mirror of https://github.com/ArduPilot/ardupilot
103 lines
3.0 KiB
C++
103 lines
3.0 KiB
C++
//
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// Simple test for the GCS_MAVLink routing
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//
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#include <AP_HAL/AP_HAL.h>
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#include <GCS_MAVLink/GCS.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <GCS_MAVLink/GCS_Dummy.h>
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#include <AP_Common/AP_FWVersion.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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void setup();
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void loop();
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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AP_SerialManager _serialmanager;
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GCS_Dummy _gcs;
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extern mavlink_system_t mavlink_system;
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const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
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AP_GROUPEND
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};
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static MAVLink_routing routing;
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void setup(void)
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{
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hal.console->printf("routing test startup...");
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gcs().init();
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gcs().setup_console();
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}
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void loop(void)
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{
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uint16_t err_count = 0;
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// incoming heartbeat
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mavlink_message_t msg;
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mavlink_heartbeat_t heartbeat = {0};
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mavlink_msg_heartbeat_encode(3, 1, &msg, &heartbeat);
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if (!routing.check_and_forward(MAVLINK_COMM_0, msg)) {
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hal.console->printf("heartbeat should be processed locally\n");
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err_count++;
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}
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// incoming non-targetted message
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mavlink_attitude_t attitude = {0};
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mavlink_msg_attitude_encode(3, 1, &msg, &attitude);
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if (!routing.check_and_forward(MAVLINK_COMM_0, msg)) {
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hal.console->printf("attitude should be processed locally\n");
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err_count++;
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}
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// incoming targeted message for someone else
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mavlink_param_set_t param_set = {0};
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param_set.target_system = mavlink_system.sysid+1;
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param_set.target_component = mavlink_system.compid;
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mavlink_msg_param_set_encode(3, 1, &msg, ¶m_set);
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if (routing.check_and_forward(MAVLINK_COMM_0, msg)) {
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hal.console->printf("param set 1 should not be processed locally\n");
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err_count++;
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}
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// incoming targeted message for us
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param_set.target_system = mavlink_system.sysid;
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param_set.target_component = mavlink_system.compid;
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mavlink_msg_param_set_encode(3, 1, &msg, ¶m_set);
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if (!routing.check_and_forward(MAVLINK_COMM_0, msg)) {
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hal.console->printf("param set 2 should be processed locally\n");
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err_count++;
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}
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// incoming targeted message for our system, but other compid
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// should be processed locally
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param_set.target_system = mavlink_system.sysid;
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param_set.target_component = mavlink_system.compid+1;
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mavlink_msg_param_set_encode(3, 1, &msg, ¶m_set);
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if (!routing.check_and_forward(MAVLINK_COMM_0, msg)) {
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hal.console->printf("param set 3 should be processed locally\n");
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err_count++;
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}
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// incoming broadcast message should be processed locally
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param_set.target_system = 0;
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param_set.target_component = mavlink_system.compid+1;
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mavlink_msg_param_set_encode(3, 1, &msg, ¶m_set);
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if (!routing.check_and_forward(MAVLINK_COMM_0, msg)) {
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hal.console->printf("param set 4 should be processed locally\n");
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err_count++;
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}
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if (err_count == 0) {
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hal.console->printf("All OK\n");
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}
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hal.scheduler->delay(1000);
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}
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AP_HAL_MAIN();
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