pinxian wu / mavlink_bridge

mavlink library

Dependents:   mavlink F429ZI_LCD_demo

Fork of mavlink_bridge by Benjamin Hepp

mavlink/v10/uwb/testsuite.h@0:28183cc7963f, 2015-11-24 (annotated)

Committer:
bhepp
Date:
Tue Nov 24 16:41:11 2015 +0000
Revision:
0:28183cc7963f
Mavlink bridge for Mbed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bhepp 0:28183cc7963f 1 /** @file
bhepp 0:28183cc7963f 2 * @brief MAVLink comm protocol testsuite generated from uwb.xml
bhepp 0:28183cc7963f 3 * @see http://qgroundcontrol.org/mavlink/
bhepp 0:28183cc7963f 4 */
bhepp 0:28183cc7963f 5 #ifndef UWB_TESTSUITE_H
bhepp 0:28183cc7963f 6 #define UWB_TESTSUITE_H
bhepp 0:28183cc7963f 7
bhepp 0:28183cc7963f 8 #ifdef __cplusplus
bhepp 0:28183cc7963f 9 extern "C" {
bhepp 0:28183cc7963f 10 #endif
bhepp 0:28183cc7963f 11
bhepp 0:28183cc7963f 12 #ifndef MAVLINK_TEST_ALL
bhepp 0:28183cc7963f 13 #define MAVLINK_TEST_ALL
bhepp 0:28183cc7963f 14 static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
bhepp 0:28183cc7963f 15 static void mavlink_test_uwb(uint8_t, uint8_t, mavlink_message_t *last_msg);
bhepp 0:28183cc7963f 16
bhepp 0:28183cc7963f 17 static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
bhepp 0:28183cc7963f 18 {
bhepp 0:28183cc7963f 19 mavlink_test_common(system_id, component_id, last_msg);
bhepp 0:28183cc7963f 20 mavlink_test_uwb(system_id, component_id, last_msg);
bhepp 0:28183cc7963f 21 }
bhepp 0:28183cc7963f 22 #endif
bhepp 0:28183cc7963f 23
bhepp 0:28183cc7963f 24 #include "../common/testsuite.h"
bhepp 0:28183cc7963f 25
bhepp 0:28183cc7963f 26
bhepp 0:28183cc7963f 27 static void mavlink_test_uwb_range(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
bhepp 0:28183cc7963f 28 {
bhepp 0:28183cc7963f 29 mavlink_message_t msg;
bhepp 0:28183cc7963f 30 uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
bhepp 0:28183cc7963f 31 uint16_t i;
bhepp 0:28183cc7963f 32 mavlink_uwb_range_t packet_in = {
bhepp 0:28183cc7963f 33 963497464,45.0,73.0,41,108
bhepp 0:28183cc7963f 34 };
bhepp 0:28183cc7963f 35 mavlink_uwb_range_t packet1, packet2;
bhepp 0:28183cc7963f 36 memset(&packet1, 0, sizeof(packet1));
bhepp 0:28183cc7963f 37 packet1.stamp_us = packet_in.stamp_us;
bhepp 0:28183cc7963f 38 packet1.round_trip_time = packet_in.round_trip_time;
bhepp 0:28183cc7963f 39 packet1.range = packet_in.range;
bhepp 0:28183cc7963f 40 packet1.address = packet_in.address;
bhepp 0:28183cc7963f 41 packet1.remote_address = packet_in.remote_address;
bhepp 0:28183cc7963f 42
bhepp 0:28183cc7963f 43
bhepp 0:28183cc7963f 44
bhepp 0:28183cc7963f 45 memset(&packet2, 0, sizeof(packet2));
bhepp 0:28183cc7963f 46 mavlink_msg_uwb_range_encode(system_id, component_id, &msg, &packet1);
bhepp 0:28183cc7963f 47 mavlink_msg_uwb_range_decode(&msg, &packet2);
bhepp 0:28183cc7963f 48 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
bhepp 0:28183cc7963f 49
bhepp 0:28183cc7963f 50 memset(&packet2, 0, sizeof(packet2));
bhepp 0:28183cc7963f 51 mavlink_msg_uwb_range_pack(system_id, component_id, &msg , packet1.address , packet1.remote_address , packet1.stamp_us , packet1.round_trip_time , packet1.range );
