43 files changed, 451 insertions, 249 deletions

diff --git a/backend/app/controllers/Application.scala b/backend/app/controllers/Application.scala
deleted file mode 100644
index 1abaee0..0000000
--- a/backend/app/controllers/Application.scala
+++ /dev/null
@@ -1,52 +0,0 @@
-package controllers
-
-import uav._
-import play.api._
-import play.api.mvc._
-import play.api.Play.current
-import play.api.mvc.WebSocket.FrameFormatter
-
-import play.api.libs.functional.syntax._
-import play.api.libs.json._
-
-
-object Application extends Controller {
-  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"))
-  }
-
-
-
-  implicit val dataWrites: Writes[UavConnection.Data] = (
-    (__ \ "roll").write[Double] and
-    (__ \ "pitch").write[Double] and
-    (__ \ "heading").write[Double] and
-    (__ \ "altitude").write[Double] and
-    (__ \ "temperature").write[Double])(unlift(UavConnection.Data.unapply))
-
-  implicit val dataReads: Reads[UavConnection.Data] = (
-    (__ \ "roll").read[Double] and
-    (__ \ "pitch").read[Double] and
-    (__ \ "heading").read[Double] and
-    (__ \ "altitude").read[Double] and
-    (__ \ "temperature").read[Double])(UavConnection.Data.apply _)
-
-  implicit val dataFormat = Format(dataReads, dataWrites)
-
-
-  //implicit val inEventFormat = Json.format[uav.UavConnection.Data]
-  //implicit val outEventFormat = Json.format[uav.Data]
-  
-
-
-  def index() = Action {
-    Ok(views.html.index())
-  }
-
-  implicit val dataFrameFormatter = FrameFormatter.jsonFrame[UavConnection.Data]
-
-
-  def socket = WebSocket.acceptWithActor[String, UavConnection.Data] { request =>
-    out => use[UavPlugin].register(out)
-  }
-}
\ No newline at end of file
diff --git a/backend/app/uav/UavPlugin.scala b/backend/app/uav/UavPlugin.scala
deleted file mode 100644
index 060e3dc..0000000
--- a/backend/app/uav/UavPlugin.scala
+++ /dev/null
@@ -1,34 +0,0 @@
-package uav
-
-import akka.actor._
-import play.api._
-import play.api.libs.concurrent.Akka
-
-class UavPlugin(app: Application) extends Plugin {
-
-  lazy val uav: ActorRef = Akka.system(app).actorOf(UavConnection.fcu, name = "uav")
-
-  def register(out: ActorRef): Props = Repeater(out, uav)
-  
-
-}
-
-class Repeater(out: ActorRef, uav: ActorRef) extends Actor {
-
-    override def preStart = {
-      uav ! UavConnection.Register
-    }
-
-    def receive = {
-      case msg => sender match {
-        case `out` => uav ! msg
-        case `uav` => out ! msg
-        case _ => throw new RuntimeException("Unknown sender")
-      }
-    }
-    
-  }
-
-object Repeater {
-  def apply(out: ActorRef, uav: ActorRef) = Props(classOf[Repeater], out, uav)
-}
\ No newline at end of file
diff --git a/backend/app/uav/connections.scala b/backend/app/uav/connections.scala
deleted file mode 100644
index a922519..0000000
--- a/backend/app/uav/connections.scala
+++ /dev/null
@@ -1,123 +0,0 @@
-package uav
-
-import akka.actor.Actor
-import akka.actor.ActorRef
-import akka.actor.Props
-import akka.actor.Terminated
-import scala.concurrent.duration.FiniteDuration
-import scala.collection.mutable.ArrayBuffer
-import java.util.concurrent.TimeUnit._
-import akka.io.IO
-import com.github.jodersky.flow._
-import com.github.jodersky.flow.Serial
-
-object UavConnection {
-  def dummy = Props(classOf[DummyConnection])
-  def fcu = Props(classOf[FcuConnection])
-
-  trait Event
-  trait Command
-  case object Register extends Command
-
-  case class Data(
-    roll: Double,
-    pitch: Double,
-    heading: Double,
-    altitude: Double,
-    temperature: Double
-  ) extends Event
-}
-
-trait UavConnection {selfs: Actor =>
-  private val _clients = new ArrayBuffer[ActorRef]
-  def clients = _clients.toSeq
-  def register(client: ActorRef) = {
-    _clients += client;
-    selfs.context.watch(client)
-  }
-  def unregister(client: ActorRef) = _clients -= client
-}
-
-class DummyConnection extends Actor with UavConnection {
-  import UavConnection._
-  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
-    Data(
-      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 Register => register(sender)
-    case Terminated(client) => unregister(client)
-    case _ => ()
-  }
-
-}
-
-
-class FcuConnection extends Actor with UavConnection {
-  import UavConnection._
-  import context._
-
-  val port = "/dev/ttyACM0"
-  val settings = SerialSettings(
-    baud = 9600,
-    characterSize = 8,
-    twoStopBits = false,
-    parity = Parity.None
-  )
-
-  override def preStart() = {
-    IO(Serial) ! Serial.Open(port, settings)
-  }
-
-  def receive = {
-    case 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 = Data(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/backend/conf/play.plugins b/backend/conf/play.plugins
deleted file mode 100644
index 2211f4a..0000000
--- a/backend/conf/play.plugins
+++ /dev/null
@@ -1 +0,0 @@
- 10000:uav.UavPlugin
\ No newline at end of file
diff --git a/project/Build.scala b/project/Build.scala
index af78ff5..9c6789b 100644
--- a/project/Build.scala
+++ b/project/Build.scala
@@ -1,66 +1,65 @@
 import sbt._
 import sbt.Keys._
+import util._
 import play._
 import play.PlayImport.PlayKeys._
 import scala.scalajs.sbtplugin.ScalaJSPlugin
 import scala.scalajs.sbtplugin.ScalaJSPlugin.ScalaJSKeys._
+import Dependencies._
 
