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package mavigator.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)))
}
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