1 files changed, 77 insertions, 0 deletions
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/mock/MockConnection.scala b/mavigator-uav/src/main/scala/mavigator/uav/mock/MockConnection.scala
new file mode 100644
index 0000000..5949a3a
--- /dev/null
+++ b/mavigator-uav/src/main/scala/mavigator/uav/mock/MockConnection.scala
@@ -0,0 +1,77 @@
+package mavigator.uav
+
+import java.util.concurrent.TimeUnit.MILLISECONDS
+import scala.concurrent.duration.FiniteDuration
+import scala.util.Random
+import org.mavlink.Packet
+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 Connection.Received
+import akka.actor.Actor
+import akka.actor.ActorLogging
+import akka.actor.Props
+import akka.util.ByteString
+import scala.concurrent.duration._
+import org.mavlink.messages.Message
+import mock.RandomFlightPlan
+
+class MockConnection(
+  localSystemId: Byte,
+  localComponentId: Byte,
+  remoteSystemId: Byte,
+  prescaler: Int
+)
+  extends Actor with ActorLogging with Connection with MavlinkUtil {
+
+  import context._
+
+  override val systemId = remoteSystemId
+  override val componentId = remoteSystemId
+
+  val plan = new RandomFlightPlan
+
+  def scheduleMessage(delay: FiniteDuration)(fct: => Message) = system.scheduler.schedule(delay, delay) {
+    sendAll(Received(assemble(fct)))
+  }
+  def scheduleBytes(delay: FiniteDuration)(fct: => Array[Byte]) = system.scheduler.schedule(delay, delay) {
+    sendAll(Received(ByteString(fct)))
+  }
+
+  override def preStart() = {
+    //increment state
+    system.scheduler.schedule(0.01.seconds * prescaler, 0.01.seconds * prescaler) { plan.tick(0.01) }
+
+    //send messages
+    scheduleMessage(0.1.seconds * prescaler)(plan.position)
+    scheduleMessage(0.05.seconds * prescaler)(plan.attitude)
+    scheduleMessage(0.05.seconds * prescaler)(plan.motors)
+    scheduleMessage(0.1.seconds * prescaler)(plan.distance)
+    scheduleMessage(1.seconds)(plan.heartbeat)
+
+    //simulate noisy line
+    scheduleBytes(0.3.seconds * prescaler)(MockPackets.invalidCrc)
+    scheduleBytes(1.5.seconds * prescaler)(MockPackets.invalidOverflow)
+  }
+
+  override def receive = handleRegistration
+
+}
+
+object MockConnection {
+  def apply(systemId: Byte, componentId: Byte, remoteSystemId: Byte, prescaler: Int = 1) =
+    Props(classOf[MockConnection], systemId, componentId, remoteSystemId, prescaler)
+}
+
+object MockPackets {
+  val invalidCrc = Array(254, 1, 123, 13, 13).map(_.toByte)
+  val invalidOverflow = {
+    val data = Array.fill[Byte](Packet.MaxPayloadLength + 100)(42)
+    data(0) = -2
+    data(1) = 2
+    data(1) = -1
+    data
+  }
+}