 
 object ApplicationBuild extends Build {
 
   val common = Seq(
     scalaVersion := "2.11.2",
-    scalacOptions ++= Seq("-feature")
+    scalacOptions ++= Seq("-feature"),
+    unmanagedSourceDirectories in Compile += (baseDirectory in ThisBuild).value / "vfd-shared" / "src" / "main" / "scala",
+    unmanagedResourceDirectories in Compile += (baseDirectory in ThisBuild).value / "vfd-shared" / "src" / "main" / "resources"
   )
 
   lazy val root = Project("root", file(".")).aggregate(
+    uav,
     backend,
     frontend
   )
 
+  lazy val uav = (
+    Project("vfd-uav", file("vfd-uav"))
+    settings(common: _*)
+    settings(
+      libraryDependencies ++= Seq(
+        akkaActor,
+        flow,
+        flowNative
+      )
+    )
+  )
+
   lazy val backend = (
-    Project("vfd-backend", file("backend"))
+    Project("vfd-backend", file("vfd-backend"))
     enablePlugins(PlayScala)
     settings(common: _*)
     settings(
-      libraryDependencies ++= Dependencies.backend
+      libraryDependencies ++= Seq(
+        bootstrap,
+        fontawesome,
+        jquery
+      )
     )
+    dependsOn(uav)
     dependsOnJs(frontend)
   )
 
   lazy val frontend = (
-    Project("vfd-frontend", file("frontend"))
+    Project("vfd-frontend", file("vfd-frontend"))
     settings(ScalaJSPlugin.scalaJSSettings: _*)
     settings(common: _*)
     settings(
-      libraryDependencies ++= Dependencies.frontend
+      libraryDependencies ++= Seq(
+        rx,
+        dom
+      )
     )
   )
 
