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
96 lines
3.6 KiB
C
96 lines
3.6 KiB
C
/** @file
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* @brief MAVLink comm protocol testsuite generated from minimal.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 MINIMAL_TESTSUITE_H
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#define MINIMAL_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_minimal(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_minimal(system_id, component_id, last_msg);
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}
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#endif
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static void mavlink_test_heartbeat(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_HEARTBEAT >= 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_heartbeat_t packet_in = {
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963497464,17,84,151,218,3
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};
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mavlink_heartbeat_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.custom_mode = packet_in.custom_mode;
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packet1.type = packet_in.type;
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packet1.autopilot = packet_in.autopilot;
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packet1.base_mode = packet_in.base_mode;
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packet1.system_status = packet_in.system_status;
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packet1.mavlink_version = packet_in.mavlink_version;
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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_HEARTBEAT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_HEARTBEAT_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_heartbeat_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_heartbeat_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_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
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mavlink_msg_heartbeat_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_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
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mavlink_msg_heartbeat_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_heartbeat_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_heartbeat_send(MAVLINK_COMM_1 , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
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mavlink_msg_heartbeat_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_minimal(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_test_heartbeat(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 // MINIMAL_TESTSUITE_H
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