Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1702 | - | 1 | /** @file |
2 | * @brief MAVLink comm protocol testsuite generated from sensesoar.xml |
||
3 | * @see http://qgroundcontrol.org/mavlink/ |
||
4 | */ |
||
5 | #ifndef SENSESOAR_TESTSUITE_H |
||
6 | #define SENSESOAR_TESTSUITE_H |
||
7 | |||
8 | #ifdef __cplusplus |
||
9 | extern "C" { |
||
10 | #endif |
||
11 | |||
12 | #ifndef MAVLINK_TEST_ALL |
||
13 | #define MAVLINK_TEST_ALL |
||
14 | static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); |
||
15 | static void mavlink_test_sensesoar(uint8_t, uint8_t, mavlink_message_t *last_msg); |
||
16 | |||
17 | static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
18 | { |
||
19 | mavlink_test_common(system_id, component_id, last_msg); |
||
20 | mavlink_test_sensesoar(system_id, component_id, last_msg); |
||
21 | } |
||
22 | #endif |
||
23 | |||
24 | #include "../common/testsuite.h" |
||
25 | |||
26 | |||
27 | static void mavlink_test_obs_position(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
28 | { |
||
29 | mavlink_message_t msg; |
||
30 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
31 | uint16_t i; |
||
32 | mavlink_obs_position_t packet_in = { |
||
33 | 963497464, |
||
34 | 963497672, |
||
35 | 963497880, |
||
36 | }; |
||
37 | mavlink_obs_position_t packet1, packet2; |
||
38 | memset(&packet1, 0, sizeof(packet1)); |
||
39 | packet1.lon = packet_in.lon; |
||
40 | packet1.lat = packet_in.lat; |
||
41 | packet1.alt = packet_in.alt; |
||
42 | |||
43 | |||
44 | |||
45 | memset(&packet2, 0, sizeof(packet2)); |
||
46 | mavlink_msg_obs_position_encode(system_id, component_id, &msg, &packet1); |
||
47 | mavlink_msg_obs_position_decode(&msg, &packet2); |
||
48 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
49 | |||
50 | memset(&packet2, 0, sizeof(packet2)); |
||
51 | mavlink_msg_obs_position_pack(system_id, component_id, &msg , packet1.lon , packet1.lat , packet1.alt ); |
||
52 | mavlink_msg_obs_position_decode(&msg, &packet2); |
||
53 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
54 | |||
55 | memset(&packet2, 0, sizeof(packet2)); |
||
56 | mavlink_msg_obs_position_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lon , packet1.lat , packet1.alt ); |
||
57 | mavlink_msg_obs_position_decode(&msg, &packet2); |
||
58 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
59 | |||
60 | memset(&packet2, 0, sizeof(packet2)); |
||
61 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
62 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
63 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
64 | } |
||
65 | mavlink_msg_obs_position_decode(last_msg, &packet2); |
||
66 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
67 | |||
68 | memset(&packet2, 0, sizeof(packet2)); |
||
69 | mavlink_msg_obs_position_send(MAVLINK_COMM_1 , packet1.lon , packet1.lat , packet1.alt ); |
||
70 | mavlink_msg_obs_position_decode(last_msg, &packet2); |
||
71 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
72 | } |
||
73 | |||
74 | static void mavlink_test_obs_velocity(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
75 | { |
||
76 | mavlink_message_t msg; |
||
77 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
78 | uint16_t i; |
||
79 | mavlink_obs_velocity_t packet_in = { |
||
80 | { 17.0, 18.0, 19.0 }, |
||
81 | }; |
||
82 | mavlink_obs_velocity_t packet1, packet2; |
||
83 | memset(&packet1, 0, sizeof(packet1)); |
||
84 | |||
85 | mav_array_memcpy(packet1.vel, packet_in.vel, sizeof(float)*3); |
||
86 | |||
87 | |||
88 | memset(&packet2, 0, sizeof(packet2)); |
||
89 | mavlink_msg_obs_velocity_encode(system_id, component_id, &msg, &packet1); |
||
90 | mavlink_msg_obs_velocity_decode(&msg, &packet2); |
||
91 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
92 | |||
93 | memset(&packet2, 0, sizeof(packet2)); |
||
