implement testing

15 files changed, 243 insertions, 25 deletions

diff --git a/.gitignore b/.gitignore
index e38fe35..1d1019c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -10,12 +10,12 @@ project/boot/
 project/plugins/project/
 
 # scala-ide specific
-/.settings
-/.scala_dependencies
-/.project
-/.classpath
-/.cache
-/.history
+.settings
+.scala_dependencies
+.project
+.classpath
+.cache
+.history
 
 # ensime
 .ensime
diff --git a/README.md b/README.md
index bb894af..716a2d2 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,13 @@
 # SBT-MAVLink Plugin
 
-This plugin aims to provide generation of Scala sources from MAVLink message definition files.
\ No newline at end of file
+This plugin provides generation of Scala sources from MAVLink message definition files.
+It translates a MAVLink dialect defined in XML to useable scala objects and provides utilities for parsing
+and creating MAVLink packets.
+
+See an example 
+
+## Usage
+Add the following to your plugins:
+
+    addSbtPlugin("com.github.jodersky" % "sbt-mavlink" % "0.1")
+
diff --git a/mavlink-library/src/main/twirl/org/mavlink/Assembler.scala.txt b/mavlink-library/src/main/twirl/org/mavlink/Assembler.scala.txt
index e3571e6..fc5becf 100644
--- a/mavlink-library/src/main/twirl/org/mavlink/Assembler.scala.txt
+++ b/mavlink-library/src/main/twirl/org/mavlink/Assembler.scala.txt
@@ -15,5 +15,5 @@ class Assembler(systemId: Byte, componentId: Byte) {
     val p = Packet(seq.toByte, systemId, componentId, messageId, payload)
     seq += 1
     p
-  }	
+  }
 }
\ No newline at end of file
diff --git a/mavlink-library/src/main/twirl/org/mavlink/MavlinkBuffer.scala.txt b/mavlink-library/src/main/twirl/org/mavlink/MavlinkBuffer.scala.txt
index 9a01dbe..ebcd643 100644
--- a/mavlink-library/src/main/twirl/org/mavlink/MavlinkBuffer.scala.txt
+++ b/mavlink-library/src/main/twirl/org/mavlink/MavlinkBuffer.scala.txt
@@ -5,7 +5,7 @@ import java.nio.ByteBuffer
 import java.nio.ByteOrder
 
 /** Utility functions for using ByteBuffers. */
-class MavlinkBuffer {
+object MavlinkBuffer {
 
   /**
    * Allocates a ByteBuffer for using in MAVLink message processing.
diff --git a/mavlink-library/src/main/twirl/org/mavlink/Packet.scala.txt b/mavlink-library/src/main/twirl/org/mavlink/Packet.scala.txt
index a0d11a5..6802a0a 100644
--- a/mavlink-library/src/main/twirl/org/mavlink/Packet.scala.txt
+++ b/mavlink-library/src/main/twirl/org/mavlink/Packet.scala.txt
@@ -20,21 +20,33 @@ case class Packet(
   payload: ByteBuffer
 ) {
 
-  /*
-  def crc = {
+  lazy val crc = {
     var c = new Crc()
-    c = c.accumulate(payload.length.toByte)
+    c = c.accumulate(payload.remaining.toByte)
     c = c.accumulate(seq)
     c = c.accumulate(systemId)
     c = c.accumulate(componentId)
     c = c.accumulate(messageId)
-    while (payload.)
-    for (p <- payload) {
-      c = c.accumulate(p)
+    while (payload.hasRemaining) {
+      c = c.accumulate(payload.get())
     }
     c = c.accumulate(Packet.extraCrc(messageId))
     c
-  }*/
+  }
+
+  def writeTo(out: Array[Byte], offset: Int = 0): Unit = {
+    out(offset) = Packet.Stx
+    out(offset+1) = payload.remaining.toByte
+    out(offset+2) = seq
+    out(offset+3) = systemId
+    out(offset+4) = componentId
+    out(offset+5) = messageId
+    val r = payload.remaining()
+    payload.get(out, 0, out.length)
+    out(offset + r) = crc.lsb
+    out(offset + r + 1) = crc.msb
+  }
+
 }
 
 object Packet {
@@ -45,6 +57,9 @@ object Packet {
   /** Maximum length of a payload contained in a packet. */
   final val MaxPayloadLength: Int = @__maxPayloadLength
 
