migrate to using mavlink

6 files changed, 74 insertions, 61 deletions

diff --git a/vfd-backend/.gitignore b/vfd-backend/.gitignore
index ed1de16..1d1f507 100644
--- a/vfd-backend/.gitignore
+++ b/vfd-backend/.gitignore
@@ -22,4 +22,5 @@ project/plugins/project/
 *.swp
 *.class
 *.log
-*~
\ No newline at end of file
+*~
+/bin/
diff --git a/vfd-backend/app/controllers/Application.scala b/vfd-backend/app/controllers/Application.scala
index efdf1bd..1c1fe13 100644
--- a/vfd-backend/app/controllers/Application.scala
+++ b/vfd-backend/app/controllers/Application.scala
@@ -7,26 +7,20 @@ import play.api.Play.current
 import play.api.mvc.WebSocket.FrameFormatter
 
 import play.api.libs.json._
-
-import vfd.uav.DataFrame
 import plugins.UavPlugin
 
-
 object Application extends Controller {
 
-  implicit val dataFrameFormat = spicklerFormat[DataFrame]
-  implicit val dataFrameFormatter = FrameFormatter.jsonFrame[DataFrame]
-
   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"))
   }
 
   def index = Action { implicit request =>
-    Ok(views.html.index(routes.Application.socket.webSocketURL()))
+    Ok(views.html.index(routes.Application.mavlink.webSocketURL()))
   }
 
-
-  def socket = WebSocket.acceptWithActor[String, DataFrame] { implicit request =>
+  def mavlink = WebSocket.acceptWithActor[Array[Byte], Array[Byte]] { implicit request =>
     out => use[UavPlugin].register(out)
   }
+
 }
\ No newline at end of file
diff --git a/vfd-backend/app/plugins/UavPlugin.scala b/vfd-backend/app/plugins/UavPlugin.scala
index a94ed9d..19be049 100644
--- a/vfd-backend/app/plugins/UavPlugin.scala
+++ b/vfd-backend/app/plugins/UavPlugin.scala
@@ -1,44 +1,65 @@
 package plugins
 
-import akka.actor._
-import play.api._
+import akka.actor.Actor
+import akka.actor.ActorRef
+import akka.actor.Props
+import akka.actor.actorRef2Scala
+import play.api.Application
+import play.api.Plugin
 import play.api.libs.concurrent.Akka
-import vfd.uav._
+import vfd.uav.Connection
+import vfd.uav.DummyConnection
+import vfd.uav.SerialConnection
 
 class UavPlugin(app: Application) extends Plugin {
 
-  object conf {
-    private val config = app.configuration.getConfig("uav")
-    val connection = config.flatMap(_.getString("connection")).getOrElse("mock")
-    val port = config.flatMap(_.getString("port")).getOrElse("/dev/ttyACM0")
-    val baud = config.flatMap(_.getInt("baud")).getOrElse(9600)
-  }
+  private lazy val config = app.configuration.getConfig("uav")
+
+  lazy val systemId = config.flatMap(_.getInt("system_id")).getOrElse(1)
+
+  private lazy val connection = {
+    val conn = config.flatMap(_.getConfig("connection"))
+    val tpe = conn.flatMap(_.getString("type")).getOrElse("mock")
+    val heartbeat = conn.flatMap(_.getInt("heartbeat")).getOrElse(2000)
+    val id = conn.flatMap(_.getInt("component_id")).getOrElse(99).toByte
+
+    val props = tpe match {
+      case "mock" =>
+        DummyConnection.apply
+
+      case "serial" =>
+        val serial = config.flatMap(_.getConfig("serial"))
+        SerialConnection(
+          id,
+          heartbeat,
+          serial.flatMap(_.getString("port")).getOrElse("/dev/ttyUSB0"),
+          serial.flatMap(_.getInt("baud")).getOrElse(115200),
+          serial.flatMap(_.getBoolean("two_stop_bits")).getOrElse(false),
+          serial.flatMap(_.getInt("parity")).getOrElse(0))
 
