move back to arrays

7 files changed, 58 insertions, 83 deletions

diff --git a/mavlink-library/src/main/scala/com/github/jodersky/mavlink/Generator.scala b/mavlink-library/src/main/scala/com/github/jodersky/mavlink/Generator.scala
index 06a4909..3ee3492 100644
--- a/mavlink-library/src/main/scala/com/github/jodersky/mavlink/Generator.scala
+++ b/mavlink-library/src/main/scala/com/github/jodersky/mavlink/Generator.scala
@@ -14,12 +14,7 @@ import trees._
  */
 class Generator(dialect: Dialect) {
   
-  lazy val maxPayloadLength = {
-    val widths = dialect.messages map { msg =>
-      msg.fields.map(_.tpe.sizeof).sum
-    }
-    widths.max
-  }
+  lazy val maxPayloadLength = dialect.messages.map(_.length).max
 
   lazy val extraCrcs = Array.tabulate[Byte](255){i =>
     val message = dialect.messages.find(_.id == i)
diff --git a/mavlink-library/src/main/scala/com/github/jodersky/mavlink/trees/package.scala b/mavlink-library/src/main/scala/com/github/jodersky/mavlink/trees/package.scala
index 49b697b..fc4b5f3 100644
--- a/mavlink-library/src/main/scala/com/github/jodersky/mavlink/trees/package.scala
+++ b/mavlink-library/src/main/scala/com/github/jodersky/mavlink/trees/package.scala
@@ -10,6 +10,7 @@ package trees {
   case class Field(tpe: Type, nativeType: String, name: String, enum: Option[String], description: String) extends Tree
   case class Message(id: Byte, name: String, description: String, fields: Seq[Field]) extends Tree {
     def orderedFields = fields.toSeq.sortBy(_.tpe.width)(Ordering[Int].reverse)
+    def length = fields.map(_.tpe.sizeof).sum
 
     lazy val checksum = {
       var c = new Crc()
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 fc5becf..72f9ae1 100644
--- a/mavlink-library/src/main/twirl/org/mavlink/Assembler.scala.txt
+++ b/mavlink-library/src/main/twirl/org/mavlink/Assembler.scala.txt
@@ -1,8 +1,6 @@
 @(__context: Context)@_header(__context)
 package org.mavlink
 
-import java.nio.ByteBuffer
-
 /**
  * Utility class for assembling packets with increasing sequence number
  * originating from given system and component IDs.
@@ -11,7 +9,7 @@ class Assembler(systemId: Byte, componentId: Byte) {
   private var seq = 0;
 
   /** Assemble a given message ID and payload into a packet. */
-  def assemble(messageId: Byte, payload: ByteBuffer): Packet = {
+  def assemble(messageId: Byte, payload: Array[Byte]): Packet = {
     val p = Packet(seq.toByte, systemId, componentId, messageId, payload)
     seq += 1
     p
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 6802a0a..b521746 100644
--- a/mavlink-library/src/main/twirl/org/mavlink/Packet.scala.txt
+++ b/mavlink-library/src/main/twirl/org/mavlink/Packet.scala.txt
@@ -1,7 +1,7 @@
 @(__context: Context, __maxPayloadLength: Int, __extraCrcs: Seq[Byte])@_header(__context)
 package org.mavlink
 
-import java.nio.ByteBuffer
+import scala.collection.mutable.ArrayBuilder
 
 /**
  * Represents a MAVLink packet.
@@ -17,34 +17,33 @@ case class Packet(
   systemId: Byte,
   componentId: Byte,
   messageId: Byte,
-  payload: ByteBuffer
+  payload: Array[Byte]
 ) {
 
   lazy val crc = {
     var c = new Crc()
-    c = c.accumulate(payload.remaining.toByte)
+    c = c.accumulate(payload.length.toByte)
     c = c.accumulate(seq)
     c = c.accumulate(systemId)
     c = c.accumulate(componentId)
     c = c.accumulate(messageId)
-    while (payload.hasRemaining) {
-      c = c.accumulate(payload.get())
-    }
+    for (b <- payload) c = c.accumulate(b)
     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
+  val toArray = {
+    val builder = ArrayBuilder.make[Byte]
+    builder += Packet.Stx
+    builder += payload.length.toByte
+    builder += seq
+    builder += systemId
+    builder += componentId
+    builder += messageId
+    builder ++= payload
+    builder += crc.lsb
+    builder += crc.msb
+    builder.result
   }
 
