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| author | Jakob Odersky <jodersky@gmail.com> | 2014-12-21 11:19:11 +0100 |
|---|---|---|
| committer | Jakob Odersky <jodersky@gmail.com> | 2014-12-21 11:19:11 +0100 |
| commit | c5a6f9ceab3a99b1f5dda7f00d01bdc7e4c52ea5 (patch) | |
| tree | c54fd219967e3181925950fba01be984a2aa9075 | |
| parent | 7ed5f8025db1652b6bfaa0dca4dd309f1be6fe22 (diff) | |
| download | mavigator-c5a6f9ceab3a99b1f5dda7f00d01bdc7e4c52ea5.tar.gz mavigator-c5a6f9ceab3a99b1f5dda7f00d01bdc7e4c52ea5.tar.bz2 mavigator-c5a6f9ceab3a99b1f5dda7f00d01bdc7e4c52ea5.zip | |
update mock connection
| -rw-r--r-- | vfd-backend/conf/application.conf | 2 | ||||
| -rw-r--r-- | vfd-uav/src/main/scala/vfd/uav/MockConnection.scala | 17 |
2 files changed, 9 insertions, 10 deletions
diff --git a/vfd-backend/conf/application.conf b/vfd-backend/conf/application.conf index cecd0f9..e069b23 100644 --- a/vfd-backend/conf/application.conf +++ b/vfd-backend/conf/application.conf @@ -69,7 +69,7 @@ uav.system_id=1 # Type of connection to use # 'mock' for a sample connection -uav.connection.type=mock +uav.connection.type=serial # Mavlink component id used by this connection (not the web frontend), # in case it needs to inject messages diff --git a/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala b/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala index 1217291..238ccdd 100644 --- a/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala +++ b/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala @@ -15,7 +15,7 @@ class MockConnection extends Actor with ActorLogging with Connection { import Connection._ import context._ - val messageInterval = FiniteDuration(250, MILLISECONDS) + val messageInterval = FiniteDuration(100, MILLISECONDS) override def preStart() = { context.system.scheduler.schedule(messageInterval, messageInterval) { @@ -42,14 +42,14 @@ object MockPackets { Packet(5, 42, 1, id, payload).toSeq.toArray } } - + def messages = Heartbeat(0) :: Motor(Random.nextInt(101).toByte, Random.nextInt(101).toByte, Random.nextInt(101).toByte, Random.nextInt(101).toByte) :: Attitude((Random.nextInt(160) - 80).toShort, (Random.nextInt(160) - 80).toShort.toShort, Random.nextInt(360).toShort) :: Power(Random.nextInt(12000).toShort) :: Nil - + def valid: Array[Byte] = messages.flatMap(_.bytes).toArray - + val invalidCrc = Array(254, 1, 123, 13, 13).map(_.toByte) val invalidOverflow = { val data = Array.fill[Byte](Packet.MaxPayloadLength + 10)(42) @@ -58,15 +58,14 @@ object MockPackets { data(1) = -1 data } - + def randomInvalid = Random.nextInt(2) match { case 0 => invalidCrc case 1 => invalidOverflow } - def random: Array[Byte] = if (Random.nextInt(5) == 0) { - randomInvalid - } else { - valid + def random: Array[Byte] = Random.nextInt(messages.length + 1) match { + case 0 => randomInvalid + case i => messages(i - 1).bytes } }
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