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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 extends Actor with ActorLogging with Connection {
import Connection._
import context._
val messageInterval = FiniteDuration(250, MILLISECONDS)
override def preStart() = {
context.system.scheduler.schedule(messageInterval, messageInterval) {
val data = MockPackets.random
this.log.debug("sending mock flight data: " + data.mkString("(", ",", ")"))
sendAll(Received(ByteString(data)))
}
}
def receive = registration
}
object MockConnection {
def apply = Props(classOf[MockConnection])
}
object MockPackets {
private implicit class RichMessage(val message: Message) extends AnyVal {
def bytes: Array[Byte] = {
val (id, payload) = Message.pack(message)
Packet(5, 42, 1, id, payload).toSeq.toArray
}
}
def messages = Heartbeat(0) ::
Motor(Random.nextInt(101).toByte, Random.nextInt(101).toByte, Random.nextInt(101).toByte, Random.nextInt(101).toByte) ::
Attitude((Random.nextInt(160) - 80).toShort, (Random.nextInt(160) - 80).toShort.toShort, Random.nextInt(360).toShort) ::
Power(Random.nextInt(12000).toShort) :: Nil
def valid: Array[Byte] = messages.flatMap(_.bytes).toArray
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 randomInvalid = Random.nextInt(2) match {
case 0 => invalidCrc
case 1 => invalidOverflow
}
def random: Array[Byte] = if (Random.nextInt(5) == 0) {
randomInvalid
} else {
valid
}
}
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