Major refactorings

4 files changed, 37 insertions, 29 deletions

diff --git a/mavigator-uav/src/main/resources/application.conf b/mavigator-uav/src/main/resources/reference.conf
index f468111..3b43d37 100644
--- a/mavigator-uav/src/main/resources/application.conf
+++ b/mavigator-uav/src/main/resources/reference.conf
@@ -31,7 +31,9 @@ mavigator.uav {
   mock {
     # Mavlink system ID of the simulated UAV
     remote_system_id = 42
-    # Delay between simulated messages
-    frequency = 50
+    # Mavlink component ID of the simulated UAV
+    remote_system_id = 0
+    # Divide simulated message frequency
+    prescaler = 1
   }
 }
\ No newline at end of file
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/MavlinkUtil.scala b/mavigator-uav/src/main/scala/mavigator/uav/MavlinkUtil.scala
index 3756dd6..0fb56b0 100644
--- a/mavigator-uav/src/main/scala/mavigator/uav/MavlinkUtil.scala
+++ b/mavigator-uav/src/main/scala/mavigator/uav/MavlinkUtil.scala
@@ -11,16 +11,16 @@ import akka.util.ByteString
 
 /** Provides utilities for actors representing a mavlink connection. */
 trait MavlinkUtil { myself: Actor with ActorLogging =>
-  
+
   /** Mavlink system ID of this connection. */
   val systemId: Byte
 
   /** Mavlink component ID of this connection. */
   val componentId: Byte
-  
+
   /** Assembler for creating packets originating from this connection. */
   private lazy val assembler = new Assembler(systemId, componentId)
-  
+
   /** Assembles a message into a bytestring representing a packet sent from this connection. */
   protected def assemble(message: Message): ByteString = {
     val (messageId, payload) = Message.pack(message)
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/Uav.scala b/mavigator-uav/src/main/scala/mavigator/uav/Uav.scala
index ed677ea..06a8f00 100644
--- a/mavigator-uav/src/main/scala/mavigator/uav/Uav.scala
+++ b/mavigator-uav/src/main/scala/mavigator/uav/Uav.scala
@@ -1,6 +1,7 @@
 package mavigator
 package uav
 
+import java.lang.IllegalArgumentException
 import mock._
 import akka._
 import akka.actor._
@@ -10,6 +11,23 @@ import akka.stream.scaladsl._
 class Uav(system: ExtendedActorSystem) extends Extension {
 
   private lazy val config = system.settings.config.getConfig("mavigator.uav")
+  private lazy val tpe = config.getString("type")
+  private lazy val componentId = config.getInt("componentId").toByte
+  private lazy val heartbeat = config.getInt("heartbeat")
+  private lazy val connection = config.getConfig(tpe)
+
+  lazy val source = tpe match {
+    case "mock" =>
+      new MockConnection(
+        connection.getInt("remote_system_id").toByte,
+        componentId,
+        connection.getDouble("prescaler")
+      )
+
+    case "serial" => ???
+
+    case _ => throw new IllegalArgumentException(s"Unsupported connection type: $tpe")
+  }
 
   def connect(): Flow[ByteString, ByteString, NotUsed] = {
     Flow.fromSinkAndSource(
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/mock/MockConnection.scala b/mavigator-uav/src/main/scala/mavigator/uav/mock/MockConnection.scala
index c7bc8d4..58b4977 100644
--- a/mavigator-uav/src/main/scala/mavigator/uav/mock/MockConnection.scala
+++ b/mavigator-uav/src/main/scala/mavigator/uav/mock/MockConnection.scala
@@ -2,19 +2,16 @@ package mavigator
 package uav
 package mock
 
-import org.mavlink.enums._
-import org.mavlink.messages.{Heartbeat, Message}
-import akka.stream.scaladsl._
 import scala.concurrent.duration._
-import scala.util.Random
-import akka.stream._
+
 import akka.NotUsed
+import akka.stream._
+import akka.stream.Attributes._
+import akka.stream.scaladsl._
 import akka.util._
 import org.mavlink._
-import Attributes._
-
+import org.mavlink.messages.{Heartbeat, Message}
 
-//case class Heartbeat(`type`: Byte, autopilot: Byte, baseMode: Byte, customMode: Int, systemStatus: Byte, mavlinkVersion: Byte) extends Message
 
 class MockConnection(
   remoteSystemId: Byte,
@@ -23,12 +20,14 @@ class MockConnection(
 ) {
   import MockConnection._
 
+  private lazy val assembler = new Assembler(remoteSystemId, remoteComponentId)
+
   private def delayed(delaySeconds: Double)(message: RandomFlightPlan => Message): Flow[RandomFlightPlan, Message, NotUsed] = {
     val dt = delaySeconds / prescaler
     Flow[RandomFlightPlan].withAttributes(inputBuffer(1,1)).delay(dt.seconds).map(message)
   }
 
-  val messages: Source[Message, _] = streamFromPlan(new RandomFlightPlan)(
+  private val messages: Source[Message, NotUsed] = fromPlan(new RandomFlightPlan)(
     delayed(2)(_.heartbeat),
     delayed(0.2)(_.position),
     delayed(0.05)(_.attitude),
@@ -36,31 +35,20 @@ class MockConnection(
     delayed(0.1)(_.distance)
   )
 
-
-  private lazy val assembler = new Assembler(remoteSystemId, remoteComponentId)
-
-  /** Assembles a message into a bytestring representing a packet sent from this connection. */
-  def assemble(message: Message): ByteString = {
+  val data: Source[ByteString, NotUsed] = messages.map{ message =>
     val (messageId, payload) = Message.pack(message)
-    val packet: Packet = assembler.assemble(messageId, payload)
+    val packet = assembler.assemble(messageId, payload)
     ByteString(packet.toArray)
   }
 
-  val data = messages.map{ msg =>
-    if (msg.isInstanceOf[Heartbeat]){println(msg)}
-    assemble(msg)
-  }
-
 }
 
 object MockConnection {
 
-  final val ClockTick: FiniteDuration = 0.01.seconds
-
-  private def streamFromPlan(plan: RandomFlightPlan)(messages: Flow[RandomFlightPlan, Message, _]*): Source[Message, NotUsed] = {
+  final val ClockTick: FiniteDuration = 0.02.seconds
 
+  private def fromPlan(plan: RandomFlightPlan)(messages: Flow[RandomFlightPlan, Message, _]*): Source[Message, NotUsed] = {
     import GraphDSL.Implicits._
-
     Source.fromGraph(GraphDSL.create() { implicit b =>
 
       val clock = Source.tick(ClockTick, ClockTick, plan) map { plan =>