1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
|
package mavigator.uav
import java.util.concurrent.TimeUnit.MILLISECONDS
import scala.concurrent.duration.FiniteDuration
import scala.util.Random
import org.mavlink.Packet
import org.mavlink.enums.MavAutopilot
import org.mavlink.enums.MavModeFlag
import org.mavlink.enums.MavState
import org.mavlink.enums.MavType
import org.mavlink.messages.Heartbeat
import Connection.Received
import akka.actor.Actor
import akka.actor.ActorLogging
import akka.actor.Props
import akka.util.ByteString
import scala.concurrent.duration._
import org.mavlink.messages.Message
import mock.RandomFlightPlan
class MockConnection(
localSystemId: Byte,
localComponentId: Byte,
remoteSystemId: Byte,
prescaler: Int
)
extends Actor with ActorLogging with Connection with MavlinkUtil {
import context._
override val systemId = remoteSystemId
override val componentId = remoteSystemId
val plan = new RandomFlightPlan
def scheduleMessage(delay: FiniteDuration)(fct: => Message) = system.scheduler.schedule(delay, delay) {
sendAll(Received(assemble(fct)))
}
def scheduleBytes(delay: FiniteDuration)(fct: => Array[Byte]) = system.scheduler.schedule(delay, delay) {
sendAll(Received(ByteString(fct)))
}
override def preStart() = {
//increment state
system.scheduler.schedule(0.01.seconds * prescaler, 0.01.seconds * prescaler) { plan.tick(0.01) }
//send messages
scheduleMessage(0.1.seconds * prescaler)(plan.position)
scheduleMessage(0.05.seconds * prescaler)(plan.attitude)
scheduleMessage(0.05.seconds * prescaler)(plan.motors)
scheduleMessage(0.1.seconds * prescaler)(plan.distance)
scheduleMessage(1.seconds)(plan.heartbeat)
//simulate noisy line
scheduleBytes(0.3.seconds * prescaler)(MockPackets.invalidCrc)
scheduleBytes(1.5.seconds * prescaler)(MockPackets.invalidOverflow)
}
override def receive = handleRegistration
}
object MockConnection {
def apply(systemId: Byte, componentId: Byte, remoteSystemId: Byte, prescaler: Int = 1) =
Props(classOf[MockConnection], systemId, componentId, remoteSystemId, prescaler)
}
object MockPackets {
val invalidCrc = Array(254, 1, 123, 13, 13).map(_.toByte)
val invalidOverflow = {
val data = Array.fill[Byte](Packet.MaxPayloadLength + 100)(42)
data(0) = -2
data(1) = 2
data(1) = -1
data
}
}
|
