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Commit 33b2346e authored by LM's avatar LM
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Updated to most recent python generator for MAVLink

parent 7e959ba0
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files/mavlink_generator/C/include_v0.9/checksum.h
View file @ 33b2346e
......@@ -52,7 +52,7 @@ static inline void crc_init(uint16_t* crcAccum)
* @param length length of the byte array
* @return the checksum over the buffer bytes
**/
static inline uint16_t crc_calculate(uint8_t* pBuffer, uint16_t length)
static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
{
uint16_t crcTmp;
crc_init(&crcTmp);
......
files/mavlink_generator/C/include_v0.9/mavlink_helpers.h
View file @ 33b2346e
......@@ -18,6 +18,24 @@ MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
return &m_mavlink_status[chan];
}
/*
internal function to give access to the channel buffer for each channel
*/
MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
{
#if MAVLINK_EXTERNAL_RX_BUFFER
// No m_mavlink_message array defined in function,
// has to be defined externally
#ifndef m_mavlink_message
#error ERROR: IF #define MAVLINK_EXTERNAL_RX_BUFFER IS SET, THE BUFFER HAS TO BE ALLOCATED OUTSIDE OF THIS FUNCTION (mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];)
#endif
#else
static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
#endif
return &m_mavlink_buffer[chan];
}
/**
* @brief Finalize a MAVLink message with channel assignment
*
......@@ -120,7 +138,7 @@ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint
*/
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
{
memcpy(buffer, (uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
}
......@@ -182,8 +200,6 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
*/
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
{
static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS];
/*
default message crc function. You can override this per-system to
put this data in a different memory segment
......@@ -195,7 +211,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
#endif
#endif
mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message
mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan); ///< The currently decoded message
mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
int bufferIndex = 0;
......@@ -209,14 +225,15 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
rxmsg->magic = c;
mavlink_start_checksum(rxmsg);
}
break;
case MAVLINK_PARSE_STATE_GOT_STX:
if (status->msg_received
/* Support shorter buffers than the
default maximum packet size */
/* Support shorter buffers than the
default maximum packet size */
#if (MAVLINK_MAX_PAYLOAD_LEN < 255)
|| c > MAVLINK_MAX_PAYLOAD_LEN
#endif
......@@ -269,7 +286,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
break;
case MAVLINK_PARSE_STATE_GOT_MSGID:
_MAV_PAYLOAD(rxmsg)[status->packet_idx++] = (char)c;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c;
mavlink_update_checksum(rxmsg, c);
if (status->packet_idx == rxmsg->len)
{
......@@ -296,6 +313,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
else
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
}
break;
......@@ -317,6 +335,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
// Successfully got message
status->msg_received = 1;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c;
memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
}
break;
......
files/mavlink_generator/C/include_v0.9/mavlink_types.h
View file @ 33b2346e
......@@ -140,6 +140,7 @@ enum MAV_COMPONENT
MAV_COMP_ID_AIRSLAM,
MAV_COMP_ID_MAPPER,
MAV_COMP_ID_CAMERA,
MAV_COMP_ID_RADIO = 68,
MAV_COMP_ID_IMU = 200,
MAV_COMP_ID_IMU_2 = 201,
MAV_COMP_ID_IMU_3 = 202,
......@@ -179,11 +180,26 @@ enum MAVLINK_DATA_STREAM_TYPE
#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
#define MAVLINK_EXTENDED_HEADER_LEN 14
#if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__)
/* full fledged 32bit++ OS */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
#else
/* small microcontrollers */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
#endif
#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
typedef struct param_union {
union {
float param_float;
int32_t param_int32;
uint32_t param_uint32;
uint8_t param_uint8;
uint8_t bytes[4];
};
uint8_t type;
} mavlink_param_union_t;
......@@ -208,6 +224,14 @@ typedef struct __mavlink_message {
uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
} mavlink_message_t;
typedef struct __mavlink_extended_message {
mavlink_message_t base_msg;
int32_t extended_payload_len; ///< Length of extended payload if any
uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
} mavlink_extended_message_t;
typedef enum {
MAVLINK_TYPE_CHAR = 0,
MAVLINK_TYPE_UINT8_T = 1,
......@@ -228,9 +252,9 @@ typedef struct __mavlink_field_info {
const char *name; // name of this field
const char *print_format; // printing format hint, or NULL
mavlink_message_type_t type; // type of this field
unsigned array_length; // if non-zero, field is an array
unsigned wire_offset; // offset of each field in the payload
unsigned structure_offset; // offset in a C structure
unsigned int array_length; // if non-zero, field is an array
unsigned int wire_offset; // offset of each field in the payload
unsigned int structure_offset; // offset in a C structure
} mavlink_field_info_t;
// note that in this structure the order of fields is the order
......@@ -241,11 +265,12 @@ typedef struct __mavlink_message_info {
mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
} mavlink_message_info_t;
#define _MAV_PAYLOAD(msg) ((char *)(&(msg)->payload64[0]))
#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
// checksum is immediately after the payload bytes
#define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD(msg))
#define mavlink_ck_b(msg) *((msg->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD(msg))
#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
typedef enum {
MAVLINK_COMM_0,
......
