0,0 → 1,676 |
/** @file |
* @brief MAVLink comm protocol testsuite generated from sensesoar.xml |
* @see http://qgroundcontrol.org/mavlink/ |
*/ |
#ifndef SENSESOAR_TESTSUITE_H |
#define SENSESOAR_TESTSUITE_H |
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#ifdef __cplusplus |
extern "C" { |
#endif |
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#ifndef MAVLINK_TEST_ALL |
#define MAVLINK_TEST_ALL |
static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); |
static void mavlink_test_sensesoar(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) |
{ |
mavlink_test_common(system_id, component_id, last_msg); |
mavlink_test_sensesoar(system_id, component_id, last_msg); |
} |
#endif |
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#include "../common/testsuite.h" |
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static void mavlink_test_obs_position(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
{ |
mavlink_message_t msg; |
uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
uint16_t i; |
mavlink_obs_position_t packet_in = { |
963497464, |
963497672, |
963497880, |
}; |
mavlink_obs_position_t packet1, packet2; |
memset(&packet1, 0, sizeof(packet1)); |
packet1.lon = packet_in.lon; |
packet1.lat = packet_in.lat; |
packet1.alt = packet_in.alt; |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_position_encode(system_id, component_id, &msg, &packet1); |
mavlink_msg_obs_position_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_position_pack(system_id, component_id, &msg , packet1.lon , packet1.lat , packet1.alt ); |
mavlink_msg_obs_position_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_position_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lon , packet1.lat , packet1.alt ); |
mavlink_msg_obs_position_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_to_send_buffer(buffer, &msg); |
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
} |
mavlink_msg_obs_position_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_position_send(MAVLINK_COMM_1 , packet1.lon , packet1.lat , packet1.alt ); |
mavlink_msg_obs_position_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
} |
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static void mavlink_test_obs_velocity(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
{ |
mavlink_message_t msg; |
uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
uint16_t i; |
mavlink_obs_velocity_t packet_in = { |
{ 17.0, 18.0, 19.0 }, |
}; |
mavlink_obs_velocity_t packet1, packet2; |
memset(&packet1, 0, sizeof(packet1)); |
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mav_array_memcpy(packet1.vel, packet_in.vel, sizeof(float)*3); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_velocity_encode(system_id, component_id, &msg, &packet1); |
mavlink_msg_obs_velocity_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_velocity_pack(system_id, component_id, &msg , packet1.vel ); |
mavlink_msg_obs_velocity_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_velocity_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.vel ); |
mavlink_msg_obs_velocity_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_to_send_buffer(buffer, &msg); |
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
} |
mavlink_msg_obs_velocity_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_velocity_send(MAVLINK_COMM_1 , packet1.vel ); |
mavlink_msg_obs_velocity_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
} |
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static void mavlink_test_obs_attitude(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
{ |
mavlink_message_t msg; |
uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
uint16_t i; |
mavlink_obs_attitude_t packet_in = { |
{ 123.0, 124.0, 125.0, 126.0 }, |
}; |
mavlink_obs_attitude_t packet1, packet2; |
memset(&packet1, 0, sizeof(packet1)); |
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mav_array_memcpy(packet1.quat, packet_in.quat, sizeof(double)*4); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_attitude_encode(system_id, component_id, &msg, &packet1); |
mavlink_msg_obs_attitude_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_attitude_pack(system_id, component_id, &msg , packet1.quat ); |
mavlink_msg_obs_attitude_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_attitude_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.quat ); |
mavlink_msg_obs_attitude_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_to_send_buffer(buffer, &msg); |
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
} |
mavlink_msg_obs_attitude_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_attitude_send(MAVLINK_COMM_1 , packet1.quat ); |
mavlink_msg_obs_attitude_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
} |
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static void mavlink_test_obs_wind(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
{ |
mavlink_message_t msg; |
uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
uint16_t i; |
mavlink_obs_wind_t packet_in = { |
{ 17.0, 18.0, 19.0 }, |
}; |
mavlink_obs_wind_t packet1, packet2; |
memset(&packet1, 0, sizeof(packet1)); |
