2010-12-26 20:59:17 -04:00
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< h1 > /home/jgoppert/Projects/ap/libraries/APM_BinComm/test/test.cpp< / h1 > < / div >
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< a href = "test_8cpp.html" > Go to the documentation of this file.< / a > < div class = "fragment" > < pre class = "fragment" > < a name = "l00001" > < / a > 00001 < span class = "comment" > // -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-< / span >
< a name = "l00002" > < / a > 00002
< a name = "l00003" > < / a > 00003 < span class = "comment" > // test harness for the APM_BinComm bits< / span >
< a name = "l00004" > < / a > 00004
< a name = "l00005" > < / a > 00005 < span class = "preprocessor" > #include < stdint.h> < / span >
< a name = "l00006" > < / a > 00006 < span class = "preprocessor" > #include < err.h> < / span >
< a name = "l00007" > < / a > 00007 < span class = "preprocessor" > #include < unistd.h> < / span >
< a name = "l00008" > < / a > 00008 < span class = "preprocessor" > #include < fcntl.h> < / span >
< a name = "l00009" > < / a > 00009 < span class = "preprocessor" > #include < termios.h> < / span >
< a name = "l00010" > < / a > 00010 < span class = "preprocessor" > #include < stdio.h> < / span >
< a name = "l00011" > < / a > 00011 < span class = "preprocessor" > #include < string.h> < / span >
< a name = "l00012" > < / a > 00012
< a name = "l00013" > < / a > 00013 < span class = "preprocessor" > #include " < a class = "code" href = "_w_program_8h.html" > WProgram.h< / a > " < / span >
< a name = "l00014" > < / a > 00014
< a name = "l00015" > < / a > 00015 < span class = "preprocessor" > #include " ../APM_BinComm.h" < / span >
< a name = "l00016" > < / a > 00016
< a name = "l00017" > < / a > 00017 < span class = "keyword" > static< / span > < span class = "keywordtype" > void< / span > handler(< span class = "keywordtype" > void< / span > *arg, uint8_t messageId, uint8_t messageVersion, < span class = "keywordtype" > void< / span > *messageData);
< a name = "l00018" > < / a > 00018
< a name = "l00019" > < / a > < a class = "code" href = "test_8cpp.html#ac3f04f306dac1700cd98ab7b03c0fe48" > 00019< / a > < a class = "code" href = "struct_bin_comm_1_1_message_handler.html" > BinComm::MessageHandler< / a > < a class = "code" href = "test_8cpp.html#ac3f04f306dac1700cd98ab7b03c0fe48" > handlers< / a > [] = {
< a name = "l00020" > < / a > 00020 {BinComm::MSG_ANY, handler, NULL},
< a name = "l00021" > < / a > 00021 {BinComm::MSG_NULL, 0, 0}
< a name = "l00022" > < / a > 00022 };
< a name = "l00023" > < / a > 00023
< a name = "l00024" > < / a > < a class = "code" href = "test_8cpp.html#aa9d3949e4023e37adada0665a885faef" > 00024< / a > < a class = "code" href = "class_stream.html" > Stream< / a > < a class = "code" href = "test_8cpp.html#aa9d3949e4023e37adada0665a885faef" > port< / a > ;
< a name = "l00025" > < / a > 00025 < a class = "code" href = "class_bin_comm.html" title = "Class providing protocol en/decoding services for the ArduPilot Mega binary telemetry protocol..." > BinComm< / a > < a class = "code" href = "test_8cpp.html#a42b50075184374b8c8753d61b50c8563" > comm< / a > (handlers, & port);
< a name = "l00026" > < / a > 00026
< a name = "l00027" > < / a > < a class = "code" href = "test_8cpp.html#aeb74ae68ddf027f2d083efbf58e69882" > 00027< / a > < span class = "keywordtype" > int< / span > < a class = "code" href = "test_8cpp.html#aeb74ae68ddf027f2d083efbf58e69882" > port_fd< / a > ;
< a name = "l00028" > < / a > 00028
< a name = "l00029" > < / a > 00029 < span class = "keywordtype" > unsigned< / span > < span class = "keywordtype" > int< / span >
< a name = "l00030" > < / a > < a class = "code" href = "_w_program_8h.html#a941a22cb7e0f6429fe40f91e83ead3d9" > 00030< / a > < a class = "code" href = "test_8cpp.html#a941a22cb7e0f6429fe40f91e83ead3d9" > millis< / a > (< span class = "keywordtype" > void< / span > )
< a name = "l00031" > < / a > 00031 {
< a name = "l00032" > < / a > 00032 < span class = "keywordflow" > return< / span > 0;