files/mavlink_generator/C/include_v0.9/protocol.h
View file @ 33b2346e
......@@ -155,7 +155,7 @@ static inline void byte_copy_8(char *dst, const char *src)
/*
like memcpy(), but if src is NULL, do a memset to zero
*/
*/
static void mav_array_memcpy(void *dest, const void *src, size_t n)
{
if (src == NULL) {
......@@ -171,6 +171,7 @@ static void mav_array_memcpy(void *dest, const void *src, size_t n)
static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
{
mav_array_memcpy(&buf[wire_offset], b, array_length);
}
/*
......@@ -179,6 +180,7 @@ static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const cha
static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
{
mav_array_memcpy(&buf[wire_offset], b, array_length);
}
/*
......@@ -187,6 +189,7 @@ static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const
static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
{
mav_array_memcpy(&buf[wire_offset], b, array_length);
}
#if MAVLINK_NEED_BYTE_SWAP
......@@ -206,7 +209,7 @@ static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, co
#define _MAV_PUT_ARRAY(TYPE, V) \
static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
{ \
mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
}
#endif
......@@ -219,9 +222,9 @@ _MAV_PUT_ARRAY(int64_t, i64)
_MAV_PUT_ARRAY(float, f)
_MAV_PUT_ARRAY(double, d)
#define _MAV_RETURN_char(msg, wire_offset) _MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_int8_t(msg, wire_offset) (int8_t)_MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_uint8_t(msg, wire_offset) (uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_char(msg, wire_offset) (const char)_MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_int8_t(msg, wire_offset) (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
#if MAVLINK_NEED_BYTE_SWAP
#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
......
files/mavlink_generator/C/include_v1.0/mavlink_types.h
View file @ 33b2346e
......@@ -17,7 +17,15 @@
#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
#define MAVLINK_EXTENDED_HEADER_LEN 14
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
#if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__)
/* full fledged 32bit++ OS */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
#else
/* small microcontrollers */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
#endif
#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
typedef struct param_union {
......
files/mavlink_generator/C/include_v1.0/pixhawk/pixhawk.pb.h 0 → 100644
View file @ 33b2346e
This source diff could not be displayed because it is too large. You can view the blob instead.
files/mavlink_generator/generator/C/include_v0.9/checksum.h deleted 100644 → 0
View file @ 7e959ba0
#ifdef __cplusplus
extern "C" {
#endif
#ifndef _CHECKSUM_H_
#define _CHECKSUM_H_
/**
*
* CALCULATE THE CHECKSUM
*
*/
#define X25_INIT_CRC 0xffff
#define X25_VALIDATE_CRC 0xf0b8
/**
* @brief Accumulate the X.25 CRC by adding one char at a time.
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new char to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
{
/*Accumulate one byte of data into the CRC*/
uint8_t tmp;
tmp = data ^ (uint8_t)(*crcAccum &0xff);
tmp ^= (tmp<<4);
*crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
}
/**
* @brief Initiliaze the buffer for the X.25 CRC
*
* @param crcAccum the 16 bit X.25 CRC
*/
static inline void crc_init(uint16_t* crcAccum)
{
*crcAccum = X25_INIT_CRC;
}
/**
* @brief Calculates the X.25 checksum on a byte buffer
*
* @param pBuffer buffer containing the byte array to hash
* @param length length of the byte array
* @return the checksum over the buffer bytes
**/
static inline uint16_t crc_calculate(uint8_t* pBuffer, uint16_t length)
{
uint16_t crcTmp;
crc_init(&crcTmp);
while (length--) {
crc_accumulate(*pBuffer++, &crcTmp);
}
return crcTmp;
}
/**
* @brief Accumulate the X.25 CRC by adding an array of bytes
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new bytes to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
{
const uint8_t *p = (const uint8_t *)pBuffer;
while (length--) {
crc_accumulate(*p++, crcAccum);
}
}
#endif /* _CHECKSUM_H_ */
#ifdef __cplusplus
}
#endif
files/mavlink_generator/generator/C/include_v0.9/test/mavlink.h deleted 100644 → 0
View file @ 7e959ba0
/** @file
* @brief MAVLink comm protocol built from test.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#ifndef MAVLINK_STX
#define MAVLINK_STX 85
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN
#endif
#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS 0
#endif
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 0
#endif
#include "version.h"
#include "test.h"
#endif // MAVLINK_H
files/mavlink_generator/generator/C/include_v0.9/test/test.h deleted 100644 → 0
View file @ 7e959ba0
/** @file
* @brief MAVLink comm protocol generated from test.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#ifndef TEST_H
#define TEST_H
#ifdef __cplusplus
extern "C" {
#endif
// MESSAGE LENGTHS AND CRCS
#ifndef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS {179, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#ifndef MAVLINK_MESSAGE_CRCS
#define MAVLINK_MESSAGE_CRCS {91, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#ifndef MAVLINK_MESSAGE_INFO
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
#endif
#include "../protocol.h"
#define MAVLINK_ENABLED_TEST
// MAVLINK VERSION
#ifndef MAVLINK_VERSION
#define MAVLINK_VERSION 3
#endif
#if (MAVLINK_VERSION == 0)
#undef MAVLINK_VERSION
#define MAVLINK_VERSION 3
#endif
// ENUM DEFINITIONS
// MESSAGE DEFINITIONS
#include "./mavlink_msg_test_types.h"
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // TEST_H
files/mavlink_generator/generator/C/include_v0.9/test/testsuite.h deleted 100644 → 0
View file @ 7e959ba0
/** @file
* @brief MAVLink comm protocol testsuite generated from test.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#ifndef TEST_TESTSUITE_H
#define TEST_TESTSUITE_H
#ifdef __cplusplus
extern "C" {
#endif
#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL
static void mavlink_test_test(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_test(system_id, component_id, last_msg);
}
#endif
static void mavlink_test_test_types(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_test_types_t packet_in = {
