diff --git a/car_fmw/Makefile b/car_fmw/Makefile
index d390659b0b2..6578b72cfbb 100644
--- a/car_fmw/Makefile
+++ b/car_fmw/Makefile
@@ -4,6 +4,7 @@ LIB_DIR=$(PWD)/lib
 TRANSLATOR_DIR=$(PWD)/../translator
 KOTSTD_DIR=$(PWD)/../kotstd
 CAR_HW_DIR=$(PWD)/../car_hw
+PROTO_DIR=$(PWD)/../proto/protofiles_sources/out
 
 OS_ARCH=linux-x86_64
 
@@ -22,7 +23,6 @@ KT=$(TRANSLATOR_DIR)/build/libs/translator-1.0.jar
 LD=arm-none-eabi-ld
 OBJ_COPY=arm-none-eabi-objcopy
 GDB=arm-none-eabi-gdb
-PROTOC=$(PWD)/../proto/compiler/build/protoc
 
 LL=llc-3.6
 LLINK=llvm-link-3.6
@@ -69,15 +69,12 @@ $(BIN_DIR)/kotlib.ll: $(LIB_DIR)/app.ll $(LIB_KOTSTD)
 $(LIB_KOTSTD):
 	cd $(KOTSTD_DIR) && make
 
-$(LIB_DIR)/app.ll: $(SRC_DIR)/**/*.kt $(SRC_DIR)/*.kt
+$(LIB_DIR)/app.ll: $(SRC_DIR)/**/*.kt $(SRC_DIR)/*.kt $(PROTO_DIR)/*.kt
 	$(KT_ALL_DEPS)
 
 $(KT):
 	cd $(TRANSLATOR_DIR) && ./gradlew jar
 
-proto:
-	$(PROTOC) -I$(SRC_DIR)/proto --kotlin_out=$(SRC_DIR)/proto_src $(SRC_DIR)/proto/*.proto
-
 flash: $(CAR_FMW_BIN)
 	$(ST_DIR)/st-flash write $(CAR_FMW_BIN) 0x8000000
 
diff --git a/car_fmw/src/Control.kt b/car_fmw/src/Control.kt
index feb78d7030c..b98a6ca5dcf 100644
--- a/car_fmw/src/Control.kt
+++ b/car_fmw/src/Control.kt
@@ -68,19 +68,38 @@ object Control {
 
     private fun sonarTask() {
         val request = Reader.readSonar()
-        val size = request.angles.size
+        val angles = request.angles
+        val size = angles.size
+        val attempts = request.attempts
+
         val distances = IntArray(size)
 
-        var i = 0
-        while (i < size) {
-            distances[i] = Sonar.getSmoothDistance(request.angles[i])
-            i++
+        for (i in 0..(size - 1)) {
+            distances[i] = sonarMeasure(request.smoothing, attempts[i], angles[i], request.windowSize)
         }
 
         val response = SonarResponse.BuilderSonarResponse(distances).build()
         Writer.writeSonar(response)
     }
 
+    private fun sonarMeasure(smoothing: SonarRequest.Smoothing, attempts: Int, angle: Int, windowSize: Int): Int {
+        val data = IntArray(attempts)
+
+        for (i in 0..(attempts - 1)) {
+            data[i] = Sonar.getSmoothDistance(angle, windowSize)
+
+            if (smoothing.id == SonarRequest.Smoothing.NONE.id && data[i] != -1) {
+                return data[i]
+            }
+        }
+
+        return when (smoothing.id) {
+            SonarRequest.Smoothing.MEAN.id -> data.mean()
+            SonarRequest.Smoothing.MEDIAN.id -> data.median()
+            else -> -1
+        }
+    }
+
     private fun sendMemoryStats() {
         val stats = DebugResponseMemoryStats.BuilderDebugResponseMemoryStats(
                 DebugInfo.getDynamicHeapTail(),
diff --git a/car_fmw/src/ProtoRW.kt b/car_fmw/src/ProtoRW.kt
index c6acbd25261..7894d2c213a 100644
--- a/car_fmw/src/ProtoRW.kt
+++ b/car_fmw/src/ProtoRW.kt
@@ -21,7 +21,7 @@ object Reader {
 
     fun readSonar(): SonarRequest {
         val stream = getInputStream()
-        return SonarRequest.BuilderSonarRequest(IntArray(0)).parseFrom(stream).build()
+        return SonarRequest.BuilderSonarRequest(IntArray(0), IntArray(0), 0, SonarRequest.Smoothing.NONE, 0).parseFrom(stream).build()
     }
 
     private fun getInputStream(): CodedInputStream {
diff --git a/car_fmw/src/Voyager.kt b/car_fmw/src/Voyager.kt
index fa003cbb656..eff15a338f9 100644
--- a/car_fmw/src/Voyager.kt
+++ b/car_fmw/src/Voyager.kt
@@ -1,14 +1,15 @@
 
 object Voyager {
-    val MAX_ANGLE: Int = 180 // angle
-    val SEGMENT_SIZE: Int = 30 // centimeter
+    private val MAX_ANGLE: Int = 180 // angle
+    private val SEGMENT_SIZE: Int = 30 // centimeter
+    private var DEFAULT_WINDOW = 10 // angle
 
     fun run() {
         while (true) {
-            var distance = Sonar.getSmoothDistance(0)
+            var distance = Sonar.getSmoothDistance(0, DEFAULT_WINDOW)
             while (distance == -1 || distance > 4 * SEGMENT_SIZE) {
                 Engine.drive(RouteType.FORWARD.id, SEGMENT_SIZE)
-                distance = Sonar.getSmoothDistance(0)
+                distance = Sonar.getSmoothDistance(0, DEFAULT_WINDOW)
             }
 
             Engine.drive(RouteType.LEFT.id, 45)
diff --git a/car_fmw/src/include/Sonar.kt b/car_fmw/src/include/Sonar.kt
index c63b87803e2..e729d7f9156 100644
--- a/car_fmw/src/include/Sonar.kt
+++ b/car_fmw/src/include/Sonar.kt
@@ -2,26 +2,23 @@ external fun car_sonar_init()
 external fun car_sonar_get_dist(degree: Byte): Short
 
 object Sonar {
-    private var ATTEMPTS_COUNT = 5
-    private var DEVIATION = 10
     private var SCAN_STEP = 1
 
     fun init() {
         car_sonar_init()
     }
 
-    fun getDistance(angle: Int): Int {
-        return car_sonar_get_dist(angle.toByte()).toInt()
-    }
+    fun getDistance(angle: Int): Int =
+            car_sonar_get_dist(angle.toByte()).toInt()
 
-    fun getSmoothDistance(angle: Int): Int {
+    fun getSmoothDistance(angle: Int, windowSize: Int): Int {
         val distance = getDistance(angle)
-        if (distance != -1) {
+        if (distance != -1 || windowSize == 0) {
             return distance
         }
 
