testsuite.h

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#pragma once
#ifndef MINIMAL_TESTSUITE_H
#define MINIMAL_TESTSUITE_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL
 
static void mavlink_test_minimal(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_minimal(system_id, component_id, last_msg);
}
#endif
 
 
 
 
static void mavlink_test_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_HEARTBEAT >= 256) {
 return;
        }
#endif
    mavlink_message_t msg;
        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
        uint16_t i;
    mavlink_heartbeat_t packet_in = {
        963497464,17,84,151,218,2
    };
    mavlink_heartbeat_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
        packet1.custom_mode = packet_in.custom_mode;
        packet1.type = packet_in.type;
        packet1.autopilot = packet_in.autopilot;
        packet1.base_mode = packet_in.base_mode;
        packet1.system_status = packet_in.system_status;
        packet1.mavlink_version = packet_in.mavlink_version;
 
 
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
 if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
 // cope with extensions
           memset(MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN);
        }
#endif
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1);
    mavlink_msg_heartbeat_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
    mavlink_msg_heartbeat_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_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_heartbeat_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_heartbeat_send(MAVLINK_COMM_1 , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
    mavlink_msg_heartbeat_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
 
static void mavlink_test_minimal(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
    mavlink_test_heartbeat(system_id, component_id, last_msg);
}
 
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // MINIMAL_TESTSUITE_H