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mav_array_memcpy(packet1.wind, packet_in.wind, sizeof(float)*3); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_wind_encode(system_id, component_id, &msg, &packet1); |
mavlink_msg_obs_wind_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_wind_pack(system_id, component_id, &msg , packet1.wind ); |
mavlink_msg_obs_wind_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_wind_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.wind ); |
mavlink_msg_obs_wind_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_to_send_buffer(buffer, &msg); |
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
} |
mavlink_msg_obs_wind_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_wind_send(MAVLINK_COMM_1 , packet1.wind ); |
mavlink_msg_obs_wind_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
} |
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static void mavlink_test_obs_air_velocity(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
{ |
mavlink_message_t msg; |
uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
uint16_t i; |
mavlink_obs_air_velocity_t packet_in = { |
17.0, |
45.0, |
73.0, |
}; |
mavlink_obs_air_velocity_t packet1, packet2; |
memset(&packet1, 0, sizeof(packet1)); |
packet1.magnitude = packet_in.magnitude; |
packet1.aoa = packet_in.aoa; |
packet1.slip = packet_in.slip; |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_air_velocity_encode(system_id, component_id, &msg, &packet1); |
mavlink_msg_obs_air_velocity_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_air_velocity_pack(system_id, component_id, &msg , packet1.magnitude , packet1.aoa , packet1.slip ); |
mavlink_msg_obs_air_velocity_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_air_velocity_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.magnitude , packet1.aoa , packet1.slip ); |
mavlink_msg_obs_air_velocity_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_to_send_buffer(buffer, &msg); |
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
} |
mavlink_msg_obs_air_velocity_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_air_velocity_send(MAVLINK_COMM_1 , packet1.magnitude , packet1.aoa , packet1.slip ); |
mavlink_msg_obs_air_velocity_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
} |
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static void mavlink_test_obs_bias(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
{ |
mavlink_message_t msg; |
uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
uint16_t i; |
mavlink_obs_bias_t packet_in = { |
{ 17.0, 18.0, 19.0 }, |
{ 101.0, 102.0, 103.0 }, |
}; |
mavlink_obs_bias_t packet1, packet2; |
memset(&packet1, 0, sizeof(packet1)); |
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mav_array_memcpy(packet1.accBias, packet_in.accBias, sizeof(float)*3); |
mav_array_memcpy(packet1.gyroBias, packet_in.gyroBias, sizeof(float)*3); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_bias_encode(system_id, component_id, &msg, &packet1); |
mavlink_msg_obs_bias_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_bias_pack(system_id, component_id, &msg , packet1.accBias , packet1.gyroBias ); |
mavlink_msg_obs_bias_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_bias_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.accBias , packet1.gyroBias ); |
mavlink_msg_obs_bias_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_to_send_buffer(buffer, &msg); |
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
} |
mavlink_msg_obs_bias_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_bias_send(MAVLINK_COMM_1 , packet1.accBias , packet1.gyroBias ); |
mavlink_msg_obs_bias_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
} |
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static void mavlink_test_obs_qff(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
{ |
mavlink_message_t msg; |
uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
uint16_t i; |
mavlink_obs_qff_t packet_in = { |
17.0, |
}; |
mavlink_obs_qff_t packet1, packet2; |
memset(&packet1, 0, sizeof(packet1)); |
packet1.qff = packet_in.qff; |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_qff_encode(system_id, component_id, &msg, &packet1); |
mavlink_msg_obs_qff_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_qff_pack(system_id, component_id, &msg , packet1.qff ); |
mavlink_msg_obs_qff_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_qff_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.qff ); |
mavlink_msg_obs_qff_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_to_send_buffer(buffer, &msg); |
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
} |
mavlink_msg_obs_qff_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_qff_send(MAVLINK_COMM_1 , packet1.qff ); |
mavlink_msg_obs_qff_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
} |
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static void mavlink_test_obs_air_temp(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
{ |
mavlink_message_t msg; |
uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
uint16_t i; |
