5 files changed, 0 insertions, 420 deletions
diff --git a/vfd-uav/src/main/scala/vfd/uav/Connection.scala b/vfd-uav/src/main/scala/vfd/uav/Connection.scala
deleted file mode 100644
index 223a787..0000000
--- a/vfd-uav/src/main/scala/vfd/uav/Connection.scala
+++ /dev/null
@@ -1,59 +0,0 @@
-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
-
-/** Protocol definition. */
-object Connection {
-  trait Event
-  trait Command
-
-  /** Received data from the uav (or any other systems on the link) */
-  case class Received(bstr: ByteString) extends Event
-
-  /** The connection closed or could not be opened */
-  case class Closed(message: String) extends Event
-
-  /** Register the sender to be notified on events */
-  case object Register extends Command
-
-  /** Send given bytes out to the uav (or any other systems on the link) */
-  case class Send(bstr: ByteString) extends Command
-}
-
-/** Common behavior of connection actors. */
-trait Connection { myself: Actor =>
-
-  /** Current clients that should be notified on incoming messages. */
-  private val _clients = new ArrayBuffer[ActorRef]
-  def clients = _clients.toSeq
-
-  /** Adds a client to the client list and acquires a deathwatch. */
-  protected def register(client: ActorRef) = {
-    _clients += client
-    myself.context.watch(client)
-  }
-
-  /** Remove client and release deathwatch. */
-  protected def unregister(client: ActorRef) = {
-    _clients -= client
-    myself.context.unwatch(client)
-  }
-
-  /** Sends a message to all registered clients. */
-  protected def sendAll(msg: Any) = clients foreach (_ ! msg)
-
-  /**
-   * Common registration behavior. Manages the events `Register` and `Terminated` by
-   * registering and unregistering clients.
-   */
-  protected def registration: Receive = {
-    case Connection.Register => register(sender)
-    case Terminated(client) if clients contains client => unregister(client)
-  }
-}
-\ No newline at end of file
diff --git a/vfd-uav/src/main/scala/vfd/uav/MavlinkUtil.scala b/vfd-uav/src/main/scala/vfd/uav/MavlinkUtil.scala
deleted file mode 100644
index 8a8c364..0000000
--- a/vfd-uav/src/main/scala/vfd/uav/MavlinkUtil.scala
+++ /dev/null
@@ -1,46 +0,0 @@
-package vfd.uav
-
-import org.mavlink.Assembler
-import org.mavlink.Packet
-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 =>
-  
-  /** Mavlink system ID of this connection. */
-  val systemId: Byte
-
-  /** Mavlink component ID of this connection. */
-  val componentId: Byte
-  
-  /** Assembler for creating packets originating from this connection. */
-  private lazy val assembler = new Assembler(systemId, componentId)
-  
-  /** Assembles a message into a bytestring representing a packet sent from this connection. */
-  protected def assemble(message: Message): ByteString = {
-    val (messageId, payload) = Message.pack(message)
-    val packet: Packet = assembler.assemble(messageId, payload)
-    ByteString(packet.toArray)
-  }
-
-  /** 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)*/
-    case _ => ()
-  })
-
-  /** Parser for messages coming from the uav. */
-  protected val incoming: Parser = new Parser(pckt =>
-    log.debug("incoming message: " + Message.unpack(pckt.messageId, pckt.payload)))
-
-}
-\ No newline at end of file
diff --git a/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala b/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala
deleted file mode 100644
index d08a8b6..0000000
--- a/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala
+++ /dev/null
@@ -1,77 +0,0 @@
-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 scala.concurrent.duration._
-import org.mavlink.messages.Message
-import vfd.uav.mock.RandomFlightPlan
-
-class MockConnection(
-  localSystemId: Byte,
-  localComponentId: Byte,
-  remoteSystemId: Byte,
-  prescaler: Int)
-    extends Actor with ActorLogging with Connection with MavlinkUtil {
-
-  import Connection._
