pass rx value of instruments as a parameter

11 files changed, 83 insertions, 67 deletions

diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/RxUtil.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/RxUtil.scala
new file mode 100644
index 0000000..51e2fcd
--- /dev/null
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/RxUtil.scala
@@ -0,0 +1,31 @@
+package vfd.dashboard
+
+import rx._
+
+package object rxutil {
+
+  /** Rx, implicitly enhanced with additional methods. */
+  implicit class RichRx(val rx: Rx[_]) extends AnyVal {
+
+    /**
+     * Builds a new Rx by applying a partial function to all values of
+     * this Rx on which the function is defined.
+     * @param initial initial value of the returned Rx
+     * @param pf the partial function which filters and maps this Rx
+     * @return a new Rx resulting from applying the given partial
+     * function pf to each value on which it is defined and collecting
+     * the result 
+     */
+    def collect[B](initial: B)(pf: PartialFunction[Any, B]): Rx[B] = {
+      val result: Var[B] = Var(initial)
+      Obs(rx, skipInitial = true) {
+        if (pf.isDefinedAt(rx())) {
+          result() = pf(rx())
+        }
+      }
+      result
+    }
+
+  }
+
+}
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/Layout.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/Layout.scala
index a2e03ef..1d6090d 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/Layout.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/Layout.scala
@@ -1,11 +1,12 @@
 package vfd.dashboard.ui
 
-import rx.Obs
+import rx._
 import scalatags.JsDom.all._
 import vfd.dashboard.Environment
 import vfd.dashboard.MavlinkSocket
 import vfd.dashboard.ui.instruments._
 import org.mavlink.messages._
+import vfd.dashboard.rxutil._
 
 class Layout(socket: MavlinkSocket)(implicit env: Environment) {
 
@@ -41,15 +42,35 @@ class Layout(socket: MavlinkSocket)(implicit env: Environment) {
   val feed = div(style := "width: 100%; height: 460px; color: #ffffff; background-color: #c2c2c2; text-align: center;")(
     p(style := "padding-top: 220px")("video feed"))
 
-  val altimeter = new Altimeter
-  val horizon = new Horizon
-  val compass = new Compass
-  val motor0 = new Generic(0, 50, 100, "%")
-  val motor1 = new Generic(0, 50, 100, "%")
-  val motor2 = new Generic(0, 50, 100, "%")
-  val motor3 = new Generic(0, 50, 100, "%")
-  val powerDistribution = new Distribution
-  val batteryLevel = new Bar
+  val altimeter = new Altimeter(
+    Var(0.0)
+  )
+  val horizon = new Horizon(socket.message.collect((0.0, 0.0)) {
+    case att: Attitude => (att.pitch, att.roll)
+  })
+  val compass = new Compass(socket.message.collect(0.0) {
+    case att: Attitude => att.yaw
+  })
+  val motor0 = new Generic(0, 50, 100, "%", socket.message.collect(0.0) {
+    case s: ServoOutputRaw => 100 * (s.servo1Raw - 1000) / 1000
+  })
+  val motor1 = new Generic(0, 50, 100, "%", socket.message.collect(0.0) {
+    case s: ServoOutputRaw => 100 * (s.servo2Raw - 1000) / 1000
+  })
+  val motor2 = new Generic(0, 50, 100, "%", socket.message.collect(0.0) {
+    case s: ServoOutputRaw => 100 * (s.servo3Raw - 1000) / 1000
+  })
+  val motor3 = new Generic(0, 50, 100, "%", socket.message.collect(0.0) {
+    case s: ServoOutputRaw => 100 * (s.servo4Raw - 1000) / 1000
+  })
+  val powerDistribution = new Distribution(
+    socket.message.collect((0.0, 0.0, 0.0, 0.0)) {
+      case s: ServoOutputRaw => (s.servo1Raw, s.servo2Raw, s.servo3Raw, s.servo4Raw)
+    }
+  )
+  val batteryLevel = new Bar(
+    Var(0.0)
+  )
 
   val top = header(
     div("Flight Control Panel"),
@@ -123,32 +144,4 @@ class Layout(socket: MavlinkSocket)(implicit env: Environment) {
     )
   ).render
 
-  //message router
-  Obs(socket.message, skipInitial = true) {
-    socket.message() match {
-      
-      case att: Attitude =>
-        horizon.value() = (att.pitch, att.roll)
-        compass.value() = att.yaw
-
-      case s: ServoOutputRaw =>
-        val m0 = 100 * (s.servo1Raw - 1000) / 1000
-        val m1 = 100 * (s.servo2Raw - 1000) / 1000
-        val m2 = 100 * (s.servo3Raw - 1000) / 1000
-        val m3 = 100 * (s.servo4Raw - 1000) / 1000
-
-        motor0.value() = m0
-        motor1.value() = m1
-        motor2.value() = m2
-        motor3.value() = m3
-        powerDistribution.value() = (m0, m1, m2, m3)
-
-      //TODO route other messages
-
-      case _ => ()
-      
-    }
-  }
-
-
 }
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Altimeter.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Altimeter.scala
index 732ab43..b65b374 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Altimeter.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Altimeter.scala
@@ -1,13 +1,12 @@
 package vfd.dashboard.ui.instruments
 
 import org.scalajs.dom.html
+import rx._
 import vfd.dashboard.Environment
 
-class Altimeter(implicit env: Environment) extends SvgInstrument[Double] {
+class Altimeter(val value: Rx[Double])(implicit env: Environment) extends SvgInstrument[Double] {
   import SvgInstrument._
 
