Implement serial backend

18 files changed, 1298 insertions, 242 deletions

diff --git a/build.sbt b/build.sbt
index 64a248e..69aecca 100644
--- a/build.sbt
+++ b/build.sbt
@@ -1,2 +1,6 @@
+import mavigator.MavigatorBuild
+
+MavigatorBuild.defaultSettings
+
 //goto main project on load
-//onLoad in Global := (Command.process("project mavigator-main", _: State)) compose (onLoad in Global).value
+//onLoad in Global := (Command.process("project mavigator-server", _: State)) compose (onLoad in Global).value
diff --git a/mavigator-server/build.sbt b/mavigator-server/build.sbt
index 89bb0cd..10b59d0 100644
--- a/mavigator-server/build.sbt
+++ b/mavigator-server/build.sbt
@@ -7,7 +7,50 @@ MavigatorBuild.defaultSettings
 libraryDependencies ++= Seq(
   Dependencies.akkaHttp,
   Dependencies.akkaHttpCore,
-  Dependencies.akkaStream
+  Dependencies.akkaStream,
+  Dependencies.flowNative //FIXME runtime dependencies from uav are not included, is this an sbt bug?
 )
 
 Js.dependsOnJs(MavigatorBuild.cockpit)
+
+fork in run := true
+connectInput in run := true
+cancelable in Global := true
+
+
+/*
+ * Deployment configuration
+ */
+enablePlugins(UniversalPlugin, DebianPlugin, DockerPlugin)
+enablePlugins(JavaServerAppPackaging)
+
+
+name in Universal := "mavigator"
+packageName in Universal := "mavigator"
+executableScriptName in Universal := "mavigator"
+
+name in Linux := (name in Universal).value
+packageName in Linux := (packageName in Universal).value
+executableScriptName in Linux := (executableScriptName in Universal).value
+
+maintainer in Linux := "Jakob Odersky <jakob@odersky.com>"
+packageSummary in Linux := "Virtual cockpit for drones."
+packageDescription in Linux := "Compatible with devices using the MAVLink protocol."
+
+version in Debian := version.value
+debianPackageDependencies in Debian ++= Seq(
+  "java8-runtime-headless",
+  "bash (>= 2.05a-11)"
+)
+
+import com.typesafe.sbt.packager.archetypes.ServerLoader
+serverLoading in Debian := ServerLoader.Systemd
+
+
+name in Docker := "mavigator"
+packageName in Docker := "mavigator"
+executableScriptName := "mavigator"
+maintainer in Docker := "Jakob Odersky <jakob@odersky.com>"
+
+dockerBaseImage := "java:8"
+dockerExposedPorts += 8080
diff --git a/mavigator-server/src/main/resources/assets/images/hud/attitude.svg b/mavigator-server/src/main/resources/assets/images/hud/attitude.svg
index eb7dd70..04d5c71 100644
--- a/mavigator-server/src/main/resources/assets/images/hud/attitude.svg
+++ b/mavigator-server/src/main/resources/assets/images/hud/attitude.svg
@@ -20,12 +20,13 @@
      id="defs4">
     <clipPath
        clipPathUnits="userSpaceOnUse"
-       id="clipPath4472">
+       id="clipPath4744">
       <circle
-         id="circle4474"
-         cx="0"
+         r="380"
          cy="0"
-         r="380" />
+         cx="0"
+         id="circle4746"
+         style="fill:#000080" />
     </clipPath>
   </defs>
   <sodipodi:namedview
@@ -35,9 +36,9 @@
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      inkscape:pageshadow="2"
-     inkscape:zoom="1"
-     inkscape:cx="415.60712"
-     inkscape:cy="547.77206"
+     inkscape:zoom="0.70710678"
+     inkscape:cx="229.45655"
+     inkscape:cy="461.66458"
      inkscape:document-units="px"
      inkscape:current-layer="svg2"
      showgrid="true"
@@ -61,7 +62,7 @@
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      inkscape:window-y="27"
      inkscape:window-maximized="1"
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+     showguides="true">
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@@ -84,7 +85,7 @@
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+       clip-path="url(#clipPath4744)">
       <g
          id="pitch">
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@@ -109,11 +110,6 @@
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+           style="fill:none;fill-rule:evenodd;stroke:#999999;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
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+        <path
+           inkscape:connector-curvature="0"
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+        <path
+           style="fill:none;fill-rule:evenodd;stroke:#999999;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
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+        <path
+           inkscape:connector-curvature="0"