94 | mavlink_msg_obs_velocity_pack(system_id, component_id, &msg , packet1.vel ); |
||
95 | mavlink_msg_obs_velocity_decode(&msg, &packet2); |
||
96 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
97 | |||
98 | memset(&packet2, 0, sizeof(packet2)); |
||
99 | mavlink_msg_obs_velocity_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.vel ); |
||
100 | mavlink_msg_obs_velocity_decode(&msg, &packet2); |
||
101 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
102 | |||
103 | memset(&packet2, 0, sizeof(packet2)); |
||
104 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
105 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
106 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
107 | } |
||
108 | mavlink_msg_obs_velocity_decode(last_msg, &packet2); |
||
109 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
110 | |||
111 | memset(&packet2, 0, sizeof(packet2)); |
||
112 | mavlink_msg_obs_velocity_send(MAVLINK_COMM_1 , packet1.vel ); |
||
113 | mavlink_msg_obs_velocity_decode(last_msg, &packet2); |
||
114 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
115 | } |
||
116 | |||
117 | static void mavlink_test_obs_attitude(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
118 | { |
||
119 | mavlink_message_t msg; |
||
120 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
121 | uint16_t i; |
||
122 | mavlink_obs_attitude_t packet_in = { |
||
123 | { 123.0, 124.0, 125.0, 126.0 }, |
||
124 | }; |
||
125 | mavlink_obs_attitude_t packet1, packet2; |
||
126 | memset(&packet1, 0, sizeof(packet1)); |
||
127 | |||
128 | mav_array_memcpy(packet1.quat, packet_in.quat, sizeof(double)*4); |
||
129 | |||
130 | |||
131 | memset(&packet2, 0, sizeof(packet2)); |
||
132 | mavlink_msg_obs_attitude_encode(system_id, component_id, &msg, &packet1); |
||
133 | mavlink_msg_obs_attitude_decode(&msg, &packet2); |
||
134 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
135 | |||
136 | memset(&packet2, 0, sizeof(packet2)); |
||
137 | mavlink_msg_obs_attitude_pack(system_id, component_id, &msg , packet1.quat ); |
||
138 | mavlink_msg_obs_attitude_decode(&msg, &packet2); |
||
139 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
140 | |||
141 | memset(&packet2, 0, sizeof(packet2)); |
||
142 | mavlink_msg_obs_attitude_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.quat ); |
||
143 | mavlink_msg_obs_attitude_decode(&msg, &packet2); |
||
144 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
145 | |||
146 | memset(&packet2, 0, sizeof(packet2)); |
||
147 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
148 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
149 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
150 | } |
||
151 | mavlink_msg_obs_attitude_decode(last_msg, &packet2); |
||
152 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
153 | |||
154 | memset(&packet2, 0, sizeof(packet2)); |
||
155 | mavlink_msg_obs_attitude_send(MAVLINK_COMM_1 , packet1.quat ); |
||
156 | mavlink_msg_obs_attitude_decode(last_msg, &packet2); |
||
157 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
158 | } |
||
159 | |||
160 | static void mavlink_test_obs_wind(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
161 | { |
||
162 | mavlink_message_t msg; |
||
163 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
164 | uint16_t i; |
||
165 | mavlink_obs_wind_t packet_in = { |
||
166 | { 17.0, 18.0, 19.0 }, |
||
167 | }; |
||
168 | mavlink_obs_wind_t packet1, packet2; |
||
169 | memset(&packet1, 0, sizeof(packet1)); |
||
170 | |||
171 | mav_array_memcpy(packet1.wind, packet_in.wind, sizeof(float)*3); |
||
172 | |||
173 | |||
174 | memset(&packet2, 0, sizeof(packet2)); |
||
175 | mavlink_msg_obs_wind_encode(system_id, component_id, &msg, &packet1); |
||
176 | mavlink_msg_obs_wind_decode(&msg, &packet2); |
||
177 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
