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
|
package mavigator
package uav
package mock
import scala.concurrent.duration._
import akka.NotUsed
import akka.stream._
import akka.stream.Attributes._
import akka.stream.scaladsl._
import akka.util._
import org.mavlink._
import org.mavlink.messages.{Heartbeat, Message}
class MockConnection(
remoteSystemId: Byte,
remoteComponentId: Byte,
prescaler: Double
) {
import MockConnection._
private lazy val assembler = new Assembler(remoteSystemId, remoteComponentId)
private def delayed(delaySeconds: Double)(message: RandomFlightPlan => Message): Flow[RandomFlightPlan, Message, NotUsed] = {
val dt = delaySeconds / prescaler
Flow[RandomFlightPlan].withAttributes(inputBuffer(1,1)).delay(dt.seconds).map(message)
}
private val messages: Source[Message, NotUsed] = fromPlan(new RandomFlightPlan)(
delayed(2)(_.heartbeat),
delayed(0.2)(_.position),
delayed(0.05)(_.attitude),
delayed(0.05)(_.motors),
delayed(0.1)(_.distance)
)
val data: Source[ByteString, NotUsed] = messages.map{ message =>
val (messageId, payload) = Message.pack(message)
val packet = assembler.assemble(messageId, payload)
ByteString(packet.toArray)
}
}
object MockConnection {
final val ClockTick: FiniteDuration = 0.02.seconds
private def fromPlan(plan: RandomFlightPlan)(messages: Flow[RandomFlightPlan, Message, _]*): Source[Message, NotUsed] = {
import GraphDSL.Implicits._
Source.fromGraph(GraphDSL.create() { implicit b =>
val clock = Source.tick(ClockTick, ClockTick, plan) map { plan =>
plan.tick(0.01)
plan
}
val bcast = b.add(Broadcast[RandomFlightPlan](messages.length))
val merge = b.add(Merge[Message](messages.length))
clock ~> bcast
for (message <- messages) {
bcast ~> message ~> merge
}
SourceShape(merge.out)
})
}
}
|
