1 files changed, 58 insertions, 0 deletions
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/serial/SerialBackend.scala b/mavigator-uav/src/main/scala/mavigator/uav/serial/SerialBackend.scala
new file mode 100644
index 0000000..a52d238
--- /dev/null
+++ b/mavigator-uav/src/main/scala/mavigator/uav/serial/SerialBackend.scala
@@ -0,0 +1,58 @@
+package mavigator
+package uav
+package serial
+
+import scala.concurrent.Future
+import scala.concurrent.duration._
+import scala.util.{Failure, Success}
+
+import akka.NotUsed
+import akka.stream.scaladsl.{Flow, Keep}
+import akka.util.ByteString
+import com.github.jodersky.flow.{Parity, SerialSettings}
+import com.github.jodersky.flow.stream.Serial
+import com.github.jodersky.flow.stream.Serial.Connection
+
+object SerialBackend extends Backend {
+
+  override def init(core: Core): Unit = {
+    import core.materializer
+    import core.system
+    import core.system.dispatcher
+
+    system.log.info("Initializing serial backend...")
+
+    val conf = system.settings.config.getConfig("mavigator.uav.serial")
+    val port = conf.getString("port")
+    val serialSettings = SerialSettings(
+      baud = conf.getInt("baud"),
+      twoStopBits = conf.getBoolean("two_stop_bits"),
+      parity = Parity(conf.getInt("parity"))
+    )
+
+    val connectionDelay = conf.getInt("connection_delay").millis
+
+    system.log.info("Waiting for serial device on " + port + "...")
+    Serial().watch(Set(port)).map{ port =>
+      system.log.info("Serial device connected on port " + port)
+      port
+    }.delay(connectionDelay).runForeach{ port =>
+      system.log.info("Opening serial port " + port)
+
+      val backend: Flow[ByteString, ByteString, NotUsed] = core.setBackend()
+
+      val uav: Flow[ByteString, ByteString, Future[Connection]] = Serial().open(port, serialSettings)
+
+      val connection = uav.joinMat(backend)(Keep.left).run().onComplete{
+        case Success(connection) =>
+          system.log.info("Successfully opened serial port " + connection.port)
+        case Failure(ex) =>
+          system.log.error(ex, "Error occurred while trying to open " + port)
+      }
+
+    }
+
+
+  }
+
+}