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+           sodipodi:linespacing="125%"
+           id="text4736"
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+           xml:space="preserve"><tspan
+             y="904.55017"
+             x="-50"
+             id="tspan4738"
+             sodipodi:role="line">90</tspan></text>
+        <text
+           sodipodi:linespacing="125%"
+           id="text4740"
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+             sodipodi:role="line">90</tspan></text>
       </g>
     </g>
     <text
@@ -783,6 +1598,12 @@
   <g
      id="static">
     <path
+       sodipodi:nodetypes="cc"
+       inkscape:connector-curvature="0"
+       id="path4757"
+       style="fill:none;fill-rule:evenodd;stroke:#ffdd55;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       d="m 385,0 70,0" />
+    <path
        inkscape:transform-center-y="-390"
        inkscape:transform-center-x="-0.0686585"
        sodipodi:nodetypes="cccc"
@@ -807,9 +1628,16 @@
        d="m -103.52762,-386.37033 -6.28209,22.3888 23.049582,-6.17612 z"
        style="fill:#fbff00;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
-       d="M 30,0 150,0 M -30,0 -150,0 M 0,0 15,25 30,0 15,25 0,0 -15,25 -15,25 -30,0"
+       d="M 30,0 60,0 M -30,0 -60,0 M 0,0 15,15 30,0 15,15 0,0 -15,15 -15,15 -30,0"
        style="fill:none;fill-rule:evenodd;stroke:#ffdd55;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
        id="path4991"
-       inkscape:connector-curvature="0" />
+       inkscape:connector-curvature="0"
+       sodipodi:nodetypes="cccccccccccc" />
+    <path
+       d="m -455,0 70,0"
+       style="fill:none;fill-rule:evenodd;stroke:#ffdd55;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       id="path4759"
+       inkscape:connector-curvature="0"
+       sodipodi:nodetypes="cc" />
   </g>
 </svg>
diff --git a/mavigator-server/src/main/resources/assets/images/hud/horizon.svg b/mavigator-server/src/main/resources/assets/images/hud/horizon.svg
index 8cf0150..36d0300 100644
--- a/mavigator-server/src/main/resources/assets/images/hud/horizon.svg
+++ b/mavigator-server/src/main/resources/assets/images/hud/horizon.svg
@@ -9,13 +9,13 @@
    xmlns="http://www.w3.org/2000/svg"
    xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
    xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   width="1200"
-   height="1200"
+   width="1000"
+   height="1000"
    id="svg2"
    version="1.1"
-   inkscape:version="0.48.5 r10040"
+   inkscape:version="0.91 r13725"
    sodipodi:docname="horizon.svg"
-   viewBox="-600 -600 1200 1200"
+   viewBox="-500 -500 1000 1000"
    preserveAspectRatio="none">
   <defs
      id="defs4" />
@@ -26,15 +26,15 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="0.35374999"
-     inkscape:cx="356.86783"
-     inkscape:cy="585.56122"
+     inkscape:zoom="0.176875"
+     inkscape:cx="417.16915"
+     inkscape:cy="602.15446"
      inkscape:document-units="px"
-     inkscape:current-layer="horizon"
+     inkscape:current-layer="svg2"
      showgrid="true"
      showborder="true"
      inkscape:window-width="1920"
-     inkscape:window-height="1033"
+     inkscape:window-height="1034"
      inkscape:window-x="0"
      inkscape:window-y="27"
      inkscape:window-maximized="1">
@@ -58,20 +58,23 @@
     </rdf:RDF>
   </metadata>
   <g
-     id="horizon">
-    <rect
-       style="fill:#c88f00;fill-opacity:1;stroke:none"
-       id="rect3000"
-       width="1800"
-       height="1200"
-       x="-900"
-       y="0" />
-    <rect
-       y="-1200"
-       x="-900"
-       height="1200"
-       width="1800"
-       id="rect3770"
-       style="fill:#aaeeff;fill-opacity:1;stroke:none" />
+     id="roll">
+    <g
+       id="pitch">
+      <rect
+         y="0"
+         x="-1000"
+         height="2000"
+         width="2000"
+         id="ground"
+         style="fill:#c88f00;fill-opacity:1;stroke:none" />
+      <rect
+         style="fill:#aaeeff;fill-opacity:1;stroke:none"
+         id="sky"
+         width="2000"
+         height="2000"
+         x="-1000"
+         y="-2000" />
+    </g>
   </g>
 </svg>
diff --git a/mavigator-server/src/main/scala/mavigator/Main.scala b/mavigator-server/src/main/scala/mavigator/Main.scala
index 6ea894e..3ad1460 100644
--- a/mavigator-server/src/main/scala/mavigator/Main.scala
+++ b/mavigator-server/src/main/scala/mavigator/Main.scala
@@ -1,11 +1,12 @@
 package mavigator
 
