lib/main/MAVLink/minimal/testsuite.h

   1 /** @file
   2  *    @brief MAVLink comm protocol testsuite generated from minimal.xml
   3  *    @see http://qgroundcontrol.org/mavlink/
   4  */
   5 #pragma once
   6 #ifndef MINIMAL_TESTSUITE_H
   7 #define MINIMAL_TESTSUITE_H
   8
   9 #ifdef __cplusplus
  10 extern "C" {
  11 #endif
  12
  13 #ifndef MAVLINK_TEST_ALL
  14 #define MAVLINK_TEST_ALL
  15
  16 static void mavlink_test_minimal(uint8_t, uint8_t, mavlink_message_t *last_msg);
  17
  18 static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
  19 {
  20
  21     mavlink_test_minimal(system_id, component_id, last_msg);
  22 }
  23 #endif
  24
  25
  26
  27
  28 static void mavlink_test_heartbeat(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
  29 {
  30 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
  31     mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
  32         if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_HEARTBEAT >= 256) {
  33             return;
  34         }
  35 #endif
  36     mavlink_message_t msg;
  37         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
  38         uint16_t i;
  39     mavlink_heartbeat_t packet_in = {
  40         963497464,17,84,151,218,3
  41     };
  42     mavlink_heartbeat_t packet1, packet2;
  43         memset(&packet1, 0, sizeof(packet1));
  44         packet1.custom_mode = packet_in.custom_mode;
  45         packet1.type = packet_in.type;
  46         packet1.autopilot = packet_in.autopilot;
  47         packet1.base_mode = packet_in.base_mode;
  48         packet1.system_status = packet_in.system_status;
  49         packet1.mavlink_version = packet_in.mavlink_version;
  50
  51
  52 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
  53         if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
  54            // cope with extensions
  55            memset(MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN);
  56         }
  57 #endif
  58         memset(&packet2, 0, sizeof(packet2));
  59     mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1);
  60     mavlink_msg_heartbeat_decode(&msg, &packet2);
  61         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
  62
  63         memset(&packet2, 0, sizeof(packet2));
  64     mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
  65     mavlink_msg_heartbeat_decode(&msg, &packet2);
  66         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
  67
  68         memset(&packet2, 0, sizeof(packet2));
  69     mavlink_msg_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
  70     mavlink_msg_heartbeat_decode(&msg, &packet2);
  71         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
  72
  73         memset(&packet2, 0, sizeof(packet2));
  74         mavlink_msg_to_send_buffer(buffer, &msg);
  75         for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
  76             comm_send_ch(MAVLINK_COMM_0, buffer[i]);
  77         }
  78     mavlink_msg_heartbeat_decode(last_msg, &packet2);
  79         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
  80
  81         memset(&packet2, 0, sizeof(packet2));
  82     mavlink_msg_heartbeat_send(MAVLINK_COMM_1 , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
  83     mavlink_msg_heartbeat_decode(last_msg, &packet2);
  84         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
  85 }
  86
  87 static void mavlink_test_protocol_version(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
  88 {
  89 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
  90     mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
  91         if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_PROTOCOL_VERSION >= 256) {
  92             return;
  93         }
  94 #endif
  95     mavlink_message_t msg;
  96         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
  97         uint16_t i;
  98     mavlink_protocol_version_t packet_in = {
  99         17235,17339,17443,{ 151, 152, 153, 154, 155, 156, 157, 158 },{ 175, 176, 177, 178, 179, 180, 181, 182 }
 100     };
 101     mavlink_protocol_version_t packet1, packet2;
 102         memset(&packet1, 0, sizeof(packet1));
 103         packet1.version = packet_in.version;
 104         packet1.min_version = packet_in.min_version;
 105         packet1.max_version = packet_in.max_version;
 106
 107         mav_array_memcpy(packet1.spec_version_hash, packet_in.spec_version_hash, sizeof(uint8_t)*8);
 108         mav_array_memcpy(packet1.library_version_hash, packet_in.library_version_hash, sizeof(uint8_t)*8);
 109
 110 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
 111         if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
 112            // cope with extensions
 113            memset(MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN);
 114         }
 115 #endif
 116         memset(&packet2, 0, sizeof(packet2));
 117     mavlink_msg_protocol_version_encode(system_id, component_id, &msg, &packet1);
 118     mavlink_msg_protocol_version_decode(&msg, &packet2);
 119         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 120
 121         memset(&packet2, 0, sizeof(packet2));
 122     mavlink_msg_protocol_version_pack(system_id, component_id, &msg , packet1.version , packet1.min_version , packet1.max_version , packet1.spec_version_hash , packet1.library_version_hash );
 123     mavlink_msg_protocol_version_decode(&msg, &packet2);
 124         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 125
 126         memset(&packet2, 0, sizeof(packet2));
 127     mavlink_msg_protocol_version_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.version , packet1.min_version , packet1.max_version , packet1.spec_version_hash , packet1.library_version_hash );
 128     mavlink_msg_protocol_version_decode(&msg, &packet2);
 129         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 130
 131         memset(&packet2, 0, sizeof(packet2));
 132         mavlink_msg_to_send_buffer(buffer, &msg);
 133         for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
 134             comm_send_ch(MAVLINK_COMM_0, buffer[i]);
 135         }
 136     mavlink_msg_protocol_version_decode(last_msg, &packet2);
 137         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 138
 139         memset(&packet2, 0, sizeof(packet2));
 140     mavlink_msg_protocol_version_send(MAVLINK_COMM_1 , packet1.version , packet1.min_version , packet1.max_version , packet1.spec_version_hash , packet1.library_version_hash );
 141     mavlink_msg_protocol_version_decode(last_msg, &packet2);
 142         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 143 }
 144
 145 static void mavlink_test_minimal(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 146 {
 147     mavlink_test_heartbeat(system_id, component_id, last_msg);
 148     mavlink_test_protocol_version(system_id, component_id, last_msg);
 149 }
 150
 151 #ifdef __cplusplus
 152 }
 153 #endif // __cplusplus
 154 #endif // MINIMAL_TESTSUITE_H