-        val start = if (angle - DEVIATION < 0) 0 else angle - DEVIATION
-        return getOneOfRange(start, angle + DEVIATION, SCAN_STEP)
+        val start = if (angle - windowSize < 0) 0 else angle - windowSize
+        return getOneOfRange(start, angle + windowSize, SCAN_STEP)
     }
 
     fun getOneOfRange(start: Int, stop: Int, step: Int): Int {
diff --git a/car_fmw/src/proto/Debug.proto b/car_fmw/src/proto/Debug.proto
deleted file mode 100644
index 7b0e7908729..00000000000
--- a/car_fmw/src/proto/Debug.proto
+++ /dev/null
@@ -1,18 +0,0 @@
-syntax = "proto3";
-package carkot;
-
-message DebugRequest {
-
-    Type type = 1;
-
-    enum Type {
-        MEMORY_STATS = 0;
-    }
-}
-
-message DebugResponseMemoryStats {
-    int32 heapDynamicTail = 1;
-    int32 heapStaticTail = 2;
-    int32 heapDynamicMaxBytes = 3;
-    int32 heapDynamicTotalBytes = 4;
-}
diff --git a/car_fmw/src/proto/Direction.proto b/car_fmw/src/proto/Direction.proto
deleted file mode 100644
index 7b5c1e7a85a..00000000000
--- a/car_fmw/src/proto/Direction.proto
+++ /dev/null
@@ -1,21 +0,0 @@
-syntax = "proto3";
-package carkot;
-
-option java_package = "proto.car";
-option java_outer_classname = "Direction";
-
-message DirectionRequest {
-    enum Command {
-        STOP = 0;
-        FORWARD = 1;
-        BACKWARD = 2;
-        LEFT = 3;
-        RIGHT = 4;
-    }
-    Command command = 1;
-    int32 sid = 2;
-}
-
-message DirectionResponse {
-    int32 code = 1;
-}
diff --git a/car_fmw/src/proto/Route.proto b/car_fmw/src/proto/Route.proto
deleted file mode 100644
index fdd7eb0cd9a..00000000000
--- a/car_fmw/src/proto/Route.proto
+++ /dev/null
@@ -1,16 +0,0 @@
-syntax = "proto3";
-package carkot;
-
-message RouteRequest {
-    repeated int32 times = 1;
-    repeated int32 directions = 2;
-}
-
-message RouteMetricRequest {
-    repeated int32 distances = 1;
-    repeated int32 directions = 2;
-}
-
-message RouteResponse {
-    int32 code = 1;
-}
\ No newline at end of file
diff --git a/car_fmw/src/proto/Sonar.proto b/car_fmw/src/proto/Sonar.proto
deleted file mode 100644
index 086804d029e..00000000000
--- a/car_fmw/src/proto/Sonar.proto
+++ /dev/null
@@ -1,10 +0,0 @@
-syntax = "proto3";
-package carkot;
-
-message SonarRequest {
-    repeated int32 angles = 1;
-}
-
-message SonarResponse {
-    repeated int32 distances = 1;
-}
diff --git a/car_fmw/src/proto/Task.proto b/car_fmw/src/proto/Task.proto
deleted file mode 100644
index 8e6384bbb73..00000000000
--- a/car_fmw/src/proto/Task.proto
+++ /dev/null
@@ -1,14 +0,0 @@
-syntax = "proto3";
-package carkot;
-
-message TaskRequest {
-
-    Type type = 1;
-
-    enum Type {
-        DEBUG = 0;
-        ROUTE = 1;
-        SONAR = 2;
-        ROUTE_METRIC = 3;
-    }
-}
diff --git a/car_fmw/src/proto_src/Debug.kt b/car_fmw/src/proto_src/Debug.kt
deleted file mode 100644
index aebee97b2f9..00000000000
--- a/car_fmw/src/proto_src/Debug.kt
+++ /dev/null
@@ -1,388 +0,0 @@
-class DebugRequest private constructor (var type: DebugRequest.Type) {
-  //========== Properties ===========
-  //enum type = 1
-
-  var errorCode: Int = 0
-
-  //========== Nested enums declarations ===========
-  enum class Type(val id: Int) {
-    MEMORY_STATS (0),
-    Unexpected(1);
-
-    companion object {
-      fun fromIntToType (ord: Int): Type {
-        return when (ord) {
-          0 -> Type.MEMORY_STATS
-          else -> Unexpected
-        }
-      }
-    }
-  }
-  //========== Serialization methods ===========
-  fun writeTo (output: CodedOutputStream) {
-    //enum type = 1
-    if (type.id != DebugRequest.Type.fromIntToType(0).id) {
-      output.writeEnum (1, type.id)
-    }
-
-  }
-
-  fun mergeWith (other: DebugRequest) {
-    type = other.type
-    this.errorCode = other.errorCode
-  }
-
-  fun mergeFromWithSize (input: CodedInputStream, expectedSize: Int) {
-    val builder = DebugRequest.BuilderDebugRequest(DebugRequest.Type.fromIntToType(0))
-    mergeWith(builder.parseFromWithSize(input, expectedSize).build())
-  }
-
-  fun mergeFrom (input: CodedInputStream) {
-    val builder = DebugRequest.BuilderDebugRequest(DebugRequest.Type.fromIntToType(0))
-    mergeWith(builder.parseFrom(input).build())
-  }
-
-  //========== Size-related methods ===========
-  fun getSize(fieldNumber: Int): Int {
-    var size = 0
-    if (type != DebugRequest.Type.fromIntToType(0)) {
-      size += WireFormat.getEnumSize(1, type.id)
-    }
-    size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
-    return size
-  }
-
-  fun getSizeNoTag(): Int {
-    var size = 0
-    if (type != DebugRequest.Type.fromIntToType(0)) {
-      size += WireFormat.getEnumSize(1, type.id)
-    }
-    return size
-  }
-
-  //========== Builder ===========
-  class BuilderDebugRequest constructor (var type: DebugRequest.Type) {
-    //========== Properties ===========
-    //enum type = 1
-    fun setType(value: DebugRequest.Type): DebugRequest.BuilderDebugRequest {
-      type = value
-      return this
-    }
-
-    var errorCode: Int = 0
-
-    //========== Serialization methods ===========
-    fun writeTo (output: CodedOutputStream) {
-      //enum type = 1
-      if (type.id != DebugRequest.Type.fromIntToType(0).id) {
-        output.writeEnum (1, type.id)
-      }
-
-    }
-
-    //========== Mutating methods ===========
-    fun build(): DebugRequest {
-      val res = DebugRequest(type)
-      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.VARINT.id) {
-            errorCode = 1
-            return false
-          }
-          type = DebugRequest.Type.fromIntToType(input.readEnumNoTag())
-        }
-        else -> errorCode = 4
-      }
-      return true
-    }
-
-    fun parseFromWithSize(input: CodedInputStream, expectedSize: Int): DebugRequest.BuilderDebugRequest {
-      while(getSizeNoTag() < expectedSize) {
-        parseFieldFrom(input)
-      }
-      if (getSizeNoTag() > expectedSize) { errorCode = 2 }
-      return this
-    }
-
-    fun parseFrom(input: CodedInputStream): DebugRequest.BuilderDebugRequest {
-      while(parseFieldFrom(input)) {}
-      return this
-    }
-
-    //========== Size-related methods ===========
-    fun getSize(fieldNumber: Int): Int {
-      var size = 0
-      if (type != DebugRequest.Type.fromIntToType(0)) {
-        size += WireFormat.getEnumSize(1, type.id)
-      }
-      size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
-      return size
-    }
-
-    fun getSizeNoTag(): Int {
-      var size = 0
-      if (type != DebugRequest.Type.fromIntToType(0)) {
-        size += WireFormat.getEnumSize(1, type.id)
-      }
-      return size
-    }
-
-  }
-
-}
-
-
-class DebugResponseMemoryStats private constructor (var heapDynamicTail: Int, var heapStaticTail: Int, var heapDynamicMaxBytes: Int, var heapDynamicTotalBytes: Int) {
-  //========== Properties ===========
-  //int32 heapDynamicTail = 1
-
-  //int32 heapStaticTail = 2
-
-  //int32 heapDynamicMaxBytes = 3
-
-  //int32 heapDynamicTotalBytes = 4
-
-  var errorCode: Int = 0
-
