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package mavigator
package uav
package mock
import org.mavlink.messages.Message
import akka.stream.scaladsl._
import scala.concurrent.duration._
import scala.util.Random
import akka.stream._
import akka.NotUsed
import akka.util._
import org.mavlink._
import Attributes._
class MockConnection(
remoteSystemId: Byte,
remoteComponentId: Byte,
prescaler: Double
) {
import MockConnection._
private def stream(delaySeconds: Double)(message: RandomFlightPlan => Message): Flow[RandomFlightPlan, Message, NotUsed] = {
val dt = delaySeconds / prescaler
Flow[RandomFlightPlan].delay(dt.seconds).withAttributes(inputBuffer(1,1)).map(message)
}
def foo(messages: Flow[RandomFlightPlan, Message, _]*): Source[Message, NotUsed] = {
import GraphDSL.Implicits._
Source.fromGraph(GraphDSL.create() { implicit b =>
val plan = new RandomFlightPlan
//graph components
val clock = Source.tick(1.seconds, 0.01.seconds, 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)
})
}
val messages: Source[Message, _] = foo(
stream(0.2)(_.position),
stream(0.05)(_.attitude),
stream(0.05)(_.motors),
stream(0.1)(_.distance)
)
private lazy val assembler = new Assembler(remoteSystemId, remoteComponentId)
/** Assembles a message into a bytestring representing a packet sent from this connection. */
def assemble(message: Message): ByteString = {
val (messageId, payload) = Message.pack(message)
val packet: Packet = assembler.assemble(messageId, payload)
ByteString(packet.toArray)
}
val data = messages.map{ msg =>
println(msg)
assemble(msg)
}
}
object MockConnection {
final val T0 = 1.seconds
}
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