+import scala.concurrent.{Await, TimeoutException}
+import scala.concurrent.duration._
+
 import akka.actor._
 import akka.http.scaladsl._
-import akka.http.scaladsl.server._
 import akka.stream._
-import scala.concurrent.Await
-import scala.concurrent.duration.Duration
+import mavigator.uav.Uav
 
 object Main {
 
@@ -15,30 +16,33 @@ object Main {
   def main(args: Array[String]): Unit = {
     import system.dispatcher
 
-    system.log.info("System started.")
+    val route = Router.route
 
-    val router = Router.route
+    system.log.info(s"Initializing UAV connection backend...")
+    Uav().init()
 
-    system.log.info(s"Starting server")
-    val binding = Http(system).bindAndHandle(router, "0.0.0.0", 8080)
+    system.log.info(s"Starting server...")
+    val binding = Http(system).bindAndHandle(route, "::", 8080)
 
     for (b <- binding) {
       val addr = b.localAddress.getHostString()
       val port = b.localAddress.getPort()
       system.log.info(s"Server is listening on $addr:$port")
     }
-    
-    scala.io.StdIn.readLine()
-
-    binding.flatMap{b =>
-      system.log.info("Shutting down server...")
-      b.unbind()
-    }.onComplete{ _ =>
-      system.log.info("Server shut down")
-      system.terminate()
-    }
 
-    Await.result(system.whenTerminated, Duration.Inf)
+    sys.addShutdownHook { stop() }
+  }
 
+  def stop() = {
+    system.log.info("Stopping server...")
+    system.terminate()
+
+    try {
+      Await.result(system.whenTerminated, 2.seconds)
+      System.err.println("Bye.")
+    } catch {
+      case ex: TimeoutException =>
+        System.err.println("Shutdown is taking too long, exiting now")
+    }
   }
 }
diff --git a/mavigator-server/src/main/scala/mavigator/Router.scala b/mavigator-server/src/main/scala/mavigator/Router.scala
index 389cb4d..226d6c1 100644
--- a/mavigator-server/src/main/scala/mavigator/Router.scala
+++ b/mavigator-server/src/main/scala/mavigator/Router.scala
@@ -1,80 +1,92 @@
 package mavigator
 
 import akka.actor._
-import akka.stream._
-import akka.stream.scaladsl._
-import akka.http.scaladsl._
+import akka.http.scaladsl.marshalling.{Marshaller, ToEntityMarshaller}
+import akka.http.scaladsl.model.MediaTypes._
 import akka.http.scaladsl.model._
+import akka.http.scaladsl.model.Uri.Path
 import akka.http.scaladsl.model.ws._
 import akka.http.scaladsl.server._
-import uav.Uav
 import akka.util._
-
-import akka.http.scaladsl.marshalling.{Marshaller, ToEntityMarshaller}
-import akka.http.scaladsl.model.MediaTypes._
-import akka.http.scaladsl.model.MediaType
-import play.twirl.api.{ Xml, Txt, Html }
+import akka.stream.scaladsl._
+import play.twirl.api.Html
+import uav.Uav
 