-  //========== Serialization methods ===========
-  fun writeTo (output: CodedOutputStream) {
-    //int32 heapDynamicTail = 1
-    if (heapDynamicTail != 0) {
-      output.writeInt32 (1, heapDynamicTail)
-    }
-
-    //int32 heapStaticTail = 2
-    if (heapStaticTail != 0) {
-      output.writeInt32 (2, heapStaticTail)
-    }
-
-    //int32 heapDynamicMaxBytes = 3
-    if (heapDynamicMaxBytes != 0) {
-      output.writeInt32 (3, heapDynamicMaxBytes)
-    }
-
-    //int32 heapDynamicTotalBytes = 4
-    if (heapDynamicTotalBytes != 0) {
-      output.writeInt32 (4, heapDynamicTotalBytes)
-    }
-
-  }
-
-  fun mergeWith (other: DebugResponseMemoryStats) {
-    heapDynamicTail = other.heapDynamicTail
-    heapStaticTail = other.heapStaticTail
-    heapDynamicMaxBytes = other.heapDynamicMaxBytes
-    heapDynamicTotalBytes = other.heapDynamicTotalBytes
-    this.errorCode = other.errorCode
-  }
-
-  fun mergeFromWithSize (input: CodedInputStream, expectedSize: Int) {
-    val builder = DebugResponseMemoryStats.BuilderDebugResponseMemoryStats(0, 0, 0, 0)
-    mergeWith(builder.parseFromWithSize(input, expectedSize).build())
-  }
-
-  fun mergeFrom (input: CodedInputStream) {
-    val builder = DebugResponseMemoryStats.BuilderDebugResponseMemoryStats(0, 0, 0, 0)
-    mergeWith(builder.parseFrom(input).build())
-  }
-
-  //========== Size-related methods ===========
-  fun getSize(fieldNumber: Int): Int {
-    var size = 0
-    if (heapDynamicTail != 0) {
-      size += WireFormat.getInt32Size(1, heapDynamicTail)
-    }
-    if (heapStaticTail != 0) {
-      size += WireFormat.getInt32Size(2, heapStaticTail)
-    }
-    if (heapDynamicMaxBytes != 0) {
-      size += WireFormat.getInt32Size(3, heapDynamicMaxBytes)
-    }
-    if (heapDynamicTotalBytes != 0) {
-      size += WireFormat.getInt32Size(4, heapDynamicTotalBytes)
-    }
-    size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
-    return size
-  }
-
-  fun getSizeNoTag(): Int {
-    var size = 0
-    if (heapDynamicTail != 0) {
-      size += WireFormat.getInt32Size(1, heapDynamicTail)
-    }
-    if (heapStaticTail != 0) {
-      size += WireFormat.getInt32Size(2, heapStaticTail)
-    }
-    if (heapDynamicMaxBytes != 0) {
-      size += WireFormat.getInt32Size(3, heapDynamicMaxBytes)
-    }
-    if (heapDynamicTotalBytes != 0) {
-      size += WireFormat.getInt32Size(4, heapDynamicTotalBytes)
-    }
-    return size
-  }
-
-  //========== Builder ===========
-  class BuilderDebugResponseMemoryStats constructor (var heapDynamicTail: Int, var heapStaticTail: Int, var heapDynamicMaxBytes: Int, var heapDynamicTotalBytes: Int) {
-    //========== Properties ===========
-    //int32 heapDynamicTail = 1
-    fun setHeapDynamicTail(value: Int): DebugResponseMemoryStats.BuilderDebugResponseMemoryStats {
-      heapDynamicTail = value
-      return this
-    }
-
-    //int32 heapStaticTail = 2
-    fun setHeapStaticTail(value: Int): DebugResponseMemoryStats.BuilderDebugResponseMemoryStats {
-      heapStaticTail = value
-      return this
-    }
-
-    //int32 heapDynamicMaxBytes = 3
-    fun setHeapDynamicMaxBytes(value: Int): DebugResponseMemoryStats.BuilderDebugResponseMemoryStats {
-      heapDynamicMaxBytes = value
-      return this
-    }
-
-    //int32 heapDynamicTotalBytes = 4
-    fun setHeapDynamicTotalBytes(value: Int): DebugResponseMemoryStats.BuilderDebugResponseMemoryStats {
-      heapDynamicTotalBytes = value
-      return this
-    }
-
-    var errorCode: Int = 0
-
-    //========== Serialization methods ===========
-    fun writeTo (output: CodedOutputStream) {
-      //int32 heapDynamicTail = 1
-      if (heapDynamicTail != 0) {
-        output.writeInt32 (1, heapDynamicTail)
-      }
-
-      //int32 heapStaticTail = 2
-      if (heapStaticTail != 0) {
-        output.writeInt32 (2, heapStaticTail)
-      }
-
-      //int32 heapDynamicMaxBytes = 3
-      if (heapDynamicMaxBytes != 0) {
-        output.writeInt32 (3, heapDynamicMaxBytes)
-      }
-
-      //int32 heapDynamicTotalBytes = 4
-      if (heapDynamicTotalBytes != 0) {
-        output.writeInt32 (4, heapDynamicTotalBytes)
-      }
-
-    }
-
-    //========== Mutating methods ===========
-    fun build(): DebugResponseMemoryStats {
-      val res = DebugResponseMemoryStats(heapDynamicTail, heapStaticTail, heapDynamicMaxBytes, heapDynamicTotalBytes)
-      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.VARINT.id) {
-            errorCode = 1
-            return false
-          }
-          heapDynamicTail = input.readInt32NoTag()
-        }
-        2 -> {
-          if (wireType.id != WireType.VARINT.id) {
-            errorCode = 1
-            return false
-          }
-          heapStaticTail = input.readInt32NoTag()
-        }
-        3 -> {
-          if (wireType.id != WireType.VARINT.id) {
-            errorCode = 1
-            return false
-          }
-          heapDynamicMaxBytes = input.readInt32NoTag()
-        }
-        4 -> {
-          if (wireType.id != WireType.VARINT.id) {
-            errorCode = 1
-            return false
-          }
-          heapDynamicTotalBytes = input.readInt32NoTag()
-        }
-        else -> errorCode = 4
-      }
-      return true
-    }
-
-    fun parseFromWithSize(input: CodedInputStream, expectedSize: Int): DebugResponseMemoryStats.BuilderDebugResponseMemoryStats {
-      while(getSizeNoTag() < expectedSize) {
-        parseFieldFrom(input)
-      }
-      if (getSizeNoTag() > expectedSize) { errorCode = 2 }
-      return this
-    }
-
-    fun parseFrom(input: CodedInputStream): DebugResponseMemoryStats.BuilderDebugResponseMemoryStats {
-      while(parseFieldFrom(input)) {}
-      return this
-    }
-
-    //========== Size-related methods ===========
-    fun getSize(fieldNumber: Int): Int {
-      var size = 0
-      if (heapDynamicTail != 0) {
-        size += WireFormat.getInt32Size(1, heapDynamicTail)
-      }
-      if (heapStaticTail != 0) {
-        size += WireFormat.getInt32Size(2, heapStaticTail)
-      }
-      if (heapDynamicMaxBytes != 0) {
-        size += WireFormat.getInt32Size(3, heapDynamicMaxBytes)
-      }
-      if (heapDynamicTotalBytes != 0) {
-        size += WireFormat.getInt32Size(4, heapDynamicTotalBytes)
-      }
-      size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
-      return size
-    }
-
-    fun getSizeNoTag(): Int {
-      var size = 0
-      if (heapDynamicTail != 0) {
-        size += WireFormat.getInt32Size(1, heapDynamicTail)
-      }
-      if (heapStaticTail != 0) {
-        size += WireFormat.getInt32Size(2, heapStaticTail)
-      }
-      if (heapDynamicMaxBytes != 0) {
-        size += WireFormat.getInt32Size(3, heapDynamicMaxBytes)
-      }
-      if (heapDynamicTotalBytes != 0) {
-        size += WireFormat.getInt32Size(4, heapDynamicTotalBytes)
-      }
-      return size
-    }
-
-  }
-
-}
-
-
diff --git a/car_fmw/src/proto_src/Direction.kt b/car_fmw/src/proto_src/Direction.kt
deleted file mode 100644
index 615b884b3b1..00000000000