-
-
-  implicit class ScalaJSPlayProject(val project: Project) {
-   def dependsOnJs(reference: Project): Project = project.settings(
-      resourceGenerators in Compile += Def.task{
-        val outDir: File = (resourceManaged in Compile).value / "public" / "lib"
-
-        val optimized: Seq[File] = (fastOptJS in (reference, Compile)).value.allCode.map(_.path).map(file(_))
-
-        val outFiles = optimized.map(file => outDir / file.name)
-
-        for ((opt, out) <- optimized zip outFiles) {
-          if (!out.exists || out.lastModified < opt.lastModified) {
-            IO.copyFile(opt, out, true)
-            val map = opt.getParentFile / (out.name + ".map")
-            IO.copyFile(map, outDir / map.name)
-          }
-        }
-        outFiles
-      }.taskValue,
-      playMonitoredFiles ++= (watchSources in reference).value.map(_.getCanonicalPath)
-    )
-  }
-
-
-
 }
\ No newline at end of file
diff --git a/project/Dependencies.scala b/project/Dependencies.scala
index 6e30920..73b07ac 100644
--- a/project/Dependencies.scala
+++ b/project/Dependencies.scala
@@ -3,17 +3,16 @@ import scala.scalajs.sbtplugin.ScalaJSPlugin._
 
 object Dependencies {
 
-  val flow = "com.github.jodersky" %% "flow" % "2.0.4"
-  val flowNative = "com.github.jodersky" % "flow-native" % "2.0.4"
+  val akkaActor = "com.typesafe.akka" %% "akka-actor" % "2.3.6"
 
-  val dom = "org.scala-lang.modules.scalajs" %%%! "scalajs-dom" % "0.6"
-  val rx = "com.scalarx" %%%! "scalarx" % "0.2.5"
+  val flow = "com.github.jodersky" %% "flow" % "2.0.6"
+  val flowNative = "com.github.jodersky" % "flow-native" % "2.0.6"
 
   val bootstrap = "org.webjars" % "bootstrap" % "3.2.0"
   val fontawesome = "org.webjars" % "font-awesome" % "4.2.0"
   val jquery = "org.webjars" % "jquery" % "2.1.1"
 
+  val dom = "org.scala-lang.modules.scalajs" %%%! "scalajs-dom" % "0.6"
+  val rx = "com.scalarx" %%%! "scalarx" % "0.2.5"
 
-  def backend = Seq(bootstrap, fontawesome, jquery, flow, flowNative)
-  def frontend = Seq(dom, rx)
 }
\ No newline at end of file
diff --git a/project/util.scala b/project/util.scala
new file mode 100644
index 0000000..595d7fe
--- /dev/null
+++ b/project/util.scala
@@ -0,0 +1,32 @@
+import sbt._
+import sbt.Keys._
+import play._
+import play.PlayImport.PlayKeys._
+import scala.scalajs.sbtplugin.ScalaJSPlugin
+import scala.scalajs.sbtplugin.ScalaJSPlugin.ScalaJSKeys._
+
+package object util {
+
+  implicit class ScalaJSPlayProject(val project: Project) {
+    def dependsOnJs(reference: Project): Project = project.settings(
+      resourceGenerators in Compile += Def.task{
+        val outDir: File = (resourceManaged in Compile).value / "public" / "lib"
+
+        val optimized: Seq[File] = (fastOptJS in (reference, Compile)).value.allCode.map(_.path).map(file(_))
+
+        val outFiles = optimized.map(file => outDir / file.name)
+
+        for ((opt, out) <- optimized zip outFiles) {
+          if (!out.exists || out.lastModified < opt.lastModified) {
+            IO.copyFile(opt, out, true)
+            val map = opt.getParentFile / (out.name + ".map")
+            IO.copyFile(map, outDir / map.name)
+          }
+        }
+        outFiles
+      }.taskValue,
+      playMonitoredFiles ++= (watchSources in reference).value.map(_.getCanonicalPath)
+    )
+  }
+
+}
\ No newline at end of file
diff --git a/backend/.gitignore b/vfd-backend/.gitignore
index ed1de16..ed1de16 100644
--- a/backend/.gitignore
+++ b/vfd-backend/.gitignore
diff --git a/vfd-backend/app/controllers/Application.scala b/vfd-backend/app/controllers/Application.scala
new file mode 100644
index 0000000..5a473b4
--- /dev/null
+++ b/vfd-backend/app/controllers/Application.scala
@@ -0,0 +1,31 @@
+package controllers
+
+import play.api._
+import play.api.mvc._
+import play.api.Play.current
+import play.api.mvc.WebSocket.FrameFormatter
+
+import play.api.libs.functional.syntax._
+import play.api.libs.json._
+
+import vfd.uav.DataFrame
+import plugins.UavPlugin
+
+
+object Application extends Controller {
+
+  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 {
+    Ok(views.html.index())
+  }
+
+  implicit val dataFrameFormat = Json.format[DataFrame]
+  implicit val dataFrameFormatter = FrameFormatter.jsonFrame[DataFrame]
+
+  def socket = WebSocket.acceptWithActor[String, DataFrame] { 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
new file mode 100644
index 0000000..a94ed9d
--- /dev/null
+++ b/vfd-backend/app/plugins/UavPlugin.scala
@@ -0,0 +1,44 @@
+package plugins
+
+import akka.actor._
+import play.api._
+import play.api.libs.concurrent.Akka
+import vfd.uav._
+
+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)
+  }
+
+  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.")
+    }
+    Akka.system(app).actorOf(props, name = "uav")
+  }
+
+  def register(out: ActorRef): Props = Repeater(out, connection)
+
+}
+
+class Repeater(out: ActorRef, connection: ActorRef) extends Actor {
+
+    override def preStart = {
+      connection ! Connection.Register
+    }
+
+    def receive = {
+      case Connection.NewDataFrame(df) => out ! df
+    }
+    
+  }
+
+object Repeater {
+  def apply(out: ActorRef, connection: ActorRef) = Props(classOf[Repeater], out, connection)
+}
\ No newline at end of file
diff --git a/backend/app/views/index.scala.html b/vfd-backend/app/views/index.scala.html
index 654c2a1..654c2a1 100644
--- a/backend/app/views/index.scala.html
+++ b/vfd-backend/app/views/index.scala.html
diff --git a/backend/app/views/main.scala.html b/vfd-backend/app/views/main.scala.html
index 86f1384..db894d2 100644
--- a/backend/app/views/main.scala.html
+++ b/vfd-backend/app/views/main.scala.html
@@ -9,6 +9,7 @@
 	<meta name="viewport" content="width=device-width, initial-scale=1">
 	<title>VFD - @title</title>
 
