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package mavigator
package cockpit
import org.mavlink._
import org.mavlink.Parser.Errors._
import org.mavlink.messages._
import org.scalajs.dom
import scalajs.js
trait MavlinkWebSockets { self: Instruments =>
private class MavlinkWebSocket(url: String, remoteSystemId: Int) {
private var _open = false
def open: Boolean = _open
private val parser = new Parser(
{
case pckt@Packet(seq, `remoteSystemId`, compId, msgId, payload) =>
val msg = Message.unpack(pckt.messageId, pckt.payload)
onMessage(msg)
//_packets() = _packets.now + 1
case _ =>
//_wrongIds() = _wrongIds.now + 1
},
{
case CrcError => //_crcErrors() = _crcErrors.now + 1
case OverflowError => //_overflows() = _overflows.now + 1
}
)
private val connection = new dom.WebSocket(url)
connection.binaryType = "arraybuffer"
connection.onopen = (e: dom.Event) => {
_open = true
}
connection.onmessage = (e: dom.MessageEvent) => {
val buffer = e.data.asInstanceOf[js.typedarray.ArrayBuffer]
val view = new js.typedarray.DataView(buffer)
for (i <- 0 until view.byteLength) {
parser.push(view.getInt8(i))
}
}
connection.onclose = (e: dom.CloseEvent) => {
_open = false
}
}
private def onMessage(msg: Message): Unit = msg match {
case a: Attitude =>
attitudeOverlay.update((a.pitch, a.roll))
horizonOverlay.update((a.pitch, a.roll))
case _ => ()
}
def connect(url: String, remoteSystemId: Int): Unit = new MavlinkWebSocket(url, remoteSystemId)
}
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