--- a/car_fmw/src/proto_src/Direction.kt
+++ /dev/null
@@ -1,320 +0,0 @@
-class DirectionRequest private constructor (var command: DirectionRequest.Command, var sid: Int) {
-  //========== Properties ===========
-  //enum command = 1
-
-  //int32 sid = 2
-
-  var errorCode: Int = 0
-
-  //========== Nested enums declarations ===========
-  enum class Command(val id: Int) {
-    STOP (0),
-    FORWARD (1),
-    BACKWARD (2),
-    LEFT (3),
-    RIGHT (4),
-    Unexpected(5);
-
-    companion object {
-      fun fromIntToCommand (ord: Int): Command {
-        return when (ord) {
-          0 -> Command.STOP
-          1 -> Command.FORWARD
-          2 -> Command.BACKWARD
-          3 -> Command.LEFT
-          4 -> Command.RIGHT
-          else -> Unexpected
-        }
-      }
-    }
-  }
-  //========== Serialization methods ===========
-  fun writeTo (output: CodedOutputStream) {
-    //enum command = 1
-    if (command.id != DirectionRequest.Command.fromIntToCommand(0).id) {
-      output.writeEnum (1, command.id)
-    }
-
-    //int32 sid = 2
-    if (sid != 0) {
-      output.writeInt32 (2, sid)
-    }
-
-  }
-
-  fun mergeWith (other: DirectionRequest) {
-    command = other.command
-    sid = other.sid
-    this.errorCode = other.errorCode
-  }
-
-  fun mergeFromWithSize (input: CodedInputStream, expectedSize: Int) {
-    val builder = DirectionRequest.BuilderDirectionRequest(DirectionRequest.Command.fromIntToCommand(0), 0)
-    mergeWith(builder.parseFromWithSize(input, expectedSize).build())
-  }
-
-  fun mergeFrom (input: CodedInputStream) {
-    val builder = DirectionRequest.BuilderDirectionRequest(DirectionRequest.Command.fromIntToCommand(0), 0)
-    mergeWith(builder.parseFrom(input).build())
-  }
-
-  //========== Size-related methods ===========
-  fun getSize(fieldNumber: Int): Int {
-    var size = 0
-    if (command != DirectionRequest.Command.fromIntToCommand(0)) {
-      size += WireFormat.getEnumSize(1, command.id)
-    }
-    if (sid != 0) {
-      size += WireFormat.getInt32Size(2, sid)
-    }
-    size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
-    return size
-  }
-
-  fun getSizeNoTag(): Int {
-    var size = 0
-    if (command != DirectionRequest.Command.fromIntToCommand(0)) {
-      size += WireFormat.getEnumSize(1, command.id)
-    }
-    if (sid != 0) {
-      size += WireFormat.getInt32Size(2, sid)
-    }
-    return size
-  }
-
-  //========== Builder ===========
-  class BuilderDirectionRequest constructor (var command: DirectionRequest.Command, var sid: Int) {
-    //========== Properties ===========
-    //enum command = 1
-    fun setCommand(value: DirectionRequest.Command): DirectionRequest.BuilderDirectionRequest {
-      command = value
-      return this
-    }
-
-    //int32 sid = 2
-    fun setSid(value: Int): DirectionRequest.BuilderDirectionRequest {
-      sid = value
-      return this
-    }
-
-    var errorCode: Int = 0
-
-    //========== Serialization methods ===========
-    fun writeTo (output: CodedOutputStream) {
-      //enum command = 1
-      if (command.id != DirectionRequest.Command.fromIntToCommand(0).id) {
-        output.writeEnum (1, command.id)
-      }
-
-      //int32 sid = 2
-      if (sid != 0) {
-        output.writeInt32 (2, sid)
-      }
-
-    }
-
-    //========== Mutating methods ===========
-    fun build(): DirectionRequest {
-      val res = DirectionRequest(command, sid)
-      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.VARINT.id) {
-            errorCode = 1
-            return false
-          }
-          command = DirectionRequest.Command.fromIntToCommand(input.readEnumNoTag())
-        }
-        2 -> {
-          if (wireType.id != WireType.VARINT.id) {
-            errorCode = 1
-            return false
-          }
-          sid = input.readInt32NoTag()
-        }
-        else -> errorCode = 4
-      }
-      return true
-    }
-
-    fun parseFromWithSize(input: CodedInputStream, expectedSize: Int): DirectionRequest.BuilderDirectionRequest {
-      while(getSizeNoTag() < expectedSize) {
-        parseFieldFrom(input)
-      }
-      if (getSizeNoTag() > expectedSize) { errorCode = 2 }
-      return this
-    }
-
-    fun parseFrom(input: CodedInputStream): DirectionRequest.BuilderDirectionRequest {
-      while(parseFieldFrom(input)) {}
-      return this
-    }
-
-    //========== Size-related methods ===========
-    fun getSize(fieldNumber: Int): Int {
-      var size = 0
-      if (command != DirectionRequest.Command.fromIntToCommand(0)) {
-        size += WireFormat.getEnumSize(1, command.id)
-      }
-      if (sid != 0) {
-        size += WireFormat.getInt32Size(2, sid)
-      }
-      size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
-      return size
-    }
-
-    fun getSizeNoTag(): Int {
-      var size = 0
-      if (command != DirectionRequest.Command.fromIntToCommand(0)) {
-        size += WireFormat.getEnumSize(1, command.id)
-      }
-      if (sid != 0) {
-        size += WireFormat.getInt32Size(2, sid)
-      }
-      return size
-    }
-
-  }
-
-}
-
-
-class DirectionResponse private constructor (var code: Int) {
-  //========== Properties ===========
-  //int32 code = 1
-
-  var errorCode: Int = 0
-
-  //========== Serialization methods ===========
-  fun writeTo (output: CodedOutputStream) {
-    //int32 code = 1
-    if (code != 0) {
-      output.writeInt32 (1, code)
-    }
-
-  }
-
-  fun mergeWith (other: DirectionResponse) {
-    code = other.code
-    this.errorCode = other.errorCode
-  }
-
-  fun mergeFromWithSize (input: CodedInputStream, expectedSize: Int) {
-    val builder = DirectionResponse.BuilderDirectionResponse(0)
-    mergeWith(builder.parseFromWithSize(input, expectedSize).build())
-  }
-
-  fun mergeFrom (input: CodedInputStream) {
-    val builder = DirectionResponse.BuilderDirectionResponse(0)
-    mergeWith(builder.parseFrom(input).build())
-  }
-
-  //========== Size-related methods ===========
-  fun getSize(fieldNumber: Int): Int {
-    var size = 0
-    if (code != 0) {
-      size += WireFormat.getInt32Size(1, code)
-    }
-    size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
-    return size
-  }
-
-  fun getSizeNoTag(): Int {
-    var size = 0
-    if (code != 0) {
-      size += WireFormat.getInt32Size(1, code)
-    }
-    return size
-  }
-
-  //========== Builder ===========
-  class BuilderDirectionResponse constructor (var code: Int) {
-    //========== Properties ===========
-    //int32 code = 1
-    fun setCode(value: Int): DirectionResponse.BuilderDirectionResponse {
-      code = value
-      return this
-    }
-
-    var errorCode: Int = 0
-
-    //========== Serialization methods ===========
-    fun writeTo (output: CodedOutputStream) {
-      //int32 code = 1
-      if (code != 0) {
-        output.writeInt32 (1, code)
-      }
-
-    }
-
-    //========== Mutating methods ===========
-    fun build(): DirectionResponse {
-      val res = DirectionResponse(code)
-      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.VARINT.id) {
