From 5bfde985382d0cc664a9c9d60f203df9f64485c7 Mon Sep 17 00:00:00 2001
From: Jakob Odersky <jakob@odersky.com>
Date: Sat, 6 Feb 2016 17:03:52 -0800
Subject: Refactor message flows

---
 .../src/main/scala/mavigator/uav/Uav.scala         |  1 -
 .../scala/mavigator/uav/mock/MockConnection.scala  | 71 +++++++++++-----------
 .../mavigator/uav/mock/RandomFlightPlan.scala      |  2 +-
 3 files changed, 38 insertions(+), 36 deletions(-)

diff --git a/mavigator-uav/src/main/scala/mavigator/uav/Uav.scala b/mavigator-uav/src/main/scala/mavigator/uav/Uav.scala
index 37f94b6..ed677ea 100644
--- a/mavigator-uav/src/main/scala/mavigator/uav/Uav.scala
+++ b/mavigator-uav/src/main/scala/mavigator/uav/Uav.scala
@@ -12,7 +12,6 @@ class Uav(system: ExtendedActorSystem) extends Extension {
   private lazy val config = system.settings.config.getConfig("mavigator.uav")
 
   def connect(): Flow[ByteString, ByteString, NotUsed] = {
-    val t = scala.concurrent.duration.FiniteDuration(100, "ms")
     Flow.fromSinkAndSource(
       Sink.ignore,
       (new MockConnection(0,0,1)).data
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/mock/MockConnection.scala b/mavigator-uav/src/main/scala/mavigator/uav/mock/MockConnection.scala
index 22adf0e..c7bc8d4 100644
--- a/mavigator-uav/src/main/scala/mavigator/uav/mock/MockConnection.scala
+++ b/mavigator-uav/src/main/scala/mavigator/uav/mock/MockConnection.scala
@@ -2,7 +2,8 @@ package mavigator
 package uav
 package mock
 
-import org.mavlink.messages.Message
+import org.mavlink.enums._
+import org.mavlink.messages.{Heartbeat, Message}
 import akka.stream.scaladsl._
 import scala.concurrent.duration._
 import scala.util.Random
@@ -12,6 +13,9 @@ import akka.util._
 import org.mavlink._
 import Attributes._
 
+
+//case class Heartbeat(`type`: Byte, autopilot: Byte, baseMode: Byte, customMode: Int, systemStatus: Byte, mavlinkVersion: Byte) extends Message
+
 class MockConnection(
   remoteSystemId: Byte,
   remoteComponentId: Byte,
@@ -19,40 +23,17 @@ class MockConnection(
 ) {
   import MockConnection._
 
-  private def stream(delaySeconds: Double)(message: RandomFlightPlan => Message): Flow[RandomFlightPlan, Message, NotUsed] = {
+  private def delayed(delaySeconds: Double)(message: RandomFlightPlan => Message): Flow[RandomFlightPlan, Message, NotUsed] = {
     val dt = delaySeconds / prescaler
-    Flow[RandomFlightPlan].delay(dt.seconds).withAttributes(inputBuffer(1,1)).map(message)
-  }
-
-  def foo(messages: Flow[RandomFlightPlan, Message, _]*): Source[Message, NotUsed] = {
-    import GraphDSL.Implicits._
-
-    Source.fromGraph(GraphDSL.create() { implicit b =>
-
-      val plan = new RandomFlightPlan
-
-      //graph components
-      val clock = Source.tick(1.seconds, 0.01.seconds, plan).map{plan =>
-        plan.tick(0.01)
-        plan
-      }
-      val bcast = b.add(Broadcast[RandomFlightPlan](messages.length))
-      val merge = b.add(Merge[Message](messages.length))
-
-      clock ~> bcast
-      for (message <- messages) {
-        bcast ~> message ~> merge
-      }
-
-      SourceShape(merge.out)
-    })
+    Flow[RandomFlightPlan].withAttributes(inputBuffer(1,1)).delay(dt.seconds).map(message)
   }
 
-  val messages: Source[Message, _] = foo(
-    stream(0.2)(_.position),
-    stream(0.05)(_.attitude),
-    stream(0.05)(_.motors),
-    stream(0.1)(_.distance)
+  val messages: Source[Message, _] = streamFromPlan(new RandomFlightPlan)(
+    delayed(2)(_.heartbeat),
+    delayed(0.2)(_.position),
+    delayed(0.05)(_.attitude),
+    delayed(0.05)(_.motors),
+    delayed(0.1)(_.distance)
   )
 
 
@@ -66,7 +47,7 @@ class MockConnection(
   }
 
   val data = messages.map{ msg =>
-    println(msg)
+    if (msg.isInstanceOf[Heartbeat]){println(msg)}
     assemble(msg)
   }
 
@@ -74,6 +55,28 @@ class MockConnection(
 
 object MockConnection {
 
-  final val T0 = 1.seconds
+  final val ClockTick: FiniteDuration = 0.01.seconds
+
+  private def streamFromPlan(plan: RandomFlightPlan)(messages: Flow[RandomFlightPlan, Message, _]*): Source[Message, NotUsed] = {
+
+    import GraphDSL.Implicits._
+
+    Source.fromGraph(GraphDSL.create() { implicit b =>
+
+      val clock = Source.tick(ClockTick, ClockTick, plan) map { plan =>
+        plan.tick(0.01)
+        plan
+      }
+      val bcast = b.add(Broadcast[RandomFlightPlan](messages.length))
+      val merge = b.add(Merge[Message](messages.length))
+
+      clock ~> bcast
+      for (message <- messages) {
+        bcast ~> message ~> merge
+      }
+
+      SourceShape(merge.out)
+    })
+  }
 
 }
diff --git a/mavigator-uav/src/main/scala/mavigator/uav/mock/RandomFlightPlan.scala b/mavigator-uav/src/main/scala/mavigator/uav/mock/RandomFlightPlan.scala
index f24f090..89e5a75 100644
--- a/mavigator-uav/src/main/scala/mavigator/uav/mock/RandomFlightPlan.scala
+++ b/mavigator-uav/src/main/scala/mavigator/uav/mock/RandomFlightPlan.scala
@@ -64,7 +64,7 @@ class RandomFlightPlan {
     0
   )
 
-  def heartbeat = Heartbeat(  
+  def heartbeat = Heartbeat(
     MavType.MavTypeGeneric.toByte,
     MavAutopilot.MavAutopilotGeneric.toByte,
     (MavModeFlag.MavModeFlagSafetyArmed | MavModeFlag.MavModeFlagManualInputEnabled).toByte,
-- 
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