Implement serial backend

5 files changed, 1059 insertions, 169 deletions

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 @@
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-         cx="0"
+         r="380"
          cy="0"
-         r="380" />
+         cx="0"
+         id="circle4746"
+         style="fill:#000080" />
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   </defs>
   <sodipodi:namedview
@@ -35,9 +36,9 @@
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      inkscape:pageshadow="2"
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+     inkscape:cy="461.66458"
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@@ -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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+           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
+    }
+
 }