4 files changed, 51 insertions, 42 deletions
diff --git a/vfd-uav/src/main/scala/vfd/uav/Connection.scala b/vfd-uav/src/main/scala/vfd/uav/Connection.scala
index 38e1836..b99aadd 100644
--- a/vfd-uav/src/main/scala/vfd/uav/Connection.scala
+++ b/vfd-uav/src/main/scala/vfd/uav/Connection.scala
@@ -1,16 +1,12 @@
 package vfd.uav
 
 import scala.collection.mutable.ArrayBuffer
+
 import akka.actor.Actor
 import akka.actor.ActorRef
 import akka.actor.Terminated
 import akka.actor.actorRef2Scala
 import akka.util.ByteString
-import org.mavlink.Assembler
-import org.mavlink.messages.Message
-import org.mavlink.Parser
-import org.mavlink.Packet
-import akka.actor.ActorLogging
 
 /** Protocol definition. */
 object Connection {
diff --git a/vfd-uav/src/main/scala/vfd/uav/MavlinkUtil.scala b/vfd-uav/src/main/scala/vfd/uav/MavlinkUtil.scala
index edc8484..8a8c364 100644
--- a/vfd-uav/src/main/scala/vfd/uav/MavlinkUtil.scala
+++ b/vfd-uav/src/main/scala/vfd/uav/MavlinkUtil.scala
@@ -1,14 +1,13 @@
 package vfd.uav
 
 import org.mavlink.Assembler
-import akka.util.ByteString
 import org.mavlink.Packet
-import akka.actor.Actor
-import org.mavlink.messages.Ping
-import org.mavlink.messages.Ack
-import org.mavlink.messages.Message
 import org.mavlink.Parser
+import org.mavlink.messages.Message
+
+import akka.actor.Actor
 import akka.actor.ActorLogging
+import akka.util.ByteString
 
 /** Provides utilities for actors representing a mavlink connection. */
 trait MavlinkUtil { myself: Actor with ActorLogging =>
@@ -31,10 +30,12 @@ trait MavlinkUtil { myself: Actor with ActorLogging =>
 
   /** Parser for messages being sent to the uav. */
   protected val outgoing: Parser = new Parser(packet => Message.unpack(packet.messageId, packet.payload) match {
+    //TODO handle ping
+    /*
     case Ping(`systemId`, `componentId`) =>
       val message = Ack(packet.systemId, packet.componentId)
       val data = assemble(message)
-      self ! Connection.Received(data)
+      self ! Connection.Received(data)*/
     case _ => ()
   })
 
diff --git a/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala b/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala
index 801c4ac..6c2dbc8 100644
--- a/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala
+++ b/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala
@@ -1,30 +1,43 @@
 package vfd.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 org.mavlink.messages._
-import org.mavlink.Packet
 
 class MockConnection(localSystemId: Byte, localComponentId: Byte, remoteSystemId: Byte) extends Actor with ActorLogging with Connection with MavlinkUtil {
   import Connection._
   import context._
-  
+
   override val systemId = remoteSystemId
   override val componentId = remoteSystemId
 
-  val MessageInterval = FiniteDuration(100, MILLISECONDS)
-  
-  def randomData: ByteString = Random.nextInt(MockPackets.Messages + 1) match {
-    case 0 => ByteString(MockPackets.invalid)
-    case i => assemble(MockPackets.message(i - 1))
-  }
-  
+  val MessageInterval = FiniteDuration(1000, MILLISECONDS)
+
+  def randomData: ByteString =
+    assemble(
+      Heartbeat(
+        MavType.MavTypeGeneric.toByte,
+        MavAutopilot.MavAutopilotGeneric.toByte,
+        (MavModeFlag.MavModeFlagSafetyArmed | MavModeFlag.MavModeFlagManualInputEnabled).toByte,
+        0, //no custom mode
+        MavState.MavStateActive.toByte,
+        0 //TODO properly implement read-only fields
+        ))
+
   override def preStart() = context.system.scheduler.schedule(MessageInterval, MessageInterval) {
     sendAll(Received(randomData))
   }
@@ -43,19 +56,6 @@ object MockPackets {
     def nextByte(): Byte = r.nextInt().toByte
     def nextByte(max: Int): Byte = r.nextInt(max).toByte
   }
-  
-  def heartbeat = Heartbeat(0)
-  def motor = Motor(r.nextByte(101), r.nextByte(101), r.nextByte(101), r.nextByte(101))
-  def attitude = Attitude((r.nextInt(160) - 80).toShort, (r.nextInt(160) - 80).toShort, r.nextInt(360).toShort)
-  def power = Power(Random.nextInt(12000).toShort)
-  
-  val Messages = 4
-  def message(i: Int) = i match {
-    case 0 => heartbeat
-    case 1 => motor
-    case 2 => attitude
-    case 3 => power
-  }
 
   val invalidCrc = Array(254, 1, 123, 13, 13).map(_.toByte)
   val invalidOverflow = {
diff --git a/vfd-uav/src/main/scala/vfd/uav/SerialConnection.scala b/vfd-uav/src/main/scala/vfd/uav/SerialConnection.scala
index 4b2e71a..1756cac 100644
--- a/vfd-uav/src/main/scala/vfd/uav/SerialConnection.scala
+++ b/vfd-uav/src/main/scala/vfd/uav/SerialConnection.scala
@@ -1,16 +1,19 @@
 package vfd.uav
 
 import java.util.concurrent.TimeUnit.MILLISECONDS
+
 import scala.concurrent.duration.FiniteDuration
-import org.mavlink.Packet
-import org.mavlink.Parser
-import org.mavlink.Assembler
+
+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 org.mavlink.messages.Ack
-import org.mavlink.messages.Message
+
 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
@@ -18,8 +21,6 @@ import akka.actor.Props
 import akka.actor.Terminated
 import akka.actor.actorRef2Scala
 import akka.io.IO
-import akka.util.ByteString
-import org.mavlink.messages.Ping
 
 class SerialConnection(
   val systemId: Byte,
@@ -32,7 +33,18 @@ class SerialConnection(
 
   override def preStart() = heartbeatInterval foreach { interval =>
     context.system.scheduler.schedule(interval, interval) {
-      self ! Connection.Send(assemble(Heartbeat(0)))
+      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
+          )
+        )
+      )
     }
   }