Diff: mavlink/v10/uwb/testsuite.h

Revision:

2:0f4dfdec5fd1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mavlink/v10/uwb/testsuite.h	Sat Jan 23 15:21:13 2016 +0000
@@ -0,0 +1,331 @@
+/** @file
+ *	@brief MAVLink comm protocol testsuite generated from uwb.xml
+ *	@see http://qgroundcontrol.org/mavlink/
+ */
+#ifndef UWB_TESTSUITE_H
+#define UWB_TESTSUITE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef MAVLINK_TEST_ALL
+#define MAVLINK_TEST_ALL
+static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
+static void mavlink_test_uwb(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_common(system_id, component_id, last_msg);
+	mavlink_test_uwb(system_id, component_id, last_msg);
+}
+#endif
+
+#include "../common/testsuite.h"
+
+
+static void mavlink_test_uwb_range(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_uwb_range_t packet_in = {
+		963497464,45.0,73.0,41,108
+    };
+	mavlink_uwb_range_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.stamp_us = packet_in.stamp_us;
+        	packet1.round_trip_time = packet_in.round_trip_time;
+        	packet1.range = packet_in.range;
+        	packet1.address = packet_in.address;
+        	packet1.remote_address = packet_in.remote_address;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_uwb_range_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_pack(system_id, component_id, &msg , packet1.address , packet1.remote_address , packet1.stamp_us , packet1.round_trip_time , packet1.range );
+	mavlink_msg_uwb_range_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	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 );
+	mavlink_msg_uwb_range_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_uwb_range_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_send(MAVLINK_COMM_1 , packet1.address , packet1.remote_address , packet1.stamp_us , packet1.round_trip_time , packet1.range );
+	mavlink_msg_uwb_range_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_uwb_range_stats(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_uwb_range_stats_t packet_in = {
+		963497464,45.0,73.0,17859,17963,18067,18171,18275,18379,18483,18587,18691,18795,18899,19003,19107,19211,19315,19419,137,204
+    };
+	mavlink_uwb_range_stats_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.stamp_us = packet_in.stamp_us;
+        	packet1.round_trip_time = packet_in.round_trip_time;
+        	packet1.range = packet_in.range;
+        	packet1.std_noise_1 = packet_in.std_noise_1;
+        	packet1.std_noise_2 = packet_in.std_noise_2;
+        	packet1.preamble_acc_count_1 = packet_in.preamble_acc_count_1;
+        	packet1.preamble_acc_count_2 = packet_in.preamble_acc_count_2;
+        	packet1.first_path_index_1 = packet_in.first_path_index_1;
+        	packet1.first_path_index_2 = packet_in.first_path_index_2;
+        	packet1.first_path_amp_1_1 = packet_in.first_path_amp_1_1;
+        	packet1.first_path_amp_1_2 = packet_in.first_path_amp_1_2;
+        	packet1.first_path_amp_2_1 = packet_in.first_path_amp_2_1;
+        	packet1.first_path_amp_2_2 = packet_in.first_path_amp_2_2;
+        	packet1.first_path_amp_3_1 = packet_in.first_path_amp_3_1;
+        	packet1.first_path_amp_3_2 = packet_in.first_path_amp_3_2;
+        	packet1.channel_impulse_response_power_1 = packet_in.channel_impulse_response_power_1;
+        	packet1.channel_impulse_response_power_2 = packet_in.channel_impulse_response_power_2;
+        	packet1.prf_1 = packet_in.prf_1;
+        	packet1.prf_2 = packet_in.prf_2;
+        	packet1.address = packet_in.address;
+        	packet1.remote_address = packet_in.remote_address;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_stats_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_uwb_range_stats_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	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.preamble_acc_count_1 , packet1.preamble_acc_count_2 , packet1.first_path_index_1 , packet1.first_path_index_2 , packet1.first_path_amp_1_1 , packet1.first_path_amp_1_2 , packet1.first_path_amp_2_1 , packet1.first_path_amp_2_2 , packet1.first_path_amp_3_1 , packet1.first_path_amp_3_2 , packet1.channel_impulse_response_power_1 , packet1.channel_impulse_response_power_2 , packet1.prf_1 , packet1.prf_2 );
+	mavlink_msg_uwb_range_stats_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	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.preamble_acc_count_1 , packet1.preamble_acc_count_2 , packet1.first_path_index_1 , packet1.first_path_index_2 , packet1.first_path_amp_1_1 , packet1.first_path_amp_1_2 , packet1.first_path_amp_2_1 , packet1.first_path_amp_2_2 , packet1.first_path_amp_3_1 , packet1.first_path_amp_3_2 , packet1.channel_impulse_response_power_1 , packet1.channel_impulse_response_power_2 , packet1.prf_1 , packet1.prf_2 );
+	mavlink_msg_uwb_range_stats_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_uwb_range_stats_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	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.preamble_acc_count_1 , packet1.preamble_acc_count_2 , packet1.first_path_index_1 , packet1.first_path_index_2 , packet1.first_path_amp_1_1 , packet1.first_path_amp_1_2 , packet1.first_path_amp_2_1 , packet1.first_path_amp_2_2 , packet1.first_path_amp_3_1 , packet1.first_path_amp_3_2 , packet1.channel_impulse_response_power_1 , packet1.channel_impulse_response_power_2 , packet1.prf_1 , packet1.prf_2 );
+	mavlink_msg_uwb_range_stats_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_uwb_range_batch_2(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_uwb_range_batch_2_t packet_in = {