 }
@@ -57,9 +56,6 @@ 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  ")
@@ -69,6 +65,6 @@ object Packet {
   def extraCrc(id: Byte) = ExtraCrcs(id & 0xff)
 
   /** An invalid packet with no payload. */
-  def emoty = Packet(0, 0, 0, -128, ByteBuffer.wrap(Array(0: Byte)))
+  def empty = Packet(0, 0, 0, -128, Array(0: Byte))
 
 }
\ No newline at end of file
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 81affc5..48af210 100644
--- a/mavlink-library/src/main/twirl/org/mavlink/Parser.scala.txt
+++ b/mavlink-library/src/main/twirl/org/mavlink/Parser.scala.txt
@@ -1,7 +1,7 @@
 @(__context: Context)@_header(__context)
 package org.mavlink
 
-import java.nio.ByteBuffer
+import scala.collection.mutable.ArrayBuilder
 
 object Parser {
 
@@ -32,15 +32,11 @@ object Parser {
  * A parser is created with receiver and error functions and bytes are then fed into it. Once
  * a valid packet has been received (or an error encountered), the receiver (or error) functions
  * are called.
- * Note that due to memory and performance issues, a received packet and payload is
- * only guaranteed to be valid within the receiver function. After exiting the function, the
- * underlying packet's data may be overwritten by a new packet.
  * 
- * @@param buffer a buffer into which the received payload is stored
  * @@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(receiver: Packet => Unit, error: Parser.Errors.Error => Unit = _ => ()) {
   import Parser._
 
   private var state: States.State = States.Idle
@@ -51,6 +47,8 @@ class Parser(payload: ByteBuffer)(receiver: Packet => Unit, error: Parser.Errors
     var systemId: Byte = 0
     var componentId: Byte = 0
     var messageId: Byte = 0
+    var currentLength: Int = 0
+    val payload = ArrayBuilder.make[Byte]
     var crc: Crc = new Crc()
   }
 
@@ -95,19 +93,19 @@ class Parser(payload: ByteBuffer)(receiver: Packet => Unit, error: Parser.Errors
           state = GotPayload
         } else {
           state = GotMsgId
-          payload.clear()
+          inbound.payload.clear()
+          inbound.currentLength = 0
         }
 
       case GotMsgId =>
-        if (!payload.hasRemaining) {
+        inbound.payload += c
+        inbound.currentLength += 1
+        inbound.crc = inbound.crc.accumulate(c)
+        if(inbound.currentLength >= Packet.MaxPayloadLength) {
           state = Idle
           error(Errors.OverflowError)
-        } else {
-          payload.put(c)
-          inbound.crc = inbound.crc.accumulate(c)
-          if (payload.position >= inbound.length) {
-            state = GotPayload
-          }
+        } else if (inbound.currentLength>= inbound.length) {
+          state = GotPayload
         }
 
       case GotPayload =>
@@ -135,7 +133,7 @@ class Parser(payload: ByteBuffer)(receiver: Packet => Unit, error: Parser.Errors
             inbound.systemId,
             inbound.componentId,
             inbound.messageId,
-            payload)
+            inbound.payload.result)
           state = Idle
           receiver(packet)
         }
@@ -147,11 +145,4 @@ class Parser(payload: ByteBuffer)(receiver: Packet => Unit, error: Parser.Errors
    */
   def push(bytes: Traversable[Byte]): Unit = for (b <- bytes) push(b)
 
-  /**
-   * Parses all bytes of contained in a byte buffer.
-   */
-  def push(bytes: ByteBuffer): Unit = while(bytes.hasRemaining) {
-    push(bytes.get())
-  }
-
 }
\ No newline at end of file
diff --git a/mavlink-library/src/main/twirl/org/mavlink/messages/messages.scala.txt b/mavlink-library/src/main/twirl/org/mavlink/messages/messages.scala.txt
index 6f444dc..e973547 100644
--- a/mavlink-library/src/main/twirl/org/mavlink/messages/messages.scala.txt
+++ b/mavlink-library/src/main/twirl/org/mavlink/messages/messages.scala.txt
@@ -73,7 +73,7 @@ case class @{__scalaMessageType(__msg)}(@__msg.fields.map(__scalaFieldFormal).mk
  * @@param id the ID of the message
  * @@param payload the message's contents
  */
-case class Unknown(id: Byte, payload: ByteBuffer) extends Message
+case class Unknown(id: Byte, payload: Array[Byte]) extends Message
 
