diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h | 192 |
1 files changed, 192 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h b/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h index 7b7cf43db..0442ab787 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h @@ -992,6 +992,194 @@ static void mavlink_test_wind(uint8_t system_id, uint8_t component_id, mavlink_m MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } +static void mavlink_test_data16(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_data16_t packet_in = { + 5, + 72, + { 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154 }, + }; + mavlink_data16_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.type = packet_in.type; + packet1.len = packet_in.len; + + mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*16); + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data16_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_data16_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data16_pack(system_id, component_id, &msg , packet1.type , packet1.len , packet1.data ); + mavlink_msg_data16_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data16_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.len , packet1.data ); + mavlink_msg_data16_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_data16_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data16_send(MAVLINK_COMM_1 , packet1.type , packet1.len , packet1.data ); + mavlink_msg_data16_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_data32(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_data32_t packet_in = { + 5, + 72, + { 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170 }, + }; + mavlink_data32_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.type = packet_in.type; + packet1.len = packet_in.len; + + mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*32); + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data32_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_data32_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data32_pack(system_id, component_id, &msg , packet1.type , packet1.len , packet1.data ); + mavlink_msg_data32_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data32_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.len , packet1.data ); + mavlink_msg_data32_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_data32_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data32_send(MAVLINK_COMM_1 , packet1.type , packet1.len , packet1.data ); + mavlink_msg_data32_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_data64(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_data64_t packet_in = { + 5, + 72, + { 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202 }, + }; + mavlink_data64_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.type = packet_in.type; + packet1.len = packet_in.len; + + mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*64); + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data64_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_data64_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data64_pack(system_id, component_id, &msg , packet1.type , packet1.len , packet1.data ); + mavlink_msg_data64_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data64_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.len , packet1.data ); + mavlink_msg_data64_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_data64_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data64_send(MAVLINK_COMM_1 , packet1.type , packet1.len , packet1.data ); + mavlink_msg_data64_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_data96(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_data96_t packet_in = { + 5, + 72, + { 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234 }, + }; + mavlink_data96_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.type = packet_in.type; + packet1.len = packet_in.len; + + mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*96); + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data96_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_data96_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data96_pack(system_id, component_id, &msg , packet1.type , packet1.len , packet1.data ); + mavlink_msg_data96_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data96_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.len , packet1.data ); + mavlink_msg_data96_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_data96_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data96_send(MAVLINK_COMM_1 , packet1.type , packet1.len , packet1.data ); + mavlink_msg_data96_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_test_sensor_offsets(system_id, component_id, last_msg); @@ -1012,6 +1200,10 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_test_radio(system_id, component_id, last_msg); mavlink_test_limits_status(system_id, component_id, last_msg); mavlink_test_wind(system_id, component_id, last_msg); + mavlink_test_data16(system_id, component_id, last_msg); + mavlink_test_data32(system_id, component_id, last_msg); + mavlink_test_data64(system_id, component_id, last_msg); + mavlink_test_data96(system_id, component_id, last_msg); } #ifdef __cplusplus |