1dff1bfd33
【原 因】：更全更新 【过 程】： 【影 响】： # 类型 包含: # feat：新功能（feature） # fix：修补bug # docs：文档（documentation） # style： 格式（不影响代码运行的变动） # refactor：重构（即不是新增功能，也不是修改bug的代码变动） # test：增加测试 # chore：构建过程或辅助工具的变动
174 lines
8.9 KiB
C
174 lines
8.9 KiB
C
/** @file
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* @brief MAVLink comm protocol testsuite generated from autoquad.xml
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* @see http://qgroundcontrol.org/mavlink/
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*/
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#pragma once
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#ifndef AUTOQUAD_TESTSUITE_H
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#define AUTOQUAD_TESTSUITE_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifndef MAVLINK_TEST_ALL
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#define MAVLINK_TEST_ALL
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static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
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static void mavlink_test_autoquad(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)
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{
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mavlink_test_common(system_id, component_id, last_msg);
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mavlink_test_autoquad(system_id, component_id, last_msg);
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}
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#endif
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#include "../common/testsuite.h"
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static void mavlink_test_aq_telemetry_f(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
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if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_AQ_TELEMETRY_F >= 256) {
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return;
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}
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#endif
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_aq_telemetry_f_t packet_in = {
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17.0,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,353.0,381.0,409.0,437.0,465.0,493.0,521.0,549.0,21395
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};
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mavlink_aq_telemetry_f_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.value1 = packet_in.value1;
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packet1.value2 = packet_in.value2;
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packet1.value3 = packet_in.value3;
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packet1.value4 = packet_in.value4;
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packet1.value5 = packet_in.value5;
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packet1.value6 = packet_in.value6;
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packet1.value7 = packet_in.value7;
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packet1.value8 = packet_in.value8;
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packet1.value9 = packet_in.value9;
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packet1.value10 = packet_in.value10;
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packet1.value11 = packet_in.value11;
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packet1.value12 = packet_in.value12;
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packet1.value13 = packet_in.value13;
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packet1.value14 = packet_in.value14;
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packet1.value15 = packet_in.value15;
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packet1.value16 = packet_in.value16;
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packet1.value17 = packet_in.value17;
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packet1.value18 = packet_in.value18;
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packet1.value19 = packet_in.value19;
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packet1.value20 = packet_in.value20;
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packet1.Index = packet_in.Index;
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
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// cope with extensions
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memset(MAVLINK_MSG_ID_AQ_TELEMETRY_F_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_AQ_TELEMETRY_F_MIN_LEN);
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}
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#endif
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_aq_telemetry_f_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_aq_telemetry_f_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_aq_telemetry_f_pack(system_id, component_id, &msg , packet1.Index , packet1.value1 , packet1.value2 , packet1.value3 , packet1.value4 , packet1.value5 , packet1.value6 , packet1.value7 , packet1.value8 , packet1.value9 , packet1.value10 , packet1.value11 , packet1.value12 , packet1.value13 , packet1.value14 , packet1.value15 , packet1.value16 , packet1.value17 , packet1.value18 , packet1.value19 , packet1.value20 );
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mavlink_msg_aq_telemetry_f_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_aq_telemetry_f_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.Index , packet1.value1 , packet1.value2 , packet1.value3 , packet1.value4 , packet1.value5 , packet1.value6 , packet1.value7 , packet1.value8 , packet1.value9 , packet1.value10 , packet1.value11 , packet1.value12 , packet1.value13 , packet1.value14 , packet1.value15 , packet1.value16 , packet1.value17 , packet1.value18 , packet1.value19 , packet1.value20 );
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mavlink_msg_aq_telemetry_f_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_aq_telemetry_f_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_aq_telemetry_f_send(MAVLINK_COMM_1 , packet1.Index , packet1.value1 , packet1.value2 , packet1.value3 , packet1.value4 , packet1.value5 , packet1.value6 , packet1.value7 , packet1.value8 , packet1.value9 , packet1.value10 , packet1.value11 , packet1.value12 , packet1.value13 , packet1.value14 , packet1.value15 , packet1.value16 , packet1.value17 , packet1.value18 , packet1.value19 , packet1.value20 );
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mavlink_msg_aq_telemetry_f_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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}
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static void mavlink_test_aq_esc_telemetry(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
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if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_AQ_ESC_TELEMETRY >= 256) {
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return;
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}
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#endif
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_aq_esc_telemetry_t packet_in = {
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963497464,{ 963497672, 963497673, 963497674, 963497675 },{ 963498504, 963498505, 963498506, 963498507 },{ 19107, 19108, 19109, 19110 },137,204,15,{ 82, 83, 84, 85 },{ 94, 95, 96, 97 }
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};
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mavlink_aq_esc_telemetry_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.time_boot_ms = packet_in.time_boot_ms;
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packet1.seq = packet_in.seq;
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packet1.num_motors = packet_in.num_motors;
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packet1.num_in_seq = packet_in.num_in_seq;
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mav_array_memcpy(packet1.data0, packet_in.data0, sizeof(uint32_t)*4);
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mav_array_memcpy(packet1.data1, packet_in.data1, sizeof(uint32_t)*4);
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mav_array_memcpy(packet1.status_age, packet_in.status_age, sizeof(uint16_t)*4);
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mav_array_memcpy(packet1.escid, packet_in.escid, sizeof(uint8_t)*4);
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mav_array_memcpy(packet1.data_version, packet_in.data_version, sizeof(uint8_t)*4);
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
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// cope with extensions
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memset(MAVLINK_MSG_ID_AQ_ESC_TELEMETRY_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_AQ_ESC_TELEMETRY_MIN_LEN);
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}
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#endif
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_aq_esc_telemetry_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_aq_esc_telemetry_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_aq_esc_telemetry_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.seq , packet1.num_motors , packet1.num_in_seq , packet1.escid , packet1.status_age , packet1.data_version , packet1.data0 , packet1.data1 );
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mavlink_msg_aq_esc_telemetry_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_aq_esc_telemetry_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.seq , packet1.num_motors , packet1.num_in_seq , packet1.escid , packet1.status_age , packet1.data_version , packet1.data0 , packet1.data1 );
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mavlink_msg_aq_esc_telemetry_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_aq_esc_telemetry_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_aq_esc_telemetry_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.seq , packet1.num_motors , packet1.num_in_seq , packet1.escid , packet1.status_age , packet1.data_version , packet1.data0 , packet1.data1 );
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mavlink_msg_aq_esc_telemetry_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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}
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static void mavlink_test_autoquad(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_test_aq_telemetry_f(system_id, component_id, last_msg);
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mavlink_test_aq_esc_telemetry(system_id, component_id, last_msg);
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}
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#ifdef __cplusplus
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}
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#endif // __cplusplus
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#endif // AUTOQUAD_TESTSUITE_H
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