modularize project

4 files changed, 193 insertions, 0 deletions

diff --git a/vfd-uav/src/main/scala/vfd/uav/Connection.scala b/vfd-uav/src/main/scala/vfd/uav/Connection.scala
new file mode 100644
index 0000000..b4e6493
--- /dev/null
+++ b/vfd-uav/src/main/scala/vfd/uav/Connection.scala
@@ -0,0 +1,27 @@
+package vfd.uav
+
+import akka.actor.Actor
+import akka.actor.ActorRef
+import akka.actor.Props
+import scala.collection.mutable.ArrayBuffer
+
+object Connection {
+  def dummy = Props(classOf[DummyConnection])
+  def fcu(port: String, baud: Int) = Props(classOf[FcuConnection], port, baud)
+
+  trait Event
+  trait Command
+  case object Register extends Command
+  case class NewDataFrame(df: DataFrame) extends Event
+
+}
+
+trait Connection {that: Actor =>
+  private val _clients = new ArrayBuffer[ActorRef]
+  def clients = _clients.toSeq
+  def register(client: ActorRef) = {
+    _clients += client;
+    that.context.watch(client)
+  }
+  def unregister(client: ActorRef) = _clients -= client
+}
diff --git a/vfd-uav/src/main/scala/vfd/uav/DummyConnection.scala b/vfd-uav/src/main/scala/vfd/uav/DummyConnection.scala
new file mode 100644
index 0000000..bf8714f
--- /dev/null
+++ b/vfd-uav/src/main/scala/vfd/uav/DummyConnection.scala
@@ -0,0 +1,43 @@
+package vfd.uav
+
+import akka.actor.Actor
+import akka.actor.Terminated
+import scala.concurrent.duration.FiniteDuration
+import java.util.concurrent.TimeUnit._
+
+class DummyConnection extends Actor with Connection {
+  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
+    Connection.NewDataFrame(DataFrame(
+      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 Connection.Register => register(sender)
+    case Terminated(client) => unregister(client)
+  }
+
+}
+
+
+
diff --git a/vfd-uav/src/main/scala/vfd/uav/FcuConnection.scala b/vfd-uav/src/main/scala/vfd/uav/FcuConnection.scala
new file mode 100644
index 0000000..f9f267d
--- /dev/null
+++ b/vfd-uav/src/main/scala/vfd/uav/FcuConnection.scala
@@ -0,0 +1,53 @@
+package vfd.uav
+
+import akka.actor.Actor
+import akka.actor.Props
+import akka.actor.Terminated
+import akka.io.IO
+import com.github.jodersky.flow._
+import com.github.jodersky.flow.Serial
+
+
+class FcuConnection(port: String, baud: Int) extends Actor with Connection {
+  import context._
+
+  val settings = SerialSettings(
+    baud = this.baud,
+    characterSize = 8,
+    twoStopBits = false,
+    parity = Parity.None
+  )
+
+  override def preStart() = {
+    IO(Serial) ! Serial.Open(port, settings)
+  }
+
+  def receive = {
+    case Connection.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 = Connection.NewDataFrame(DataFrame(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/vfd-uav/src/main/scala/vfd/uav/Framer.scala b/vfd-uav/src/main/scala/vfd/uav/Framer.scala
new file mode 100644
index 0000000..f587c9e
--- /dev/null
+++ b/vfd-uav/src/main/scala/vfd/uav/Framer.scala
@@ -0,0 +1,70 @@
+package vfd.uav
+
+import scala.collection.mutable.ArrayBuffer
+
+class Framer {
+  final val MTU: Int = 1024
+
+  final val START: Byte = 0xfd.toByte
+  final val STOP: Byte = 0xfe.toByte
+  final val ESCAPE: Byte = 0xff.toByte
+
+  final val WAITING = 0
+  final val RECEIVING = 1
+  final val ESCAPING = 2
+
+  private val data = new Array[Byte](MTU)
+  private var index = 0
+  private var state = WAITING
+
+  private def add(byte: Byte): Unit = {
+    data(index) = byte
+    index += 1
+    if (index >= MTU) index = 0
+  }
+
+  private def clear(): Unit = index = 0
+
+
+  def push(byte: Byte): Option[Array[Byte]] = state match {
+    case WAITING =>
+      if (byte == START) {
+        clear()
+        state = RECEIVING
+      }
+      None
+
+    case RECEIVING => byte match {
+      case START =>
+        clear()
+        state = RECEIVING  
+        None
+      case ESCAPE =>
+        state = ESCAPING
+        None
+      case STOP =>
+        state = WAITING
+        Some(java.util.Arrays.copyOfRange(data, 0, index))
+
+      case _ =>
+        add(byte)
+        None
+    }
+    case ESCAPING =>
+      add(byte)
+      state = RECEIVING
+      None
+  }
+
+  def push(bytes: Array[Byte]): Seq[Array[Byte]] = {
+    val messages = new ArrayBuffer[Array[Byte]]
+
+    for (byte <- bytes) push(byte) match {
+      case None => ()
+      case Some(message) => messages += message
+    }
+
+    messages
+  }
+
+}
\ No newline at end of file