'A',
"BCDEFGHIJ",
230,
17859,
963498192,
93372036854776941ULL,
211,
18639,
963498972,
93372036854777886LL,
304.0,
438.0,
{ 228, 229, 230 },
{ 20147, 20148, 20149 },
{ 963500688, 963500689, 963500690 },
{ 93372036854780469, 93372036854780470, 93372036854780471 },
{ 171, 172, 173 },
{ 22487, 22488, 22489 },
{ 963503028, 963503029, 963503030 },
{ 93372036854783304, 93372036854783305, 93372036854783306 },
{ 1018.0, 1019.0, 1020.0 },
{ 1208.0, 1209.0, 1210.0 },
};
mavlink_test_types_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.c = packet_in.c;
packet1.u8 = packet_in.u8;
packet1.u16 = packet_in.u16;
packet1.u32 = packet_in.u32;
packet1.u64 = packet_in.u64;
packet1.s8 = packet_in.s8;
packet1.s16 = packet_in.s16;
packet1.s32 = packet_in.s32;
packet1.s64 = packet_in.s64;
packet1.f = packet_in.f;
packet1.d = packet_in.d;
mav_array_memcpy(packet1.s, packet_in.s, sizeof(char)*10);
mav_array_memcpy(packet1.u8_array, packet_in.u8_array, sizeof(uint8_t)*3);
mav_array_memcpy(packet1.u16_array, packet_in.u16_array, sizeof(uint16_t)*3);
mav_array_memcpy(packet1.u32_array, packet_in.u32_array, sizeof(uint32_t)*3);
mav_array_memcpy(packet1.u64_array, packet_in.u64_array, sizeof(uint64_t)*3);
mav_array_memcpy(packet1.s8_array, packet_in.s8_array, sizeof(int8_t)*3);
mav_array_memcpy(packet1.s16_array, packet_in.s16_array, sizeof(int16_t)*3);
mav_array_memcpy(packet1.s32_array, packet_in.s32_array, sizeof(int32_t)*3);
mav_array_memcpy(packet1.s64_array, packet_in.s64_array, sizeof(int64_t)*3);
mav_array_memcpy(packet1.f_array, packet_in.f_array, sizeof(float)*3);
mav_array_memcpy(packet1.d_array, packet_in.d_array, sizeof(double)*3);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_test_types_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_test_types_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
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 );
mavlink_msg_test_types_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
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 );
mavlink_msg_test_types_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_test_types_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
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 );
mavlink_msg_test_types_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_test(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_test_types(system_id, component_id, last_msg);
}
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // TEST_TESTSUITE_H
files/mavlink_generator/generator/C/include_v0.9/test/version.h deleted 100644 → 0
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/** @file
* @brief MAVLink comm protocol built from test.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Mar 1 15:11:54 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
#endif // MAVLINK_VERSION_H
files/mavlink_generator/generator/C/include_v1.0/checksum.h deleted 100644 → 0
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#ifdef __cplusplus
extern "C" {
#endif
#ifndef _CHECKSUM_H_
#define _CHECKSUM_H_
/**
*
* CALCULATE THE CHECKSUM
*
*/
#define X25_INIT_CRC 0xffff
#define X25_VALIDATE_CRC 0xf0b8
/**
* @brief Accumulate the X.25 CRC by adding one char at a time.
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new char to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
{
/*Accumulate one byte of data into the CRC*/
uint8_t tmp;
tmp = data ^ (uint8_t)(*crcAccum &0xff);
tmp ^= (tmp<<4);
*crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
}
/**
* @brief Initiliaze the buffer for the X.25 CRC
*
* @param crcAccum the 16 bit X.25 CRC
*/
static inline void crc_init(uint16_t* crcAccum)
{
*crcAccum = X25_INIT_CRC;
}
/**
* @brief Calculates the X.25 checksum on a byte buffer
*
* @param pBuffer buffer containing the byte array to hash
* @param length length of the byte array
* @return the checksum over the buffer bytes
**/
static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
{
uint16_t crcTmp;
crc_init(&crcTmp);
while (length--) {
crc_accumulate(*pBuffer++, &crcTmp);
}
return crcTmp;
}
/**
* @brief Accumulate the X.25 CRC by adding an array of bytes
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new bytes to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
{
const uint8_t *p = (const uint8_t *)pBuffer;
while (length--) {
crc_accumulate(*p++, crcAccum);
}
}
#endif /* _CHECKSUM_H_ */
#ifdef __cplusplus
}
#endif
files/mavlink_generator/generator/C/include_v1.0/mavlink_protobuf_manager.hpp deleted 100644 → 0
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#ifndef MAVLINKPROTOBUFMANAGER_HPP
#define MAVLINKPROTOBUFMANAGER_HPP
#include <deque>
#include <google/protobuf/message.h>
#include <iostream>
#include <tr1/memory>
#include <checksum.h>
#include <common/mavlink.h>
#include <mavlink_types.h>
#include <pixhawk/pixhawk.pb.h>
namespace mavlink
{
class ProtobufManager
{
public:
ProtobufManager()
: mRegisteredTypeCount(0)
, mStreamID(0)
, mVerbose(false)
, kExtendedHeaderSize(MAVLINK_EXTENDED_HEADER_LEN)
, kExtendedPayloadMaxSize(MAVLINK_MAX_EXTENDED_PAYLOAD_LEN)
{
// register GLOverlay
{
std::tr1::shared_ptr<px::GLOverlay> msg(new px::GLOverlay);
registerType(msg);
}
// register ObstacleList
{
std::tr1::shared_ptr<px::ObstacleList> msg(new px::ObstacleList);
registerType(msg);
}
// register ObstacleMap
{
std::tr1::shared_ptr<px::ObstacleMap> msg(new px::ObstacleMap);
registerType(msg);
}
// register Path
{
std::tr1::shared_ptr<px::Path> msg(new px::Path);
registerType(msg);
}
// register PointCloudXYZI
{
std::tr1::shared_ptr<px::PointCloudXYZI> msg(new px::PointCloudXYZI);
registerType(msg);
}
// register PointCloudXYZRGB
{
std::tr1::shared_ptr<px::PointCloudXYZRGB> msg(new px::PointCloudXYZRGB);
registerType(msg);
}
// register RGBDImage
{
std::tr1::shared_ptr<px::RGBDImage> msg(new px::RGBDImage);
registerType(msg);
}
srand(time(NULL));
mStreamID = rand() + 1;
}
bool fragmentMessage(uint8_t system_id, uint8_t component_id,
uint8_t target_system, uint8_t target_component,
const google::protobuf::Message& protobuf_msg,
std::vector<mavlink_extended_message_t>& fragments) const
{
TypeMap::const_iterator it = mTypeMap.find(protobuf_msg.GetTypeName());
if (it == mTypeMap.end())
{
std::cout << "# WARNING: Protobuf message with type "
<< protobuf_msg.GetTypeName() << " is not registered."