178 | |||
179 | memset(&packet2, 0, sizeof(packet2)); |
||
180 | mavlink_msg_obs_wind_pack(system_id, component_id, &msg , packet1.wind ); |
||
181 | mavlink_msg_obs_wind_decode(&msg, &packet2); |
||
182 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
183 | |||
184 | memset(&packet2, 0, sizeof(packet2)); |
||
185 | mavlink_msg_obs_wind_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.wind ); |
||
186 | mavlink_msg_obs_wind_decode(&msg, &packet2); |
||
187 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
188 | |||
189 | memset(&packet2, 0, sizeof(packet2)); |
||
190 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
191 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
192 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
193 | } |
||
194 | mavlink_msg_obs_wind_decode(last_msg, &packet2); |
||
195 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
196 | |||
197 | memset(&packet2, 0, sizeof(packet2)); |
||
198 | mavlink_msg_obs_wind_send(MAVLINK_COMM_1 , packet1.wind ); |
||
199 | mavlink_msg_obs_wind_decode(last_msg, &packet2); |
||
200 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
201 | } |
||
202 | |||
203 | static void mavlink_test_obs_air_velocity(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
204 | { |
||
205 | mavlink_message_t msg; |
||
206 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
207 | uint16_t i; |
||
208 | mavlink_obs_air_velocity_t packet_in = { |
||
209 | 17.0, |
||
210 | 45.0, |
||
211 | 73.0, |
||
212 | }; |
||
213 | mavlink_obs_air_velocity_t packet1, packet2; |
||
214 | memset(&packet1, 0, sizeof(packet1)); |
||
215 | packet1.magnitude = packet_in.magnitude; |
||
216 | packet1.aoa = packet_in.aoa; |
||
217 | packet1.slip = packet_in.slip; |
||
218 | |||
219 | |||
220 | |||
221 | memset(&packet2, 0, sizeof(packet2)); |
||
222 | mavlink_msg_obs_air_velocity_encode(system_id, component_id, &msg, &packet1); |
||
223 | mavlink_msg_obs_air_velocity_decode(&msg, &packet2); |
||
224 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
225 | |||
226 | memset(&packet2, 0, sizeof(packet2)); |
||
227 | mavlink_msg_obs_air_velocity_pack(system_id, component_id, &msg , packet1.magnitude , packet1.aoa , packet1.slip ); |
||
228 | mavlink_msg_obs_air_velocity_decode(&msg, &packet2); |
||
229 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
230 | |||
231 | memset(&packet2, 0, sizeof(packet2)); |
||
232 | mavlink_msg_obs_air_velocity_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.magnitude , packet1.aoa , packet1.slip ); |
||
233 | mavlink_msg_obs_air_velocity_decode(&msg, &packet2); |
||
234 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
235 | |||
236 | memset(&packet2, 0, sizeof(packet2)); |
||
237 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
238 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
239 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
240 | } |
||
241 | mavlink_msg_obs_air_velocity_decode(last_msg, &packet2); |
||
242 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
243 | |||
244 | memset(&packet2, 0, sizeof(packet2)); |
||
245 | mavlink_msg_obs_air_velocity_send(MAVLINK_COMM_1 , packet1.magnitude , packet1.aoa , packet1.slip ); |
||
246 | mavlink_msg_obs_air_velocity_decode(last_msg, &packet2); |
||
247 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
248 | } |
||
249 | |||
250 | static void mavlink_test_obs_bias(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
251 | { |
||
252 | mavlink_message_t msg; |
||
253 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
254 | uint16_t i; |
||
255 | mavlink_obs_bias_t packet_in = { |
||
256 | { 17.0, 18.0, 19.0 }, |
||
257 | { 101.0, 102.0, 103.0 }, |
||
258 | }; |
||
259 | mavlink_obs_bias_t packet1, packet2; |
||
260 | memset(&packet1, 0, sizeof(packet1)); |
||
261 | |||