-  val initial = 0.0
-
   lazy val element = svgObject("altimeter")
   lazy val hand = part("hand")
   lazy val moveable = Seq(hand)
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Bar.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Bar.scala
index 7cda301..9f9f81c 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Bar.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Bar.scala
@@ -1,13 +1,12 @@
 package vfd.dashboard.ui.instruments
 
 import org.scalajs.dom.html
+import rx._
 import vfd.dashboard.Environment
 
-class Bar(implicit env: Environment) extends SvgInstrument[Double] {
+class Bar(val value: Rx[Double])(implicit env: Environment) extends SvgInstrument[Double] {
   import SvgInstrument._
   
-  val initial = 0.0
-  
   lazy val element = svgObject("bar")
   lazy val level = part("level")
   lazy val moveable = Seq(level)
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Clock.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Clock.scala
index b456765..a5bfc03 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Clock.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Clock.scala
@@ -1,6 +1,7 @@
 package vfd.dashboard.ui.instruments
 
 import org.scalajs.dom
+import rx._
 import scala.scalajs.js.Date
 import scalatags.JsDom.all._
 
@@ -8,9 +9,9 @@ class Clock extends Instrument[Date] {
   
   def format(date: Date) = date.toLocaleTimeString()
   
-  val initial = new Date
+  val value = Var(new Date)
   
-  val element = span(format(initial)).render
+  val element = span(format(value())).render
   
   protected def update(value: Date) = {
     element.innerHTML = format(value)
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Compass.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Compass.scala
index 341c866..9f1ae4a 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Compass.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Compass.scala
@@ -1,13 +1,12 @@
 package vfd.dashboard.ui.instruments
 
 import org.scalajs.dom.html
+import rx._
 import vfd.dashboard.Environment
 
-class Compass(implicit env: Environment) extends SvgInstrument[Double] {
+class Compass(val value: Rx[Double])(implicit env: Environment) extends SvgInstrument[Double] {
   import SvgInstrument._
   
-  val initial = 0.0
-  
   lazy val element = svgObject("compass")
   lazy val plate = part("heading")
   lazy val moveable = Seq(plate)
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Distribution.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Distribution.scala
index caeac33..f750bab 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Distribution.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Distribution.scala
@@ -1,13 +1,12 @@
 package vfd.dashboard.ui.instruments
 
 import org.scalajs.dom.html
+import rx._
 import vfd.dashboard.Environment
 
-class Distribution(implicit env: Environment) extends SvgInstrument[(Double, Double, Double, Double)] {
+class Distribution(val value: Rx[(Double, Double, Double, Double)])(implicit env: Environment) extends SvgInstrument[(Double, Double, Double, Double)] {
   import SvgInstrument._
   
-  val initial = (0.0, 0.0, 0.0, 0.0)
-  
   lazy val element = svgObject("distribution")
   lazy val position = part("position")
   lazy val moveable = Seq(position)
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Generic.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Generic.scala
index af9469a..86c27e1 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Generic.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Generic.scala
@@ -2,18 +2,19 @@ package vfd.dashboard.ui.instruments
 
 import org.scalajs.dom
 import org.scalajs.dom.html
+import rx._
 import vfd.dashboard.Environment
 
 class Generic(
     min: Double,
     med: Double,
     max: Double,
-    unit: String)(implicit env: Environment)
+    unit: String,
+    val value: Rx[Double])
+    (implicit env: Environment)
   extends SvgInstrument[Double] {
 
   import SvgInstrument._
-  
-  val initial = 0.0
 
   lazy val element = svgObject("generic")
   lazy val handElement = part("hand")
@@ -29,12 +30,11 @@ class Generic(
     minElement.textContent = min.toString
     medElement.textContent = med.toString
     maxElement.textContent = max.toString
-    update(min)
     super.load(e)
   }
 
   protected def update(value: Double) = {
-    rotate(handElement, value  / (max - min) * math.Pi * 3 / 2)
+    rotate(handElement, value / (max - min) * math.Pi * 3 / 2)
     valueElement.textContent = value.toString
   }
 }
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Horizon.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Horizon.scala
index 0e95843..bbfe8cf 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Horizon.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Horizon.scala
@@ -1,13 +1,12 @@
 package vfd.dashboard.ui.instruments
 
 import org.scalajs.dom.html
+import rx._
 import vfd.dashboard.Environment
 
-class Horizon(implicit env: Environment) extends SvgInstrument[(Double, Double)] {
+class Horizon(val value: Rx[(Double, Double)])(implicit env: Environment) extends SvgInstrument[(Double, Double)] {
   import SvgInstrument._
   
-  val initial = (0.0, 0.0)
-  
   lazy val element = svgObject("horizon")
   lazy val pitch = part("pitch")
   lazy val roll = part("roll")
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Instrument.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Instrument.scala
index 5b0a13d..bf5c9ca 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Instrument.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Instrument.scala
@@ -6,11 +6,8 @@ import org.scalajs.dom.html
 /** Common trait to all flight instruments. */
 trait Instrument[A] {
 
-  /** Initial value. */
-  val initial: A
-
   /** Current value that is displayed in the instrument. */
-  val value: Var[A] = Var(initial)
+  val value: Rx[A]
 
   /** HTML element that contains the rendered instrument */
   val element: html.Element
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Led.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Led.scala
index 4173f37..f5259b5 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Led.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Led.scala
@@ -1,11 +1,10 @@
 package vfd.dashboard.ui.instruments
 
+import rx._
 import scalatags.JsDom.all._
 import vfd.dashboard.Environment
 
-class Led(implicit env: Environment) extends SvgInstrument[String] {
-
-  val initial = "none"
+class Led(val value: Rx[String])(implicit env: Environment) extends SvgInstrument[String] {
 
   lazy val element = `object`(`type` := "image/svg+xml", "data".attr := env.asset("images/leds/led.svg"), width := 100.pct)(
     "Error loading led.").render