+	<link rel="shortcut icon" href="@routes.Assets.at("images/logo.svg")">
 	<link rel="stylesheet" media="screen" href="@routes.Assets.at("lib/bootstrap/css/bootstrap.css")">
 	<link rel="stylesheet" media="screen" href="@routes.Assets.at("stylesheets/main.css")">
 </head>
@@ -25,7 +26,7 @@
 						<span class="icon-bar"></span>
 					</button>
 					<a class="navbar-brand" href="@routes.Application.index">
-						<img style="max-height: 32px;" src="@routes.Assets.at("images/logo.svg")" alt="logo">
+						<!-- <img style="max-height: 100%;" src="@routes.Assets.at("images/logo-invert.svg")" alt="logo"> -->
 						Virtual Flight Deck
 					</a>
 				</div>
diff --git a/backend/app/views/panels/eicas.scala.html b/vfd-backend/app/views/panels/eicas.scala.html
index 211adba..211adba 100644
--- a/backend/app/views/panels/eicas.scala.html
+++ b/vfd-backend/app/views/panels/eicas.scala.html
diff --git a/backend/app/views/panels/pfd.scala.html b/vfd-backend/app/views/panels/pfd.scala.html
index 9c89d6a..9c89d6a 100644
--- a/backend/app/views/panels/pfd.scala.html
+++ b/vfd-backend/app/views/panels/pfd.scala.html
diff --git a/backend/conf/application.conf b/vfd-backend/conf/application.conf
index ba58ed1..96478c0 100644
--- a/backend/conf/application.conf
+++ b/vfd-backend/conf/application.conf
@@ -60,3 +60,9 @@ logger.play=INFO
 # Logger provided to your application:
 logger.application=DEBUG
 