-  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)
-  }
-
-  def receive = registration
-
-}
-
-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
-  }
-}
diff --git a/vfd-uav/src/main/scala/vfd/uav/SerialConnection.scala b/vfd-uav/src/main/scala/vfd/uav/SerialConnection.scala
deleted file mode 100644
index 1756cac..0000000
--- a/vfd-uav/src/main/scala/vfd/uav/SerialConnection.scala
+++ /dev/null
@@ -1,136 +0,0 @@
-package vfd.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 enabled
-
-  }
-
-  def receive = closed
-  def closed = _closed orElse registration
-  def opening = _opening orElse registration
-  def opened(op: ActorRef) = _opened(op) orElse registration
-
-}
-
-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)
-  }
-}
-\ No newline at end of file
diff --git a/vfd-uav/src/main/scala/vfd/uav/mock/RandomFlightPlan.scala b/vfd-uav/src/main/scala/vfd/uav/mock/RandomFlightPlan.scala
deleted file mode 100644
index 12e3d5c..0000000
--- a/vfd-uav/src/main/scala/vfd/uav/mock/RandomFlightPlan.scala
+++ /dev/null
@@ -1,102 +0,0 @@
-package vfd.uav.mock
-
-import scala.util.Random
-
-import org.mavlink.Mavlink
-import org.mavlink.enums._
-import org.mavlink.messages._
-
-class RandomFlightPlan {
-  
-  private var time: Double = 0
-  private def millis = (time * 1000).toInt
-  private def micros = (time * 1E6).toInt
-
-  // an oscilliating function
-  private def osc[A](min: A, max: A, period: Double, offset: Double = 0)(implicit n: Numeric[A]): A = {
-    val amplitude = (n.toDouble(max) - n.toDouble(min)) / 2
-    val base = (n.toDouble(max) + n.toDouble(min)) / 2
-    val factor = math.sin(2 * math.Pi * (time + offset) / period)
-    n.fromInt((base + amplitude * factor).toInt)
-  }
-
-  private var x: Double = 0.0
-  private var y: Double = 0.0
-  private var vX: Double = 0.0
-  private var vY: Double = 0.0
-
-  def tick(delta: Double) {
-    val aX = Random.nextDouble() * 5
-    val aY = Random.nextDouble() * 5
-
-    x += vX * delta
-    y += vY * delta
-    vX += aX * delta
-    vY += aY * delta
-
-    time += delta
-  }
-
-  private final val EarthRadius = 6000000 //m
-  private final val StartLat = 46.518513 //deg N
-  private final val StartLon = 6.566923 //deg E
-
-  def position = GlobalPositionInt(
-    millis,
-    (StartLat + x / EarthRadius).toInt,
-    (StartLon + y / EarthRadius).toInt,
-    0,
-    0,
-    (vX * 100).toShort,
-    (vY * 100).toShort,
-    0,
-    0
-  )
-
-  def attitude = Attitude(
-    millis,
-    (2 * math.Pi * time / 6).toFloat,
-    (math.sin(2 * math.Pi * time / 5) * math.Pi / 6).toFloat,
-    (2 * math.Pi * time / 4).toFloat,
-    0,
-    0,
-    0
-  )
-
-  def heartbeat = Heartbeat(  
-    MavType.MavTypeGeneric.toByte,
-    MavAutopilot.MavAutopilotGeneric.toByte,
-    (MavModeFlag.MavModeFlagSafetyArmed | MavModeFlag.MavModeFlagManualInputEnabled).toByte,
-    0, //no custom mode
-    MavState.MavStateActive.toByte,
-    Mavlink.MavlinkVersion
-  )
-
-  private final val DistanceMin: Short = 10
-  private final val DistanceMax: Short = 500
-  def distance = DistanceSensor(
-    timeBootMs = millis,
-    minDistance = DistanceMin,
-    maxDistance = DistanceMax,
-    currentDistance = osc(DistanceMin, DistanceMax, 6),
-    `type` = MavDistanceSensor.MavDistanceSensorUltrasound.toByte,
-    id = 0: Byte,
-    orientation = -1: Byte,
-    covariance = 3: Byte)
-
-  private final val MotorsMax: Short = 2000 //usec, ppm signal => 100%
-  private final val MotorsMin: Short = 1000 //usec, ppm signal => 0%
-  def motors = ServoOutputRaw(
-    timeUsec = micros,
-    port = 0: Byte,
-    servo1Raw =  osc(MotorsMin, MotorsMax, 6, 0),
-    servo2Raw = osc(MotorsMin, MotorsMax, 6, 5),
-    servo3Raw = osc(MotorsMin, MotorsMax, 6, 2),
-    servo4Raw = osc(MotorsMin, MotorsMax, 6, 4),
-    servo5Raw = 0,
-    servo6Raw = 0,
-    servo7Raw = 0,
-    servo8Raw = 0
-  )
-
-}
-\ No newline at end of file