262 | mav_array_memcpy(packet1.accBias, packet_in.accBias, sizeof(float)*3); |
||
263 | mav_array_memcpy(packet1.gyroBias, packet_in.gyroBias, sizeof(float)*3); |
||
264 | |||
265 | |||
266 | memset(&packet2, 0, sizeof(packet2)); |
||
267 | mavlink_msg_obs_bias_encode(system_id, component_id, &msg, &packet1); |
||
268 | mavlink_msg_obs_bias_decode(&msg, &packet2); |
||
269 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
270 | |||
271 | memset(&packet2, 0, sizeof(packet2)); |
||
272 | mavlink_msg_obs_bias_pack(system_id, component_id, &msg , packet1.accBias , packet1.gyroBias ); |
||
273 | mavlink_msg_obs_bias_decode(&msg, &packet2); |
||
274 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
275 | |||
276 | memset(&packet2, 0, sizeof(packet2)); |
||
277 | mavlink_msg_obs_bias_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.accBias , packet1.gyroBias ); |
||
278 | mavlink_msg_obs_bias_decode(&msg, &packet2); |
||
279 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
280 | |||
281 | memset(&packet2, 0, sizeof(packet2)); |
||
282 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
283 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
284 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
285 | } |
||
286 | mavlink_msg_obs_bias_decode(last_msg, &packet2); |
||
287 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
288 | |||
289 | memset(&packet2, 0, sizeof(packet2)); |
||
290 | mavlink_msg_obs_bias_send(MAVLINK_COMM_1 , packet1.accBias , packet1.gyroBias ); |
||
291 | mavlink_msg_obs_bias_decode(last_msg, &packet2); |
||
292 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
293 | } |
||
294 | |||
295 | static void mavlink_test_obs_qff(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
296 | { |
||
297 | mavlink_message_t msg; |
||
298 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
299 | uint16_t i; |
||
300 | mavlink_obs_qff_t packet_in = { |
||
301 | 17.0, |
||
302 | }; |
||
303 | mavlink_obs_qff_t packet1, packet2; |
||
304 | memset(&packet1, 0, sizeof(packet1)); |
||
305 | packet1.qff = packet_in.qff; |
||
306 | |||
307 | |||
308 | |||
309 | memset(&packet2, 0, sizeof(packet2)); |
||
310 | mavlink_msg_obs_qff_encode(system_id, component_id, &msg, &packet1); |
||
311 | mavlink_msg_obs_qff_decode(&msg, &packet2); |
||
312 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
313 | |||
314 | memset(&packet2, 0, sizeof(packet2)); |
||
315 | mavlink_msg_obs_qff_pack(system_id, component_id, &msg , packet1.qff ); |
||
316 | mavlink_msg_obs_qff_decode(&msg, &packet2); |
||
317 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
318 | |||
319 | memset(&packet2, 0, sizeof(packet2)); |
||
320 | mavlink_msg_obs_qff_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.qff ); |
||
321 | mavlink_msg_obs_qff_decode(&msg, &packet2); |
||
322 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
323 | |||
324 | memset(&packet2, 0, sizeof(packet2)); |
||
325 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
326 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
327 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
328 | } |
||
329 | mavlink_msg_obs_qff_decode(last_msg, &packet2); |
||
330 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
331 | |||
332 | memset(&packet2, 0, sizeof(packet2)); |
||
333 | mavlink_msg_obs_qff_send(MAVLINK_COMM_1 , packet1.qff ); |
||
334 | mavlink_msg_obs_qff_decode(last_msg, &packet2); |
||
335 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
336 | } |
||
337 | |||
338 | static void mavlink_test_obs_air_temp(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
339 | { |
||
340 | mavlink_message_t msg; |
||
341 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
342 | uint16_t i; |
||
343 | mavlink_obs_air_temp_t packet_in = { |
||
344 | 17.0, |
||
345 | }; |
||
346 | mavlink_obs_air_temp_t packet1, packet2; |
||
