mirror of https://github.com/ArduPilot/ardupilot
139 lines
4.2 KiB
C++
139 lines
4.2 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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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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const AP_FWVersion AP_FWVersion::fwver
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{
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major: 3,
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minor: 1,
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patch: 4,
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fw_type: FIRMWARE_VERSION_TYPE_DEV,
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fw_string: "routing example"
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};
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class GCS_MAVLINK_routing : public GCS_MAVLINK
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{
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public:
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protected:
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uint32_t telem_delay() const override { return 0; }
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Compass *get_compass() const override { return nullptr; };
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AP_Mission *get_mission() override { return nullptr; }
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AP_Rally *get_rally() const override { return nullptr; }
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AP_Camera *get_camera() const override { return nullptr; };
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uint8_t sysid_my_gcs() const override { return 1; }
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bool set_mode(uint8_t mode) override { return false; };
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// dummy information:
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MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
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MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
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uint32_t custom_mode() const override { return 3; } // magic number
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MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
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private:
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void handleMessage(mavlink_message_t * msg) { }
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bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return false ; }
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void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override { }
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bool try_send_message(enum ap_message id) override { return false; }
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};
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static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
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static GCS_MAVLINK_routing gcs_link[MAVLINK_COMM_NUM_BUFFERS];
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extern mavlink_system_t mavlink_system;
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const AP_Param::GroupInfo GCS_MAVLINK::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_link[0].init(hal.uartA, MAVLINK_COMM_0);
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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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