< a name = "l00033" > < / a > 00033 }
< a name = "l00034" > < / a > 00034
< a name = "l00035" > < / a > 00035 < span class = "keywordtype" > void< / span >
< a name = "l00036" > < / a > < a class = "code" href = "class_stream.html#a46cd2d80c276134f30300d619416d5c8" > 00036< / a > < a class = "code" href = "class_stream.html#a46cd2d80c276134f30300d619416d5c8" > Stream::write< / a > (uint8_t val)
< a name = "l00037" > < / a > 00037 {< a class = "code" href = "class_stream.html#a46cd2d80c276134f30300d619416d5c8" > < / a >
< a name = "l00038" > < / a > 00038 < a class = "code" href = "class_stream.html#a46cd2d80c276134f30300d619416d5c8" > ::write< / a > (< a class = "code" href = "test_8cpp.html#aeb74ae68ddf027f2d083efbf58e69882" > port_fd< / a > , & val, 1);
< a name = "l00039" > < / a > 00039 }
< a name = "l00040" > < / a > 00040
< a name = "l00041" > < / a > 00041 < span class = "keywordtype" > int< / span >
< a name = "l00042" > < / a > < a class = "code" href = "class_stream.html#adb912146b71c46ce62d22412b819adcb" > 00042< / a > < a class = "code" href = "class_stream.html#adb912146b71c46ce62d22412b819adcb" > Stream::available< / a > (< span class = "keywordtype" > void< / span > )
< a name = "l00043" > < / a > 00043 {
< a name = "l00044" > < / a > 00044 < span class = "keywordflow" > return< / span > (1);
< a name = "l00045" > < / a > 00045 }
< a name = "l00046" > < / a > 00046
< a name = "l00047" > < / a > 00047 < span class = "keywordtype" > int< / span >
< a name = "l00048" > < / a > < a class = "code" href = "class_stream.html#a4de9545ea7065d408c3efdb97f55dc2b" > 00048< / a > < a class = "code" href = "class_stream.html#a4de9545ea7065d408c3efdb97f55dc2b" > Stream::read< / a > (< span class = "keywordtype" > void< / span > )
< a name = "l00049" > < / a > 00049 {
< a name = "l00050" > < / a > 00050 < span class = "keywordtype" > int< / span > ret;
< a name = "l00051" > < / a > 00051 uint8_t c;
< a name = "l00052" > < / a > 00052
< a name = "l00053" > < / a > 00053 < span class = "keywordflow" > switch< / span > (::< a class = "code" href = "class_stream.html#a4de9545ea7065d408c3efdb97f55dc2b" > read< / a > (< a class = "code" href = "test_8cpp.html#aeb74ae68ddf027f2d083efbf58e69882" > port_fd< / a > , & c, 1)) {
< a name = "l00054" > < / a > 00054 < span class = "keywordflow" > case< / span > 1:
< a name = "l00055" > < / a > 00055 printf(< span class = "stringliteral" > " 0x%02x\n" < / span > , c);
< a name = "l00056" > < / a > 00056 < span class = "keywordflow" > return< / span > c;
< a name = "l00057" > < / a > 00057 < span class = "keywordflow" > case< / span > 0:
< a name = "l00058" > < / a > 00058 errx(1, < span class = "stringliteral" > " device disappeared" < / span > );
< a name = "l00059" > < / a > 00059
< a name = "l00060" > < / a > 00060 < span class = "keywordflow" > default< / span > :
< a name = "l00061" > < / a > 00061 < span class = "comment" > // almost certainly EWOULDBLOCK< / span >
< a name = "l00062" > < / a > 00062 < span class = "keywordflow" > return< / span > -1;
< a name = "l00063" > < / a > 00063 }
< a name = "l00064" > < / a > 00064 }
< a name = "l00065" > < / a > 00065
< a name = "l00066" > < / a > 00066 < span class = "keywordtype" > void< / span >
< a name = "l00067" > < / a > 00067 handler(< span class = "keywordtype" > void< / span > *arg, uint8_t messageId, uint8_t messageVersion, < span class = "keywordtype" > void< / span > *messageData)
< a name = "l00068" > < / a > 00068 {
< a name = "l00069" > < / a > 00069
< a name = "l00070" > < / a > 00070 < span class = "keywordflow" > if< / span > (messageId == < a class = "code" href = "class_bin_comm.html#a75c89aa6af30f2f2916a71405a461fb0a184e68a06d7603879fe28ab716065d86" > BinComm::MSG_HEARTBEAT< / a > ) {
< a name = "l00071" > < / a > 00071 < span class = "keyword" > struct < / span > < a class = "code" href = "struct_bin_comm_1_1msg__heartbeat.html" title = "Structure describing the payload section of the MSG_HEARTBEAT message." > BinComm::msg_heartbeat< / a > *m = (< span class = "keyword" > struct < / span > < a class = "code" href = "struct_bin_comm_1_1msg__heartbeat.html" title = "Structure describing the payload section of the MSG_HEARTBEAT message." > BinComm::msg_heartbeat< / a > *)messageData;