<< std::endl;
return false;
}
uint8_t typecode = it->second;
std::string data = protobuf_msg.SerializeAsString();
int fragmentCount = (protobuf_msg.ByteSize() + kExtendedPayloadMaxSize - 1) / kExtendedPayloadMaxSize;
unsigned int offset = 0;
for (int i = 0; i < fragmentCount; ++i)
{
mavlink_extended_message_t fragment;
// write extended header data
uint8_t* payload = reinterpret_cast<uint8_t*>(fragment.base_msg.payload64);
unsigned int length = 0;
uint8_t flags = 0;
if (i < fragmentCount - 1)
{
length = kExtendedPayloadMaxSize;
flags |= 0x1;
}
else
{
length = protobuf_msg.ByteSize() - kExtendedPayloadMaxSize * (fragmentCount - 1);
}
memcpy(payload, &target_system, 1);
memcpy(payload + 1, &target_component, 1);
memcpy(payload + 2, &typecode, 1);
memcpy(payload + 3, &length, 4);
memcpy(payload + 7, &mStreamID, 2);
memcpy(payload + 9, &offset, 4);
memcpy(payload + 13, &flags, 1);
fragment.base_msg.msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
mavlink_finalize_message(&fragment.base_msg, system_id, component_id, kExtendedHeaderSize, 0);
// write extended payload data
fragment.extended_payload_len = length;
memcpy(fragment.extended_payload, &data[offset], length);
fragments.push_back(fragment);
offset += length;
}
if (mVerbose)
{
std::cerr << "# INFO: Split extended message with size "
<< protobuf_msg.ByteSize() << " into "
<< fragmentCount << " fragments." << std::endl;
}
return true;
}
bool cacheFragment(mavlink_extended_message_t& msg)
{
if (!validFragment(msg))
{
if (mVerbose)
{
std::cerr << "# WARNING: Message is not a valid fragment. "
<< "Dropping message..." << std::endl;
}
return false;
}
// read extended header
uint8_t* payload = reinterpret_cast<uint8_t*>(msg.base_msg.payload64);
uint8_t typecode = 0;
unsigned int length = 0;
unsigned short streamID = 0;
unsigned int offset = 0;
uint8_t flags = 0;
memcpy(&typecode, payload + 2, 1);
memcpy(&length, payload + 3, 4);
memcpy(&streamID, payload + 7, 2);
memcpy(&offset, payload + 9, 4);
memcpy(&flags, payload + 13, 1);
if (typecode >= mTypeMap.size())
{
std::cout << "# WARNING: Protobuf message with type code "
<< static_cast<int>(typecode) << " is not registered." << std::endl;
return false;
}
bool reassemble = false;
FragmentQueue::iterator it = mFragmentQueue.find(streamID);
if (it == mFragmentQueue.end())
{
if (offset == 0)
{
mFragmentQueue[streamID].push_back(msg);
if ((flags & 0x1) != 0x1)
{
reassemble = true;
}
if (mVerbose)
{
std::cerr << "# INFO: Added fragment to new queue."
<< std::endl;
}
}
else
{
if (mVerbose)
{
std::cerr << "# WARNING: Message is not a valid fragment. "
<< "Dropping message..." << std::endl;
}
}
}
else
{
std::deque<mavlink_extended_message_t>& queue = it->second;
if (queue.empty())
{
if (offset == 0)
{
queue.push_back(msg);
if ((flags & 0x1) != 0x1)
{
reassemble = true;
}
}
else
{
if (mVerbose)
{
std::cerr << "# WARNING: Message is not a valid fragment. "
<< "Dropping message..." << std::endl;
}
}
}
else
{
if (fragmentDataSize(queue.back()) + fragmentOffset(queue.back()) != offset)
{
if (mVerbose)
{
std::cerr << "# WARNING: Previous fragment(s) have been lost. "
<< "Dropping message and clearing queue..." << std::endl;
}
queue.clear();
}
else
{
queue.push_back(msg);
if ((flags & 0x1) != 0x1)
{
reassemble = true;
}
}
}
}
if (reassemble)
{
std::deque<mavlink_extended_message_t>& queue = mFragmentQueue[streamID];
std::string data;
for (size_t i = 0; i < queue.size(); ++i)
{
mavlink_extended_message_t& mavlink_msg = queue.at(i);
data.append(reinterpret_cast<char*>(&mavlink_msg.extended_payload[0]),
static_cast<size_t>(mavlink_msg.extended_payload_len));
}
mMessages.at(typecode)->ParseFromString(data);
mMessageAvailable.at(typecode) = true;
queue.clear();
if (mVerbose)
{
std::cerr << "# INFO: Reassembled fragments for message with typename "
<< mMessages.at(typecode)->GetTypeName() << " and size "
<< mMessages.at(typecode)->ByteSize()
<< "." << std::endl;
}
}
return true;
}
bool getMessage(std::tr1::shared_ptr<google::protobuf::Message>& msg)
{
for (size_t i = 0; i < mMessageAvailable.size(); ++i)
{
if (mMessageAvailable.at(i))
{
msg = mMessages.at(i);
mMessageAvailable.at(i) = false;
return true;
}
}
return false;
}
private:
void registerType(const std::tr1::shared_ptr<google::protobuf::Message>& msg)
{
mTypeMap[msg->GetTypeName()] = mRegisteredTypeCount;
++mRegisteredTypeCount;
mMessages.push_back(msg);
mMessageAvailable.push_back(false);
}
bool validFragment(const mavlink_extended_message_t& msg) const
{
if (msg.base_msg.magic != MAVLINK_STX ||
msg.base_msg.len != kExtendedHeaderSize ||
msg.base_msg.msgid != MAVLINK_MSG_ID_EXTENDED_MESSAGE)
{
return false;
}
uint16_t checksum;
checksum = crc_calculate(reinterpret_cast<const uint8_t*>(&msg.base_msg.len), MAVLINK_CORE_HEADER_LEN);
crc_accumulate_buffer(&checksum, reinterpret_cast<const char*>(&msg.base_msg.payload64), kExtendedHeaderSize);
#if MAVLINK_CRC_EXTRA
static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
crc_accumulate(mavlink_message_crcs[msg.base_msg.msgid], &checksum);
#endif
if (mavlink_ck_a(&(msg.base_msg)) != (uint8_t)(checksum & 0xFF) &&
mavlink_ck_b(&(msg.base_msg)) != (uint8_t)(checksum >> 8))
{
return false;
}
return true;
}
unsigned int fragmentDataSize(const mavlink_extended_message_t& msg) const
{