 
 object Router {
   import Directives._
 
-  val socketUrl = "ws://localhost:8080/mavlink"
+  final val SocketEndpoint = "mavlink"
+
+  def withSocketUri: Directive1[Uri] = extractUri.map { uri =>
+    uri.withScheme("ws").withPath(Path.Empty / SocketEndpoint)
+  }
 
   def route(implicit system: ActorSystem): Route = (
-    path("cockpit" / IntNumber) { id =>
+    path("whoami") {
       get {
-        val html = mavigator.views.html.app(
-          "Mavigator",
-          "mavigator_cockpit_Main",
-          Map(
-            "socketUrl" -> socketUrl,
-	    "remoteSystemId" -> "0",
-            "systemId" -> "0",
-	    "componentId" -> "0"
-          )
-        )
-        complete(html)
+        withSocketUri { sock =>
+          complete(sock.toString)
+        }
       }
     } ~
-    path("mavlink") {
-      get {
-        val fromWebSocket = Flow[Message].collect{
-          case BinaryMessage.Strict(data) => data
+      path("cockpit" / IntNumber) { id =>
+        get {
+          withSocketUri { socket =>
+            val html = mavigator.views.html.app(
+              "Mavigator",
+              "mavigator_cockpit_Main",
+              Map(
+                "socketUrl" -> socket.toString,
+	        "remoteSystemId" -> id.toString
+              )
+            )
+            complete(html)
+          }
         }
+      } ~
+      path(SocketEndpoint) {
+        get {
+          val fromWebSocket = Flow[Message].collect{
+            case BinaryMessage.Strict(data) => data
+          }
 
-        val toWebSocket = Flow[ByteString].map{bytes =>
-          BinaryMessage(bytes)
-        }
+          val toWebSocket = Flow[ByteString].map{bytes =>
+            BinaryMessage(bytes)
+          }
 
-        val backend = Uav().connect()
+          val backend = Uav().connect()
 
-        handleWebSocketMessages(fromWebSocket via backend via toWebSocket)
-      }
-    } ~
-    pathPrefix("assets") {
-      get {
-        encodeResponse {
-          getFromResourceDirectory("assets")
+          handleWebSocketMessages(fromWebSocket via backend via toWebSocket)
+        }
+      } ~
+      pathEndOrSingleSlash {
+        get {
+          withSocketUri { socket =>
+            val html = mavigator.views.html.app(
+              "Index",
+              "mavigator_index_Main",
+              Map(
+                "socketUrl" -> socket.toString
+              )
+            )
+            complete(html)
+          }
+        }
+      } ~
+      pathPrefix("assets") {
+        get {
+          encodeResponse {
+            getFromResourceDirectory("assets")
+          }
         }
       }
-    } ~
-    pathEndOrSingleSlash {
-      get {
-        val html = mavigator.views.html.app(
-          "Index",
-          "mavigator_index_Main",
-          Map(
-            "socketUrl" -> socketUrl
-          )
-        )
-        complete(html)
-      }
-    }
   )
 
-  implicit val twirlHtml : ToEntityMarshaller[Html] = Marshaller.StringMarshaller.wrap(`text/html`){(h: Html) =>
-    h.toString
-  }
-  
+  /** Enables completing requests with html. */
+  implicit val twirlHtml : ToEntityMarshaller[Html] =
+    Marshaller.StringMarshaller.wrap(`text/html`){ h: Html =>
+      h.toString
+    }
+
 }
diff --git a/mavigator-uav/build.sbt b/mavigator-uav/build.sbt
index abe935b..c2b97c6 100644
--- a/mavigator-uav/build.sbt
+++ b/mavigator-uav/build.sbt
@@ -7,5 +7,6 @@ libraryDependencies ++= Seq(
   Dependencies.akkaStream,
   Dependencies.flow,
   Dependencies.flowNative,
+  Dependencies.flowStream,
   Dependencies.reactiveStreams
 )
diff --git a/mavigator-uav/src/main/resources/reference.conf b/mavigator-uav/src/main/resources/reference.conf
index 3b43d37..5e66de3 100644
--- a/mavigator-uav/src/main/resources/reference.conf
+++ b/mavigator-uav/src/main/resources/reference.conf
@@ -1,30 +1,25 @@
 # Settings related to the connection with a UAV
 mavigator.uav {
+
   # The type of connection to use
   # 'mock' or 'serial'
-  type = mock
-
-  # Mavlink component ID used by this connection,
-  # in case it needs to inject messages. I.e. heartbeats
-  # will originate from this ID.
-  component_id = 1
-
-  # Interval in milliseconds between heartbeat messages injected by
-  # the connection
-  # 0 = no heartbeats injected
-  heartbeat = 2000
+  type = serial
 
