1 files changed, 60 insertions, 0 deletions
diff --git a/mavigator-cockpit/src/main/scala/mavigator/cockpit/MavlinkWebSockets.scala b/mavigator-cockpit/src/main/scala/mavigator/cockpit/MavlinkWebSockets.scala
new file mode 100644
index 0000000..3797005
--- /dev/null
+++ b/mavigator-cockpit/src/main/scala/mavigator/cockpit/MavlinkWebSockets.scala
@@ -0,0 +1,60 @@
+package mavigator
+package cockpit
+
+import org.mavlink._
+import org.mavlink.Parser.Errors._
+import org.mavlink.messages._
+
+import org.scalajs.dom
+import scalajs.js
+
+trait MavlinkWebSockets { self: Instruments =>
+
+  private class MavlinkWebSocket(url: String, remoteSystemId: Int) {
+
+    private var _open = false
+    def open: Boolean = _open
+
+    private val parser = new Parser(
+      {
+        case pckt@Packet(seq, `remoteSystemId`, compId, msgId, payload) =>
+          val msg = Message.unpack(pckt.messageId, pckt.payload)
+          onMessage(msg)
+            //_packets() = _packets.now + 1
+        case _ =>
+          //_wrongIds() = _wrongIds.now + 1
+      },
+      {
+        case CrcError => //_crcErrors() = _crcErrors.now + 1
+        case OverflowError => //_overflows() = _overflows.now + 1
+      }
+    )
+
+    private val connection = new dom.WebSocket(url)
+
+    connection.binaryType = "arraybuffer"
+
+    connection.onopen = (e: dom.Event) => {
+      _open = true
+    }
+    connection.onmessage = (e: dom.MessageEvent) => {
+      val buffer = e.data.asInstanceOf[js.typedarray.ArrayBuffer]
+      val view = new js.typedarray.DataView(buffer)
+
+      for (i <- 0 until view.byteLength) {
+        parser.push(view.getInt8(i))
+      }
+    }
+    connection.onclose = (e: dom.CloseEvent) => {
+      _open = false
+    }
+
+  }
+
+  private def onMessage(msg: Message): Unit = msg match {
+    case a: Attitude => attitudeOverlay.update((a.pitch.toFloat, a.roll.toFloat))
+    case _ => ()
+  }
+
+  def connect(url: String, remoteSystemId: Int): Unit = new MavlinkWebSocket(url, remoteSystemId)
+}