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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 = {
println("Echo test")
echoTest()
}
def echoTest() = {
//parser to transform an incoming byte stream into packets
val parser = new Parser(
(pckt: Packet) => {
val msg: Message = Message.unpack(pckt.messageId, pckt.payload)
println("received message: " + msg)
},
(err: Parser.Errors.Error) => {
sys.error("parse error: " + err)
}
)
//assembles messages into packets from a specific sender
val assembler = new Assembler(SenderSystemId, SenderComponentId)
//create an explicit message
val message = TestMessage(
Array[Short](1,2),
Array.fill[Float](20)(0.2f),
3: Byte,
42.0,
"hello world"
)
//pack the message into a payload
val (id: Byte, payload: Array[Byte]) = Message.pack(message)
//assemble into packet
val packet = assembler.assemble(id, payload)
//simulate wire transfer
val data = packet.toArray
parser.push(data)
}
}
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