347 | memset(&packet1, 0, sizeof(packet1)); |
||
348 | packet1.airT = packet_in.airT; |
||
349 | |||
350 | |||
351 | |||
352 | memset(&packet2, 0, sizeof(packet2)); |
||
353 | mavlink_msg_obs_air_temp_encode(system_id, component_id, &msg, &packet1); |
||
354 | mavlink_msg_obs_air_temp_decode(&msg, &packet2); |
||
355 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
356 | |||
357 | memset(&packet2, 0, sizeof(packet2)); |
||
358 | mavlink_msg_obs_air_temp_pack(system_id, component_id, &msg , packet1.airT ); |
||
359 | mavlink_msg_obs_air_temp_decode(&msg, &packet2); |
||
360 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
361 | |||
362 | memset(&packet2, 0, sizeof(packet2)); |
||
363 | mavlink_msg_obs_air_temp_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.airT ); |
||
364 | mavlink_msg_obs_air_temp_decode(&msg, &packet2); |
||
365 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
366 | |||
367 | memset(&packet2, 0, sizeof(packet2)); |
||
368 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
369 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
370 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
371 | } |
||
372 | mavlink_msg_obs_air_temp_decode(last_msg, &packet2); |
||
373 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
374 | |||
375 | memset(&packet2, 0, sizeof(packet2)); |
||
376 | mavlink_msg_obs_air_temp_send(MAVLINK_COMM_1 , packet1.airT ); |
||
377 | mavlink_msg_obs_air_temp_decode(last_msg, &packet2); |
||
378 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
379 | } |
||
380 | |||
381 | static void mavlink_test_filt_rot_vel(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
382 | { |
||
383 | mavlink_message_t msg; |
||
384 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
385 | uint16_t i; |
||
386 | mavlink_filt_rot_vel_t packet_in = { |
||
387 | { 17.0, 18.0, 19.0 }, |
||
388 | }; |
||
389 | mavlink_filt_rot_vel_t packet1, packet2; |
||
390 | memset(&packet1, 0, sizeof(packet1)); |
||
391 | |||
392 | mav_array_memcpy(packet1.rotVel, packet_in.rotVel, sizeof(float)*3); |
||
393 | |||
394 | |||
395 | memset(&packet2, 0, sizeof(packet2)); |
||
396 | mavlink_msg_filt_rot_vel_encode(system_id, component_id, &msg, &packet1); |
||
397 | mavlink_msg_filt_rot_vel_decode(&msg, &packet2); |
||
398 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
399 | |||
400 | memset(&packet2, 0, sizeof(packet2)); |
||
401 | mavlink_msg_filt_rot_vel_pack(system_id, component_id, &msg , packet1.rotVel ); |
||
402 | mavlink_msg_filt_rot_vel_decode(&msg, &packet2); |
||
403 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
404 | |||
405 | memset(&packet2, 0, sizeof(packet2)); |
||
406 | mavlink_msg_filt_rot_vel_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.rotVel ); |
||
407 | mavlink_msg_filt_rot_vel_decode(&msg, &packet2); |
||
408 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
409 | |||
410 | memset(&packet2, 0, sizeof(packet2)); |
||
411 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
412 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
413 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
414 | } |
||
415 | mavlink_msg_filt_rot_vel_decode(last_msg, &packet2); |
||
416 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
417 | |||
418 | memset(&packet2, 0, sizeof(packet2)); |
||
419 | mavlink_msg_filt_rot_vel_send(MAVLINK_COMM_1 , packet1.rotVel ); |
||
420 | mavlink_msg_filt_rot_vel_decode(last_msg, &packet2); |
||
421 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
422 | } |
||
423 | |||
424 | static void mavlink_test_llc_out(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
425 | { |
||
426 | mavlink_message_t msg; |
||
427 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
428 | uint16_t i; |
||
429 | mavlink_llc_out_t packet_in = { |
||
430 | { 17235, 17236, 17237, 17238 }, |
