car_srv: add RouteMetric request

car_srv/kotlinSrv/.gitignore

@@ -3,3 +3,4 @@
 .gradle/
 build/
 out/
+node_modules

car_srv/kotlinSrv/src/JSImport.kt

@@ -53,6 +53,12 @@ fun <T> encodeProtoBuf(protoMessage: T): ByteArray {
             val codedOutput = CodedOutputStream(routeBytes)
             protoMessage.writeTo(codedOutput)
         }
+        is RouteMetricRequest -> {
+            val protoSize = protoMessage.getSizeNoTag()
+            routeBytes = ByteArray(protoSize)
+            val codedOutput = CodedOutputStream(routeBytes)
+            protoMessage.writeTo(codedOutput)
+        }
 
         is TaskRequest -> {
             val protoSize = protoMessage.getSizeNoTag()

car_srv/kotlinSrv/src/MCConnection.kt

@@ -36,6 +36,12 @@ class McTransport() : MCConnectObserver<String> {
         sendBytes(encodeProtoBuf(message))
     }
 
+    fun sendProtoBuf(request: RouteMetricRequest) {
+        val typeMessage = getProtoBufTypeMessage(TaskRequest.Type.ROUTE_METRIC)
+        sendProtoBufType(typeMessage)
+        sendBytes(encodeProtoBuf(request))
+    }
+
     private fun sendProtoBufType(messageType: TaskRequest) {
         val typeBytes = encodeProtoBuf(messageType)
         sendBytes(typeBytes)

car_srv/kotlinSrv/src/Main.kt

@@ -7,6 +7,7 @@ import net.server.handlers.flash.LoadBin
 import net.server.handlers.main.GetLocation
 import net.server.handlers.main.GetSonarData
 import net.server.handlers.main.SetRoute
+import net.server.handlers.main.SetRouteMetric
 import net.server.handlers.rc.Control
 
 val carServerPort: Int = 8888
@@ -20,7 +21,6 @@ fun main(args: Array<String>) {
         js("process.exit(1)")
     }
 
-
     val clArgs = js("process.argv")
     var runAsEmulator = false
     var runTests = false
@@ -42,11 +42,12 @@ fun main(args: Array<String>) {
         runTests()
     }
 
-    val handlers: MutableMap<String, AbstractHandler> = mutableMapOf()
+    val handlers = mutableMapOf<String, AbstractHandler>()
     handlers.put("/rc/control", Control())
     handlers.put("/loadBin", LoadBin())
     handlers.put("/sonar", GetSonarData(carController))
     handlers.put("/route", SetRoute(carController))
+    handlers.put("/routeMetric", SetRouteMetric(carController))
     handlers.put("/getLocation", GetLocation())
     handlers.put("/debug/memory", Memory())
 

car_srv/kotlinSrv/src/control/Controller.kt

@@ -1,12 +1,11 @@
 package control
 
+import RouteMetricRequest
 import RouteRequest
 import SonarRequest
 
 interface Controller {
-
+    fun executeRoute(route: RouteRequest, callback: (ByteArray) -> Unit)
-    fun executeRoute(route: RouteRequest, callBack: (ByteArray) -> Unit)
+    fun executeMetricRoute(request: RouteMetricRequest, callback: (ByteArray) -> Unit)
-
+    fun executeRequestSensorData(sonarRequest: SonarRequest, callback: (ByteArray) -> Unit)
-    fun executeRequestSensorData(sonarRequest: SonarRequest, callBack: (ByteArray) -> Unit)
-
 }

car_srv/kotlinSrv/src/control/car/ControllerToUsb.kt

@@ -1,26 +1,36 @@
 package control.car
 
+import RouteMetricRequest
 import RouteRequest
+import SonarRequest
 import control.Controller
 import mcTransport
-import SonarRequest
 
 class ControllerToUsb : Controller {
-
+    override fun executeRoute(route: RouteRequest, callback: (ByteArray) -> Unit) {
-    override fun executeRoute(route: RouteRequest, callBack: (ByteArray) -> Unit) {
         println("Execute Route:")
 
         mcTransport.setCallBack { bytes ->
-            callBack.invoke(bytes)
+            callback.invoke(bytes)
         }
 
