1 files changed, 52 insertions, 0 deletions
diff --git a/vfd-frontend/src/main/scala/vfd/frontend/MavlinkSocket.scala b/vfd-frontend/src/main/scala/vfd/frontend/MavlinkSocket.scala
new file mode 100644
index 0000000..81e6667
--- /dev/null
+++ b/vfd-frontend/src/main/scala/vfd/frontend/MavlinkSocket.scala
@@ -0,0 +1,52 @@
+package vfd.frontend
+
+import scala.scalajs.js
+import scala.scalajs.js.Any.fromFunction1
+
+import org.mavlink.Packet
+import org.mavlink.Parser
+import org.scalajs.dom
+
+import rx.core.Rx
+import rx.core.Var
+
+class MavlinkSocket(url: String, remoteSystemId: Int) {
+
+  val packet: Var[Packet] = Var(Packet.Empty)
+
+  object stats {
+    val crcErrors = Var(0)
+    val overflows = Var(0)
+    val wrongIds = Var(0)
+    val packets = Var(0)
+  }
+
+  private val parser = new Parser(
+    pckt => {
+      pckt match {
+        case Packet(seq, `remoteSystemId`, compId, msgId, payload) =>
+          packet() = pckt
+          stats.packets() += 1
+        case _ => stats.wrongIds() += 1
+      }
+    },
+    err => {
+      err match {
+        case Parser.ParseErrors.CrcError => stats.crcErrors() += 1
+        case Parser.ParseErrors.OverflowError => stats.overflows() += 1
+      }
+    })
+
+  private val connection = new dom.WebSocket(url)
+
+  connection.binaryType = "arraybuffer";
+  connection.onmessage = (e: dom.MessageEvent) => {
+    val buffer = e.data.asInstanceOf[js.typedarray.ArrayBuffer]
+    val dv = new js.typedarray.DataView(buffer)
+
+    for (i <- 0 until dv.byteLength) {
+      parser.push(dv.getInt8(i))
+    }
+  }
+
+}
+\ No newline at end of file