const uint8_t* payload = reinterpret_cast<const uint8_t*>(msg.base_msg.payload64);
return *(reinterpret_cast<const unsigned int*>(payload + 3));
}
unsigned int fragmentOffset(const mavlink_extended_message_t& msg) const
{
const uint8_t* payload = reinterpret_cast<const uint8_t*>(msg.base_msg.payload64);
return *(reinterpret_cast<const unsigned int*>(payload + 9));
}
int mRegisteredTypeCount;
unsigned short mStreamID;
bool mVerbose;
typedef std::map<std::string, uint8_t> TypeMap;
TypeMap mTypeMap;
std::vector< std::tr1::shared_ptr<google::protobuf::Message> > mMessages;
std::vector<bool> mMessageAvailable;
typedef std::map<unsigned short, std::deque<mavlink_extended_message_t> > FragmentQueue;
FragmentQueue mFragmentQueue;
const int kExtendedHeaderSize;
/**
* Extended header structure
* =========================
* byte 0 - target_system
* byte 1 - target_component
* byte 2 - extended message id (type code)
* bytes 3-6 - extended payload size in bytes
* byte 7-8 - stream ID
* byte 9-12 - fragment offset
* byte 13 - fragment flags (bit 0 - 1=more fragments, 0=last fragment)
*/
const int kExtendedPayloadMaxSize;
};
}
#endif
files/mavlink_generator/generator/C/include_v1.0/mavlink_types.h deleted 100644 → 0
View file @ 7e959ba0
#ifndef MAVLINK_TYPES_H_
#define MAVLINK_TYPES_H_
#include <inttypes.h>
#ifndef MAVLINK_MAX_PAYLOAD_LEN
// it is possible to override this, but be careful!
#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
#endif
#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
#define MAVLINK_NUM_CHECKSUM_BYTES 2
#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
#define MAVLINK_EXTENDED_HEADER_LEN 14
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
typedef struct param_union {
union {
float param_float;
int32_t param_int32;
uint32_t param_uint32;
uint8_t param_uint8;
uint8_t bytes[4];
};
uint8_t type;
} mavlink_param_union_t;
typedef struct __mavlink_system {
uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function
uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function
uint8_t type; ///< Unused, can be used by user to store the system's type
uint8_t state; ///< Unused, can be used by user to store the system's state
uint8_t mode; ///< Unused, can be used by user to store the system's mode
uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode
} mavlink_system_t;
typedef struct __mavlink_message {
uint16_t checksum; /// sent at end of packet
uint8_t magic; ///< protocol magic marker
uint8_t len; ///< Length of payload
uint8_t seq; ///< Sequence of packet
uint8_t sysid; ///< ID of message sender system/aircraft
uint8_t compid; ///< ID of the message sender component
uint8_t msgid; ///< ID of message in payload
uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
} mavlink_message_t;
typedef struct __mavlink_extended_message {
mavlink_message_t base_msg;
int32_t extended_payload_len; ///< Length of extended payload if any
uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
} mavlink_extended_message_t;
typedef enum {
MAVLINK_TYPE_CHAR = 0,
MAVLINK_TYPE_UINT8_T = 1,
MAVLINK_TYPE_INT8_T = 2,
MAVLINK_TYPE_UINT16_T = 3,
MAVLINK_TYPE_INT16_T = 4,
MAVLINK_TYPE_UINT32_T = 5,
MAVLINK_TYPE_INT32_T = 6,
MAVLINK_TYPE_UINT64_T = 7,
MAVLINK_TYPE_INT64_T = 8,
MAVLINK_TYPE_FLOAT = 9,
MAVLINK_TYPE_DOUBLE = 10
} mavlink_message_type_t;
#define MAVLINK_MAX_FIELDS 64
typedef struct __mavlink_field_info {
const char *name; // name of this field
const char *print_format; // printing format hint, or NULL
mavlink_message_type_t type; // type of this field
unsigned int array_length; // if non-zero, field is an array
unsigned int wire_offset; // offset of each field in the payload
unsigned int structure_offset; // offset in a C structure
} mavlink_field_info_t;
// note that in this structure the order of fields is the order
// in the XML file, not necessary the wire order
typedef struct __mavlink_message_info {
const char *name; // name of the message
unsigned num_fields; // how many fields in this message
mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
} mavlink_message_info_t;
#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
// checksum is immediately after the payload bytes
#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
typedef enum {
MAVLINK_COMM_0,
MAVLINK_COMM_1,
MAVLINK_COMM_2,
MAVLINK_COMM_3
} mavlink_channel_t;
/*
* applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
* of buffers they will use. If more are used, then the result will be
* a stack overrun
*/
#ifndef MAVLINK_COMM_NUM_BUFFERS
#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
# define MAVLINK_COMM_NUM_BUFFERS 16
#else
# define MAVLINK_COMM_NUM_BUFFERS 4
#endif
#endif
typedef enum {
MAVLINK_PARSE_STATE_UNINIT=0,
MAVLINK_PARSE_STATE_IDLE,
MAVLINK_PARSE_STATE_GOT_STX,
MAVLINK_PARSE_STATE_GOT_SEQ,
MAVLINK_PARSE_STATE_GOT_LENGTH,
MAVLINK_PARSE_STATE_GOT_SYSID,
MAVLINK_PARSE_STATE_GOT_COMPID,
MAVLINK_PARSE_STATE_GOT_MSGID,
MAVLINK_PARSE_STATE_GOT_PAYLOAD,
MAVLINK_PARSE_STATE_GOT_CRC1
} mavlink_parse_state_t; ///< The state machine for the comm parser
typedef struct __mavlink_status {
uint8_t msg_received; ///< Number of received messages
uint8_t buffer_overrun; ///< Number of buffer overruns
uint8_t parse_error; ///< Number of parse errors