         mcTransport.sendProtoBuf(route)
     }
 
-    override fun executeRequestSensorData(sonarRequest: SonarRequest, callBack: (ByteArray) -> Unit) {
+    override fun executeMetricRoute(request: RouteMetricRequest, callback: (ByteArray) -> Unit) {
+        println("Execute Route:")
+
+        mcTransport.setCallBack { bytes ->
+            callback.invoke(bytes)
+        }
+
+        mcTransport.sendProtoBuf(request)
+    }
+
+    override fun executeRequestSensorData(sonarRequest: SonarRequest, callback: (ByteArray) -> Unit) {
         println("sonar data")
         mcTransport.setCallBack { bytes ->
-            callBack.invoke(bytes)
+            callback.invoke(bytes)
         }
         mcTransport.sendProtoBuf(sonarRequest)
     }

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

@@ -1,6 +1,7 @@
 package control.emulator
 
 import CarState
+import RouteMetricRequest
 import RouteRequest
 import RouteResponse
 import SonarRequest
@@ -10,11 +11,8 @@ import encodeProtoBuf
 import geometry.Line
 import geometry.Vector
 import room.Room
-import setTimeout
-import kotlin.Pair
 
 class ControllerEmulator : Controller {
-
     private val MOVE_VELOCITY = 32.78//sm/s
     private val ROTATION_VELOCITY = 12.3//degrees/s
 
@@ -26,7 +24,7 @@ class ControllerEmulator : Controller {
         ERROR
     }
 
-    override fun executeRoute(route: RouteRequest, callBack: (ByteArray) -> Unit) {
+    override fun executeRoute(route: RouteRequest, callback: (ByteArray) -> Unit) {
         val moveTimes = route.times
         val moveDirections = route.directions
         //list of move direction and time to this move in ms
@@ -44,11 +42,14 @@ class ControllerEmulator : Controller {
 
             commands.add(Pair(moveDirection, value))
         }
-        executeCommand(commands, 0, callBack)
+        executeCommand(commands, 0, callback)
     }
 
-    override fun executeRequestSensorData(sonarRequest: SonarRequest, callBack: (ByteArray) -> Unit) {
+    override fun executeMetricRoute(request: RouteMetricRequest, callback: (ByteArray) -> Unit) {
+        throw UnsupportedOperationException()
+    }
 
+    override fun executeRequestSensorData(sonarRequest: SonarRequest, callback: (ByteArray) -> Unit) {
         val angles = sonarRequest.angles
         val xSensor0 = CarState.instance.x
         val ySensor0 = CarState.instance.y
@@ -92,7 +93,7 @@ class ControllerEmulator : Controller {
         }
         val responseMessage = SonarResponse.BuilderSonarResponse(distances.toIntArray()).build()
         val bytesMessage = encodeProtoBuf(responseMessage)
-        callBack.invoke(bytesMessage)
+        callback.invoke(bytesMessage)
     }
 
     private fun getDistance(xSensor0: Int, ySensor0: Int, sensorLine: Line, sensorVector: Vector): Int {
@@ -169,7 +170,7 @@ class ControllerEmulator : Controller {
         }
 
 //        setTimeout({
-            executeCommand(commands, currentCommandIdx + 1, callBack)
+        executeCommand(commands, currentCommandIdx + 1, callBack)
 //        }, currentCommand.second)
     }
 

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

@@ -1,9 +1,7 @@
 package net.server.handlers
 
 abstract class AbstractHandler {
-
     fun execute(data: List<Byte>, response: dynamic) {
-
         val callBack = { resultBytes: ByteArray ->
             val resultBuffer = js("new Buffer(resultBytes)")
             response.write(resultBuffer)
@@ -19,6 +17,5 @@ abstract class AbstractHandler {
         }
     }
 
-
     abstract fun getBytesResponse(data: ByteArray, callback: (b: ByteArray) -> Unit)
 }

car_srv/kotlinSrv/src/net/server/handlers/main/GetSonarData.kt

@@ -8,28 +8,21 @@ import control.Controller
 import encodeProtoBuf
 import net.server.handlers.AbstractHandler
 
