mirror of https://github.com/ArduPilot/ardupilot
253 lines
10 KiB
C
253 lines
10 KiB
C
/** @file
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* @brief MAVLink comm protocol testsuite generated from ardupilotmega.xml
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* @see http://qgroundcontrol.org/mavlink/
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*/
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#ifndef ARDUPILOTMEGA_TESTSUITE_H
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#define ARDUPILOTMEGA_TESTSUITE_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifndef MAVLINK_TEST_ALL
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#define MAVLINK_TEST_ALL
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static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
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static void mavlink_test_ardupilotmega(uint8_t, uint8_t, mavlink_message_t *last_msg);
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static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_test_common(system_id, component_id, last_msg);
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mavlink_test_ardupilotmega(system_id, component_id, last_msg);
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}
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#endif
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#include "../common/testsuite.h"
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static void mavlink_test_sensor_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_sensor_offsets_t packet_in = {
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17235,
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17339,
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17443,
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59.0,
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963497984,
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963498192,
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143.0,
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171.0,
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199.0,
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227.0,
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255.0,
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283.0,
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};
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mavlink_sensor_offsets_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.mag_ofs_x = packet_in.mag_ofs_x;
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packet1.mag_ofs_y = packet_in.mag_ofs_y;
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packet1.mag_ofs_z = packet_in.mag_ofs_z;
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packet1.mag_declination = packet_in.mag_declination;
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packet1.raw_press = packet_in.raw_press;
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packet1.raw_temp = packet_in.raw_temp;
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packet1.gyro_cal_x = packet_in.gyro_cal_x;
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packet1.gyro_cal_y = packet_in.gyro_cal_y;
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packet1.gyro_cal_z = packet_in.gyro_cal_z;
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packet1.accel_cal_x = packet_in.accel_cal_x;
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packet1.accel_cal_y = packet_in.accel_cal_y;
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packet1.accel_cal_z = packet_in.accel_cal_z;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_sensor_offsets_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_sensor_offsets_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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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 );
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mavlink_msg_sensor_offsets_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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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 );
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mavlink_msg_sensor_offsets_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_sensor_offsets_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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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 );
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mavlink_msg_sensor_offsets_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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}
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static void mavlink_test_set_mag_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_set_mag_offsets_t packet_in = {
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5,
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72,
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17339,
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17443,
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17547,
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};
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mavlink_set_mag_offsets_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.target_system = packet_in.target_system;
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packet1.target_component = packet_in.target_component;
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packet1.mag_ofs_x = packet_in.mag_ofs_x;
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packet1.mag_ofs_y = packet_in.mag_ofs_y;
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packet1.mag_ofs_z = packet_in.mag_ofs_z;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_set_mag_offsets_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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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 );
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mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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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 );
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mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_set_mag_offsets_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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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 );
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mavlink_msg_set_mag_offsets_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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}
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static void mavlink_test_meminfo(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_meminfo_t packet_in = {
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17235,
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17339,
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};
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mavlink_meminfo_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.brkval = packet_in.brkval;
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packet1.freemem = packet_in.freemem;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_meminfo_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_meminfo_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_meminfo_pack(system_id, component_id, &msg , packet1.brkval , packet1.freemem );
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mavlink_msg_meminfo_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_meminfo_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.brkval , packet1.freemem );
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mavlink_msg_meminfo_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_meminfo_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_meminfo_send(MAVLINK_COMM_1 , packet1.brkval , packet1.freemem );
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mavlink_msg_meminfo_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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}
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static void mavlink_test_ap_adc(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_ap_adc_t packet_in = {
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17235,
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17339,
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17443,
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17547,
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17651,
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17755,
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};
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mavlink_ap_adc_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.adc1 = packet_in.adc1;
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packet1.adc2 = packet_in.adc2;
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packet1.adc3 = packet_in.adc3;
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packet1.adc4 = packet_in.adc4;
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packet1.adc5 = packet_in.adc5;
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packet1.adc6 = packet_in.adc6;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_ap_adc_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_ap_adc_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_ap_adc_pack(system_id, component_id, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
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mavlink_msg_ap_adc_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_ap_adc_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
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mavlink_msg_ap_adc_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_ap_adc_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_ap_adc_send(MAVLINK_COMM_1 , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
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mavlink_msg_ap_adc_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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}
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static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_test_sensor_offsets(system_id, component_id, last_msg);
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mavlink_test_set_mag_offsets(system_id, component_id, last_msg);
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mavlink_test_meminfo(system_id, component_id, last_msg);
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mavlink_test_ap_adc(system_id, component_id, last_msg);
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}
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#ifdef __cplusplus
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}
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#endif // __cplusplus
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#endif // ARDUPILOTMEGA_TESTSUITE_H
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