bhepp 0:28183cc7963f 52 mavlink_msg_uwb_range_decode(&msg, &packet2);
bhepp 0:28183cc7963f 53 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
bhepp 0:28183cc7963f 54
bhepp 0:28183cc7963f 55 memset(&packet2, 0, sizeof(packet2));
bhepp 0:28183cc7963f 56 mavlink_msg_uwb_range_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.address , packet1.remote_address , packet1.stamp_us , packet1.round_trip_time , packet1.range );
bhepp 0:28183cc7963f 57 mavlink_msg_uwb_range_decode(&msg, &packet2);
bhepp 0:28183cc7963f 58 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
bhepp 0:28183cc7963f 59
bhepp 0:28183cc7963f 60 memset(&packet2, 0, sizeof(packet2));
bhepp 0:28183cc7963f 61 mavlink_msg_to_send_buffer(buffer, &msg);
bhepp 0:28183cc7963f 62 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
bhepp 0:28183cc7963f 63 comm_send_ch(MAVLINK_COMM_0, buffer[i]);
bhepp 0:28183cc7963f 64 }
bhepp 0:28183cc7963f 65 mavlink_msg_uwb_range_decode(last_msg, &packet2);
bhepp 0:28183cc7963f 66 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
bhepp 0:28183cc7963f 67
bhepp 0:28183cc7963f 68 memset(&packet2, 0, sizeof(packet2));
bhepp 0:28183cc7963f 69 mavlink_msg_uwb_range_send(MAVLINK_COMM_1 , packet1.address , packet1.remote_address , packet1.stamp_us , packet1.round_trip_time , packet1.range );
bhepp 0:28183cc7963f 70 mavlink_msg_uwb_range_decode(last_msg, &packet2);
bhepp 0:28183cc7963f 71 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
bhepp 0:28183cc7963f 72 }
bhepp 0:28183cc7963f 73
bhepp 0:28183cc7963f 74 static void mavlink_test_uwb_range_stats(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
bhepp 0:28183cc7963f 75 {
bhepp 0:28183cc7963f 76 mavlink_message_t msg;
bhepp 0:28183cc7963f 77 uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
bhepp 0:28183cc7963f 78 uint16_t i;
bhepp 0:28183cc7963f 79 mavlink_uwb_range_stats_t packet_in = {
bhepp 0:28183cc7963f 80 963497464,45.0,73.0,17859,17963,18067,18171,18275,18379,18483,18587,18691,18795,18899,19003,19107,19211,19315,19419,19523,19627,19731,19835,19939,20043,20147,20251,185,252
bhepp 0:28183cc7963f 81 };
bhepp 0:28183cc7963f 82 mavlink_uwb_range_stats_t packet1, packet2;
bhepp 0:28183cc7963f 83 memset(&packet1, 0, sizeof(packet1));
bhepp 0:28183cc7963f 84 packet1.stamp_us = packet_in.stamp_us;
bhepp 0:28183cc7963f 85 packet1.round_trip_time = packet_in.round_trip_time;
bhepp 0:28183cc7963f 86 packet1.range = packet_in.range;
bhepp 0:28183cc7963f 87 packet1.std_noise_1 = packet_in.std_noise_1;
bhepp 0:28183cc7963f 88 packet1.std_noise_2 = packet_in.std_noise_2;
bhepp 0:28183cc7963f 89 packet1.std_noise_3 = packet_in.std_noise_3;
bhepp 0:28183cc7963f 90 packet1.preamble_acc_count_1 = packet_in.preamble_acc_count_1;
bhepp 0:28183cc7963f 91 packet1.preamble_acc_count_2 = packet_in.preamble_acc_count_2;
bhepp 0:28183cc7963f 92 packet1.preamble_acc_count_3 = packet_in.preamble_acc_count_3;
bhepp 0:28183cc7963f 93 packet1.first_path_index_1 = packet_in.first_path_index_1;
bhepp 0:28183cc7963f 94 packet1.first_path_index_2 = packet_in.first_path_index_2;
bhepp 0:28183cc7963f 95 packet1.first_path_index_3 = packet_in.first_path_index_3;
