ardupilot/libraries/GCS_MAVLink/include/ardupilotmega/testsuite.h

/** @file
 *	@brief MAVLink comm protocol testsuite generated from ardupilotmega.xml
 *	@see http://qgroundcontrol.org/mavlink/
 */
#ifndef ARDUPILOTMEGA_TESTSUITE_H
#define ARDUPILOTMEGA_TESTSUITE_H

#ifdef __cplusplus
extern "C" {
#endif

#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL
static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
static void mavlink_test_ardupilotmega(uint8_t, uint8_t, mavlink_message_t *last_msg);

static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
	mavlink_test_common(system_id, component_id, last_msg);
	mavlink_test_ardupilotmega(system_id, component_id, last_msg);
}
#endif

#include "../common/testsuite.h"


static void mavlink_test_sensor_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
	mavlink_message_t msg;
        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
        uint16_t i;
	mavlink_sensor_offsets_t packet_in = {
		17235,
	17339,
	17443,
	59.0,
	963497984,
	963498192,
	143.0,
	171.0,
	199.0,
	227.0,
	255.0,
	283.0,
	};
	mavlink_sensor_offsets_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
        	packet1.mag_ofs_x = packet_in.mag_ofs_x;
        	packet1.mag_ofs_y = packet_in.mag_ofs_y;
        	packet1.mag_ofs_z = packet_in.mag_ofs_z;
        	packet1.mag_declination = packet_in.mag_declination;
        	packet1.raw_press = packet_in.raw_press;
        	packet1.raw_temp = packet_in.raw_temp;
        	packet1.gyro_cal_x = packet_in.gyro_cal_x;
        	packet1.gyro_cal_y = packet_in.gyro_cal_y;
        	packet1.gyro_cal_z = packet_in.gyro_cal_z;
        	packet1.accel_cal_x = packet_in.accel_cal_x;
        	packet1.accel_cal_y = packet_in.accel_cal_y;
        	packet1.accel_cal_z = packet_in.accel_cal_z;
        
        

        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_sensor_offsets_encode(system_id, component_id, &msg, &packet1);
	mavlink_msg_sensor_offsets_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_sensor_offsets_pack(system_id, component_id, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
	mavlink_msg_sensor_offsets_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_sensor_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
	mavlink_msg_sensor_offsets_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
        mavlink_msg_to_send_buffer(buffer, &msg);
        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
        }
	mavlink_msg_sensor_offsets_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
        
        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_sensor_offsets_send(MAVLINK_COMM_1 , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
	mavlink_msg_sensor_offsets_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void mavlink_test_set_mag_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
	mavlink_message_t msg;
        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
        uint16_t i;
	mavlink_set_mag_offsets_t packet_in = {
		5,
	72,
	17339,
	17443,
	17547,
	};
	mavlink_set_mag_offsets_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
        	packet1.target_system = packet_in.target_system;
        	packet1.target_component = packet_in.target_component;
        	packet1.mag_ofs_x = packet_in.mag_ofs_x;
        	packet1.mag_ofs_y = packet_in.mag_ofs_y;
        	packet1.mag_ofs_z = packet_in.mag_ofs_z;
        
        

        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_set_mag_offsets_encode(system_id, component_id, &msg, &packet1);
	mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_set_mag_offsets_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
	mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_set_mag_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
	mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
        mavlink_msg_to_send_buffer(buffer, &msg);
        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
        }
	mavlink_msg_set_mag_offsets_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
        
        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_set_mag_offsets_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
	mavlink_msg_set_mag_offsets_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void mavlink_test_meminfo(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
	mavlink_message_t msg;
        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
        uint16_t i;
	mavlink_meminfo_t packet_in = {
		17235,
	17339,
	};
	mavlink_meminfo_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
        	packet1.brkval = packet_in.brkval;
        	packet1.freemem = packet_in.freemem;
        
        

        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_meminfo_encode(system_id, component_id, &msg, &packet1);
	mavlink_msg_meminfo_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_meminfo_pack(system_id, component_id, &msg , packet1.brkval , packet1.freemem );
	mavlink_msg_meminfo_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_meminfo_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.brkval , packet1.freemem );
	mavlink_msg_meminfo_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
        mavlink_msg_to_send_buffer(buffer, &msg);
        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
        }
	mavlink_msg_meminfo_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
        
        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_meminfo_send(MAVLINK_COMM_1 , packet1.brkval , packet1.freemem );
	mavlink_msg_meminfo_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
	mavlink_test_sensor_offsets(system_id, component_id, last_msg);
	mavlink_test_set_mag_offsets(system_id, component_id, last_msg);
	mavlink_test_meminfo(system_id, component_id, last_msg);
}

#ifdef __cplusplus
}
#endif // __cplusplus
#endif // ARDUPILOTMEGA_TESTSUITE_H