< a name = "l00072" > < / a > 00072 printf(< span class = "stringliteral" > " Heartbeat: mode %u time %u voltage %u command %u\n" < / span > ,
< a name = "l00073" > < / a > 00073 m-> < a class = "code" href = "struct_bin_comm_1_1msg__heartbeat.html#ab6c0301d6ca0fdf86e4a9ab513a750eb" > flightMode< / a > , m-> < a class = "code" href = "struct_bin_comm_1_1msg__heartbeat.html#af6764d31aa29a75875f12f4e6aecb83f" > timeStamp< / a > , m-> < a class = "code" href = "struct_bin_comm_1_1msg__heartbeat.html#ab0150305c94e7672db4e13901c1eaa43" > batteryVoltage< / a > , m-> < a class = "code" href = "struct_bin_comm_1_1msg__heartbeat.html#ab3f2f26630902ad5735be9fe4c6aab2b" > commandIndex< / a > );
< a name = "l00074" > < / a > 00074 } < span class = "keywordflow" > else< / span >
< a name = "l00075" > < / a > 00075 < span class = "keywordflow" > if< / span > (messageId == < a class = "code" href = "class_bin_comm.html#a75c89aa6af30f2f2916a71405a461fb0af792fb86670678acaf6ea875cfa868e3" > BinComm::MSG_ATTITUDE< / a > ) {
< a name = "l00076" > < / a > 00076 < span class = "keyword" > struct < / span > < a class = "code" href = "struct_bin_comm_1_1msg__attitude.html" title = "Structure describing the payload section of the MSG_ATTITUDE message." > BinComm::msg_attitude< / a > *m = (< span class = "keyword" > struct < / span > < a class = "code" href = "struct_bin_comm_1_1msg__attitude.html" title = "Structure describing the payload section of the MSG_ATTITUDE message." > BinComm::msg_attitude< / a > *)messageData;
< a name = "l00077" > < / a > 00077 printf(< span class = "stringliteral" > " Attitude: pitch %d roll %d yaw %d\n" < / span > ,
< a name = "l00078" > < / a > 00078 m-> < a class = "code" href = "struct_bin_comm_1_1msg__attitude.html#ae94f9d2b1562576b84582d329c41f2a9" > pitch< / a > , m-> < a class = "code" href = "struct_bin_comm_1_1msg__attitude.html#ace5d7b0dc8726d39ae79e1f44ab2b44e" > roll< / a > , m-> < a class = "code" href = "struct_bin_comm_1_1msg__attitude.html#ab075904a0236e90e98c9de1b42f07215" > yaw< / a > );
< a name = "l00079" > < / a > 00079 } < span class = "keywordflow" > else< / span >
< a name = "l00080" > < / a > 00080 < span class = "keywordflow" > if< / span > (messageId == < a class = "code" href = "class_bin_comm.html#a75c89aa6af30f2f2916a71405a461fb0a4c7725ddd2cd18546491bb52a3a34536" > BinComm::MSG_LOCATION< / a > ) {
< a name = "l00081" > < / a > 00081 < span class = "keyword" > struct < / span > < a class = "code" href = "struct_bin_comm_1_1msg__location.html" title = "Structure describing the payload section of the MSG_LOCATION message." > BinComm::msg_location< / a > *m = (< span class = "keyword" > struct < / span > < a class = "code" href = "struct_bin_comm_1_1msg__location.html" title = "Structure describing the payload section of the MSG_LOCATION message." > BinComm::msg_location< / a > *)messageData;
< a name = "l00082" > < / a > 00082 printf(< span class = "stringliteral" > " Location: lat %d long %d altitude %d groundspeed %d groundcourse %d time %u\n" < / span > ,
< a name = "l00083" > < / a > 00083 m-> < a class = "code" href = "struct_bin_comm_1_1msg__location.html#a42ba2f86fc28107d8177371a067de142" > latitude< / a > , m-> < a class = "code" href = "struct_bin_comm_1_1msg__location.html#a53477a78964d8f414c8c61bd609b545d" > longitude< / a > , m-> < a class = "code" href = "struct_bin_comm_1_1msg__location.html#a7c2e3c04d8842ebadee41415e1bf3f42" > altitude< / a > , m-> < a class = "code" href = "struct_bin_comm_1_1msg__location.html#a1b726523f0f11421f5c25d9649e12f99" > groundSpeed< / a > , m-> < a class = "code" href = "struct_bin_comm_1_1msg__location.html#a9854d1d73555ef90f6cc576229b3255f" > groundCourse< / a > , m-> < a class = "code" href = "struct_bin_comm_1_1msg__location.html#a8edd5f36a9ecb7d88199873a93592ef4" > timeOfWeek< / a > );
