From 70e527dcfa26de0936adaf1e3c0e26ce673bc352 Mon Sep 17 00:00:00 2001
From: Jakob Odersky <jodersky@gmail.com>
Date: Fri, 3 Apr 2015 17:40:54 +0200
Subject: reimplement motor load instrument

---
 .../main/scala/vfd/dashboard/MavlinkSocket.scala   |   2 +-
 .../src/main/scala/vfd/dashboard/ui/Layout.scala   |  35 +++--
 .../vfd/dashboard/ui/instruments/Balance.scala     |  27 ----
 .../dashboard/ui/instruments/Distribution.scala    |  26 ++++
 .../vfd/dashboard/ui/instruments/Generic.scala     |   2 +-
 vfd-main/public/images/instruments/balance.svg     | 169 ---------------------
 .../public/images/instruments/distribution.svg     | 169 +++++++++++++++++++++
 7 files changed, 218 insertions(+), 212 deletions(-)
 delete mode 100644 vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Balance.scala
 create mode 100644 vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Distribution.scala
 delete mode 100644 vfd-main/public/images/instruments/balance.svg
 create mode 100644 vfd-main/public/images/instruments/distribution.svg

diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/MavlinkSocket.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/MavlinkSocket.scala
index 9476794..fb1856c 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/MavlinkSocket.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/MavlinkSocket.scala
@@ -13,7 +13,7 @@ import rx.core.Rx
 import rx.core.Var
 import rx.ops.RxOps
 
-class MavlinkSocket(url: String, remoteSystemId: Int) {
+class MavlinkSocket(url: String, val remoteSystemId: Int) {
 
   lazy val packet: Var[Packet] = Var(Packet.empty)
   lazy val message: Rx[Message] = packet.map{p => 
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/Layout.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/Layout.scala
index 1b1540e..a2e03ef 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/Layout.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/Layout.scala
@@ -4,15 +4,8 @@ import rx.Obs
 import scalatags.JsDom.all._
 import vfd.dashboard.Environment
 import vfd.dashboard.MavlinkSocket
-import vfd.dashboard.ui.instruments.Altimeter
-import vfd.dashboard.ui.instruments.Balance
-import vfd.dashboard.ui.instruments.Bar
-import vfd.dashboard.ui.instruments.Compass
-import vfd.dashboard.ui.instruments.Generic
-import vfd.dashboard.ui.instruments.Horizon
-import org.mavlink.messages.Heartbeat
-import org.mavlink.messages.Attitude
-import vfd.dashboard.ui.instruments.Clock
+import vfd.dashboard.ui.instruments._
+import org.mavlink.messages._
 
 class Layout(socket: MavlinkSocket)(implicit env: Environment) {
 
@@ -55,13 +48,14 @@ class Layout(socket: MavlinkSocket)(implicit env: Environment) {
   val motor1 = new Generic(0, 50, 100, "%")
   val motor2 = new Generic(0, 50, 100, "%")
   val motor3 = new Generic(0, 50, 100, "%")
-  val powerDistribution = new Balance()
-  val batteryLevel = new Bar()
+  val powerDistribution = new Distribution
+  val batteryLevel = new Bar
 
   val top = header(
     div("Flight Control Panel"),
     div((new Clock).element),
-    div("System #"))
+    div("UAV " + socket.remoteSystemId)
+  )
 
   val left = panel(
     map,
@@ -69,9 +63,9 @@ class Layout(socket: MavlinkSocket)(implicit env: Environment) {
       thead("Motors"),
       tbody(
         tr(
-          td(motor0.element),
-          td(),
           td(motor1.element),
+          td(),
+          td(motor0.element),
           td()
         ),
         tr(
@@ -137,6 +131,18 @@ class Layout(socket: MavlinkSocket)(implicit env: Environment) {
         horizon.value() = (att.pitch, att.roll)
         compass.value() = att.yaw
 