   # Settings related to serial connections
   serial {
     # Serial port
-    port = "/dev/ttyUSB0"
+    port = "/dev/ttyACM0"
     # Baud rate (b/s)
-    baud = 115200
+    baud = 57600
     # Use two stop bits
     two_stop_bits = false
     # Parity check
     # 0 = None, 1 = Odd, 2 = Even
     parity = 0
+
+    # Delay between detection of serial port and attempt to open it.
+    # Set this to provide time for the device to initialise.
+    connection_delay = 1000
   }
 
   # Settings related to mock connections
@@ -32,7 +27,7 @@ mavigator.uav {
     # Mavlink system ID of the simulated UAV
     remote_system_id = 42
     # Mavlink component ID of the simulated UAV
-    remote_system_id = 0
+    remote_component_id = 0
     # Divide simulated message frequency
     prescaler = 1
   }
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/Backend.scala b/mavigator-uav/src/main/scala/mavigator/uav/Backend.scala
new file mode 100644
index 0000000..84b9673
--- /dev/null
+++ b/mavigator-uav/src/main/scala/mavigator/uav/Backend.scala
@@ -0,0 +1,8 @@
+package mavigator
+package uav
+
+trait Backend {
+
+  def init(core: Core): Unit
+
+}
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/Core.scala b/mavigator-uav/src/main/scala/mavigator/uav/Core.scala
new file mode 100644
index 0000000..4418dae
--- /dev/null
+++ b/mavigator-uav/src/main/scala/mavigator/uav/Core.scala
@@ -0,0 +1,100 @@
+package mavigator
+package uav
+
+import akka.NotUsed
+import akka.actor.{ActorLogging, ActorRef, ActorSystem, Props}
+import akka.stream.Materializer
+import akka.stream.actor.{ActorPublisher, ActorPublisherMessage}
+import akka.stream.scaladsl.{Flow, Sink, Source}
+import akka.util.ByteString
+import org.reactivestreams.{Publisher, Subscriber}
+
+/** A core enables dynamic creation and removal of clients and backend connections.
+  * It is essentially a dynamic stream multiplexer. */
+class Core(implicit val system: ActorSystem, val materializer: Materializer) {
+  import Core._
+
+  /** The actor responsible for forwarding messages from the backend
+    * to this core. */
+  private lazy val backendPublisherActor: ActorRef = system.actorOf(BackendPublisher())
+
+  /** Publisher that forwards messages received from the backend. */
+  private lazy val backendPublisher: Publisher[ByteString] = ActorPublisher(backendPublisherActor)
+
+  private lazy val backend = Flow.fromSinkAndSourceMat(
+    Sink.ignore, //FIXME: this will need to be changed for controlling the uav from the browser
+    Source.fromPublisher(backendPublisher)
+  )((toBackend, fromBackend) => (toBackend, fromBackend))
+
+  private lazy val clients = Flow.fromSinkAndSourceMat(
+    Sink.asPublisher[ByteString](true),
+    Source.asSubscriber[ByteString]
+  )((toClient, fromClient) => (toClient, fromClient))
+
+  private lazy val runnable = clients.joinMat(backend){ case ((toClient, fromClient), (toBackend, fromBackend)) =>
+    toClient
+  }
+
+  private lazy val clientPublisher: Publisher[ByteString] = {
+    system.log.info("Core started.")
+    runnable.run()
+  }
+
+  def setBackend(): Flow[ByteString, ByteString, NotUsed] = {
+    val sink = Sink.actorRef(backendPublisherActor, BackendPublisher.BackendComplete)
+    val source = Source.empty[ByteString] //FIXME: this will need to be changed for controlling the uav from the browser
