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添加MAVLINK协议库

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2025-09-02 10:34:06 +08:00
parent 7960bb80ec
commit 040ce2c62c
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160
app/drivers/sertrf/protocol/mavlinkv2/icarous/testsuite.h Normal file
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/** @file
* @brief MAVLink comm protocol testsuite generated from icarous.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#pragma once
#ifndef ICAROUS_TESTSUITE_H
#define ICAROUS_TESTSUITE_H
#ifdef __cplusplus
extern "C" {
#endif
#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL
static void mavlink_test_icarous(uint8_t, uint8_t, mavlink_message_t *last_msg);
static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_icarous(system_id, component_id, last_msg);
}
#endif
static void mavlink_test_icarous_heartbeat(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_ICAROUS_HEARTBEAT >= 256) {
return;
}
#endif
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_icarous_heartbeat_t packet_in = {
5
};
mavlink_icarous_heartbeat_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.status = packet_in.status;
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
// cope with extensions
memset(MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_MIN_LEN);
}
#endif
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_icarous_heartbeat_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_icarous_heartbeat_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_icarous_heartbeat_pack(system_id, component_id, &msg , packet1.status );
mavlink_msg_icarous_heartbeat_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_icarous_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.status );
mavlink_msg_icarous_heartbeat_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_icarous_heartbeat_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_icarous_heartbeat_send(MAVLINK_COMM_1 , packet1.status );
mavlink_msg_icarous_heartbeat_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_icarous_kinematic_bands(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_ICAROUS_KINEMATIC_BANDS >= 256) {
return;
}
#endif
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_icarous_kinematic_bands_t packet_in = {
17.0,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,125,192,3,70,137,204
};
mavlink_icarous_kinematic_bands_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.min1 = packet_in.min1;
packet1.max1 = packet_in.max1;
packet1.min2 = packet_in.min2;
packet1.max2 = packet_in.max2;
packet1.min3 = packet_in.min3;
packet1.max3 = packet_in.max3;
packet1.min4 = packet_in.min4;
packet1.max4 = packet_in.max4;
packet1.min5 = packet_in.min5;
packet1.max5 = packet_in.max5;
packet1.numBands = packet_in.numBands;
packet1.type1 = packet_in.type1;
packet1.type2 = packet_in.type2;
packet1.type3 = packet_in.type3;
packet1.type4 = packet_in.type4;
packet1.type5 = packet_in.type5;
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
// cope with extensions
memset(MAVLINK_MSG_ID_ICAROUS_KINEMATIC_BANDS_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_ICAROUS_KINEMATIC_BANDS_MIN_LEN);
}
#endif
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_icarous_kinematic_bands_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_icarous_kinematic_bands_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_icarous_kinematic_bands_pack(system_id, component_id, &msg , packet1.numBands , packet1.type1 , packet1.min1 , packet1.max1 , packet1.type2 , packet1.min2 , packet1.max2 , packet1.type3 , packet1.min3 , packet1.max3 , packet1.type4 , packet1.min4 , packet1.max4 , packet1.type5 , packet1.min5 , packet1.max5 );
mavlink_msg_icarous_kinematic_bands_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_icarous_kinematic_bands_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.numBands , packet1.type1 , packet1.min1 , packet1.max1 , packet1.type2 , packet1.min2 , packet1.max2 , packet1.type3 , packet1.min3 , packet1.max3 , packet1.type4 , packet1.min4 , packet1.max4 , packet1.type5 , packet1.min5 , packet1.max5 );
mavlink_msg_icarous_kinematic_bands_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_icarous_kinematic_bands_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_icarous_kinematic_bands_send(MAVLINK_COMM_1 , packet1.numBands , packet1.type1 , packet1.min1 , packet1.max1 , packet1.type2 , packet1.min2 , packet1.max2 , packet1.type3 , packet1.min3 , packet1.max3 , packet1.type4 , packet1.min4 , packet1.max4 , packet1.type5 , packet1.min5 , packet1.max5 );
mavlink_msg_icarous_kinematic_bands_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_icarous(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_icarous_heartbeat(system_id, component_id, last_msg);
mavlink_test_icarous_kinematic_bands(system_id, component_id, last_msg);
}
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // ICAROUS_TESTSUITE_H