implement connection to uav (dirty but works)

7 files changed, 221 insertions, 22 deletions

diff --git a/backend/app/controllers/Application.scala b/backend/app/controllers/Application.scala
index 6cd886f..1abaee0 100644
--- a/backend/app/controllers/Application.scala
+++ b/backend/app/controllers/Application.scala
@@ -1,12 +1,52 @@
 package controllers
 
+import uav._
 import play.api._
 import play.api.mvc._
+import play.api.Play.current
+import play.api.mvc.WebSocket.FrameFormatter
+
+import play.api.libs.functional.syntax._
+import play.api.libs.json._
+
 
 object Application extends Controller {
+  def use[A <: Plugin](implicit app: Application, m: Manifest[A]) = {
+    app.plugin[A].getOrElse(throw new RuntimeException(m.runtimeClass.toString + " plugin should be available at this point"))
+  }
+
+
+
+  implicit val dataWrites: Writes[UavConnection.Data] = (
+    (__ \ "roll").write[Double] and
+    (__ \ "pitch").write[Double] and
+    (__ \ "heading").write[Double] and
+    (__ \ "altitude").write[Double] and
+    (__ \ "temperature").write[Double])(unlift(UavConnection.Data.unapply))
+
+  implicit val dataReads: Reads[UavConnection.Data] = (
+    (__ \ "roll").read[Double] and
+    (__ \ "pitch").read[Double] and
+    (__ \ "heading").read[Double] and
+    (__ \ "altitude").read[Double] and
+    (__ \ "temperature").read[Double])(UavConnection.Data.apply _)
+
+  implicit val dataFormat = Format(dataReads, dataWrites)
+
+
+  //implicit val inEventFormat = Json.format[uav.UavConnection.Data]
+  //implicit val outEventFormat = Json.format[uav.Data]
+  
+
 
