1 files changed, 136 insertions, 0 deletions
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/SerialConnection.scala b/mavigator-uav/src/main/scala/mavigator/uav/SerialConnection.scala
new file mode 100644
index 0000000..24c70a1
--- /dev/null
+++ b/mavigator-uav/src/main/scala/mavigator/uav/SerialConnection.scala
@@ -0,0 +1,136 @@
+package mavigator.uav
+
+import java.util.concurrent.TimeUnit.MILLISECONDS
+
+import scala.concurrent.duration.FiniteDuration
+
+import org.mavlink.enums.MavAutopilot
+import org.mavlink.enums.MavModeFlag
+import org.mavlink.enums.MavState
+import org.mavlink.enums.MavType
+import org.mavlink.messages.Heartbeat
+
+import com.github.jodersky.flow.Parity
+import com.github.jodersky.flow.Serial
+import com.github.jodersky.flow.SerialSettings
+
+import akka.actor.Actor
+import akka.actor.ActorLogging
+import akka.actor.ActorRef
+import akka.actor.Props
+import akka.actor.Terminated
+import akka.actor.actorRef2Scala
+import akka.io.IO
+
+class SerialConnection(
+  val systemId: Byte,
+  val componentId: Byte,
+  heartbeatInterval: Option[FiniteDuration],
+  port: String,
+  settings: SerialSettings) extends Actor with ActorLogging with Connection with MavlinkUtil {
+
+  import context._
+
+  override def preStart() = heartbeatInterval foreach { interval =>
+    context.system.scheduler.schedule(interval, interval) {
+      self ! Connection.Send(
+        assemble(
+          Heartbeat(
+            MavType.MavTypeGeneric.toByte,
+            MavAutopilot.MavAutopilotGeneric.toByte,
+            0, //no base mode
+            0, //no custom mode
+            MavState.MavStateActive.toByte,
+            0 //TODO properly implement read-only fields
+          )
+        )
+      )
+    }
+  }
+
+  def _closed: Receive = {
+
+    case Connection.Register =>
+      register(sender)
+      IO(Serial) ! Serial.Open(port, settings)
+      context become opening
+
+    case Connection.Send(_) =>
+      IO(Serial) ! Serial.Open(port, settings)
+      context become opening
+
+  }
+
+  def _opening: Receive = {
+
+    case Serial.CommandFailed(cmd: Serial.Open, reason) =>
+      sendAll(Connection.Closed(reason.toString))
+      context become closed
+
+    case Serial.Opened(_) =>
+      context watch (sender)
+      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
+       * to be considered, thus complicating the protocol. Since opening is typically
+       * quite fast and since mavlink uses heartbeats and acknowledgements (in certain
+       * circumstances) anyway, keeping messages is not really required.  
+       */
+
+  }
+
+  def _opened(operator: ActorRef): Receive = {
+
+    case Terminated(`operator`) =>
+      sendAll(Connection.Closed("Serial connection crashed."))
+      context become closed
+
+    case Serial.Closed =>
+      sendAll(Connection.Closed("Serial connection was closed."))
+      context become closed
+
+    case Serial.Received(bstr) =>
+      sendAll(Connection.Received(bstr))
+      incoming.push(bstr)
+
+    case Connection.Send(bstr) =>
+      outgoing.push(bstr)
+      //no sending is currently enabled
+
+  }
+
+  def closed = _closed orElse handleRegistration
+  def opening = _opening orElse handleRegistration
+  def opened(op: ActorRef) = _opened(op) orElse handleRegistration
+  override def receive = closed
+
+}
+
+object SerialConnection {
+  def apply(
+    systemId: Byte,
+    componentId: Byte,
+    heartbeatInterval: Int,
+    port: String,
+    baud: Int,
+    tsb: Boolean,
+    parity: Int): Props = {
+
+    val settings = SerialSettings(
+      baud,
+      8,
+      tsb,
+      parity match {
+        case 0 => Parity.None
+        case 1 => Parity.Odd
+        case 2 => Parity.Even
+      })
+    val hb = if (heartbeatInterval == 0) None else Some(FiniteDuration(heartbeatInterval, MILLISECONDS))
+
+    Props(classOf[SerialConnection], systemId, componentId, hb, port, settings)
+  }
+}