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package vfd.uav
import java.util.concurrent.TimeUnit.MILLISECONDS
import scala.concurrent.duration.FiniteDuration
import scala.util.Random
import Connection.Received
import akka.actor.Actor
import akka.actor.ActorLogging
import akka.actor.Props
import akka.util.ByteString
import org.mavlink.messages._
import org.mavlink.Packet
class MockConnection(localSystemId: Byte, localComponentId: Byte, remoteSystemId: Byte) extends Actor with ActorLogging with Connection with MavlinkUtil {
import Connection._
import context._
override val systemId = remoteSystemId
override val componentId = remoteSystemId
val MessageInterval = FiniteDuration(100, MILLISECONDS)
def randomData: ByteString = Random.nextInt(MockPackets.Messages + 1) match {
case 0 => ByteString(MockPackets.invalid)
case i => assemble(MockPackets.message(i - 1))
}
override def preStart() = context.system.scheduler.schedule(MessageInterval, MessageInterval) {
sendAll(Received(randomData))
}
def receive = registration
}
object MockConnection {
def apply(systemId: Byte, componentId: Byte, remoteSystemId: Byte) = Props(classOf[MockConnection], systemId, componentId, remoteSystemId)
}
object MockPackets {
private val r = new Random
private implicit class RichRandom(val r: Random) extends AnyVal {
def nextByte(): Byte = r.nextInt().toByte
def nextByte(max: Int): Byte = r.nextInt(max).toByte
}
def heartbeat = Heartbeat(0)
def motor = Motor(r.nextByte(101), r.nextByte(101), r.nextByte(101), r.nextByte(101))
def attitude = Attitude((r.nextInt(160) - 80).toShort, (r.nextInt(160) - 80).toShort, r.nextInt(360).toShort)
def power = Power(Random.nextInt(12000).toShort)
val Messages = 4
def message(i: Int) = i match {
case 0 => heartbeat
case 1 => motor
case 2 => attitude
case 3 => power
}
val invalidCrc = Array(254, 1, 123, 13, 13).map(_.toByte)
val invalidOverflow = {
val data = Array.fill[Byte](Packet.MaxPayloadLength + 10)(42)
data(0) = -2
data(1) = 2
data(1) = -1
data
}
def invalid = r.nextInt(2) match {
case 0 => invalidCrc
case 1 => invalidOverflow
}
}
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