   def index() = Action {
     Ok(views.html.index())
   }
 
+  implicit val dataFrameFormatter = FrameFormatter.jsonFrame[UavConnection.Data]
+
+
+  def socket = WebSocket.acceptWithActor[String, UavConnection.Data] { request =>
+    out => use[UavPlugin].register(out)
+  }
 }
\ No newline at end of file
diff --git a/backend/app/uav/UavPlugin.scala b/backend/app/uav/UavPlugin.scala
new file mode 100644
index 0000000..060e3dc
--- /dev/null
+++ b/backend/app/uav/UavPlugin.scala
@@ -0,0 +1,34 @@
+package uav
+
+import akka.actor._
+import play.api._
+import play.api.libs.concurrent.Akka
+
+class UavPlugin(app: Application) extends Plugin {
+
+  lazy val uav: ActorRef = Akka.system(app).actorOf(UavConnection.fcu, name = "uav")
+
+  def register(out: ActorRef): Props = Repeater(out, uav)
+  
+
+}
+
+class Repeater(out: ActorRef, uav: ActorRef) extends Actor {
+
+    override def preStart = {
+      uav ! UavConnection.Register
+    }
+
+    def receive = {
+      case msg => sender match {
+        case `out` => uav ! msg
+        case `uav` => out ! msg
+        case _ => throw new RuntimeException("Unknown sender")
+      }
+    }
+    
+  }
+
+object Repeater {
+  def apply(out: ActorRef, uav: ActorRef) = Props(classOf[Repeater], out, uav)
+}
\ No newline at end of file
diff --git a/backend/app/uav/connections.scala b/backend/app/uav/connections.scala
new file mode 100644
index 0000000..a922519
--- /dev/null
+++ b/backend/app/uav/connections.scala
@@ -0,0 +1,123 @@
+package uav
+
+import akka.actor.Actor
+import akka.actor.ActorRef
+import akka.actor.Props
+import akka.actor.Terminated
+import scala.concurrent.duration.FiniteDuration
+import scala.collection.mutable.ArrayBuffer
+import java.util.concurrent.TimeUnit._
+import akka.io.IO
+import com.github.jodersky.flow._
+import com.github.jodersky.flow.Serial
+
+object UavConnection {
+  def dummy = Props(classOf[DummyConnection])
+  def fcu = Props(classOf[FcuConnection])
+
+  trait Event
+  trait Command
+  case object Register extends Command
+
+  case class Data(
+    roll: Double,
+    pitch: Double,
+    heading: Double,
+    altitude: Double,
+    temperature: Double
+  ) extends Event
+}
+
+trait UavConnection {selfs: Actor =>
+  private val _clients = new ArrayBuffer[ActorRef]
+  def clients = _clients.toSeq
+  def register(client: ActorRef) = {
+    _clients += client;
+    selfs.context.watch(client)
+  }
+  def unregister(client: ActorRef) = _clients -= client
+}
+
+class DummyConnection extends Actor with UavConnection {
+  import UavConnection._
+  import context._
+
+  var time = 0.0
+  val messageInterval = FiniteDuration(20, MILLISECONDS)
+
+  def flightData(time: Double) = {
+    val speed = 5.0 / 1000
+    val roll = 5.0/180*math.Pi
+    val pitch = 10.0/180*math.Pi
+    Data(
+      roll,
+      pitch,
+      (roll * time * speed) % math.Pi,
+      (pitch * time * speed),
+      22
+    )
+  }
+
+
+  override def preStart() = {
+    context.system.scheduler.schedule(messageInterval, messageInterval){
+      time += messageInterval.toMillis
+      clients foreach (_ ! flightData(time))
+    }
+  }
+
+  def receive = {
+    case Register => register(sender)
+    case Terminated(client) => unregister(client)
+    case _ => ()
+  }
+
+}
+
+
+class FcuConnection extends Actor with UavConnection {
+  import UavConnection._
+  import context._
+
+  val port = "/dev/ttyACM0"
+  val settings = SerialSettings(
+    baud = 9600,
+    characterSize = 8,
+    twoStopBits = false,
+    parity = Parity.None
+  )
+
+  override def preStart() = {
+    IO(Serial) ! Serial.Open(port, settings)
+  }
+
+  def receive = {
+    case Register => register(sender)
+    case Terminated(client) => unregister(client)
+    case Serial.CommandFailed(cmd: Serial.Open, reason: AccessDeniedException) => println("you're not allowed to open that port!")
+    case Serial.CommandFailed(cmd: Serial.Open, reason) => println("could not open port for some other reason: " + reason)
+    case Serial.Opened(settings) => {
+      val operator = sender
+      
+    }
+    case Serial.Received(bstr) => 
+      val str = (new String(bstr.toArray, "UTF-8")).trim
+      
+
+      val LinePattern = ".*[(](.+)[)].*".r
+      val Number = "([-]?\\d+[.]\\d+?)".r
+      val Components = "(.+),(.+),(.+),(.+),(.+)".r
+
+      str match {
+        case LinePattern(Components(Number(r),Number(p),Number(h),Number(a),Number(t))) => 
+          val data = Data(r.toDouble, p.toDouble, h.toDouble, a.toDouble, t.toDouble)
+           println(data)
+          for (client <- clients) {
+            client ! data
+          }
+        case _ => println("unknown message: " + str)
+      }
+  }
+
+}
+
diff --git a/backend/conf/play.plugins b/backend/conf/play.plugins
new file mode 100644
index 0000000..2211f4a
--- /dev/null
+++ b/backend/conf/play.plugins
@@ -0,0 +1 @@
+ 10000:uav.UavPlugin
\ No newline at end of file
diff --git a/backend/conf/routes b/backend/conf/routes
index 20fd042..b211b07 100644
--- a/backend/conf/routes
+++ b/backend/conf/routes
@@ -4,6 +4,7 @@
 
 # Home page
 GET     /                           controllers.Application.index
+GET     /socket                     controllers.Application.socket
 