mavlink_parse_state_t parse_state; ///< Parsing state machine
uint8_t packet_idx; ///< Index in current packet
uint8_t current_rx_seq; ///< Sequence number of last packet received
uint8_t current_tx_seq; ///< Sequence number of last packet sent
uint16_t packet_rx_success_count; ///< Received packets
uint16_t packet_rx_drop_count; ///< Number of packet drops
} mavlink_status_t;
#define MAVLINK_BIG_ENDIAN 0
#define MAVLINK_LITTLE_ENDIAN 1
#endif /* MAVLINK_TYPES_H_ */
files/mavlink_generator/generator/C/include_v1.0/test/mavlink.h deleted 100644 → 0
View file @ 7e959ba0
/** @file
* @brief MAVLink comm protocol built from test.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#ifndef MAVLINK_STX
#define MAVLINK_STX 254
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
#endif
#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS 1
#endif
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 1
#endif
#include "version.h"
#include "test.h"
#endif // MAVLINK_H
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/** @file
* @brief MAVLink comm protocol generated from test.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#ifndef TEST_H
#define TEST_H
#ifdef __cplusplus
extern "C" {
#endif
// MESSAGE LENGTHS AND CRCS
#ifndef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS {179, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#ifndef MAVLINK_MESSAGE_CRCS
#define MAVLINK_MESSAGE_CRCS {103, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#ifndef MAVLINK_MESSAGE_INFO
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
#endif
#include "../protocol.h"
#define MAVLINK_ENABLED_TEST
// MAVLINK VERSION
#ifndef MAVLINK_VERSION
#define MAVLINK_VERSION 3
#endif
#if (MAVLINK_VERSION == 0)
#undef MAVLINK_VERSION
#define MAVLINK_VERSION 3
#endif
// ENUM DEFINITIONS
// MESSAGE DEFINITIONS
#include "./mavlink_msg_test_types.h"
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // TEST_H
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/** @file
* @brief MAVLink comm protocol testsuite generated from test.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#ifndef TEST_TESTSUITE_H
#define TEST_TESTSUITE_H
#ifdef __cplusplus
extern "C" {
#endif
#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL
static void mavlink_test_test(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_test(system_id, component_id, last_msg);
}
#endif
static void mavlink_test_test_types(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_test_types_t packet_in = {
93372036854775807ULL,
93372036854776311LL,
235.0,
{ 93372036854777319, 93372036854777320, 93372036854777321 },
{ 93372036854778831, 93372036854778832, 93372036854778833 },
{ 627.0, 628.0, 629.0 },
963502456,
963502664,
745.0,
{ 963503080, 963503081, 963503082 },
{ 963503704, 963503705, 963503706 },
{ 941.0, 942.0, 943.0 },
24723,
24827,
{ 24931, 24932, 24933 },
{ 25243, 25244, 25245 },
'E',
"FGHIJKLMN",
198,
9,
{ 76, 77, 78 },
{ 21, 22, 23 },
};
mavlink_test_types_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.u64 = packet_in.u64;
packet1.s64 = packet_in.s64;
packet1.d = packet_in.d;
packet1.u32 = packet_in.u32;
packet1.s32 = packet_in.s32;
packet1.f = packet_in.f;
packet1.u16 = packet_in.u16;
packet1.s16 = packet_in.s16;
packet1.c = packet_in.c;
packet1.u8 = packet_in.u8;
packet1.s8 = packet_in.s8;
mav_array_memcpy(packet1.u64_array, packet_in.u64_array, sizeof(uint64_t)*3);
mav_array_memcpy(packet1.s64_array, packet_in.s64_array, sizeof(int64_t)*3);
mav_array_memcpy(packet1.d_array, packet_in.d_array, sizeof(double)*3);
mav_array_memcpy(packet1.u32_array, packet_in.u32_array, sizeof(uint32_t)*3);
mav_array_memcpy(packet1.s32_array, packet_in.s32_array, sizeof(int32_t)*3);
mav_array_memcpy(packet1.f_array, packet_in.f_array, sizeof(float)*3);
mav_array_memcpy(packet1.u16_array, packet_in.u16_array, sizeof(uint16_t)*3);
mav_array_memcpy(packet1.s16_array, packet_in.s16_array, sizeof(int16_t)*3);
mav_array_memcpy(packet1.s, packet_in.s, sizeof(char)*10);
mav_array_memcpy(packet1.u8_array, packet_in.u8_array, sizeof(uint8_t)*3);
mav_array_memcpy(packet1.s8_array, packet_in.s8_array, sizeof(int8_t)*3);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_test_types_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_test_types_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
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 );
mavlink_msg_test_types_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
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 );
mavlink_msg_test_types_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_test_types_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
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 );
mavlink_msg_test_types_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_test(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_test_types(system_id, component_id, last_msg);
}
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // TEST_TESTSUITE_H
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/** @file
* @brief MAVLink comm protocol built from test.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Mar 1 15:11:58 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
#endif // MAVLINK_VERSION_H
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/testmav0.9
