1 files changed, 46 insertions, 0 deletions
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/MavlinkUtil.scala.disabled b/mavigator-uav/src/main/scala/mavigator/uav/MavlinkUtil.scala.disabled
new file mode 100644
index 0000000..0fb56b0
--- /dev/null
+++ b/mavigator-uav/src/main/scala/mavigator/uav/MavlinkUtil.scala.disabled
@@ -0,0 +1,46 @@
+package mavigator.uav
+
+import org.mavlink.Assembler
+import org.mavlink.Packet
+import org.mavlink.Parser
+import org.mavlink.messages.Message
+
+import akka.actor.Actor
+import akka.actor.ActorLogging
+import akka.util.ByteString
+
+/** Provides utilities for actors representing a mavlink connection. */
+trait MavlinkUtil { myself: Actor with ActorLogging =>
+
+  /** Mavlink system ID of this connection. */
+  val systemId: Byte
+
+  /** Mavlink component ID of this connection. */
+  val componentId: Byte
+
+  /** Assembler for creating packets originating from this connection. */
+  private lazy val assembler = new Assembler(systemId, componentId)
+
+  /** Assembles a message into a bytestring representing a packet sent from this connection. */
+  protected def assemble(message: Message): ByteString = {
+    val (messageId, payload) = Message.pack(message)
+    val packet: Packet = assembler.assemble(messageId, payload)
+    ByteString(packet.toArray)
+  }
+
+  /** Parser for messages being sent to the uav. */
+  protected val outgoing: Parser = new Parser(packet => Message.unpack(packet.messageId, packet.payload) match {
+    //TODO handle ping
+    /*
+    case Ping(`systemId`, `componentId`) =>
+      val message = Ack(packet.systemId, packet.componentId)
+      val data = assemble(message)
+      self ! Connection.Received(data)*/
+    case _ => ()
+  })
+
+  /** Parser for messages coming from the uav. */
+  protected val incoming: Parser = new Parser(pckt =>
+    log.debug("incoming message: " + Message.unpack(pckt.messageId, pckt.payload)))
+
+}