testsuite.h
Go to the documentation of this file.
00001 
00005 #ifndef TEST_TESTSUITE_H
00006 #define TEST_TESTSUITE_H
00007 
00008 #ifdef __cplusplus
00009 extern "C" {
00010 #endif
00011 
00012 #ifndef MAVLINK_TEST_ALL
00013 #define MAVLINK_TEST_ALL
00014 
00015 static void mavlink_test_test(uint8_t, uint8_t, mavlink_message_t *last_msg);
00016 
00017 static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
00018 {
00019 
00020         mavlink_test_test(system_id, component_id, last_msg);
00021 }
00022 #endif
00023 
00024 
00025 
00026 
00027 static void mavlink_test_test_types(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
00028 {
00029         mavlink_message_t msg;
00030         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
00031         uint16_t i;
00032         mavlink_test_types_t packet_in = {
00033                 'A',
00034         "BCDEFGHIJ",
00035         230,
00036         17859,
00037         963498192,
00038         93372036854776941ULL,
00039         211,
00040         18639,
00041         963498972,
00042         93372036854777886LL,
00043         304.0,
00044         438.0,
00045         { 228, 229, 230 },
00046         { 20147, 20148, 20149 },
00047         { 963500688, 963500689, 963500690 },
00048         { 93372036854780469, 93372036854780470, 93372036854780471 },
00049         { 171, 172, 173 },
00050         { 22487, 22488, 22489 },
00051         { 963503028, 963503029, 963503030 },
00052         { 93372036854783304, 93372036854783305, 93372036854783306 },
00053         { 1018.0, 1019.0, 1020.0 },
00054         { 1208.0, 1209.0, 1210.0 },
00055         };
00056         mavlink_test_types_t packet1, packet2;
00057         memset(&packet1, 0, sizeof(packet1));
00058                 packet1.c = packet_in.c;
00059                 packet1.u8 = packet_in.u8;
00060                 packet1.u16 = packet_in.u16;
00061                 packet1.u32 = packet_in.u32;
00062                 packet1.u64 = packet_in.u64;
00063                 packet1.s8 = packet_in.s8;
00064                 packet1.s16 = packet_in.s16;
00065                 packet1.s32 = packet_in.s32;
00066                 packet1.s64 = packet_in.s64;
00067                 packet1.f = packet_in.f;
00068                 packet1.d = packet_in.d;
00069         
00070                 mav_array_memcpy(packet1.s, packet_in.s, sizeof(char)*10);
00071                 mav_array_memcpy(packet1.u8_array, packet_in.u8_array, sizeof(uint8_t)*3);
00072                 mav_array_memcpy(packet1.u16_array, packet_in.u16_array, sizeof(uint16_t)*3);
00073                 mav_array_memcpy(packet1.u32_array, packet_in.u32_array, sizeof(uint32_t)*3);
00074                 mav_array_memcpy(packet1.u64_array, packet_in.u64_array, sizeof(uint64_t)*3);
00075                 mav_array_memcpy(packet1.s8_array, packet_in.s8_array, sizeof(int8_t)*3);
00076                 mav_array_memcpy(packet1.s16_array, packet_in.s16_array, sizeof(int16_t)*3);
00077                 mav_array_memcpy(packet1.s32_array, packet_in.s32_array, sizeof(int32_t)*3);
00078                 mav_array_memcpy(packet1.s64_array, packet_in.s64_array, sizeof(int64_t)*3);
00079                 mav_array_memcpy(packet1.f_array, packet_in.f_array, sizeof(float)*3);
00080                 mav_array_memcpy(packet1.d_array, packet_in.d_array, sizeof(double)*3);
00081         
00082 
00083         memset(&packet2, 0, sizeof(packet2));
00084         mavlink_msg_test_types_encode(system_id, component_id, &msg, &packet1);
00085         mavlink_msg_test_types_decode(&msg, &packet2);
00086         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
00087 
00088         memset(&packet2, 0, sizeof(packet2));
00089         mavlink_msg_test_types_pack(system_id, component_id, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
00090         mavlink_msg_test_types_decode(&msg, &packet2);
00091         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
00092 
00093         memset(&packet2, 0, sizeof(packet2));
00094         mavlink_msg_test_types_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
00095         mavlink_msg_test_types_decode(&msg, &packet2);
00096         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
00097 
00098         memset(&packet2, 0, sizeof(packet2));
00099         mavlink_msg_to_send_buffer(buffer, &msg);
00100         for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
00101                 comm_send_ch(MAVLINK_COMM_0, buffer[i]);
00102         }
00103         mavlink_msg_test_types_decode(last_msg, &packet2);
00104         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
00105         
00106         memset(&packet2, 0, sizeof(packet2));
00107         mavlink_msg_test_types_send(MAVLINK_COMM_1 , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
00108         mavlink_msg_test_types_decode(last_msg, &packet2);
00109         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
00110 }
00111 
00112 static void mavlink_test_test(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
00113 {
00114         mavlink_test_test_types(system_id, component_id, last_msg);
00115 }
00116 
00117 #ifdef __cplusplus
00118 }
00119 #endif // __cplusplus
00120 #endif // TEST_TESTSUITE_H


mavlink
Author(s): Lorenz Meier
autogenerated on Wed Sep 9 2015 18:06:17