||
431 | { 17651, 17652 }, |
||
432 | }; |
||
433 | mavlink_llc_out_t packet1, packet2; |
||
434 | memset(&packet1, 0, sizeof(packet1)); |
||
435 | |||
436 | mav_array_memcpy(packet1.servoOut, packet_in.servoOut, sizeof(int16_t)*4); |
||
437 | mav_array_memcpy(packet1.MotorOut, packet_in.MotorOut, sizeof(int16_t)*2); |
||
438 | |||
439 | |||
440 | memset(&packet2, 0, sizeof(packet2)); |
||
441 | mavlink_msg_llc_out_encode(system_id, component_id, &msg, &packet1); |
||
442 | mavlink_msg_llc_out_decode(&msg, &packet2); |
||
443 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
444 | |||
445 | memset(&packet2, 0, sizeof(packet2)); |
||
446 | mavlink_msg_llc_out_pack(system_id, component_id, &msg , packet1.servoOut , packet1.MotorOut ); |
||
447 | mavlink_msg_llc_out_decode(&msg, &packet2); |
||
448 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
449 | |||
450 | memset(&packet2, 0, sizeof(packet2)); |
||
451 | mavlink_msg_llc_out_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.servoOut , packet1.MotorOut ); |
||
452 | mavlink_msg_llc_out_decode(&msg, &packet2); |
||
453 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
454 | |||
455 | memset(&packet2, 0, sizeof(packet2)); |
||
456 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
457 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
458 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
459 | } |
||
460 | mavlink_msg_llc_out_decode(last_msg, &packet2); |
||
461 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
462 | |||
463 | memset(&packet2, 0, sizeof(packet2)); |
||
464 | mavlink_msg_llc_out_send(MAVLINK_COMM_1 , packet1.servoOut , packet1.MotorOut ); |
||
465 | mavlink_msg_llc_out_decode(last_msg, &packet2); |
||
466 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
467 | } |
||
468 | |||
469 | static void mavlink_test_pm_elec(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
470 | { |
||
471 | mavlink_message_t msg; |
||
472 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
473 | uint16_t i; |
||
474 | mavlink_pm_elec_t packet_in = { |
||
475 | 17.0, |
||
476 | 45.0, |
||
477 | { 73.0, 74.0, 75.0 }, |
||
478 | }; |
||
479 | mavlink_pm_elec_t packet1, packet2; |
||
480 | memset(&packet1, 0, sizeof(packet1)); |
||
481 | packet1.PwCons = packet_in.PwCons; |
||
482 | packet1.BatStat = packet_in.BatStat; |
||
483 | |||
484 | mav_array_memcpy(packet1.PwGen, packet_in.PwGen, sizeof(float)*3); |
||
485 | |||
486 | |||
487 | memset(&packet2, 0, sizeof(packet2)); |
||
488 | mavlink_msg_pm_elec_encode(system_id, component_id, &msg, &packet1); |
||
489 | mavlink_msg_pm_elec_decode(&msg, &packet2); |
||
490 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
491 | |||
492 | memset(&packet2, 0, sizeof(packet2)); |
||
493 | mavlink_msg_pm_elec_pack(system_id, component_id, &msg , packet1.PwCons , packet1.BatStat , packet1.PwGen ); |
||
494 | mavlink_msg_pm_elec_decode(&msg, &packet2); |
||
495 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
496 | |||
497 | memset(&packet2, 0, sizeof(packet2)); |
||
498 | mavlink_msg_pm_elec_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.PwCons , packet1.BatStat , packet1.PwGen ); |
||
499 | mavlink_msg_pm_elec_decode(&msg, &packet2); |
||
500 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
501 | |||
502 | memset(&packet2, 0, sizeof(packet2)); |
||
503 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
504 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
505 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
506 | } |
||
507 | mavlink_msg_pm_elec_decode(last_msg, &packet2); |
||
508 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
509 | |||
510 | memset(&packet2, 0, sizeof(packet2)); |
||
511 | mavlink_msg_pm_elec_send(MAVLINK_COMM_1 , packet1.PwCons , packet1.BatStat , packet1.PwGen ); |
||