-            errorCode = 1
-            return false
-          }
-          code = input.readInt32NoTag()
-        }
-        else -> errorCode = 4
-      }
-      return true
-    }
-
-    fun parseFromWithSize(input: CodedInputStream, expectedSize: Int): DirectionResponse.BuilderDirectionResponse {
-      while(getSizeNoTag() < expectedSize) {
-        parseFieldFrom(input)
-      }
-      if (getSizeNoTag() > expectedSize) { errorCode = 2 }
-      return this
-    }
-
-    fun parseFrom(input: CodedInputStream): DirectionResponse.BuilderDirectionResponse {
-      while(parseFieldFrom(input)) {}
-      return this
-    }
-
-    //========== Size-related methods ===========
-    fun getSize(fieldNumber: Int): Int {
-      var size = 0
-      if (code != 0) {
-        size += WireFormat.getInt32Size(1, code)
-      }
-      size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
-      return size
-    }
-
-    fun getSizeNoTag(): Int {
-      var size = 0
-      if (code != 0) {
-        size += WireFormat.getInt32Size(1, code)
-      }
-      return size
-    }
-
-  }
-
-}
-
-
diff --git a/car_fmw/src/proto_src/Route.kt b/car_fmw/src/proto_src/Route.kt
deleted file mode 100644
index 24a7c6fa650..00000000000
--- a/car_fmw/src/proto_src/Route.kt
+++ /dev/null
@@ -1,902 +0,0 @@
-class RouteRequest private constructor (var times: IntArray, var directions: IntArray) {
-  //========== Properties ===========
-  //repeated int32 times = 1
-
-  //repeated int32 directions = 2
-
-  var errorCode: Int = 0
-
-  //========== Serialization methods ===========
-  fun writeTo (output: CodedOutputStream) {
-    //repeated int32 times = 1
-    if (times.size > 0) {
-      output.writeTag(1, WireType.LENGTH_DELIMITED)
-      var arrayByteSize = 0
-
-      if (times.size != 0) {
-        do {
-          var arraySize = 0
-          var i = 0
-          while (i < times.size) {
-            arraySize += WireFormat.getInt32SizeNoTag(times[i])
-            i += 1
-          } 
-          arrayByteSize += arraySize
-        } while(false)
-      }
-      output.writeInt32NoTag(arrayByteSize)
-
-      do {
-        var i = 0
-        while (i < times.size) {
-          output.writeInt32NoTag (times[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: RouteRequest) {
-    times = times.plus((other.times))
-    directions = directions.plus((other.directions))
-    this.errorCode = other.errorCode
-  }
-
-  fun mergeFromWithSize (input: CodedInputStream, expectedSize: Int) {
-    val builder = RouteRequest.BuilderRouteRequest(IntArray(0), IntArray(0))
-    mergeWith(builder.parseFromWithSize(input, expectedSize).build())
-  }
-
-  fun mergeFrom (input: CodedInputStream) {
-    val builder = RouteRequest.BuilderRouteRequest(IntArray(0), IntArray(0))
-    mergeWith(builder.parseFrom(input).build())
-  }
-
-  //========== Size-related methods ===========
-  fun getSize(fieldNumber: Int): Int {
-    var size = 0
-    if (times.size != 0) {
-      do {
-        var arraySize = 0
-        size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
-        var i = 0
-        while (i < times.size) {
-          arraySize += WireFormat.getInt32SizeNoTag(times[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 (times.size != 0) {
-      do {
-        var arraySize = 0
-        size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
-        var i = 0
-        while (i < times.size) {
-          arraySize += WireFormat.getInt32SizeNoTag(times[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 BuilderRouteRequest constructor (var times: IntArray, var directions: IntArray) {
-    //========== Properties ===========
-    //repeated int32 times = 1
-    fun setTimes(value: IntArray): RouteRequest.BuilderRouteRequest {
-      times = value
-      return this
-    }
-    fun settimesByIndex(index: Int, value: Int): RouteRequest.BuilderRouteRequest {
-      times[index] = value
-      return this
-    }
-
-    //repeated int32 directions = 2
-    fun setDirections(value: IntArray): RouteRequest.BuilderRouteRequest {
-      directions = value
-      return this
-    }
-    fun setdirectionsByIndex(index: Int, value: Int): RouteRequest.BuilderRouteRequest {
-      directions[index] = value
-      return this
-    }
-
-    var errorCode: Int = 0
-
-    //========== Serialization methods ===========
-    fun writeTo (output: CodedOutputStream) {
-      //repeated int32 times = 1
-      if (times.size > 0) {
-        output.writeTag(1, WireType.LENGTH_DELIMITED)
-        var arrayByteSize = 0
-
-        if (times.size != 0) {
-          do {
-            var arraySize = 0
-            var i = 0
-            while (i < times.size) {
-              arraySize += WireFormat.getInt32SizeNoTag(times[i])
-              i += 1
-            } 
-            arrayByteSize += arraySize
-          } while(false)
-        }
-        output.writeInt32NoTag(arrayByteSize)
-
-        do {
-          var i = 0
-          while (i < times.size) {
-            output.writeInt32NoTag (times[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(): RouteRequest {
-      val res = RouteRequest(times, 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}
-            times = 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): RouteRequest.BuilderRouteRequest {
-      while(getSizeNoTag() < expectedSize) {
-        parseFieldFrom(input)
-      }
-      if (getSizeNoTag() > expectedSize) { errorCode = 2 }
-      return this
-    }
-
-    fun parseFrom(input: CodedInputStream): RouteRequest.BuilderRouteRequest {
-      while(parseFieldFrom(input)) {}
-      return this
-    }
-
-    //========== Size-related methods ===========
-    fun getSize(fieldNumber: Int): Int {
-      var size = 0
-      if (times.size != 0) {
-        do {
-          var arraySize = 0
-          size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
-          var i = 0
-          while (i < times.size) {
-            arraySize += WireFormat.getInt32SizeNoTag(times[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 (times.size != 0) {
-        do {
-          var arraySize = 0
-          size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
-          var i = 0
-          while (i < times.size) {
-            arraySize += WireFormat.getInt32SizeNoTag(times[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 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
-
-  var errorCode: Int = 0
-
-  //========== Serialization methods ===========
-  fun writeTo (output: CodedOutputStream) {
-    //int32 code = 1
-    if (code != 0) {
-      output.writeInt32 (1, code)
-    }
-
-  }
-
-  fun mergeWith (other: RouteResponse) {
-    code = other.code
-    this.errorCode = other.errorCode
-  }
-
-  fun mergeFromWithSize (input: CodedInputStream, expectedSize: Int) {
-    val builder = RouteResponse.BuilderRouteResponse(0)
-    mergeWith(builder.parseFromWithSize(input, expectedSize).build())
-  }
-
-  fun mergeFrom (input: CodedInputStream) {