 /**
  * Provides utility methods for converting data to and from MAVLink messages.
@@ -83,38 +83,39 @@ object Message {
   /**
    * Interprets an ID and payload as a message. The contents must be ordered
    * according to the MAVLink specification.
-   * Note: this method reads from the provided ByteBuffer and thereby modifies its
-   * internal state.
    * @@param id ID of the message
    * @@param payload contents of the message
    * @@return payload interpreted as a message or 'Unknown' in case of an unknown ID
    */
-  def unpack(id: Byte, payload: ByteBuffer): Message = id match {
+  def unpack(id: Byte, payload: Array[Byte]): Message = {
+    val buffer = ByteBuffer.wrap(payload)
+    id match {
     @for(__msg <- __messages) {
       case @__msg.id =>
-        @for(__field <- __msg.orderedFields) {val @__scalaFieldFormal(__field) = @__bufferReadMethod("payload", __field.tpe)
+        @for(__field <- __msg.orderedFields) {val @__scalaFieldFormal(__field) = @__bufferReadMethod("buffer", __field.tpe)
         }
         @{__scalaMessageType(__msg)}(@__msg.fields.map(__scalaFieldName(_)).mkString(", "))
     }
       case u => Unknown(u, payload)
+    }
   }
 
   /**
-   * Writes the contents of a message to a ByteBuffer. The message is encoded according
-   * to the MAVLink specification.
+   * Encodes a message according to the MAVLink specification.
    * @@param message the message to write
-   * @@param payload buffer that will hold the encoded message
-   * @@return id of the encoded message
+   * @@return (id, payload) id and payload of the encoded message
    */
-  def pack(message: Message, payload: ByteBuffer): Byte = message match {
+  def pack(message: Message): (Byte, Array[Byte]) = message match {
     @for(__msg <- __messages) {
       case m: @__scalaMessageType(__msg) =>
-        @for(__field <- __msg.orderedFields) {@__bufferWriteMethod("payload", "m." + __scalaFieldName(__field), __field.tpe)
+        val arr = new Array[Byte](@__msg.length)
+        val buffer = ByteBuffer.wrap(arr)
+
+        @for(__field <- __msg.orderedFields) {@__bufferWriteMethod("buffer", "m." + __scalaFieldName(__field), __field.tpe)
         }
-        @__msg.id
+        (@__msg.id, arr)
     }
     case u: Unknown =>
-      payload.put(u.payload)
-      u.id
+      (u.id, u.payload)
   }
 }
\ 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
index 6c84968..b7772a7 100644
--- 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
@@ -9,45 +9,38 @@ object Main {
   val ReceiverComponentId = 0: Byte
 
   def main(args: Array[String]): Unit = {
+  	println("Echo test")
 	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)
+  	val parser = new Parser(
+  	  (pckt: Packet) => {
+  	    val msg: Message = Message.unpack(pckt.messageId, pckt.payload)
   	    println("received message: " + msg)
   	  },
-  	  err => {
+  	  (err: Parser.Errors.Error) => {
   	  	sys.error("parse error: " + err)
   	  }
   	)
 
-  	//payload buffer of outgoing messages
-  	val out = MavlinkBuffer.allocate()
-
-  	//assembles messages into pakets from a specific sender
+  	//assembles messages into packets 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)
+  	val (id: Byte, payload: Array[Byte]) = Message.pack(message)
 
   	//assemble into packet
-  	val packet = assembler.assemble(id, out)
+  	val packet = assembler.assemble(id, payload)
 
   	//simulate wire transfer
-  	packet.writeTo(line)
-  	parser.push(line)
+  	val data = packet.toArray
+  	parser.push(data)
   }
 
 }
\ No newline at end of file