+    Flow.fromSinkAndSource(sink, source)
+  }
+
+  def connect(): Flow[ByteString, ByteString, NotUsed] = {
+    Flow.fromSinkAndSource(
+      Sink.ignore,
+      Source.fromPublisher(clientPublisher)
+    )
+  }
+
+}
+
+object Core {
+
+  private class BackendPublisher extends ActorPublisher[ByteString] with ActorLogging {
+    import akka.stream.actor.ActorPublisherMessage._
+
+    override def preStart() = {
+      log.info("Starting backend publisher actor...")
+    }
+
+    private var fromBackend: ByteString = null
+
+    def receive = {
+
+      case msg: ByteString =>
+        fromBackend = msg
+        deliver()
+
+      case BackendPublisher.BackendComplete =>
+        sys.error("Backend completed normally, this should not happen.")
+
+      // subscriber requests more
+      case ActorPublisherMessage.Request(_) =>
+        deliver()
+
+      //subscriber cancels
+      case ActorPublisherMessage.Cancel =>
+        sys.error("Subscriber cancelled backend stream, this should not happen.")
+
+    }
+
+    def deliver() = if (fromBackend != null && totalDemand > 0 && isActive) {
+      onNext(fromBackend)
+      fromBackend = null
+    }
+
+  }
+
+  private object BackendPublisher {
+    case object BackendComplete
+    def apply(): Props = Props(classOf[BackendPublisher])
+  }
+
+}
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/Multiplexer.scala.disabled b/mavigator-uav/src/main/scala/mavigator/uav/Multiplexer.scala.disabled
deleted file mode 100644
index 5e48ea1..0000000
--- a/mavigator-uav/src/main/scala/mavigator/uav/Multiplexer.scala.disabled
+++ /dev/null
@@ -1,20 +0,0 @@
-package mavigator
-package uav
-
-import akka.stream.scaladsl._
-import akka.stream._
-import org.reactivestreams._
-
-private[uav] class Multiplexer[In, Out](service: Flow[In, Out, _])(implicit materializer: Materializer) {
-
-  private val endpoint: Flow[Out, In, (Publisher[Out], Subscriber[In])] = Flow.fromSinkAndSourceMat(
-    Sink.asPublisher[Out](fanout = true),
-    Source.asSubscriber[In])((pub, sub) => (pub, sub))
-
-  private lazy val (publisher, subscriber) = (service.joinMat(endpoint)(Keep.right)).run()
-
-  def connect(client: Flow[Out, In, _]) = {
-    Source.fromPublisher(publisher).via(client).to(Sink.ignore).run()
-  }
-
-}
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/Uav.scala b/mavigator-uav/src/main/scala/mavigator/uav/Uav.scala
index 8f8c083..1387983 100644
--- a/mavigator-uav/src/main/scala/mavigator/uav/Uav.scala
+++ b/mavigator-uav/src/main/scala/mavigator/uav/Uav.scala
@@ -2,40 +2,38 @@ package mavigator
 package uav
 
 import java.lang.IllegalArgumentException
-import mock._
+
 import akka._
 import akka.actor._
-import akka.util._
+import akka.stream.ActorMaterializer
 import akka.stream.scaladsl._
+import akka.util._
 
+import mock._
+import serial._
+
+//TODO: the whole backend system feels hacky, it probably needs a major redesign
 class Uav(system: ExtendedActorSystem) extends Extension {
 
+  private val materializer = ActorMaterializer()(system)
+
   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" => ???
+  private lazy val core = new Core()(system, materializer)
 
+  lazy val backend: Backend = tpe match {
+    case "mock" => MockBackend
+    case "serial" => SerialBackend
     case _ => throw new IllegalArgumentException(s"Unsupported connection type: $tpe")
   }
 
