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package vfd.uav
import java.util.concurrent.TimeUnit.MILLISECONDS
import scala.concurrent.duration.FiniteDuration
import scala.util.Random
import org.mavlink.Packet
import org.mavlink.enums.MavAutopilot
import org.mavlink.enums.MavModeFlag
import org.mavlink.enums.MavState
import org.mavlink.enums.MavType
import org.mavlink.messages.Heartbeat
import Connection.Received
import akka.actor.Actor
import akka.actor.ActorLogging
import akka.actor.Props
import akka.util.ByteString
class MockConnection(localSystemId: Byte, localComponentId: Byte, remoteSystemId: Byte) extends Actor with ActorLogging with Connection with MavlinkUtil {
import Connection._
import context._
override val systemId = remoteSystemId
override val componentId = remoteSystemId
val MessageInterval = FiniteDuration(1000, MILLISECONDS)
def randomData: ByteString =
assemble(
Heartbeat(
MavType.MavTypeGeneric.toByte,
MavAutopilot.MavAutopilotGeneric.toByte,
(MavModeFlag.MavModeFlagSafetyArmed | MavModeFlag.MavModeFlagManualInputEnabled).toByte,
0, //no custom mode
MavState.MavStateActive.toByte,
0 //TODO properly implement read-only fields
))
override def preStart() = context.system.scheduler.schedule(MessageInterval, MessageInterval) {
sendAll(Received(randomData))
}
def receive = registration
}
object MockConnection {
def apply(systemId: Byte, componentId: Byte, remoteSystemId: Byte) = Props(classOf[MockConnection], systemId, componentId, remoteSystemId)
}
object MockPackets {
private val r = new Random
private implicit class RichRandom(val r: Random) extends AnyVal {
def nextByte(): Byte = r.nextInt().toByte
def nextByte(max: Int): Byte = r.nextInt(max).toByte
}
val invalidCrc = Array(254, 1, 123, 13, 13).map(_.toByte)
val invalidOverflow = {
val data = Array.fill[Byte](Packet.MaxPayloadLength + 10)(42)
data(0) = -2
data(1) = 2
data(1) = -1
data
}
def invalid = r.nextInt(2) match {
case 0 => invalidCrc
case 1 => invalidOverflow
}
}
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