< a name = "l00084" > < / a > 00084 } < span class = "keywordflow" > else< / span >
< a name = "l00085" > < / a > 00085 < span class = "keywordflow" > if< / span > (messageId == < a class = "code" href = "class_bin_comm.html#a75c89aa6af30f2f2916a71405a461fb0a32cd8f978006350a5e4fcf8ef8f57f20" > BinComm::MSG_STATUS_TEXT< / a > ) {
< a name = "l00086" > < / a > 00086 < span class = "keyword" > struct < / span > < a class = "code" href = "struct_bin_comm_1_1msg__status__text.html" title = "Structure describing the payload section of the MSG_STATUS_TEXT message." > BinComm::msg_status_text< / a > *m = (< span class = "keyword" > struct < / span > < a class = "code" href = "struct_bin_comm_1_1msg__status__text.html" title = "Structure describing the payload section of the MSG_STATUS_TEXT message." > BinComm::msg_status_text< / a > *)messageData;
< a name = "l00087" > < / a > 00087 printf(< span class = "stringliteral" > " Message %d: %-50s\n" < / span > , m-> < a class = "code" href = "struct_bin_comm_1_1msg__status__text.html#a257a9a58e1c9f921e69fdf3b0c4c55c4" > severity< / a > , m-> < a class = "code" href = "struct_bin_comm_1_1msg__status__text.html#a922e5cb0e166e35812c560afd8765f77" > text< / a > );
< a name = "l00088" > < / a > 00088 } < span class = "keywordflow" > else< / span > {
< a name = "l00089" > < / a > 00089 warnx(< span class = "stringliteral" > " received message %d,%d" < / span > , messageId, messageVersion);
< a name = "l00090" > < / a > 00090 }
< a name = "l00091" > < / a > 00091 }
< a name = "l00092" > < / a > 00092
< a name = "l00093" > < / a > 00093 < span class = "keywordtype" > int< / span >
< a name = "l00094" > < / a > < a class = "code" href = "test_8cpp.html#a0ddf1224851353fc92bfbff6f499fa97" > 00094< / a > < a class = "code" href = "test_8cpp.html#a0ddf1224851353fc92bfbff6f499fa97" > main< / a > (< span class = "keywordtype" > int< / span > argc, < span class = "keywordtype" > char< / span > *argv[])
< a name = "l00095" > < / a > 00095 {
< a name = "l00096" > < / a > 00096 < span class = "keyword" > struct < / span > termios t;
< a name = "l00097" > < / a > 00097
< a name = "l00098" > < / a > 00098 < span class = "keywordflow" > if< / span > (2 > argc)
< a name = "l00099" > < / a > 00099 errx(1, < span class = "stringliteral" > " BinCommTest < port> " < / span > );
< a name = "l00100" > < / a > 00100 < span class = "keywordflow" > if< / span > (0 > = (< a class = "code" href = "test_8cpp.html#aeb74ae68ddf027f2d083efbf58e69882" > port_fd< / a > = open(argv[1], O_RDWR | O_NONBLOCK)))
< a name = "l00101" > < / a > 00101 err(1, < span class = "stringliteral" > " could not open port %s" < / span > , argv[1]);
< a name = "l00102" > < / a > 00102 < span class = "keywordflow" > if< / span > (tcgetattr(< a class = "code" href = "test_8cpp.html#aeb74ae68ddf027f2d083efbf58e69882" > port_fd< / a > , & t))
< a name = "l00103" > < / a > 00103 err(1, < span class = "stringliteral" > " tcgetattr" < / span > );
< a name = "l00104" > < / a > 00104 cfsetspeed(& t, 115200);
< a name = "l00105" > < / a > 00105 < span class = "keywordflow" > if< / span > (tcsetattr(< a class = "code" href = "test_8cpp.html#aeb74ae68ddf027f2d083efbf58e69882" > port_fd< / a > , TCSANOW, & t))
< a name = "l00106" > < / a > 00106 err(1, < span class = "stringliteral" > " tcsetattr" < / span > );
< a name = "l00107" > < / a > 00107
< a name = "l00108" > < / a > 00108 < span class = "comment" > // spin listening< / span >
< a name = "l00109" > < / a > 00109 < span class = "keywordflow" > for< / span > (;;) {
< a name = "l00110" > < / a > 00110 < a class = "code" href = "test_8cpp.html#a42b50075184374b8c8753d61b50c8563" > comm< / a > .< a class = "code" href = "class_bin_comm.html#a3275f04afbe2f74f03a3933dcdfc435a" > update< / a > ();
< a name = "l00111" > < / a > 00111 }
< a name = "l00112" > < / a > 00112 }
< / pre > < / div > < / div >
< / div >
2010-12-26 22:59:34 -04:00
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2010-12-26 20:59:17 -04:00
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