 # Map static resources from the /public folder to the /assets URL path
 GET     /assets/*file               controllers.Assets.at(path="/public", file)
diff --git a/frontend/src/main/scala/Frontend.scala b/frontend/src/main/scala/Frontend.scala
index 3a7c6e7..0e3d554 100644
--- a/frontend/src/main/scala/Frontend.scala
+++ b/frontend/src/main/scala/Frontend.scala
@@ -4,6 +4,13 @@ import scala.scalajs.js
 import js.annotation.JSExport
 import org.scalajs.dom
 
+class Data extends js.Object {
+  def roll: Double = ???
+  def pitch: Double = ???
+  def heading: Double = ???
+  def altitude: Double = ???
+  def temperature: Double = ???
+}
 @JSExport
 class Frontend(attitudeSelector: String, azimuthSelector: String, altitudeSelector: String) {
 
@@ -16,28 +23,21 @@ class Frontend(attitudeSelector: String, azimuthSelector: String, altitudeSelect
 
   @JSExport
   def main() = {
-    dom.setInterval(() => foo, 50)
-  }
-
-  var a = 0.0
-  var r = 0.0
-  var p = 0.0
-  var h = 0.0
-  def foo() = {
-    h += 3
-    r += 0.05
-    p += 0.1
-    a += 0.2
     var roll = svgDoc.getElementById("roll");
     var pitch = svgDoc.getElementById("pitch");
-    pitch.setAttribute("transform", "translate(0, " + 30 * math.sin(p) + ")");
-    roll.setAttribute("transform", "rotate(" + 60 * math.sin(r) + ")");
-
-    var azimuth = svgDoc2.getElementById("heading");
-    azimuth.setAttribute("transform", "rotate(" + h + ")");
-
+    var heading = svgDoc2.getElementById("heading");
     var altitude = svgDoc3.getElementById("hand")
-    altitude.setAttribute("transform", "rotate(" + a + ")")
+    
+    val connection = new dom.WebSocket("ws://localhost:9000/socket");
+
+    connection.onmessage = (e: dom.MessageEvent) => {
+      val data = js.JSON.parse(e.data.asInstanceOf[String]).asInstanceOf[Data]
+      Console.println(data.roll);
+      roll.setAttribute("transform", "rotate(" + data.roll.toDouble + ")");
+      pitch.setAttribute("transform", "translate(0, " + data.pitch.toDouble + ")");
+      heading.setAttribute("transform", "rotate(" +  data.heading.toDouble + ")");
+      altitude.setAttribute("transform", "rotate(" +  data.altitude.toDouble * 36 + ")")
+    }
   }
 
 }
\ No newline at end of file
diff --git a/project/Dependencies.scala b/project/Dependencies.scala
index 17c96f1..6e30920 100644
--- a/project/Dependencies.scala
+++ b/project/Dependencies.scala
@@ -3,8 +3,8 @@ import scala.scalajs.sbtplugin.ScalaJSPlugin._
 
 object Dependencies {
 
-  val flow = "org.github.jodersky" %% "flow" % "2.0.5"
-  val flowNative = "org.github.jodersky" % "flow-native" % "2.0.5"
+  val flow = "com.github.jodersky" %% "flow" % "2.0.4"
+  val flowNative = "com.github.jodersky" % "flow-native" % "2.0.4"
 
   val dom = "org.scala-lang.modules.scalajs" %%%! "scalajs-dom" % "0.6"
   val rx = "com.scalarx" %%%! "scalarx" % "0.2.5"
@@ -14,6 +14,6 @@ object Dependencies {
   val jquery = "org.webjars" % "jquery" % "2.1.1"
 
 
-  def backend = Seq(bootstrap, fontawesome, jquery)
+  def backend = Seq(bootstrap, fontawesome, jquery, flow, flowNative)
   def frontend = Seq(dom, rx)
 }
\ No newline at end of file