+  /** Maximum over-the-wire size of a packet, i.e. the maximum payload length plus header and footer data. */
+  final val MaxPacketLength: Int = MaxPayloadLength + 8
+
   /** Additional CRCs indexed by message ID (see MAVLink specification). */
   final val ExtraCrcs: Seq[Byte] = Array[Byte](
   @__extraCrcs.map(_ formatted "%3d").grouped(10).map(_.mkString(",")).mkString(",\n  ")
diff --git a/mavlink-library/src/main/twirl/org/mavlink/Parser.scala.txt b/mavlink-library/src/main/twirl/org/mavlink/Parser.scala.txt
index ca04ae1..81affc5 100644
--- a/mavlink-library/src/main/twirl/org/mavlink/Parser.scala.txt
+++ b/mavlink-library/src/main/twirl/org/mavlink/Parser.scala.txt
@@ -40,7 +40,7 @@ object Parser {
  * @@param receiver called when a valid packet has been received
  * @@param error called when invalid data was received
  */
-class Parser(payload: ByteBuffer, receiver: Packet => Unit, error: Parser.Errors.Error => Unit = _ => ()) {
+class Parser(payload: ByteBuffer)(receiver: Packet => Unit, error: Parser.Errors.Error => Unit = _ => ()) {
   import Parser._
 
   private var state: States.State = States.Idle
diff --git a/mavlink-plugin/src/main/scala/com/github/jodersky/mavlink/sbt/SbtMavlink.scala b/mavlink-plugin/src/main/scala/com/github/jodersky/mavlink/sbt/SbtMavlink.scala
index 41a6bcf..d04ea43 100644
--- a/mavlink-plugin/src/main/scala/com/github/jodersky/mavlink/sbt/SbtMavlink.scala
+++ b/mavlink-plugin/src/main/scala/com/github/jodersky/mavlink/sbt/SbtMavlink.scala
@@ -16,14 +16,14 @@ object SbtMavlink extends AutoPlugin {
   override def requires = JvmPlugin //this is required as sourceGenerators are otherwise reset
 
   override lazy val projectSettings: Seq[Setting[_]] = Seq(
-    mavlinkDialect in Compile := (baseDirectory in Compile).value / "conf" / "mavlink.xml",
-    mavlinkTarget in Compile := (sourceManaged in Compile).value,
-    mavlinkGenerate in Compile := generationTask.value,
-    sourceGenerators in Compile += (mavlinkGenerate in Compile).taskValue
+    mavlinkDialect := baseDirectory.value / "conf" / "mavlink.xml",
+    mavlinkTarget := sourceManaged.value,
+    mavlinkGenerate := generationTask.value,
+    sourceGenerators in Compile += mavlinkGenerate.taskValue
   )
 
   lazy val generationTask = Def.task[Seq[File]] {
-    val dialectDefinitionFile = (mavlinkDialect in Compile).value
+    val dialectDefinitionFile = mavlinkDialect.value
 
     if (!dialectDefinitionFile.exists) sys.error(
       "Dialect definition " + dialectDefinitionFile.getAbsolutePath + " does not exist."
@@ -33,13 +33,13 @@ object SbtMavlink extends AutoPlugin {
     val dialect = Parser.parseDialect(dialectDefinition)
     val pathToSource = (new Generator(dialect)).generate()
 
-    val outDirectory = (mavlinkTarget in Compile).value
+    val outDirectory = mavlinkTarget.value
 
     streams.value.log.info("Generating mavlink files...")
 