-    val builder = RouteResponse.BuilderRouteResponse(0)
-    mergeWith(builder.parseFrom(input).build())
-  }
-
-  //========== Size-related methods ===========
-  fun getSize(fieldNumber: Int): Int {
-    var size = 0
-    if (code != 0) {
-      size += WireFormat.getInt32Size(1, code)
-    }
-    size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
-    return size
-  }
-
-  fun getSizeNoTag(): Int {
-    var size = 0
-    if (code != 0) {
-      size += WireFormat.getInt32Size(1, code)
-    }
-    return size
-  }
-
-  //========== Builder ===========
-  class BuilderRouteResponse constructor (var code: Int) {
-    //========== Properties ===========
-    //int32 code = 1
-    fun setCode(value: Int): RouteResponse.BuilderRouteResponse {
-      code = value
-      return this
-    }
-
-    var errorCode: Int = 0
-
-    //========== Serialization methods ===========
-    fun writeTo (output: CodedOutputStream) {
-      //int32 code = 1
-      if (code != 0) {
-        output.writeInt32 (1, code)
-      }
-
-    }
-
-    //========== Mutating methods ===========
-    fun build(): RouteResponse {
-      val res = RouteResponse(code)
-      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.VARINT.id) {
-            errorCode = 1
-            return false
-          }
-          code = input.readInt32NoTag()
-        }
-        else -> errorCode = 4
-      }
-      return true
-    }
-
-    fun parseFromWithSize(input: CodedInputStream, expectedSize: Int): RouteResponse.BuilderRouteResponse {
-      while(getSizeNoTag() < expectedSize) {
-        parseFieldFrom(input)
-      }
-      if (getSizeNoTag() > expectedSize) { errorCode = 2 }
-      return this
-    }
-
-    fun parseFrom(input: CodedInputStream): RouteResponse.BuilderRouteResponse {
-      while(parseFieldFrom(input)) {}
-      return this
-    }
-
-    //========== Size-related methods ===========
-    fun getSize(fieldNumber: Int): Int {
-      var size = 0
-      if (code != 0) {
-        size += WireFormat.getInt32Size(1, code)
-      }
-      size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
-      return size
-    }
-
-    fun getSizeNoTag(): Int {
-      var size = 0
-      if (code != 0) {
-        size += WireFormat.getInt32Size(1, code)
-      }
-      return size
-    }
-
-  }
-
-}
-
-
diff --git a/car_fmw/src/proto_src/Sonar.kt b/car_fmw/src/proto_src/Sonar.kt
deleted file mode 100644
index d06ec94ac4f..00000000000
--- a/car_fmw/src/proto_src/Sonar.kt
+++ /dev/null
@@ -1,478 +0,0 @@
-class SonarRequest private constructor (var angles: IntArray) {
-  //========== Properties ===========
-  //repeated int32 angles = 1
-
-  var errorCode: Int = 0
-
-  //========== Serialization methods ===========
-  fun writeTo (output: CodedOutputStream) {
-    //repeated int32 angles = 1
-    if (angles.size > 0) {
-      output.writeTag(1, WireType.LENGTH_DELIMITED)
-      var arrayByteSize = 0
-
-      if (angles.size != 0) {
-        do {
-          var arraySize = 0
-          var i = 0
-          while (i < angles.size) {
-            arraySize += WireFormat.getInt32SizeNoTag(angles[i])
-            i += 1
-          } 
-          arrayByteSize += arraySize
-        } while(false)
-      }
-      output.writeInt32NoTag(arrayByteSize)
-
-      do {
-        var i = 0
-        while (i < angles.size) {
-          output.writeInt32NoTag (angles[i])
-          i += 1
-        }
-      } while(false)
-    }
-
-  }
-
-  fun mergeWith (other: SonarRequest) {
-    angles = angles.plus((other.angles))
-    this.errorCode = other.errorCode
-  }
-
-  fun mergeFromWithSize (input: CodedInputStream, expectedSize: Int) {
-    val builder = SonarRequest.BuilderSonarRequest(IntArray(0))
-    mergeWith(builder.parseFromWithSize(input, expectedSize).build())
-  }
-
-  fun mergeFrom (input: CodedInputStream) {
-    val builder = SonarRequest.BuilderSonarRequest(IntArray(0))
-    mergeWith(builder.parseFrom(input).build())
-  }
-
-  //========== Size-related methods ===========
-  fun getSize(fieldNumber: Int): Int {
-    var size = 0
-    if (angles.size != 0) {
-      do {
-        var arraySize = 0
-        size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
-        var i = 0
-        while (i < angles.size) {
-          arraySize += WireFormat.getInt32SizeNoTag(angles[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 (angles.size != 0) {
-      do {
-        var arraySize = 0
-        size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
-        var i = 0
-        while (i < angles.size) {
-          arraySize += WireFormat.getInt32SizeNoTag(angles[i])
-          i += 1
-        } 
-        size += arraySize
-        size += WireFormat.getInt32SizeNoTag(arraySize)
-      } while(false)
-    }
-    return size
-  }
-
-  //========== Builder ===========
-  class BuilderSonarRequest constructor (var angles: IntArray) {
-    //========== Properties ===========
-    //repeated int32 angles = 1
-    fun setAngles(value: IntArray): SonarRequest.BuilderSonarRequest {
-      angles = value
-      return this
-    }
-    fun setanglesByIndex(index: Int, value: Int): SonarRequest.BuilderSonarRequest {
-      angles[index] = value
-      return this
-    }
-
-    var errorCode: Int = 0
-
-    //========== Serialization methods ===========
-    fun writeTo (output: CodedOutputStream) {
-      //repeated int32 angles = 1
-      if (angles.size > 0) {
-        output.writeTag(1, WireType.LENGTH_DELIMITED)
-        var arrayByteSize = 0
-
-        if (angles.size != 0) {
-          do {
-            var arraySize = 0
-            var i = 0
-            while (i < angles.size) {
-              arraySize += WireFormat.getInt32SizeNoTag(angles[i])
-              i += 1
-            } 
-            arrayByteSize += arraySize
-          } while(false)
-        }
-        output.writeInt32NoTag(arrayByteSize)
-
-        do {
-          var i = 0
-          while (i < angles.size) {
-            output.writeInt32NoTag (angles[i])
-            i += 1
-          }
-        } while(false)
-      }
-
-    }
-
-    //========== Mutating methods ===========
-    fun build(): SonarRequest {
-      val res = SonarRequest(angles)
-      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}
-            angles = newArray
-          } while (false)
-        }
-        else -> errorCode = 4
-      }
-      return true
-    }
-
-    fun parseFromWithSize(input: CodedInputStream, expectedSize: Int): SonarRequest.BuilderSonarRequest {
-      while(getSizeNoTag() < expectedSize) {
-        parseFieldFrom(input)
-      }
-      if (getSizeNoTag() > expectedSize) { errorCode = 2 }
-      return this
-    }
-
-    fun parseFrom(input: CodedInputStream): SonarRequest.BuilderSonarRequest {
-      while(parseFieldFrom(input)) {}
-      return this
-    }
-
-    //========== Size-related methods ===========
-    fun getSize(fieldNumber: Int): Int {
-      var size = 0
-      if (angles.size != 0) {
-        do {
-          var arraySize = 0
