ardupilot/libraries/GCS_MAVLink/examples/routing/routing.cpp

141 lines
4.2 KiB
C++

//
// Simple test for the GCS_MAVLink routing
//
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Common/AP_FWVersion.h>
void setup();
void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
const AP_FWVersion AP_FWVersion::fwver
{
major: 3,
minor: 1,
patch: 4,
fw_type: FIRMWARE_VERSION_TYPE_DEV,
fw_string: "routing example"
};
const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] {};
class GCS_MAVLINK_routing : public GCS_MAVLINK
{
public:
protected:
uint32_t telem_delay() const override { return 0; }
uint8_t sysid_my_gcs() const override { return 1; }
bool set_mode(uint8_t mode) override { return false; };
// dummy information:
MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
void send_nav_controller_output() const override {};
void send_pid_tuning() override {};
bool set_home_to_current_location(bool lock) override { return false; }
bool set_home(const Location& loc, bool lock) override { return false; }
private:
void handleMessage(mavlink_message_t * msg) override { }
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return false ; }
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override { }
bool try_send_message(enum ap_message id) override { return false; }
};
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
static GCS_MAVLINK_routing gcs_link[num_gcs];
extern mavlink_system_t mavlink_system;
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
AP_GROUPEND
};
static MAVLink_routing routing;
void setup(void)
{
hal.console->printf("routing test startup...");
gcs_link[0].init(hal.uartA, MAVLINK_COMM_0);
}
void loop(void)
{
uint16_t err_count = 0;
// incoming heartbeat
mavlink_message_t msg;
mavlink_heartbeat_t heartbeat = {0};
mavlink_msg_heartbeat_encode(3, 1, &msg, &heartbeat);
if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
hal.console->printf("heartbeat should be processed locally\n");
err_count++;
}
// incoming non-targetted message
mavlink_attitude_t attitude = {0};
mavlink_msg_attitude_encode(3, 1, &msg, &attitude);
if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
hal.console->printf("attitude should be processed locally\n");
err_count++;
}
// incoming targeted message for someone else
mavlink_param_set_t param_set = {0};
param_set.target_system = mavlink_system.sysid+1;
param_set.target_component = mavlink_system.compid;
mavlink_msg_param_set_encode(3, 1, &msg, &param_set);
if (routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
hal.console->printf("param set 1 should not be processed locally\n");
err_count++;
}
// incoming targeted message for us
param_set.target_system = mavlink_system.sysid;
param_set.target_component = mavlink_system.compid;
mavlink_msg_param_set_encode(3, 1, &msg, &param_set);
if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
hal.console->printf("param set 2 should be processed locally\n");
err_count++;
}
// incoming targeted message for our system, but other compid
// should be processed locally
param_set.target_system = mavlink_system.sysid;
param_set.target_component = mavlink_system.compid+1;
mavlink_msg_param_set_encode(3, 1, &msg, &param_set);
if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
hal.console->printf("param set 3 should be processed locally\n");
err_count++;
}
// incoming broadcast message should be processed locally
param_set.target_system = 0;
param_set.target_component = mavlink_system.compid+1;
mavlink_msg_param_set_encode(3, 1, &msg, &param_set);
if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
hal.console->printf("param set 4 should be processed locally\n");
err_count++;
}
if (err_count == 0) {
hal.console->printf("All OK\n");
}
hal.scheduler->delay(1000);
}
AP_HAL_MAIN();