     val files = for ((path, source) <- pathToSource) yield {
-      streams.value.log.debug("Generating " + path)
       val file = outDirectory / path
+      streams.value.log.info("Generating " + file)
       IO.write(file, source)
       file.getAbsoluteFile
     }
diff --git a/mavlink-plugin/src/sbt-test/sbt-mavlink/codec/build.sbt b/mavlink-plugin/src/sbt-test/sbt-mavlink/codec/build.sbt
new file mode 100644
index 0000000..d4035f2
--- /dev/null
+++ b/mavlink-plugin/src/sbt-test/sbt-mavlink/codec/build.sbt
@@ -0,0 +1,11 @@
+import com.github.jodersky.mavlink.sbt.MavlinkKeys._
+
+mavlinkDialect := baseDirectory.value / "mavlink.xml"
+
+scalaVersion := "2.10.4"
+
+name := "test"
+
+organization := "test"
+
+version := "1.0"
\ No newline at end of file
diff --git a/mavlink-plugin/src/sbt-test/sbt-mavlink/codec/mavlink.xml b/mavlink-plugin/src/sbt-test/sbt-mavlink/codec/mavlink.xml
new file mode 100644
index 0000000..fcbdc35
--- /dev/null
+++ b/mavlink-plugin/src/sbt-test/sbt-mavlink/codec/mavlink.xml
@@ -0,0 +1,115 @@
+<?xml version='1.0'?>
+<mavlink>
+	<version>1</version>
+	<enums>		
+		<enum name="MAV_STATE">
+			<entry value="0" name="MAV_STATE_UNINIT">
+				<description>Uninitialized system, state is unknown.</description>
+			</entry>
+			<entry value="1" name="MAV_STATE_BOOT">
+				<description>System is booting up.</description>
+			</entry>
+			<entry value="2" name="MAV_STATE_CALIBRATING">
+				<description>System is calibrating and not flight-ready.</description>
+			</entry>
+			<entry value="3" name="MAV_STATE_STANDBY">
+				<description>System is grounded and on standby. It can be launched any time.</description>
+			</entry>
+			<entry value="4" name="MAV_STATE_ACTIVE">
+				<description>System is active and might be already airborne. Motors are engaged.</description>
+			</entry>
+			<entry value="5" name="MAV_STATE_CRITICAL">
+				<description>System is in a non-normal flight mode. It can however still navigate.</description>
+			</entry>
+			<entry value="6" name="MAV_STATE_EMERGENCY">
+				<description>System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.</description>
+			</entry>
+			<entry value="7" name="MAV_STATE_POWEROFF">
+				<description>System just initialized its power-down sequence, will shut down now.</description>
+			</entry>
+
+		</enum>
+	</enums>
+	<messages>
+		<message id="0" name="HEARTBEAT">
+			<description>The heartbeat message shows that a system is present and responding.</description>
+			<field type="uint8_t" name="system_state" enum="MAV_STATE">Global state of system.</field>
+		</message>
+		<message id="1" name="POWER">
+			<description>Information about the main power source.</description>
+			<field type="uint16_t" name="voltage">Voltage of the source (mV)</field>
+		</message>
+		<message id="2" name="IMU">
+			<description>The IMU readings in a NED body frame</description>
+			<field type="int32_t" name="xacc">X acceleration (mm/s^2)</field>
+			<field type="int32_t" name="yacc">Y acceleration (mm/s^2)</field>
+			<field type="int32_t" name="zacc">Z acceleration (mm/s^2)</field>
+			<field type="int32_t" name="xgyro">Angular speed around X axis (mrad / sec)</field>
+			<field type="int32_t" name="ygyro">Angular speed around Y axis (mrad / sec)</field>
+			<field type="int32_t" name="zgyro">Angular speed around Z axis (mrad / sec)</field>
+			<field type="int32_t" name="xmag">X Magnetic field (uT)</field>
+			<field type="int32_t" name="ymag">Y Magnetic field (uT)</field>
+			<field type="int32_t" name="zmag">Z Magnetic field (uT)</field>
+			<field type="int32_t" name="alt">Altitude to mean sea level (mm)</field>
+			<field type="uint32_t" name="temperature">Ambient temperature (mK)</field>
+		</message>
+		<message id="3" name="DISTANCE">
+			<description>Information on distance sensors</description>
+			<field type="int16_t" name="relative_alt">Relative altitude to ground (mm)</field>
+		</message>
+		<message name="PING" id="4">
+			<description>Ping a target system, usually used to determine latency.</description>
+			<field type="uint8_t" name="target_system">System ID</field>
+			<field type="uint8_t" name="target_component">Component ID</field>
+		</message>
+		<message name="ACK" id="5">
+			<description>Acknowledgement packet</description>
+			<field type="uint8_t" name="target_system">System ID</field>
+			<field type="uint8_t" name="target_component">Component ID</field>
+		</message>
+		<message name="MOTOR" id="6">
+			<description>Status of motors</description>
+			<field type="uint8_t" name="m0">m0</field>
+			<field type="uint8_t" name="m1">m1</field>
+			<field type="uint8_t" name="m2">m2</field>
+			<field type="uint8_t" name="m3">m3</field>
+		</message>
+		<message id="30" name="ATTITUDE">
+            <description>The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right).</description>
+            <field type="int16_t" name="roll">Roll angle</field>
+            <field type="int16_t" name="pitch">Pitch angle</field>
+            <field type="uint16_t" name="yaw">Yaw angle</field>
+        </message>
+		<message id="70" name="RC_CHANNELS_OVERRIDE">