+      case s: ServoOutputRaw =>
+        val m0 = 100 * (s.servo1Raw - 1000) / 1000
+        val m1 = 100 * (s.servo2Raw - 1000) / 1000
+        val m2 = 100 * (s.servo3Raw - 1000) / 1000
+        val m3 = 100 * (s.servo4Raw - 1000) / 1000
+
+        motor0.value() = m0
+        motor1.value() = m1
+        motor2.value() = m2
+        motor3.value() = m3
+        powerDistribution.value() = (m0, m1, m2, m3)
+
       //TODO route other messages
 
       case _ => ()
@@ -144,4 +150,5 @@ class Layout(socket: MavlinkSocket)(implicit env: Environment) {
     }
   }
 
+
 }
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Balance.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Balance.scala
deleted file mode 100644
index ef5a3cc..0000000
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Balance.scala
+++ /dev/null
@@ -1,27 +0,0 @@
-package vfd.dashboard.ui.instruments
-
-import org.scalajs.dom.html
-import vfd.dashboard.Environment
-
-class Balance(implicit env: Environment) extends SvgInstrument[(Double, Double, Double, Double)] {
-  import SvgInstrument._
-  
-  val initial = (0.0, 0.0, 0.0, 0.0)
-  
-  lazy val element = svgObject("balance")
-  lazy val position = part("position")
-  lazy val moveable = Seq(position)
-  
-  protected def update(value: (Double, Double, Double, Double)) = {
-    val m0 = value._1
-    val m1 = value._2
-    val m2 = value._3
-    val m3 = value._4
-    val s = m0 + m1 + m2 + m3
-    val i = (m0 - m2) / s
-    val j = (m1 - m3) / s
-    val x = 0.5 * (i - j)
-    val y = 0.5 * (-i - j)
-    translate(position, (x * 50).toInt, (y * 50).toInt)
-  }
-}
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Distribution.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Distribution.scala
new file mode 100644
index 0000000..caeac33
--- /dev/null
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Distribution.scala
@@ -0,0 +1,26 @@
+package vfd.dashboard.ui.instruments
+
+import org.scalajs.dom.html
+import vfd.dashboard.Environment
+
+class Distribution(implicit env: Environment) extends SvgInstrument[(Double, Double, Double, Double)] {
+  import SvgInstrument._
+  
+  val initial = (0.0, 0.0, 0.0, 0.0)
+  
+  lazy val element = svgObject("distribution")
+  lazy val position = part("position")
+  lazy val moveable = Seq(position)
+
+  private final val Radius = 50 //px
+  
+  protected def update(value: (Double, Double, Double, Double)) = {
+    val sum = value._1 + value._2 + value._3 + value._4
+    val i = (value._1 - value._3) / sum
+    val j = (value._2 - value._4) / sum
+    val x = math.sqrt(2) / 2 * (i - j)
+    val y = math.sqrt(2) / 2 * (-i - j)
+    translate(position, (x * Radius).toInt, (y * Radius).toInt)
+  }
+  
+}
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Generic.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Generic.scala
index c46bdcc..af9469a 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Generic.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Generic.scala
@@ -34,7 +34,7 @@ class Generic(
   }
 
   protected def update(value: Double) = {
-    rotate(handElement, (value * 270 / (max - min)).toInt)
+    rotate(handElement, value  / (max - min) * math.Pi * 3 / 2)
     valueElement.textContent = value.toString
   }
 }
\ No newline at end of file
diff --git a/vfd-main/public/images/instruments/balance.svg b/vfd-main/public/images/instruments/balance.svg
deleted file mode 100644
index 57511e9..0000000
--- a/vfd-main/public/images/instruments/balance.svg
+++ /dev/null
@@ -1,169 +0,0 @@
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-<!-- Created with Inkscape (http://www.inkscape.org/) -->
-
-<svg
-   xmlns:dc="http://purl.org/dc/elements/1.1/"
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-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   width="100"
-   height="100"
-   id="svg2"
-   version="1.1"
-   inkscape:version="0.48.5 r10040"
-   viewBox="-50 -50 100 100"
-   sodipodi:docname="balance.svg">
-  <defs
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diff --git a/vfd-main/public/images/instruments/distribution.svg b/vfd-main/public/images/instruments/distribution.svg
new file mode 100644
index 0000000..4061720
--- /dev/null
+++ b/vfd-main/public/images/instruments/distribution.svg
@@ -0,0 +1,169 @@
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+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
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+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
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+   height="100"
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+   version="1.1"
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