mavlink_obs_air_temp_t packet_in = { |
17.0, |
}; |
mavlink_obs_air_temp_t packet1, packet2; |
memset(&packet1, 0, sizeof(packet1)); |
packet1.airT = packet_in.airT; |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_air_temp_encode(system_id, component_id, &msg, &packet1); |
mavlink_msg_obs_air_temp_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_air_temp_pack(system_id, component_id, &msg , packet1.airT ); |
mavlink_msg_obs_air_temp_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_air_temp_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.airT ); |
mavlink_msg_obs_air_temp_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_to_send_buffer(buffer, &msg); |
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
} |
mavlink_msg_obs_air_temp_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_obs_air_temp_send(MAVLINK_COMM_1 , packet1.airT ); |
mavlink_msg_obs_air_temp_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
} |
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static void mavlink_test_filt_rot_vel(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
{ |
mavlink_message_t msg; |
uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
uint16_t i; |
mavlink_filt_rot_vel_t packet_in = { |
{ 17.0, 18.0, 19.0 }, |
}; |
mavlink_filt_rot_vel_t packet1, packet2; |
memset(&packet1, 0, sizeof(packet1)); |
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mav_array_memcpy(packet1.rotVel, packet_in.rotVel, sizeof(float)*3); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_filt_rot_vel_encode(system_id, component_id, &msg, &packet1); |
mavlink_msg_filt_rot_vel_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_filt_rot_vel_pack(system_id, component_id, &msg , packet1.rotVel ); |
mavlink_msg_filt_rot_vel_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_filt_rot_vel_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.rotVel ); |
mavlink_msg_filt_rot_vel_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_to_send_buffer(buffer, &msg); |
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
} |
mavlink_msg_filt_rot_vel_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_filt_rot_vel_send(MAVLINK_COMM_1 , packet1.rotVel ); |
mavlink_msg_filt_rot_vel_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
} |
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static void mavlink_test_llc_out(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
{ |
mavlink_message_t msg; |
uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
uint16_t i; |
mavlink_llc_out_t packet_in = { |
{ 17235, 17236, 17237, 17238 }, |
{ 17651, 17652 }, |
}; |
mavlink_llc_out_t packet1, packet2; |
memset(&packet1, 0, sizeof(packet1)); |
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mav_array_memcpy(packet1.servoOut, packet_in.servoOut, sizeof(int16_t)*4); |
mav_array_memcpy(packet1.MotorOut, packet_in.MotorOut, sizeof(int16_t)*2); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_llc_out_encode(system_id, component_id, &msg, &packet1); |
mavlink_msg_llc_out_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_llc_out_pack(system_id, component_id, &msg , packet1.servoOut , packet1.MotorOut ); |
mavlink_msg_llc_out_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_llc_out_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.servoOut , packet1.MotorOut ); |
mavlink_msg_llc_out_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_to_send_buffer(buffer, &msg); |
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
} |
mavlink_msg_llc_out_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_llc_out_send(MAVLINK_COMM_1 , packet1.servoOut , packet1.MotorOut ); |
mavlink_msg_llc_out_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
} |
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static void mavlink_test_pm_elec(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
{ |
mavlink_message_t msg; |
uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
uint16_t i; |
mavlink_pm_elec_t packet_in = { |
17.0, |
45.0, |
{ 73.0, 74.0, 75.0 }, |
}; |
mavlink_pm_elec_t packet1, packet2; |
memset(&packet1, 0, sizeof(packet1)); |
packet1.PwCons = packet_in.PwCons; |
packet1.BatStat = packet_in.BatStat; |
|
mav_array_memcpy(packet1.PwGen, packet_in.PwGen, sizeof(float)*3); |
|
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_pm_elec_encode(system_id, component_id, &msg, &packet1); |
mavlink_msg_pm_elec_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_pm_elec_pack(system_id, component_id, &msg , packet1.PwCons , packet1.BatStat , packet1.PwGen ); |
mavlink_msg_pm_elec_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_pm_elec_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.PwCons , packet1.BatStat , packet1.PwGen ); |
mavlink_msg_pm_elec_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_to_send_buffer(buffer, &msg); |
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
} |
mavlink_msg_pm_elec_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_pm_elec_send(MAVLINK_COMM_1 , packet1.PwCons , packet1.BatStat , packet1.PwGen ); |
mavlink_msg_pm_elec_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
} |
|
