implement testing

4 files changed, 25 insertions, 10 deletions

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