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package mavigator
package uav
package serial
import scala.concurrent.Future
import scala.concurrent.duration._
import scala.util.{Failure, Success}
import akka.NotUsed
import akka.serial.{Parity, SerialSettings}
import akka.serial.stream.Serial
import akka.serial.stream.Serial.Connection
import akka.stream.scaladsl.{Flow, Keep}
import akka.util.ByteString
object SerialBackend extends Backend {
override def init(core: Core): Unit = {
import core.materializer
import core.system
import core.system.dispatcher
system.log.info("Initializing serial backend...")
val conf = system.settings.config.getConfig("mavigator.uav.serial")
val port = conf.getString("port")
val serialSettings = SerialSettings(
baud = conf.getInt("baud"),
twoStopBits = conf.getBoolean("two_stop_bits"),
parity = Parity(conf.getInt("parity"))
)
val connectionDelay = conf.getInt("connection_delay").millis
system.log.info("Waiting for serial device on " + port + "...")
Serial().watch(Set(port)).map{ port =>
system.log.info("Serial device connected on port " + port)
port
}.delay(connectionDelay).runForeach{ port =>
system.log.info("Opening serial port " + port)
val backend: Flow[ByteString, ByteString, NotUsed] = core.setBackend()
val uav: Flow[ByteString, ByteString, Future[Connection]] = Serial().open(port, serialSettings)
val connection = uav.joinMat(backend)(Keep.left).run().onComplete{
case Success(connection) =>
system.log.info("Successfully opened serial port " + connection.port)
case Failure(ex) =>
system.log.error(ex, "Error occurred while trying to open " + port)
}
}
}
}
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