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package mavigator.dashboard
import scala.scalajs.js
import scala.scalajs.js.Any.fromFunction1
import org.mavlink.Packet
import org.mavlink.Parser
import org.mavlink.Parser.Errors._
import org.mavlink.messages.Message
import org.scalajs.dom
import scala.concurrent.duration._
import rx._
import rx.ops._
import scala.concurrent.ExecutionContext.Implicits.global
class MavlinkSocket(url: String, val remoteSystemId: Int) {
implicit val scheduler = new DomScheduler
lazy val packet: Var[Packet] = Var(Packet.empty)
lazy val message: Rx[Message] = packet.map{p =>
Message.unpack(p.messageId, p.payload)
}
object stats {
private val DebounceTime = 1.seconds
private[MavlinkSocket] val _crcErrors = Var(0)
private[MavlinkSocket] val _overflows = Var(0)
private[MavlinkSocket] val _wrongIds = Var(0)
private[MavlinkSocket] val _packets = Var(0)
val crcErrors = _crcErrors.debounce(DebounceTime)
val overflows = _overflows.debounce(DebounceTime)
val wrongIds = _wrongIds.debounce(DebounceTime)
val packets = _packets.debounce(DebounceTime)
val open = Var(false)
}
private val parser = new Parser(
{
case pckt@Packet(seq, `remoteSystemId`, compId, msgId, payload) =>
packet() = pckt
stats._packets() += 1
case _ =>
stats._wrongIds() += 1
},
{
case CrcError => stats._crcErrors() += 1
case OverflowError => stats._overflows() += 1
})
private val connection = new dom.WebSocket(url)
connection.binaryType = "arraybuffer"
connection.onopen = (e: dom.Event) => {
stats.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) => {
stats.open() = false
}
}
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