/testmav1.0
/testmav1.0_nonstrict
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/*
simple MAVLink testsuite for C
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <assert.h>
#include <stddef.h>
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#define MAVLINK_COMM_NUM_BUFFERS 2
// this trick allows us to make mavlink_message_t as small as possible
// for this dialect, which saves some memory
#include <version.h>
#define MAVLINK_MAX_PAYLOAD_LEN MAVLINK_MAX_DIALECT_PAYLOAD_SIZE
#include <mavlink_types.h>
static mavlink_system_t mavlink_system = {42,11,};
#define MAVLINK_ASSERT(x) assert(x)
static void comm_send_ch(mavlink_channel_t chan, uint8_t c);
static mavlink_message_t last_msg;
#include <mavlink.h>
#include <testsuite.h>
static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];
static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
static unsigned error_count;
static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
static void print_one_field(mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
{
#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)
switch (f->type) {
case MAVLINK_TYPE_CHAR:
printf(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT8_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_INT8_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT16_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_INT16_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_UINT32_T:
printf(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_INT32_T:
printf(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_UINT64_T:
printf(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_INT64_T:
printf(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_FLOAT:
printf(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_DOUBLE:
printf(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
break;
}
}
static void print_field(mavlink_message_t *msg, const mavlink_field_info_t *f)
{
printf("%s: ", f->name);
if (f->array_length == 0) {
print_one_field(msg, f, 0);
printf(" ");
} else {
unsigned i;
/* print an array */
if (f->type == MAVLINK_TYPE_CHAR) {
printf("'%.*s'", f->array_length,
f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
} else {
printf("[ ");
for (i=0; i<f->array_length; i++) {
print_one_field(msg, f, i);
if (i < f->array_length) {
printf(", ");
}
}
printf("]");
}
}
printf(" ");
}
static void print_message(mavlink_message_t *msg)
{
const mavlink_message_info_t *m = &message_info[msg->msgid];
const mavlink_field_info_t *f = m->fields;
unsigned i;
printf("%s { ", m->name);
for (i=0; i<m->num_fields; i++) {
print_field(msg, &f[i]);
}
printf("}\n");
}
static void comm_send_ch(mavlink_channel_t chan, uint8_t c)
{
mavlink_status_t status;
if (mavlink_parse_char(chan, c, &last_msg, &status)) {
print_message(&last_msg);
chan_counts[chan]++;
/* channel 0 gets 3 messages per message, because of
the channel defaults for _pack() and _encode() */
if (chan == MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)(chan_counts[chan]*3)) {
printf("Channel 0 sequence mismatch error at packet %u (rx_seq=%u)\n",
chan_counts[chan], status.current_rx_seq);
error_count++;
} else if (chan > MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)chan_counts[chan]) {
printf("Channel %u sequence mismatch error at packet %u (rx_seq=%u)\n",
(unsigned)chan, chan_counts[chan], status.current_rx_seq);
error_count++;
}
if (message_lengths[last_msg.msgid] != last_msg.len) {
printf("Incorrect message length %u for message %u - expected %u\n",
(unsigned)last_msg.len, (unsigned)last_msg.msgid, message_lengths[last_msg.msgid]);
error_count++;
}
}
if (status.packet_rx_drop_count != 0) {
printf("Parse error at packet %u\n", chan_counts[chan]);
error_count++;
}
}
int main(void)
{
mavlink_channel_t chan;
mavlink_test_all(11, 10, &last_msg);
for (chan=MAVLINK_COMM_0; chan<=MAVLINK_COMM_1; chan++) {
printf("Received %u messages on channel %u OK\n",
chan_counts[chan], (unsigned)chan);
}
if (error_count != 0) {
printf("Error count %u\n", error_count);
exit(1);
}
printf("No errors detected\n");
return 0;
}
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// stdafx.cpp : source file that includes just the standard includes
// testmav.pch will be the pre-compiled header
// stdafx.obj will contain the pre-compiled type information
#include "stdafx.h"
// TODO: reference any additional headers you need in STDAFX.H
// and not in this file
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// stdafx.h : include file for standard system include files,
// or project specific include files that are used frequently, but
// are changed infrequently
//
#pragma once
#include "targetver.h"
#include <stdio.h>
#include <tchar.h>
// TODO: reference additional headers your program requires here
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#pragma once
// Including SDKDDKVer.h defines the highest available Windows platform.
// If you wish to build your application for a previous Windows platform, include WinSDKVer.h and
// set the _WIN32_WINNT macro to the platform you wish to support before including SDKDDKVer.h.
#include <SDKDDKVer.h>
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// testmav.cpp : Defines the entry point for the console application.