512 | mavlink_msg_pm_elec_decode(last_msg, &packet2); |
||
513 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
514 | } |
||
515 | |||
516 | static void mavlink_test_sys_stat(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
517 | { |
||
518 | mavlink_message_t msg; |
||
519 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
520 | uint16_t i; |
||
521 | mavlink_sys_stat_t packet_in = { |
||
522 | 5, |
||
523 | 72, |
||
524 | 139, |
||
525 | 206, |
||
526 | }; |
||
527 | mavlink_sys_stat_t packet1, packet2; |
||
528 | memset(&packet1, 0, sizeof(packet1)); |
||
529 | packet1.gps = packet_in.gps; |
||
530 | packet1.act = packet_in.act; |
||
531 | packet1.mod = packet_in.mod; |
||
532 | packet1.commRssi = packet_in.commRssi; |
||
533 | |||
534 | |||
535 | |||
536 | memset(&packet2, 0, sizeof(packet2)); |
||
537 | mavlink_msg_sys_stat_encode(system_id, component_id, &msg, &packet1); |
||
538 | mavlink_msg_sys_stat_decode(&msg, &packet2); |
||
539 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
540 | |||
541 | memset(&packet2, 0, sizeof(packet2)); |
||
542 | mavlink_msg_sys_stat_pack(system_id, component_id, &msg , packet1.gps , packet1.act , packet1.mod , packet1.commRssi ); |
||
543 | mavlink_msg_sys_stat_decode(&msg, &packet2); |
||
544 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
545 | |||
546 | memset(&packet2, 0, sizeof(packet2)); |
||
547 | mavlink_msg_sys_stat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.gps , packet1.act , packet1.mod , packet1.commRssi ); |
||
548 | mavlink_msg_sys_stat_decode(&msg, &packet2); |
||
549 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
550 | |||
551 | memset(&packet2, 0, sizeof(packet2)); |
||
552 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
553 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
554 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
555 | } |
||
556 | mavlink_msg_sys_stat_decode(last_msg, &packet2); |
||
557 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
558 | |||
559 | memset(&packet2, 0, sizeof(packet2)); |
||
560 | mavlink_msg_sys_stat_send(MAVLINK_COMM_1 , packet1.gps , packet1.act , packet1.mod , packet1.commRssi ); |
||
561 | mavlink_msg_sys_stat_decode(last_msg, &packet2); |
||
562 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
563 | } |
||
564 | |||
565 | static void mavlink_test_cmd_airspeed_chng(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
566 | { |
||
567 | mavlink_message_t msg; |
||
568 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
569 | uint16_t i; |
||
570 | mavlink_cmd_airspeed_chng_t packet_in = { |
||
571 | 17.0, |
||
572 | 17, |
||
573 | }; |
||
574 | mavlink_cmd_airspeed_chng_t packet1, packet2; |
||
575 | memset(&packet1, 0, sizeof(packet1)); |
||
576 | packet1.spCmd = packet_in.spCmd; |
||
577 | packet1.target = packet_in.target; |
||
578 | |||
579 | |||
580 | |||
581 | memset(&packet2, 0, sizeof(packet2)); |
||
582 | mavlink_msg_cmd_airspeed_chng_encode(system_id, component_id, &msg, &packet1); |
||
583 | mavlink_msg_cmd_airspeed_chng_decode(&msg, &packet2); |
||
584 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
585 | |||
586 | memset(&packet2, 0, sizeof(packet2)); |
||
587 | mavlink_msg_cmd_airspeed_chng_pack(system_id, component_id, &msg , packet1.target , packet1.spCmd ); |
||
588 | mavlink_msg_cmd_airspeed_chng_decode(&msg, &packet2); |
||
589 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
590 | |||
591 | memset(&packet2, 0, sizeof(packet2)); |
||
592 | mavlink_msg_cmd_airspeed_chng_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.spCmd ); |
||
593 | mavlink_msg_cmd_airspeed_chng_decode(&msg, &packet2); |
||
594 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
595 | |||
596 | memset(&packet2, 0, sizeof(packet2)); |
||
597 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
598 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
