cleanup and tweaks

2 files changed, 33 insertions, 27 deletions

diff --git a/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala b/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala
index d427aef..1217291 100644
--- a/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala
+++ b/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala
@@ -15,11 +15,11 @@ class MockConnection extends Actor with ActorLogging with Connection {
   import Connection._
   import context._
 
-  val messageInterval = FiniteDuration(500, MILLISECONDS)
+  val messageInterval = FiniteDuration(250, MILLISECONDS)
 
   override def preStart() = {
     context.system.scheduler.schedule(messageInterval, messageInterval) {
-      val data = MockPackets.random()
+      val data = MockPackets.random
 
       this.log.debug("sending mock flight data: " + data.mkString("(", ",", ")"))
       sendAll(Received(ByteString(data)))
@@ -42,26 +42,31 @@ object MockPackets {
       Packet(5, 42, 1, id, payload).toSeq.toArray
     }
   }
-
-  def random(): Array[Byte] = Random.nextInt(4) match {
-    case 0 => randomInvalid()
-    case 1 => Heartbeat(0).bytes
-    case 2 => Motor(Random.nextInt(101).toByte, Random.nextInt(101).toByte, Random.nextInt(101).toByte, Random.nextInt(101).toByte).bytes
-    case 3 => Attitude((Random.nextInt(160) - 80).toShort, (Random.nextInt(160) - 80).toShort.toShort, Random.nextInt(360).toShort).bytes
-  }
-
-  def randomInvalid() = Random.nextInt(2) match {
-    case 0 => invalidCrc
-    case 1 => invalidOverflow
-  }
-
+  
+  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](1006)(42)
+    val data = Array.fill[Byte](Packet.MaxPayloadLength + 10)(42)
     data(0) = -2
     data(1) = 2
     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
+  }
 }
\ No newline at end of file
diff --git a/vfd-uav/src/main/scala/vfd/uav/SerialConnection.scala b/vfd-uav/src/main/scala/vfd/uav/SerialConnection.scala
index 857169e..4a1e62f 100644
--- a/vfd-uav/src/main/scala/vfd/uav/SerialConnection.scala
+++ b/vfd-uav/src/main/scala/vfd/uav/SerialConnection.scala
@@ -4,7 +4,9 @@ import java.util.concurrent.TimeUnit.MILLISECONDS
 
 import scala.concurrent.duration.FiniteDuration
 
+import org.mavlink.Packet
 import org.mavlink.Parser
+import org.mavlink.messages.Heartbeat
 import org.mavlink.messages.Message
 
 import com.github.jodersky.flow.Parity
@@ -23,13 +25,15 @@ import akka.util.ByteString
 class SerialConnection(id: Byte, heartbeat: Option[FiniteDuration], port: String, settings: SerialSettings) extends Actor with ActorLogging with Connection {
   import context._
 
-  val Heartbeat = ByteString(
-    Array(-2, 9, -121, 20, -56, 0, 0, 0, 0, 0, 2, 0, 0, 3, 3, -112, 76).map(_.toByte))
+  lazy val hb = {
+    val (id, payload) = Message.pack(Heartbeat(0))
+    Packet(5, 42, 1, id, payload).toSeq.toArray
+  }
 
   override def preStart() = {
     heartbeat foreach { interval =>
       context.system.scheduler.schedule(interval, interval) {
-        self ! Connection.Send(Heartbeat)
+        self ! Connection.Send(ByteString(hb))
       }
     }
   }
@@ -58,7 +62,7 @@ class SerialConnection(id: Byte, heartbeat: Option[FiniteDuration], port: String
       context become opened(sender)
 
     case Connection.Send(_) => () // ignore
-      /*
+    /*
     	 * During opening, any outgoing messages are discarded.
        * By using some kind of message stashing, maybe messages could be treated
        * once the port has been opened. However, in such a case failure also needs
@@ -68,14 +72,11 @@ class SerialConnection(id: Byte, heartbeat: Option[FiniteDuration], port: String
        */
 
   }
-  
-  val last = new collection.mutable.Queue[Int]
-  
-  val parser = new Parser(pckt =>
+
+  val parser = new Parser(pckt => {
     println("Received message: " + Message.unpack(pckt.messageId, pckt.payload))
-  )
-  
- 
+  })
+
   def _opened(operator: ActorRef): Receive = {
 
     case Terminated(`operator`) =>