+# UAV
+uav.connection=mock
+uav.port="/dev/ttyACM0"
+uav.baud=9600
+
+
diff --git a/vfd-backend/conf/play.plugins b/vfd-backend/conf/play.plugins
new file mode 100644
index 0000000..40c58dd
--- /dev/null
+++ b/vfd-backend/conf/play.plugins
@@ -0,0 +1 @@
+ 10000:plugins.UavPlugin
\ No newline at end of file
diff --git a/backend/conf/routes b/vfd-backend/conf/routes
index b211b07..b211b07 100644
--- a/backend/conf/routes
+++ b/vfd-backend/conf/routes
diff --git a/backend/public/fonts/DIGITAL.TXT b/vfd-backend/public/fonts/DIGITAL.TXT
index 484dd47..484dd47 100644
--- a/backend/public/fonts/DIGITAL.TXT
+++ b/vfd-backend/public/fonts/DIGITAL.TXT
diff --git a/backend/public/fonts/DS-DIGIB.TTF b/vfd-backend/public/fonts/DS-DIGIB.TTF
index 064ad47..064ad47 100644
--- a/backend/public/fonts/DS-DIGIB.TTF
+++ b/vfd-backend/public/fonts/DS-DIGIB.TTF
diff --git a/backend/public/fonts/DS-DIGII.TTF b/vfd-backend/public/fonts/DS-DIGII.TTF
index 2aae3d8..2aae3d8 100644
--- a/backend/public/fonts/DS-DIGII.TTF
+++ b/vfd-backend/public/fonts/DS-DIGII.TTF
diff --git a/backend/public/fonts/DS-DIGIT.TTF b/vfd-backend/public/fonts/DS-DIGIT.TTF
index 65642f9..65642f9 100644
--- a/backend/public/fonts/DS-DIGIT.TTF
+++ b/vfd-backend/public/fonts/DS-DIGIT.TTF
diff --git a/backend/public/fonts/ds-digi.ttf b/vfd-backend/public/fonts/ds-digi.ttf
index 0925877..0925877 100644
--- a/backend/public/fonts/ds-digi.ttf
+++ b/vfd-backend/public/fonts/ds-digi.ttf
diff --git a/backend/public/images/instruments/altitude.svg b/vfd-backend/public/images/instruments/altitude.svg
index 24146a1..24146a1 100644
--- a/backend/public/images/instruments/altitude.svg
+++ b/vfd-backend/public/images/instruments/altitude.svg
diff --git a/backend/public/images/instruments/attitude.svg b/vfd-backend/public/images/instruments/attitude.svg
index 7f0452c..7f0452c 100644
--- a/backend/public/images/instruments/attitude.svg
+++ b/vfd-backend/public/images/instruments/attitude.svg
diff --git a/backend/public/images/instruments/distance.svg b/vfd-backend/public/images/instruments/distance.svg
index 1f4d6ff..1f4d6ff 100644
--- a/backend/public/images/instruments/distance.svg
+++ b/vfd-backend/public/images/instruments/distance.svg
diff --git a/backend/public/images/instruments/generic.svg b/vfd-backend/public/images/instruments/generic.svg
index 02e4caa..02e4caa 100644
--- a/backend/public/images/instruments/generic.svg
+++ b/vfd-backend/public/images/instruments/generic.svg
diff --git a/backend/public/images/instruments/heading.svg b/vfd-backend/public/images/instruments/heading.svg
index 83cf17b..83cf17b 100644
--- a/backend/public/images/instruments/heading.svg
+++ b/vfd-backend/public/images/instruments/heading.svg
diff --git a/backend/public/images/leds/green-off.svg b/vfd-backend/public/images/leds/green-off.svg
index 1c227fd..1c227fd 100644
--- a/backend/public/images/leds/green-off.svg
+++ b/vfd-backend/public/images/leds/green-off.svg
diff --git a/backend/public/images/leds/green-on.svg b/vfd-backend/public/images/leds/green-on.svg
index c358e3a..c358e3a 100644
--- a/backend/public/images/leds/green-on.svg
+++ b/vfd-backend/public/images/leds/green-on.svg
diff --git a/backend/public/images/leds/none.svg b/vfd-backend/public/images/leds/none.svg
index 85bc475..85bc475 100644
--- a/backend/public/images/leds/none.svg
+++ b/vfd-backend/public/images/leds/none.svg
diff --git a/backend/public/images/leds/red-off.svg b/vfd-backend/public/images/leds/red-off.svg
index ecd3ca5..ecd3ca5 100644
--- a/backend/public/images/leds/red-off.svg
+++ b/vfd-backend/public/images/leds/red-off.svg
diff --git a/backend/public/images/leds/red-on.svg b/vfd-backend/public/images/leds/red-on.svg
index e7fffea..e7fffea 100644
--- a/backend/public/images/leds/red-on.svg
+++ b/vfd-backend/public/images/leds/red-on.svg
diff --git a/backend/public/images/leds/yellow-on.svg b/vfd-backend/public/images/leds/yellow-on.svg
index 3b271b0..3b271b0 100644
--- a/backend/public/images/leds/yellow-on.svg
+++ b/vfd-backend/public/images/leds/yellow-on.svg
diff --git a/backend/public/images/logo.svg b/vfd-backend/public/images/logo-invert.svg
index eb38e8f..eb38e8f 100644
--- a/backend/public/images/logo.svg
+++ b/vfd-backend/public/images/logo-invert.svg
diff --git a/vfd-backend/public/images/logo.svg b/vfd-backend/public/images/logo.svg
new file mode 100644
index 0000000..b905aad
--- /dev/null
+++ b/vfd-backend/public/images/logo.svg
@@ -0,0 +1,87 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   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"
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+   height="64"
+   id="svg2985"
+   version="1.1"
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+   sodipodi:docname="logo.svg"
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+     id="base"
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+     inkscape:window-y="27"
+     inkscape:window-maximized="1" />
+  <metadata
+     id="metadata2990">
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+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title />
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+</svg>
diff --git a/backend/public/stylesheets/main.css b/vfd-backend/public/stylesheets/main.css
index 815d2b9..815d2b9 100644
--- a/backend/public/stylesheets/main.css
+++ b/vfd-backend/public/stylesheets/main.css
diff --git a/frontend/.gitignore b/vfd-frontend/.gitignore
index ed1de16..ed1de16 100644
--- a/frontend/.gitignore
+++ b/vfd-frontend/.gitignore
diff --git a/frontend/src/main/scala/Frontend.scala b/vfd-frontend/src/main/scala/Frontend.scala
index 0e3d554..9a628f6 100644
--- a/frontend/src/main/scala/Frontend.scala
+++ b/vfd-frontend/src/main/scala/Frontend.scala
@@ -31,8 +31,9 @@ class Frontend(attitudeSelector: String, azimuthSelector: String, altitudeSelect
     val connection = new dom.WebSocket("ws://localhost:9000/socket");
 