bhepp 0:28183cc7963f 96 packet1.first_path_amp_1_1 = packet_in.first_path_amp_1_1;
bhepp 0:28183cc7963f 97 packet1.first_path_amp_1_2 = packet_in.first_path_amp_1_2;
bhepp 0:28183cc7963f 98 packet1.first_path_amp_1_3 = packet_in.first_path_amp_1_3;
bhepp 0:28183cc7963f 99 packet1.first_path_amp_2_1 = packet_in.first_path_amp_2_1;
bhepp 0:28183cc7963f 100 packet1.first_path_amp_2_2 = packet_in.first_path_amp_2_2;
bhepp 0:28183cc7963f 101 packet1.first_path_amp_2_3 = packet_in.first_path_amp_2_3;
bhepp 0:28183cc7963f 102 packet1.first_path_amp_3_1 = packet_in.first_path_amp_3_1;
bhepp 0:28183cc7963f 103 packet1.first_path_amp_3_2 = packet_in.first_path_amp_3_2;
bhepp 0:28183cc7963f 104 packet1.first_path_amp_3_3 = packet_in.first_path_amp_3_3;
bhepp 0:28183cc7963f 105 packet1.channel_impulse_response_power_1 = packet_in.channel_impulse_response_power_1;
bhepp 0:28183cc7963f 106 packet1.channel_impulse_response_power_2 = packet_in.channel_impulse_response_power_2;
bhepp 0:28183cc7963f 107 packet1.channel_impulse_response_power_3 = packet_in.channel_impulse_response_power_3;
bhepp 0:28183cc7963f 108 packet1.prf_1 = packet_in.prf_1;
bhepp 0:28183cc7963f 109 packet1.prf_2 = packet_in.prf_2;
bhepp 0:28183cc7963f 110 packet1.prf_3 = packet_in.prf_3;
bhepp 0:28183cc7963f 111 packet1.address = packet_in.address;
bhepp 0:28183cc7963f 112 packet1.remote_address = packet_in.remote_address;
bhepp 0:28183cc7963f 113
bhepp 0:28183cc7963f 114
bhepp 0:28183cc7963f 115
bhepp 0:28183cc7963f 116 memset(&packet2, 0, sizeof(packet2));
bhepp 0:28183cc7963f 117 mavlink_msg_uwb_range_stats_encode(system_id, component_id, &msg, &packet1);
bhepp 0:28183cc7963f 118 mavlink_msg_uwb_range_stats_decode(&msg, &packet2);
bhepp 0:28183cc7963f 119 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
bhepp 0:28183cc7963f 120
bhepp 0:28183cc7963f 121 memset(&packet2, 0, sizeof(packet2));
bhepp 0:28183cc7963f 122 mavlink_msg_uwb_range_stats_pack(system_id, component_id, &msg , packet1.address , packet1.remote_address , packet1.stamp_us , packet1.round_trip_time , packet1.range , packet1.std_noise_1 , packet1.std_noise_2 , packet1.std_noise_3 , packet1.preamble_acc_count_1 , packet1.preamble_acc_count_2 , packet1.preamble_acc_count_3 , packet1.first_path_index_1 , packet1.first_path_index_2 , packet1.first_path_index_3 , packet1.first_path_amp_1_1 , packet1.first_path_amp_1_2 , packet1.first_path_amp_1_3 , packet1.first_path_amp_2_1 , packet1.first_path_amp_2_2 , packet1.first_path_amp_2_3 , packet1.first_path_amp_3_1 , packet1.first_path_amp_3_2 , packet1.first_path_amp_3_3 , packet1.channel_impulse_response_power_1 , packet1.channel_impulse_response_power_2 , packet1.channel_impulse_response_power_3 , packet1.prf_1 , packet1.prf_2 , packet1.prf_3 );
bhepp 0:28183cc7963f 123 mavlink_msg_uwb_range_stats_decode(&msg, &packet2);
bhepp 0:28183cc7963f 124 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
bhepp 0:28183cc7963f 125
bhepp 0:28183cc7963f 126 memset(&packet2, 0, sizeof(packet2));