-  def connect(): Flow[ByteString, ByteString, NotUsed] = {
-    Flow.fromSinkAndSource(
-      Sink.ignore,
-      (new MockConnection(0,0,1)).data //TODO: use source instead of hardcoded value
-    )
+  def init(): Unit = {
+    backend.init(core)
   }
 
+  def connect(): Flow[ByteString, ByteString, NotUsed] = core.connect()
+
 }
 
 object Uav extends ExtensionId[Uav] with ExtensionIdProvider {
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/mock/MockConnection.scala b/mavigator-uav/src/main/scala/mavigator/uav/mock/MockBackend.scala
index 58b4977..0b89fbd 100644
--- a/mavigator-uav/src/main/scala/mavigator/uav/mock/MockConnection.scala
+++ b/mavigator-uav/src/main/scala/mavigator/uav/mock/MockBackend.scala
@@ -10,15 +10,16 @@ import akka.stream.Attributes._
 import akka.stream.scaladsl._
 import akka.util._
 import org.mavlink._
-import org.mavlink.messages.{Heartbeat, Message}
+import org.mavlink.messages.Message
 
 
-class MockConnection(
+/** A test connection that produces random MAVLink messages. */
+class MockBackend(
   remoteSystemId: Byte,
   remoteComponentId: Byte,
   prescaler: Double
 ) {
-  import MockConnection._
+  import MockBackend._
 
   private lazy val assembler = new Assembler(remoteSystemId, remoteComponentId)
 
@@ -35,7 +36,7 @@ class MockConnection(
     delayed(0.1)(_.distance)
   )
 
-  val data: Source[ByteString, NotUsed] = messages.map{ message =>
+  private val data: Source[ByteString, NotUsed] = messages.map{ message =>
     val (messageId, payload) = Message.pack(message)
     val packet = assembler.assemble(messageId, payload)
     ByteString(packet.toArray)
@@ -43,7 +44,7 @@ class MockConnection(
 
 }
 
-object MockConnection {
+object MockBackend extends Backend {
 
   final val ClockTick: FiniteDuration = 0.02.seconds
 
@@ -52,7 +53,7 @@ object MockConnection {
     Source.fromGraph(GraphDSL.create() { implicit b =>
 
       val clock = Source.tick(ClockTick, ClockTick, plan) map { plan =>
-        plan.tick(0.01)
+        plan.tick(ClockTick.toMillis / 1000.0)
         plan
       }
       val bcast = b.add(Broadcast[RandomFlightPlan](messages.length))
@@ -67,4 +68,28 @@ object MockConnection {
     })
   }
 
+
+  override def init(core: Core) = {
+    import core.materializer
+    import core.system
+
+    system.log.info("Initializing mock backend...")
+
+    val config = system.settings.config.getConfig("mavigator.uav.mock")
+
+    val mock = new MockBackend(
+      config.getInt("remote_system_id").toByte,
+      config.getInt("remote_component_id").toByte,
+      config.getDouble("prescaler")
+    )
+
+    val mockFlow = Flow.fromSinkAndSource(
+      Sink.ignore,
+      mock.data
+    )
+
+    (mockFlow join core.setBackend()).run()
+
+  }
+
 }
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/serial/SerialBackend.scala b/mavigator-uav/src/main/scala/mavigator/uav/serial/SerialBackend.scala
new file mode 100644
index 0000000..a52d238
--- /dev/null
+++ b/mavigator-uav/src/main/scala/mavigator/uav/serial/SerialBackend.scala
@@ -0,0 +1,58 @@
+package mavigator
+package uav
+package serial
+
+import scala.concurrent.Future
+import scala.concurrent.duration._
+import scala.util.{Failure, Success}
+
+import akka.NotUsed
+import akka.stream.scaladsl.{Flow, Keep}
+import akka.util.ByteString
+import com.github.jodersky.flow.{Parity, SerialSettings}
+import com.github.jodersky.flow.stream.Serial
+import com.github.jodersky.flow.stream.Serial.Connection
+
+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)
+      }
+
+    }
+
+
+  }
+
+}
diff --git a/project/Dependencies.scala b/project/Dependencies.scala
index ba39c94..60e7410 100644
--- a/project/Dependencies.scala
+++ b/project/Dependencies.scala
@@ -6,7 +6,7 @@ import org.scalajs.sbtplugin.ScalaJSPlugin.autoImport._
 
