diff options
Diffstat (limited to 'vfd-mavlink/src/main/scala/org/mavlink/messages/message.scala')
| -rw-r--r-- | vfd-mavlink/src/main/scala/org/mavlink/messages/message.scala | 73 |
1 files changed, 0 insertions, 73 deletions
diff --git a/vfd-mavlink/src/main/scala/org/mavlink/messages/message.scala b/vfd-mavlink/src/main/scala/org/mavlink/messages/message.scala deleted file mode 100644 index cf8694a..0000000 --- a/vfd-mavlink/src/main/scala/org/mavlink/messages/message.scala +++ /dev/null @@ -1,73 +0,0 @@ -package org.mavlink.messages - -import org.mavlink.Packet - -import org.mavlink.enums.SystemStatus -import org.mavlink.enums.SystemStatus._ - -sealed trait Message -case class Heartbeat(`type`: Byte, autopilot: Byte, baseMode: Byte, customMode: Int, systemStatus: SystemStatus, mavlinkVersion: Byte) extends Message -case class RadioStatus(rssi: Byte, remoteRssi: Byte, txBuf: Byte, noise: Byte, remoteNoise: Byte, rxErrors: Short, fixed: Short) extends Message -case class Attitude(time: Int, roll: Float, pitch: Float, heading: Float) extends Message -case class Pressure(time: Int, pressure: Float, diffPressure: Float, temperature: Short) extends Message -case class Battery(id: Byte, function: Byte, `type`: Byte, temperature: Short, - voltages: Seq[Short], current: Short, currentConsumed: Int, energyConsumed: Int, remaining: Byte) extends Message -case class Unknown(id: Int, payload: Seq[Byte]) extends Message - -object Message { - - def unpack(id: Byte, payload: Seq[Byte])(implicit mkReader: Seq[Byte] => PayloadReader): Message = { - val r = mkReader(payload) - - id & 0xff match { - case 0 => - val cm = r.int32 - Heartbeat(r.int8, r.int8, r.int8, cm, SystemStatus(r.int8), r.int8) - case 29 => - Pressure(r.int32, r.float, r.float, r.int16) - case 30 => - Attitude(r.int32, r.float, r.float, r.float) - case 109 => - val re = r.int16 - val fi = r.int16 - RadioStatus(r.int8, r.int8, r.int8, r.int8, r.int8, re, fi) - case 147 => - val cc = r.int32 - val ec = r.int32 - val t = r.int16 - val v = for (i <- 0 until 10) yield r.int16 - val c = r.int16 - val id = r.int8 - val fct = r.int8 - val tpe = r.int8 - val rm = r.int8 - Battery(id, fct, tpe, t, v, c, cc, ec, rm) - - case u => Unknown(u, payload) - } - } - - def pack(m: Message)(implicit mkWriter: Array[Byte] => PayloadWriter): (Byte, Seq[Byte]) = { - val (id, size) = m match { - case _: Heartbeat => (0, 9) - case _: RadioStatus => (109, 9) - case u: Unknown => (u.id, u.payload.length) - } - - val arr = new Array[Byte](size) - val w = mkWriter(arr) - - m match { - case Heartbeat(tp, a, b, cm, s, mv) => w.int32(cm); w.int8(tp); w.int8(b); w.int8(s.id.toByte); w.int8(mv); - case RadioStatus(r, rr, tx, n, rn, rx, fi) => w.int16(rx); w.int16(fi); w.int8(r); w.int8(rr); w.int8(tx); w.int8(n); w.int8(rn); - case Unknown(_, payload) => for (p <- payload) w.int8(p) - } - - (id.toByte, arr) - - } - - - -} -
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