+			<description>The RAW values of the RC channels sent to the MAV to override info received from the RC radio. A value of UINT16_MAX means no change to that channel. A value of 0 means control of that channel should be released back to the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.</description>
+			<field type="uint8_t" name="target_system">System ID</field>
+			<field type="uint8_t" name="target_component">Component ID</field>
+			<field type="uint16_t" name="chan1_raw">RC channel 1 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
+			<field type="uint16_t" name="chan2_raw">RC channel 2 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
+			<field type="uint16_t" name="chan3_raw">RC channel 3 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
+			<field type="uint16_t" name="chan4_raw">RC channel 4 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
+			<field type="uint16_t" name="chan5_raw">RC channel 5 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
+			<field type="uint16_t" name="chan6_raw">RC channel 6 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
+			<field type="uint16_t" name="chan7_raw">RC channel 7 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
+			<field type="uint16_t" name="chan8_raw">RC channel 8 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
+		</message>
+		<message name="RADIO_STATUS" id="109">
+			<description>Status generated by radio</description>
+			<field type="uint8_t" name="rssi">local signal strength</field>
+			<field type="uint8_t" name="remrssi">remote signal strength</field>
+			<field type="uint8_t" name="txbuf">how full the tx buffer is as a percentage</field>
+			<field type="uint8_t" name="noise">background noise level</field>
+			<field type="uint8_t" name="remnoise">remote background noise level</field>
+			<field type="uint16_t" name="rxerrors">receive errors</field>
+			<field type="uint16_t" name="fixed">count of error corrected packets</field>
+		</message>
+		<message name="TEST_MESSAGE" id="110">
+			<description>Test</description>
+			<field type="uint8_t[2]" name="bytearray">a byte array</field>
+			<field type="float[20]" name="floatarray">a float array</field>
+			<field type="char" name="chars">a char</field>
+			<field type="double" name="doubles">a double</field>
+			<field type="char[20]" name="strings">a string</field>
+		</message>
+	</messages>
+</mavlink>
diff --git a/mavlink-plugin/src/sbt-test/sbt-mavlink/codec/project/plugins.sbt b/mavlink-plugin/src/sbt-test/sbt-mavlink/codec/project/plugins.sbt
new file mode 100644
index 0000000..c2bb2a1
--- /dev/null
+++ b/mavlink-plugin/src/sbt-test/sbt-mavlink/codec/project/plugins.sbt
@@ -0,0 +1 @@
+addSbtPlugin("com.github.jodersky" % "sbt-mavlink" % sys.props("plugin.version"))
\ No newline at end of file
diff --git a/mavlink-plugin/src/sbt-test/sbt-mavlink/codec/src/main/scala/Main.scala b/mavlink-plugin/src/sbt-test/sbt-mavlink/codec/src/main/scala/Main.scala
new file mode 100644
index 0000000..6c84968
--- /dev/null
+++ b/mavlink-plugin/src/sbt-test/sbt-mavlink/codec/src/main/scala/Main.scala
@@ -0,0 +1,53 @@
+import org.mavlink._
+import org.mavlink.messages._
+
+object Main {
+
+  val SenderSystemId = 0: Byte
+  val SenderComponentId = 0: Byte
+  val ReceiverSystemId = 1: Byte
+  val ReceiverComponentId = 0: Byte
+
+  def main(args: Array[String]): Unit = {
+	echoTest()
+  }
+
+  def echoTest() = {
+  	//represents the line buffer, i.e. all data going in and out
+  	val line = new Array[Byte](Packet.MaxPacketLength)
+
+  	//payload of incoming messages
+  	val in = MavlinkBuffer.allocate()
+
+  	//parser to transform an incoming byte stream into packets
+  	val parser = new Parser(in)(
+  	  pckt => {
+  	    val msg = Message.unpack(pckt.messageId, pckt.payload)
+  	    println("received message: " + msg)
+  	  },
+  	  err => {
+  	  	sys.error("parse error: " + err)
+  	  }
+  	)
+
+  	//payload buffer of outgoing messages
+  	val out = MavlinkBuffer.allocate()
+
+  	//assembles messages into pakets from a specific sender
+  	val assembler = new Assembler(SenderSystemId, SenderComponentId)
+
+  	//create an explicit message
+  	val message = Heartbeat(0)
+
+  	//pack the message into a payload
+  	val id = Message.pack(message, out)
+
+  	//assemble into packet
+  	val packet = assembler.assemble(id, out)
+
+  	//simulate wire transfer
+  	packet.writeTo(line)
+  	parser.push(line)
+  }
+
+}
\ No newline at end of file
diff --git a/mavlink-plugin/src/sbt-test/sbt-mavlink/codec/test b/mavlink-plugin/src/sbt-test/sbt-mavlink/codec/test
new file mode 100644
index 0000000..c009de9
--- /dev/null
+++ b/mavlink-plugin/src/sbt-test/sbt-mavlink/codec/test
@@ -0,0 +1,3 @@
+# check if the files get created
+> run
+$ exists target/scala-2.10/src_managed/org/mavlink
\ No newline at end of file
diff --git a/project/Build.scala b/project/Build.scala
index ddf108e..c0c4f4e 100644
--- a/project/Build.scala
+++ b/project/Build.scala
@@ -2,6 +2,7 @@ import sbt._
 import sbt.Keys._
 import play.twirl.sbt.SbtTwirl
 import play.twirl.sbt.Import._
+import sbt.ScriptedPlugin._
 