 object Dependencies {
 
-  final val AkkaVersion = "2.4.2-RC1"
+  final val AkkaVersion = "2.4.4"
   val akkaActor = "com.typesafe.akka" %% "akka-actor" % AkkaVersion
   val akkaHttp = "com.typesafe.akka" %% "akka-http-experimental" % AkkaVersion
   val akkaHttpCore = "com.typesafe.akka" %% "akka-http-core" % AkkaVersion
@@ -14,10 +14,10 @@ object Dependencies {
 
   val reactiveStreams = "org.reactivestreams" % "reactive-streams" % "1.0.0"
 
-  final val FlowVersion = "2.5.0-M2"
+  final val FlowVersion = "2.6.0"
   val flow = "com.github.jodersky" %% "flow-core" % FlowVersion
   val flowNative = "com.github.jodersky" % "flow-native" % FlowVersion % Runtime
-  val flowStream = "com.github.jodersky" % "flow-stream" % FlowVersion
+  val flowStream = "com.github.jodersky" %% "flow-stream" % FlowVersion
 
   val jsDom = Def.setting{"org.scala-js" %%% "scalajs-dom" % "0.9.0"}
   val scalatags = Def.setting{"com.lihaoyi" %%% "scalatags" % "0.5.4"}
diff --git a/project/MavigatorBuild.scala b/project/MavigatorBuild.scala
index e46d5f2..f6c0884 100644
--- a/project/MavigatorBuild.scala
+++ b/project/MavigatorBuild.scala
@@ -8,7 +8,8 @@ object MavigatorBuild extends Build {
 
   // settings common to all projects
   val defaultSettings = Seq(
-    scalaVersion := "2.11.7",
+    resolvers += Resolver.jcenterRepo,
+    scalaVersion := "2.11.8",
     scalacOptions ++= Seq("-feature", "-deprecation")
   )
 
diff --git a/project/build.properties b/project/build.properties
index 817bc38..43b8278 100644
--- a/project/build.properties
+++ b/project/build.properties
@@ -1 +1 @@
-sbt.version=0.13.9
+sbt.version=0.13.11
diff --git a/project/plugins.sbt b/project/plugins.sbt
index 301572f..611b313 100644
--- a/project/plugins.sbt
+++ b/project/plugins.sbt
@@ -2,14 +2,10 @@
  * Additional resolvers
  */
 
-//resolvers += "Typesafe repository" at "https://repo.typesafe.com/typesafe/releases/"
-
-//resolvers += "jgit-repo" at "http://download.eclipse.org/jgit/maven"
-
 resolvers += Resolver.jcenterRepo
 
 /*
- * Main plugins
+ * Main plugins (required for building)
  */
 
 // add support for scalajs
@@ -19,11 +15,11 @@ addSbtPlugin("org.scala-js" % "sbt-scalajs" % "0.6.8")
 addSbtPlugin("com.typesafe.sbt" % "sbt-twirl" % "1.1.1")
 
 // generate MAVLink protocol bindings
-addSbtPlugin("com.github.jodersky" % "sbt-mavlink" % "0.5.2")
+addSbtPlugin("com.github.jodersky" % "sbt-mavlink" % "0.7.0")
 
 
 /*
- * Utility or meta plugins
+ * Utility or meta plugins (non-essential, can be disabled)
  */
 
 // automate publishing documentation
@@ -35,4 +31,4 @@ addSbtPlugin("com.github.jodersky" % "sbt-mavlink" % "0.5.2")
 // generate documentation for all projects
 //addSbtPlugin("com.eed3si9n" % "sbt-unidoc" % "0.3.3")
 
-addSbtPlugin("com.typesafe.sbt" % "sbt-native-packager" % "1.0.0")
+addSbtPlugin("com.typesafe.sbt" % "sbt-native-packager" % "1.1.0-RC3")