-class GetSonarData : AbstractHandler {
+class GetSonarData(val controller: Controller): AbstractHandler() {
-
+    val fromServerObjectBuilder = SonarRequest.BuilderSonarRequest(IntArray(0))
-    val fromServerObjectBuilder: SonarRequest.BuilderSonarRequest
+    val toServerObjectBuilder = SonarResponse.BuilderSonarResponse(IntArray(0))
-    val toServerObjectBuilder: SonarResponse.BuilderSonarResponse
-    val controller: Controller
-
-    constructor(routeExecutor: Controller) : super() {
-        this.controller = routeExecutor
-        this.fromServerObjectBuilder = SonarRequest.BuilderSonarRequest(IntArray(0))
-        this.toServerObjectBuilder = SonarResponse.BuilderSonarResponse(IntArray(0))
-    }
-
 
     override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
         val message = fromServerObjectBuilder.build()
         message.mergeFrom(CodedInputStream(data))
-        if (!McState.instance.isConnected()) {
+
-            println("mc is disconnected!")
+        if (McState.instance.isConnected()) {
-            val responseMessage = toServerObjectBuilder.build()
+            controller.executeRequestSensorData(message, callback)
-            callback.invoke(encodeProtoBuf(responseMessage))
-            return
         }
-        controller.executeRequestSensorData(message, callback)
+
+        println("mc is disconnected!")
+        val responseMessage = toServerObjectBuilder.build()
+        callback.invoke(encodeProtoBuf(responseMessage))
+        return
     }
 }

car_srv/kotlinSrv/src/net/server/handlers/main/SetRoute.kt

@@ -8,27 +8,21 @@ import control.Controller
 import encodeProtoBuf
 import net.server.handlers.AbstractHandler
 
-class SetRoute : AbstractHandler {
+class SetRoute(var controller: Controller) : AbstractHandler() {
-
+    val requestBuilder = RouteRequest.BuilderRouteRequest(IntArray(0), IntArray(0))
-    val fromServerObjectBuilder: RouteRequest.BuilderRouteRequest
+    val responseBuilder = RouteResponse.BuilderRouteResponse(0)
-    val toServerObjectBuilder: RouteResponse.BuilderRouteResponse
-    val controller: Controller
-
-    constructor(routeExecutor: Controller) : super() {
-        this.controller = routeExecutor
-        this.fromServerObjectBuilder = RouteRequest.BuilderRouteRequest(IntArray(0), IntArray(0))
-        this.toServerObjectBuilder = RouteResponse.BuilderRouteResponse(0)
-    }
 
     override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
-        val message = fromServerObjectBuilder.build()
+        val message = requestBuilder.build()
         message.mergeFrom(CodedInputStream(data))
-        if (!McState.instance.isConnected()) {
+
-            println("mc is disconnected!")
+        if (McState.instance.isConnected()) {
-            val responseMessage = toServerObjectBuilder.setCode(16).build()
+            controller.executeRoute(message, callback)
-            callback.invoke(encodeProtoBuf(responseMessage))
             return
         }
-        controller.executeRoute(message, callback)
+
+        println("mc is disconnected!")
+        val responseMessage = responseBuilder.setCode(16).build()
+        callback.invoke(encodeProtoBuf(responseMessage))
     }
 }

car_srv/kotlinSrv/src/net/server/handlers/main/SetRouteMetric.kt

@@ -0,0 +1,28 @@
+package net.server.handlers.main
+
+import CodedInputStream
+import McState
+import RouteResponse
+import control.Controller
+import encodeProtoBuf
+import net.server.handlers.AbstractHandler
+
+
+class SetRouteMetric(val controller: Controller) : AbstractHandler() {
+    val requestBuilder = RouteMetricRequest.BuilderRouteMetricRequest(IntArray(0), IntArray(0))
+    val responseBuilder = RouteResponse.BuilderRouteResponse(0)
+
+    override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
+        val message = requestBuilder.build()
+        message.mergeFrom(CodedInputStream(data))
+
+        if (McState.instance.isConnected()) {
+            controller.executeMetricRoute(message, callback)
+            return
+        }
+
+        println("mc is disconnected!")
+        val responseMessage = responseBuilder.setCode(16).build()
+        callback.invoke(encodeProtoBuf(responseMessage))
+    }
+}

proto/protofiles_sources/server_car/task.proto

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