+		{ 17.0, 18.0 },{ 29, 30 },163
+    };
+	mavlink_uwb_range_batch_2_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.remote_address = packet_in.remote_address;
+        
+        	mav_array_memcpy(packet1.range, packet_in.range, sizeof(float)*2);
+        	mav_array_memcpy(packet1.addresses, packet_in.addresses, sizeof(uint8_t)*2);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_2_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_uwb_range_batch_2_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_2_pack(system_id, component_id, &msg , packet1.addresses , packet1.remote_address , packet1.range );
+	mavlink_msg_uwb_range_batch_2_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_2_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.addresses , packet1.remote_address , packet1.range );
+	mavlink_msg_uwb_range_batch_2_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_uwb_range_batch_2_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_2_send(MAVLINK_COMM_1 , packet1.addresses , packet1.remote_address , packet1.range );
+	mavlink_msg_uwb_range_batch_2_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_uwb_range_batch_3(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_uwb_range_batch_3_t packet_in = {
+		{ 17.0, 18.0, 19.0 },{ 41, 42, 43 },242
+    };
+	mavlink_uwb_range_batch_3_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.remote_address = packet_in.remote_address;
+        
+        	mav_array_memcpy(packet1.range, packet_in.range, sizeof(float)*3);
+        	mav_array_memcpy(packet1.addresses, packet_in.addresses, sizeof(uint8_t)*3);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_3_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_uwb_range_batch_3_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_3_pack(system_id, component_id, &msg , packet1.addresses , packet1.remote_address , packet1.range );
+	mavlink_msg_uwb_range_batch_3_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_3_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.addresses , packet1.remote_address , packet1.range );
+	mavlink_msg_uwb_range_batch_3_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_uwb_range_batch_3_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_3_send(MAVLINK_COMM_1 , packet1.addresses , packet1.remote_address , packet1.range );
+	mavlink_msg_uwb_range_batch_3_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_uwb_range_batch_4(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_uwb_range_batch_4_t packet_in = {
+		{ 17.0, 18.0, 19.0, 20.0 },{ 53, 54, 55, 56 },65
+    };
+	mavlink_uwb_range_batch_4_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.remote_address = packet_in.remote_address;
+        
+        	mav_array_memcpy(packet1.range, packet_in.range, sizeof(float)*4);
+        	mav_array_memcpy(packet1.addresses, packet_in.addresses, sizeof(uint8_t)*4);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_4_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_uwb_range_batch_4_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_4_pack(system_id, component_id, &msg , packet1.addresses , packet1.remote_address , packet1.range );
+	mavlink_msg_uwb_range_batch_4_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_4_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.addresses , packet1.remote_address , packet1.range );
+	mavlink_msg_uwb_range_batch_4_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_uwb_range_batch_4_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_4_send(MAVLINK_COMM_1 , packet1.addresses , packet1.remote_address , packet1.range );
+	mavlink_msg_uwb_range_batch_4_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_uwb_range_batch_5(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_uwb_range_batch_5_t packet_in = {
+		{ 17.0, 18.0, 19.0, 20.0, 21.0 },{ 65, 66, 67, 68, 69 },144
+    };
+	mavlink_uwb_range_batch_5_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.remote_address = packet_in.remote_address;
+        
+        	mav_array_memcpy(packet1.range, packet_in.range, sizeof(float)*5);
+        	mav_array_memcpy(packet1.addresses, packet_in.addresses, sizeof(uint8_t)*5);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_5_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_uwb_range_batch_5_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_5_pack(system_id, component_id, &msg , packet1.addresses , packet1.remote_address , packet1.range );
+	mavlink_msg_uwb_range_batch_5_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_5_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.addresses , packet1.remote_address , packet1.range );
+	mavlink_msg_uwb_range_batch_5_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_uwb_range_batch_5_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_uwb_range_batch_5_send(MAVLINK_COMM_1 , packet1.addresses , packet1.remote_address , packet1.range );
+	mavlink_msg_uwb_range_batch_5_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_uwb(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_test_uwb_range(system_id, component_id, last_msg);
+	mavlink_test_uwb_range_stats(system_id, component_id, last_msg);
+	mavlink_test_uwb_range_batch_2(system_id, component_id, last_msg);
+	mavlink_test_uwb_range_batch_3(system_id, component_id, last_msg);
+	mavlink_test_uwb_range_batch_4(system_id, component_id, last_msg);
+	mavlink_test_uwb_range_batch_5(system_id, component_id, last_msg);
+}
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // UWB_TESTSUITE_H
+