-  lazy val connection: ActorRef = {
-    val props = conf.connection match {
-      case "mock" => Connection.dummy
-      case "fcu" => Connection.fcu(conf.port, conf.baud)
-      case _ => throw new RuntimeException("Unknown connection type.")
+      case unknown => throw new RuntimeException("Unsupported connection type '" + unknown + "'")
     }
-    Akka.system(app).actorOf(props, name = "uav")
+
+    Akka.system(app).actorOf(props, name = "uav-connection")
+
   }
 
-  def register(out: ActorRef): Props = Repeater(out, connection)
+  def register(out: ActorRef): Props = Props(classOf[Repeater], out, connection)
 
 }
 
 class Repeater(out: ActorRef, connection: ActorRef) extends Actor {
 
-    override def preStart = {
-      connection ! Connection.Register
-    }
+  override def preStart = {
+    connection ! Connection.Register
+  }
 
-    def receive = {
-      case Connection.NewDataFrame(df) => out ! df
-    }
-    
+  def receive = {
+    case msg =>
+      if (sender == connection)
+        out ! msg
+      else
+        connection ! msg
   }
 
-object Repeater {
-  def apply(out: ActorRef, connection: ActorRef) = Props(classOf[Repeater], out, connection)
 }
\ No newline at end of file
diff --git a/vfd-backend/app/util/package.scala b/vfd-backend/app/util/package.scala
deleted file mode 100644
index 4a6d2e6..0000000
--- a/vfd-backend/app/util/package.scala
+++ /dev/null
@@ -1,22 +0,0 @@
-
-
-import org.scalajs.spickling._
-import org.scalajs.spickling.playjson._
-import play.api.data.validation.ValidationError
-import play.api.libs.json._
-
-
-package object util {
-
-  def spicklerFormat[A](implicit manifest: Manifest[A], pickler: Pickler[A], unpickler: Unpickler[A]) = new Format[A] {
-    PicklerRegistry.register[A]
-
-    def writes(o: A): JsValue = PicklerRegistry.pickle(o)
-
-    def reads(j: JsValue): JsResult[A] = PicklerRegistry.unpickle(j) match {
-      case a: A => JsSuccess(a)
-      case _ => JsError("unpickling yielded wrong type")
-    }
-  }
-  
-}
\ No newline at end of file
diff --git a/vfd-backend/conf/application.conf b/vfd-backend/conf/application.conf
index 96478c0..1559b89 100644
--- a/vfd-backend/conf/application.conf
+++ b/vfd-backend/conf/application.conf
@@ -61,8 +61,27 @@ logger.play=INFO
 logger.application=DEBUG
 
 # UAV
-uav.connection=mock
-uav.port="/dev/ttyACM0"
-uav.baud=9600
+# ~~~~~
+# Settings to control the communication with UAVs
+
+# Mavlink system id identifying this base station
+uav.system_id=1
+
+# Type of connection to use
+# 'mock' for a sample connection 
+uav.connection.type=serial
+
+# Mavlink component id used by this connection
+# (not the web frontend), in case it needs to inject messages
+uav.connection.component_id=99
 
+# Delay in milliseconds between heartbeat messages injected by
+# the connection 
+# 0 = no heartbeats injected
+uav.connection.heartbeat=2000
 
+# Serial connection specific
+uav.serial.port="/dev/ttyUSB0"
+uav.serial.baud=115200
+uav.serial.two_stop_bits=false
+uav.serial.parity=0
\ No newline at end of file
diff --git a/vfd-backend/conf/routes b/vfd-backend/conf/routes
index b211b07..45b6ab9 100644
--- a/vfd-backend/conf/routes
+++ b/vfd-backend/conf/routes
@@ -4,7 +4,7 @@
 
 # Home page
 GET     /                           controllers.Application.index
-GET     /socket                     controllers.Application.socket
+GET     /mavlink                    controllers.Application.mavlink
 
 # Map static resources from the /public folder to the /assets URL path
 GET     /assets/*file               controllers.Assets.at(path="/public", file)