-          size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
-          var i = 0
-          while (i < angles.size) {
-            arraySize += WireFormat.getInt32SizeNoTag(angles[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 (angles.size != 0) {
-        do {
-          var arraySize = 0
-          size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
-          var i = 0
-          while (i < angles.size) {
-            arraySize += WireFormat.getInt32SizeNoTag(angles[i])
-            i += 1
-          } 
-          size += arraySize
-          size += WireFormat.getInt32SizeNoTag(arraySize)
-        } while(false)
-      }
-      return size
-    }
-
-  }
-
-}
-
-
-class SonarResponse private constructor (var distances: IntArray) {
-  //========== Properties ===========
-  //repeated int32 distances = 1
-
-  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)
-    }
-
-  }
-
-  fun mergeWith (other: SonarResponse) {
-    distances = distances.plus((other.distances))
-    this.errorCode = other.errorCode
-  }
-
-  fun mergeFromWithSize (input: CodedInputStream, expectedSize: Int) {
-    val builder = SonarResponse.BuilderSonarResponse(IntArray(0))
-    mergeWith(builder.parseFromWithSize(input, expectedSize).build())
-  }
-
-  fun mergeFrom (input: CodedInputStream) {
-    val builder = SonarResponse.BuilderSonarResponse(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)
-    }
-    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)
-    }
-    return size
-  }
-
-  //========== Builder ===========
-  class BuilderSonarResponse constructor (var distances: IntArray) {
-    //========== Properties ===========
-    //repeated int32 distances = 1
-    fun setDistances(value: IntArray): SonarResponse.BuilderSonarResponse {
-      distances = value
-      return this
-    }
-    fun setdistancesByIndex(index: Int, value: Int): SonarResponse.BuilderSonarResponse {
-      distances[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)
-      }
-
-    }
-
-    //========== Mutating methods ===========
-    fun build(): SonarResponse {
-      val res = SonarResponse(distances)
-      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)
-        }
-        else -> errorCode = 4
-      }
-      return true
-    }
-
-    fun parseFromWithSize(input: CodedInputStream, expectedSize: Int): SonarResponse.BuilderSonarResponse {
-      while(getSizeNoTag() < expectedSize) {
-        parseFieldFrom(input)
-      }
-      if (getSizeNoTag() > expectedSize) { errorCode = 2 }
-      return this
-    }
-
-    fun parseFrom(input: CodedInputStream): SonarResponse.BuilderSonarResponse {
-      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)
-      }
-      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)
-      }
-      return size
-    }
-
-  }
-
-}
-
-
diff --git a/car_fmw/src/proto_src/Task.kt b/car_fmw/src/proto_src/Task.kt
deleted file mode 100644
index bd2c3a3428c..00000000000
--- a/car_fmw/src/proto_src/Task.kt
+++ /dev/null
@@ -1,150 +0,0 @@
-class TaskRequest private constructor (var type: TaskRequest.Type) {
-  //========== Properties ===========
-  //enum type = 1
-
-  var errorCode: Int = 0
-
-  //========== Nested enums declarations ===========
-  enum class Type(val id: Int) {
-    DEBUG (0),
-    ROUTE (1),
-    SONAR (2),
-    ROUTE_METRIC (3),
-    Unexpected(4);
-
-    companion object {
-      fun fromIntToType (ord: Int): Type {
-        return when (ord) {
-          0 -> Type.DEBUG
-          1 -> Type.ROUTE
-          2 -> Type.SONAR
-          3 -> Type.ROUTE_METRIC
-          else -> Unexpected
-        }
-      }
-    }
-  }
-  //========== Serialization methods ===========
-  fun writeTo (output: CodedOutputStream) {
-    //enum type = 1
-    if (type.id != TaskRequest.Type.fromIntToType(0).id) {
-      output.writeEnum (1, type.id)
-    }
-
-  }
-
-  fun mergeWith (other: TaskRequest) {
-    type = other.type
-    this.errorCode = other.errorCode
-  }
-
-  fun mergeFromWithSize (input: CodedInputStream, expectedSize: Int) {
-    val builder = TaskRequest.BuilderTaskRequest(TaskRequest.Type.fromIntToType(0))
-    mergeWith(builder.parseFromWithSize(input, expectedSize).build())
-  }
-
-  fun mergeFrom (input: CodedInputStream) {
-    val builder = TaskRequest.BuilderTaskRequest(TaskRequest.Type.fromIntToType(0))
-    mergeWith(builder.parseFrom(input).build())
-  }
-
-  //========== Size-related methods ===========
-  fun getSize(fieldNumber: Int): Int {
-    var size = 0
-    if (type != TaskRequest.Type.fromIntToType(0)) {
-      size += WireFormat.getEnumSize(1, type.id)
-    }
-    size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
-    return size
-  }
-
-  fun getSizeNoTag(): Int {
-    var size = 0
-    if (type != TaskRequest.Type.fromIntToType(0)) {
-      size += WireFormat.getEnumSize(1, type.id)
-    }
-    return size
-  }
-
-  //========== Builder ===========
-  class BuilderTaskRequest constructor (var type: TaskRequest.Type) {
-    //========== Properties ===========
-    //enum type = 1
-    fun setType(value: TaskRequest.Type): TaskRequest.BuilderTaskRequest {
-      type = value
-      return this
-    }
-
-    var errorCode: Int = 0
-
-    //========== Serialization methods ===========
-    fun writeTo (output: CodedOutputStream) {
-      //enum type = 1
-      if (type.id != TaskRequest.Type.fromIntToType(0).id) {
-        output.writeEnum (1, type.id)
-      }
-
-    }
-
-    //========== Mutating methods ===========
-    fun build(): TaskRequest {
-      val res = TaskRequest(type)
-      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.VARINT.id) {
-            errorCode = 1
-            return false
-          }
-          type = TaskRequest.Type.fromIntToType(input.readEnumNoTag())
-        }
-        else -> errorCode = 4
-      }
-      return true
-    }
-
-    fun parseFromWithSize(input: CodedInputStream, expectedSize: Int): TaskRequest.BuilderTaskRequest {
-      while(getSizeNoTag() < expectedSize) {
-        parseFieldFrom(input)
-      }
-      if (getSizeNoTag() > expectedSize) { errorCode = 2 }
-      return this
-    }
-
-    fun parseFrom(input: CodedInputStream): TaskRequest.BuilderTaskRequest {
-      while(parseFieldFrom(input)) {}
-      return this
-    }
-
-    //========== Size-related methods ===========
-    fun getSize(fieldNumber: Int): Int {
-      var size = 0
-      if (type != TaskRequest.Type.fromIntToType(0)) {
-        size += WireFormat.getEnumSize(1, type.id)
-      }
-      size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
-      return size
-    }
-
-    fun getSizeNoTag(): Int {
-      var size = 0
-      if (type != TaskRequest.Type.fromIntToType(0)) {
-        size += WireFormat.getEnumSize(1, type.id)
-      }
-      return size
-    }
-
-  }
-
-}
-
-
diff --git a/kotstd/include/IntArray.kt b/kotstd/include/IntArray.kt
index b289c4c40f7..89856aa1ea2 100644
--- a/kotstd/include/IntArray.kt
+++ b/kotstd/include/IntArray.kt
@@ -46,7 +46,6 @@ class IntArray(var size: Int) {
 
