+      var size = 0
+      if (distances.size != 0) {
+        do {
+          var arraySize = 0
+          size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
+          var i = 0
+          while (i < distances.size) {
+            arraySize += WireFormat.getInt32SizeNoTag(distances[i])
+            i += 1
+          } 
+          size += arraySize
+          size += WireFormat.getInt32SizeNoTag(arraySize)
+        } while(false)
+      }
+      if (directions.size != 0) {
+        do {
+          var arraySize = 0
+          size += WireFormat.getTagSize(2, WireType.LENGTH_DELIMITED)
+          var i = 0
+          while (i < directions.size) {
+            arraySize += WireFormat.getInt32SizeNoTag(directions[i])
+            i += 1
+          } 
+          size += arraySize
+          size += WireFormat.getInt32SizeNoTag(arraySize)
+        } while(false)
+      }
+      return size
+    }
+
+  }
+
+}
+
+
 class RouteResponse private constructor (var code: Int) {
   //========== Properties ===========
   //int32 code = 1

car_fmw/src/proto_src/Task.kt

@@ -9,7 +9,8 @@ class TaskRequest private constructor (var type: TaskRequest.Type) {
     DEBUG (0),
     ROUTE (1),
     SONAR (2),
-    Unexpected(3);
+    ROUTE_METRIC (3),
+    Unexpected(4);
 
     companion object {
       fun fromIntToType (ord: Int): Type {
@@ -17,6 +18,7 @@ class TaskRequest private constructor (var type: TaskRequest.Type) {
           0 -> Type.DEBUG
           1 -> Type.ROUTE
           2 -> Type.SONAR
+          3 -> Type.ROUTE_METRIC
           else -> Unexpected
         }
       }

proto/protofiles_sources/server_car/debug.proto

@@ -2,7 +2,6 @@ syntax = "proto3";
 package carkot;
 
 message DebugRequest {
-
     Type type = 1;
 
     enum Type {

proto/protofiles_sources/server_car/location.proto

@@ -2,7 +2,6 @@ syntax = "proto3";
 package carkot;
 
 message LocationResponse {
-
     LocationData locationResponseData = 1;
     int32 code = 2;
 

proto/protofiles_sources/server_car/route.proto

@@ -6,6 +6,11 @@ message RouteRequest {
     repeated int32 directions = 2;
 }
 
+message RouteMetricRequest {
+    repeated int32 distances = 1;
+    repeated int32 directions = 2;
+}
+
 message RouteResponse {
     int32 code = 1;
 }

proto/protofiles_sources/server_car/sonar.proto

@@ -2,13 +2,10 @@ syntax = "proto3";
 package carkot;
 
 message SonarRequest {
-
     repeated int32 angles = 1;
 
 }
 
 message SonarResponse {
-
     repeated int32 distances = 1;
-
 }