bhepp 0:28183cc7963f 127 mavlink_msg_uwb_range_stats_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.address , packet1.remote_address , packet1.stamp_us , packet1.round_trip_time , packet1.range , packet1.std_noise_1 , packet1.std_noise_2 , packet1.std_noise_3 , packet1.preamble_acc_count_1 , packet1.preamble_acc_count_2 , packet1.preamble_acc_count_3 , packet1.first_path_index_1 , packet1.first_path_index_2 , packet1.first_path_index_3 , packet1.first_path_amp_1_1 , packet1.first_path_amp_1_2 , packet1.first_path_amp_1_3 , packet1.first_path_amp_2_1 , packet1.first_path_amp_2_2 , packet1.first_path_amp_2_3 , packet1.first_path_amp_3_1 , packet1.first_path_amp_3_2 , packet1.first_path_amp_3_3 , packet1.channel_impulse_response_power_1 , packet1.channel_impulse_response_power_2 , packet1.channel_impulse_response_power_3 , packet1.prf_1 , packet1.prf_2 , packet1.prf_3 );
bhepp 0:28183cc7963f 128 mavlink_msg_uwb_range_stats_decode(&msg, &packet2);
bhepp 0:28183cc7963f 129 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
bhepp 0:28183cc7963f 130
bhepp 0:28183cc7963f 131 memset(&packet2, 0, sizeof(packet2));
bhepp 0:28183cc7963f 132 mavlink_msg_to_send_buffer(buffer, &msg);
bhepp 0:28183cc7963f 133 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
bhepp 0:28183cc7963f 134 comm_send_ch(MAVLINK_COMM_0, buffer[i]);
bhepp 0:28183cc7963f 135 }
bhepp 0:28183cc7963f 136 mavlink_msg_uwb_range_stats_decode(last_msg, &packet2);
bhepp 0:28183cc7963f 137 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
bhepp 0:28183cc7963f 138
bhepp 0:28183cc7963f 139 memset(&packet2, 0, sizeof(packet2));
bhepp 0:28183cc7963f 140 mavlink_msg_uwb_range_stats_send(MAVLINK_COMM_1 , packet1.address , packet1.remote_address , packet1.stamp_us , packet1.round_trip_time , packet1.range , packet1.std_noise_1 , packet1.std_noise_2 , packet1.std_noise_3 , packet1.preamble_acc_count_1 , packet1.preamble_acc_count_2 , packet1.preamble_acc_count_3 , packet1.first_path_index_1 , packet1.first_path_index_2 , packet1.first_path_index_3 , packet1.first_path_amp_1_1 , packet1.first_path_amp_1_2 , packet1.first_path_amp_1_3 , packet1.first_path_amp_2_1 , packet1.first_path_amp_2_2 , packet1.first_path_amp_2_3 , packet1.first_path_amp_3_1 , packet1.first_path_amp_3_2 , packet1.first_path_amp_3_3 , packet1.channel_impulse_response_power_1 , packet1.channel_impulse_response_power_2 , packet1.channel_impulse_response_power_3 , packet1.prf_1 , packet1.prf_2 , packet1.prf_3 );
bhepp 0:28183cc7963f 141 mavlink_msg_uwb_range_stats_decode(last_msg, &packet2);
bhepp 0:28183cc7963f 142 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
bhepp 0:28183cc7963f 143 }
bhepp 0:28183cc7963f 144
bhepp 0:28183cc7963f 145 static void mavlink_test_uwb(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
bhepp 0:28183cc7963f 146 {
bhepp 0:28183cc7963f 147 mavlink_test_uwb_range(system_id, component_id, last_msg);
bhepp 0:28183cc7963f 148 mavlink_test_uwb_range_stats(system_id, component_id, last_msg);
bhepp 0:28183cc7963f 149 }
bhepp 0:28183cc7963f 150
bhepp 0:28183cc7963f 151 #ifdef __cplusplus
bhepp 0:28183cc7963f 152 }
bhepp 0:28183cc7963f 153 #endif // __cplusplus
bhepp 0:28183cc7963f 154 #endif // UWB_TESTSUITE_H
bhepp 0:28183cc7963f 155