 }
 
-
 fun IntArray.print() {
     var index = 0
     print('[')
@@ -117,4 +116,46 @@ operator fun IntArray.plus(elements: IntArray): IntArray {
     }
 
     return newInstance
-}
\ No newline at end of file
+}
+
+fun IntArray.max(from: Int = 0): Int {
+    var result = from
+    for (i in (from + 1)..(size - 1)) {
+        result = if (get(i) > get(result)) i else result
+    }
+
+    return get(result)
+}
+
+fun IntArray.min(from: Int = 0): Int {
+    var result = from
+    for (i in 1..(size - 1)) {
+        result = if (this.get(i) < this.get(result)) i else result
+    }
+
+    return this.get(result)
+}
+
+fun IntArray.sum(): Int {
+    var result = 0
+    for (i in 0..(size - 1)) {
+        result += this.get(i)
+    }
+
+    return result
+}
+
+fun IntArray.sort(): IntArray {
+    val result = this.clone()
+    for (i in 0..(size - 1)) {
+        result[i] = this.max(i)
+    }
+
+    return result
+}
+
+fun IntArray.mean(): Int =
+        this.sum() / this.size
+
+fun IntArray.median(): Int =
+    this.sort()[this.size / 2]
diff --git a/proto/protofiles_sources/server_car/sonar.proto b/proto/protofiles_sources/server_car/sonar.proto
index 8caa566651a..6dfaee77d33 100644
--- a/proto/protofiles_sources/server_car/sonar.proto
+++ b/proto/protofiles_sources/server_car/sonar.proto
@@ -5,6 +5,7 @@ message SonarRequest {
     repeated int32 attempts = 2;
     int32 threshold = 3;
     Smoothing smoothing = 4;
+    int32 windowSize = 5;
 
     enum Smoothing {
         NONE = 0;