1 files changed, 0 insertions, 136 deletions
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/SerialConnection.scala b/mavigator-uav/src/main/scala/mavigator/uav/SerialConnection.scala
deleted file mode 100644
index 24c70a1..0000000
--- a/mavigator-uav/src/main/scala/mavigator/uav/SerialConnection.scala
+++ /dev/null
@@ -1,136 +0,0 @@
-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)
-  }
-}