     connection.onmessage = (e: dom.MessageEvent) => {
+      Console.println(e.data);
       val data = js.JSON.parse(e.data.asInstanceOf[String]).asInstanceOf[Data]
-      Console.println(data.roll);
+      
       roll.setAttribute("transform", "rotate(" + data.roll.toDouble + ")");
       pitch.setAttribute("transform", "translate(0, " + data.pitch.toDouble + ")");
       heading.setAttribute("transform", "rotate(" +  data.heading.toDouble + ")");
diff --git a/vfd-shared/src/main/scala/vfd/uav/DataFrame.scala b/vfd-shared/src/main/scala/vfd/uav/DataFrame.scala
new file mode 100644
index 0000000..5e1bcb7
--- /dev/null
+++ b/vfd-shared/src/main/scala/vfd/uav/DataFrame.scala
@@ -0,0 +1,18 @@
+package vfd.uav
+
+/**
+   * Data from UAV.
+   * SI units unless indicated otherwise
+   * @param roll roll angle [rad]
+   * @param pitch pitch angle (to horizon) [rad]
+   * @param heading heading angle to magnetic north [rad]
+   * @param altitude altitude to mean sea level [m]
+   * @param temperature ambient temperature [deg C]
+  */
+case class DataFrame(
+  roll: Double,
+  pitch: Double,
+  heading: Double,
+  altitude: Double,
+  temperature: Double
+)
\ No newline at end of file
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