599 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
600 | } |
||
601 | mavlink_msg_cmd_airspeed_chng_decode(last_msg, &packet2); |
||
602 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
603 | |||
604 | memset(&packet2, 0, sizeof(packet2)); |
||
605 | mavlink_msg_cmd_airspeed_chng_send(MAVLINK_COMM_1 , packet1.target , packet1.spCmd ); |
||
606 | mavlink_msg_cmd_airspeed_chng_decode(last_msg, &packet2); |
||
607 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
608 | } |
||
609 | |||
610 | static void mavlink_test_cmd_airspeed_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
611 | { |
||
612 | mavlink_message_t msg; |
||
613 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
614 | uint16_t i; |
||
615 | mavlink_cmd_airspeed_ack_t packet_in = { |
||
616 | 17.0, |
||
617 | 17, |
||
618 | }; |
||
619 | mavlink_cmd_airspeed_ack_t packet1, packet2; |
||
620 | memset(&packet1, 0, sizeof(packet1)); |
||
621 | packet1.spCmd = packet_in.spCmd; |
||
622 | packet1.ack = packet_in.ack; |
||
623 | |||
624 | |||
625 | |||
626 | memset(&packet2, 0, sizeof(packet2)); |
||
627 | mavlink_msg_cmd_airspeed_ack_encode(system_id, component_id, &msg, &packet1); |
||
628 | mavlink_msg_cmd_airspeed_ack_decode(&msg, &packet2); |
||
629 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
630 | |||
631 | memset(&packet2, 0, sizeof(packet2)); |
||
632 | mavlink_msg_cmd_airspeed_ack_pack(system_id, component_id, &msg , packet1.spCmd , packet1.ack ); |
||
633 | mavlink_msg_cmd_airspeed_ack_decode(&msg, &packet2); |
||
634 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
635 | |||
636 | memset(&packet2, 0, sizeof(packet2)); |
||
637 | mavlink_msg_cmd_airspeed_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.spCmd , packet1.ack ); |
||
638 | mavlink_msg_cmd_airspeed_ack_decode(&msg, &packet2); |
||
639 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
640 | |||
641 | memset(&packet2, 0, sizeof(packet2)); |
||
642 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
643 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
644 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
645 | } |
||
646 | mavlink_msg_cmd_airspeed_ack_decode(last_msg, &packet2); |
||
647 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
648 | |||
649 | memset(&packet2, 0, sizeof(packet2)); |
||
650 | mavlink_msg_cmd_airspeed_ack_send(MAVLINK_COMM_1 , packet1.spCmd , packet1.ack ); |
||
651 | mavlink_msg_cmd_airspeed_ack_decode(last_msg, &packet2); |
||
652 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
653 | } |
||
654 | |||
655 | static void mavlink_test_sensesoar(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
656 | { |
||
657 | mavlink_test_obs_position(system_id, component_id, last_msg); |
||
658 | mavlink_test_obs_velocity(system_id, component_id, last_msg); |
||
659 | mavlink_test_obs_attitude(system_id, component_id, last_msg); |
||
660 | mavlink_test_obs_wind(system_id, component_id, last_msg); |
||
661 | mavlink_test_obs_air_velocity(system_id, component_id, last_msg); |
||
662 | mavlink_test_obs_bias(system_id, component_id, last_msg); |
||
663 | mavlink_test_obs_qff(system_id, component_id, last_msg); |
||
664 | mavlink_test_obs_air_temp(system_id, component_id, last_msg); |
||
665 | mavlink_test_filt_rot_vel(system_id, component_id, last_msg); |
||
666 | mavlink_test_llc_out(system_id, component_id, last_msg); |
||
667 | mavlink_test_pm_elec(system_id, component_id, last_msg); |
||
668 | mavlink_test_sys_stat(system_id, component_id, last_msg); |
||
669 | mavlink_test_cmd_airspeed_chng(system_id, component_id, last_msg); |
||
670 | mavlink_test_cmd_airspeed_ack(system_id, component_id, last_msg); |
||
671 | } |
||
672 | |||
673 | #ifdef __cplusplus |
||
674 | } |
||
675 | #endif // __cplusplus |
||
676 | #endif // SENSESOAR_TESTSUITE_H |