1 files changed, 70 insertions, 0 deletions
diff --git a/mavigator-cockpit/src/main/scala/mavigator/dashboard/MavlinkSocket.scala b/mavigator-cockpit/src/main/scala/mavigator/dashboard/MavlinkSocket.scala
new file mode 100644
index 0000000..7f4ffdc
--- /dev/null
+++ b/mavigator-cockpit/src/main/scala/mavigator/dashboard/MavlinkSocket.scala
@@ -0,0 +1,70 @@
+package mavigator.dashboard
+
+import scala.scalajs.js
+import scala.scalajs.js.Any.fromFunction1
+import org.mavlink.Packet
+import org.mavlink.Parser
+import org.mavlink.Parser.Errors._
+import org.mavlink.messages.Message
+import org.scalajs.dom
+import scala.concurrent.duration._
+import rx._
+import rx.ops._
+import scala.concurrent.ExecutionContext.Implicits.global
+
+class MavlinkSocket(url: String, val remoteSystemId: Int) {
+  implicit val scheduler = new DomScheduler
+
+  lazy val packet: Var[Packet] = Var(Packet.empty)
+  lazy val message: Rx[Message] = packet.map{p => 
+    Message.unpack(p.messageId, p.payload)
+  }
+  
+  object stats {
+    private val DebounceTime = 1.seconds
+    
+    private[MavlinkSocket] val _crcErrors = Var(0)
+    private[MavlinkSocket] val _overflows = Var(0)
+    private[MavlinkSocket] val _wrongIds = Var(0)
+    private[MavlinkSocket] val _packets = Var(0)
+    
+    val crcErrors = _crcErrors.debounce(DebounceTime)
+    val overflows = _overflows.debounce(DebounceTime)
+    val wrongIds = _wrongIds.debounce(DebounceTime)
+    val packets = _packets.debounce(DebounceTime)
+    val open = Var(false)
+  }
+
+ private val parser = new Parser(
+    {
+      case pckt@Packet(seq, `remoteSystemId`, compId, msgId, payload) =>
+        packet() = pckt
+        stats._packets() += 1
+      case _ =>
+        stats._wrongIds() += 1
+    },
+    {
+      case CrcError => stats._crcErrors() += 1
+      case OverflowError => stats._overflows() += 1
+    })
+
+  private val connection = new dom.WebSocket(url)
+
+  connection.binaryType = "arraybuffer"
+
+  connection.onopen = (e: dom.Event) => {
+    stats.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) => {
+    stats.open() = false
+  }
+
+}