 object ApplicationBuild extends Build {
 
@@ -31,9 +32,15 @@ object ApplicationBuild extends Build {
   lazy val plugin = (
     Project("mavlink-plugin", file("mavlink-plugin"))
     settings(common: _*)
+    settings(ScriptedPlugin.scriptedSettings: _*)
     settings(
       sbtPlugin := true,
-      name := "sbt-mavlink"
+      name := "sbt-mavlink",
+      scriptedLaunchOpts := { scriptedLaunchOpts.value ++
+        Seq("-Xmx1024M", "-XX:MaxPermSize=256M", "-Dplugin.version=" + version.value)
+      },
+      scriptedBufferLog := false,
+      publishLocal <<= publishLocal.dependsOn(publishLocal in library)
     )
     dependsOn(library)
   )
diff --git a/project/scripted.sbt b/project/scripted.sbt
new file mode 100644
index 0000000..c3b4f97
--- /dev/null
+++ b/project/scripted.sbt
@@ -0,0 +1,3 @@
+libraryDependencies <+= (sbtVersion) { sv =>
+  "org.scala-sbt" % "scripted-plugin" % sv
+}
\ No newline at end of file
diff --git a/project/plugins.sbt b/project/twirl.sbt
index 7b458b6..7b458b6 100644
--- a/project/plugins.sbt
+++ b/project/twirl.sbt