static void mavlink_test_sys_stat(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
{ |
mavlink_message_t msg; |
uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
uint16_t i; |
mavlink_sys_stat_t packet_in = { |
5, |
72, |
139, |
206, |
}; |
mavlink_sys_stat_t packet1, packet2; |
memset(&packet1, 0, sizeof(packet1)); |
packet1.gps = packet_in.gps; |
packet1.act = packet_in.act; |
packet1.mod = packet_in.mod; |
packet1.commRssi = packet_in.commRssi; |
|
|
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_sys_stat_encode(system_id, component_id, &msg, &packet1); |
mavlink_msg_sys_stat_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_sys_stat_pack(system_id, component_id, &msg , packet1.gps , packet1.act , packet1.mod , packet1.commRssi ); |
mavlink_msg_sys_stat_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_sys_stat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.gps , packet1.act , packet1.mod , packet1.commRssi ); |
mavlink_msg_sys_stat_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_to_send_buffer(buffer, &msg); |
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
} |
mavlink_msg_sys_stat_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_sys_stat_send(MAVLINK_COMM_1 , packet1.gps , packet1.act , packet1.mod , packet1.commRssi ); |
mavlink_msg_sys_stat_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
} |
|
static void mavlink_test_cmd_airspeed_chng(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
{ |
mavlink_message_t msg; |
uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
uint16_t i; |
mavlink_cmd_airspeed_chng_t packet_in = { |
17.0, |
17, |
}; |
mavlink_cmd_airspeed_chng_t packet1, packet2; |
memset(&packet1, 0, sizeof(packet1)); |
packet1.spCmd = packet_in.spCmd; |
packet1.target = packet_in.target; |
|
|
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_cmd_airspeed_chng_encode(system_id, component_id, &msg, &packet1); |
mavlink_msg_cmd_airspeed_chng_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_cmd_airspeed_chng_pack(system_id, component_id, &msg , packet1.target , packet1.spCmd ); |
mavlink_msg_cmd_airspeed_chng_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_cmd_airspeed_chng_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.spCmd ); |
mavlink_msg_cmd_airspeed_chng_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_to_send_buffer(buffer, &msg); |
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
} |
mavlink_msg_cmd_airspeed_chng_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_cmd_airspeed_chng_send(MAVLINK_COMM_1 , packet1.target , packet1.spCmd ); |
mavlink_msg_cmd_airspeed_chng_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
} |
|
static void mavlink_test_cmd_airspeed_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
{ |
mavlink_message_t msg; |
uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
uint16_t i; |
mavlink_cmd_airspeed_ack_t packet_in = { |
17.0, |
17, |
}; |
mavlink_cmd_airspeed_ack_t packet1, packet2; |
memset(&packet1, 0, sizeof(packet1)); |
packet1.spCmd = packet_in.spCmd; |
packet1.ack = packet_in.ack; |
|
|
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_cmd_airspeed_ack_encode(system_id, component_id, &msg, &packet1); |
mavlink_msg_cmd_airspeed_ack_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_cmd_airspeed_ack_pack(system_id, component_id, &msg , packet1.spCmd , packet1.ack ); |
mavlink_msg_cmd_airspeed_ack_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_cmd_airspeed_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.spCmd , packet1.ack ); |
mavlink_msg_cmd_airspeed_ack_decode(&msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_to_send_buffer(buffer, &msg); |
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
} |
mavlink_msg_cmd_airspeed_ack_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
|
memset(&packet2, 0, sizeof(packet2)); |
mavlink_msg_cmd_airspeed_ack_send(MAVLINK_COMM_1 , packet1.spCmd , packet1.ack ); |
mavlink_msg_cmd_airspeed_ack_decode(last_msg, &packet2); |
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
} |
|
static void mavlink_test_sensesoar(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
{ |
mavlink_test_obs_position(system_id, component_id, last_msg); |
mavlink_test_obs_velocity(system_id, component_id, last_msg); |
mavlink_test_obs_attitude(system_id, component_id, last_msg); |
mavlink_test_obs_wind(system_id, component_id, last_msg); |
mavlink_test_obs_air_velocity(system_id, component_id, last_msg); |
mavlink_test_obs_bias(system_id, component_id, last_msg); |
mavlink_test_obs_qff(system_id, component_id, last_msg); |
mavlink_test_obs_air_temp(system_id, component_id, last_msg); |
mavlink_test_filt_rot_vel(system_id, component_id, last_msg); |
mavlink_test_llc_out(system_id, component_id, last_msg); |
mavlink_test_pm_elec(system_id, component_id, last_msg); |
mavlink_test_sys_stat(system_id, component_id, last_msg); |
mavlink_test_cmd_airspeed_chng(system_id, component_id, last_msg); |
mavlink_test_cmd_airspeed_ack(system_id, component_id, last_msg); |
} |
|
#ifdef __cplusplus |
} |
#endif // __cplusplus |
#endif // SENSESOAR_TESTSUITE_H |