//
#include "stdafx.h"
#include "stdio.h"
#include "stdint.h"
#include "stddef.h"
#include "assert.h"
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#define MAVLINK_COMM_NUM_BUFFERS 2
#include <mavlink_types.h>
static mavlink_system_t mavlink_system = {42,11,};
#define MAVLINK_ASSERT(x) assert(x)
static void comm_send_ch(mavlink_channel_t chan, uint8_t c);
static mavlink_message_t last_msg;
#include <common/mavlink.h>
#include <common/testsuite.h>
static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];
static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
static unsigned error_count;
static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
static void print_one_field(mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
{
#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)
switch (f->type) {
case MAVLINK_TYPE_CHAR:
printf(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT8_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_INT8_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT16_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_INT16_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_UINT32_T:
printf(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_INT32_T:
printf(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_UINT64_T:
printf(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_INT64_T:
printf(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_FLOAT:
printf(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_DOUBLE:
printf(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
break;
}
}
static void print_field(mavlink_message_t *msg, const mavlink_field_info_t *f)
{
printf("%s: ", f->name);
if (f->array_length == 0) {
print_one_field(msg, f, 0);
printf(" ");
} else {
unsigned i;
/* print an array */
if (f->type == MAVLINK_TYPE_CHAR) {
printf("'%.*s'", f->array_length,
f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
} else {
printf("[ ");
for (i=0; i<f->array_length; i++) {
print_one_field(msg, f, i);
if (i < f->array_length) {
printf(", ");
}
}
printf("]");
}
}
printf(" ");
}
static void print_message(mavlink_message_t *msg)
{
const mavlink_message_info_t *m = &message_info[msg->msgid];
const mavlink_field_info_t *f = m->fields;
unsigned i;
printf("%s { ", m->name);
for (i=0; i<m->num_fields; i++) {
print_field(msg, &f[i]);
}
printf("}\n");
}
static void comm_send_ch(mavlink_channel_t chan, uint8_t c)
{
mavlink_status_t status;
if (mavlink_parse_char(chan, c, &last_msg, &status)) {
print_message(&last_msg);
chan_counts[chan]++;
/* channel 0 gets 3 messages per message, because of
the channel defaults for _pack() and _encode() */
if (chan == MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)(chan_counts[chan]*3)) {
printf("Channel 0 sequence mismatch error at packet %u (rx_seq=%u)\n",
chan_counts[chan], status.current_rx_seq);
error_count++;
} else if (chan > MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)chan_counts[chan]) {
printf("Channel %u sequence mismatch error at packet %u (rx_seq=%u)\n",
(unsigned)chan, chan_counts[chan], status.current_rx_seq);
error_count++;
}
if (message_lengths[last_msg.msgid] != last_msg.len) {
printf("Incorrect message length %u for message %u - expected %u\n",
(unsigned)last_msg.len, (unsigned)last_msg.msgid, message_lengths[last_msg.msgid]);
error_count++;
}
}
if (status.packet_rx_drop_count != 0) {
printf("Parse error at packet %u\n", chan_counts[chan]);
error_count++;
}
}
int _tmain(int argc, _TCHAR* argv[])
{
int chan;
mavlink_test_all(11, 10, &last_msg);
for (chan=MAVLINK_COMM_0; chan<=MAVLINK_COMM_1; chan++) {
printf("Received %u messages on channel %u OK\n",
chan_counts[chan], (unsigned)chan);
}
if (error_count != 0) {
printf("Error count %u\n", error_count);
return(1);
}
printf("No errors detected\n");
return 0;
}
files/mavlink_generator/generator/mavextra.py deleted 100644 → 0
View file @ 7e959ba0
#!/usr/bin/env python
'''
useful extra functions for use by mavlink clients
Copyright Andrew Tridgell 2011
Released under GNU GPL version 3 or later
'''
from math import *
def norm_heading(RAW_IMU, ATTITUDE, declination):
'''calculate heading from RAW_IMU and ATTITUDE'''
xmag = RAW_IMU.xmag
ymag = RAW_IMU.ymag
zmag = RAW_IMU.zmag
pitch = ATTITUDE.pitch
roll = ATTITUDE.roll
headX = xmag*cos(pitch) + ymag*sin(roll)*sin(pitch) + zmag*cos(roll)*sin(pitch)
headY = ymag*cos(roll) - zmag*sin(roll)
heading = atan2(-headY, headX)
heading = fmod(degrees(heading) + declination + 360, 360)
return heading
def TrueHeading(SERVO_OUTPUT_RAW):
rc3_min = 1060
rc3_max = 1850
p = float(SERVO_OUTPUT_RAW.servo3_raw - rc3_min) / (rc3_max - rc3_min)
return 172 + (1.0-p)*(326 - 172)
def kmh(mps):
'''convert m/s to Km/h'''
return mps*3.6
def altitude(press_abs, ground_press=955.0, ground_temp=30):
'''calculate barometric altitude'''
return log(ground_press/press_abs)*(ground_temp+273.15)*29271.267*0.001
files/mavlink_generator/generator/mavgen_c.py
View file @ 33b2346e
......@@ -404,16 +404,41 @@ ${{message: mavlink_test_${name_lower}(system_id, component_id, last_msg);
def copy_fixed_headers(directory, xml):
'''copy the fixed protocol headers to the target directory'''
import shutil
hlist = [ 'protocol.h', 'mavlink_helpers.h', 'mavlink_types.h', 'checksum.h' ]
hlist = [ 'protocol.h', 'mavlink_helpers.h', 'mavlink_types.h', 'checksum.h', 'mavlink_protobuf_manager.hpp' ]
basepath = os.path.dirname(os.path.realpath(__file__))
srcpath = os.path.join(basepath, 'C/include_v%s' % xml.wire_protocol_version)
print("Copying fixed headers")
for h in hlist:
if (not (h == 'mavlink_protobuf_manager.hpp' and xml.wire_protocol_version == '0.9')):
src = os.path.realpath(os.path.join(srcpath, h))
dest = os.path.realpath(os.path.join(directory, h))
if src == dest:
continue
shutil.copy(src, dest)
# XXX This is a hack - to be removed
if (xml.basename == 'pixhawk' and xml.wire_protocol_version == '1.0'):
h = 'pixhawk/pixhawk.pb.h'
src = os.path.realpath(os.path.join(srcpath, h))
dest = os.path.realpath(os.path.join(directory, h))
if src == dest:
continue
shutil.copy(src, dest)
def copy_fixed_sources(directory, xml):
# XXX This is a hack - to be removed
import shutil
basepath = os.path.dirname(os.path.realpath(__file__))
srcpath = os.path.join(basepath, 'C/src_v%s' % xml.wire_protocol_version)
if (xml.basename == 'pixhawk' and xml.wire_protocol_version == '1.0'):
print("Copying fixed sources")
src = os.path.realpath(os.path.join(srcpath, 'pixhawk/pixhawk.pb.cc'))
dest = os.path.realpath(os.path.join(directory, '../../../share/mavlink/src/v%s/pixhawk/pixhawk.pb.cc' % xml.wire_protocol_version))
destdir = os.path.realpath(os.path.join(directory, '../../../share/mavlink/src/v%s/pixhawk' % xml.wire_protocol_version))
try:
os.makedirs(destdir)
except:
print("Not re-creating directory")
shutil.copy(src, dest)
print("Copied to"),
print(dest)
class mav_include(object):
def __init__(self, base):
......@@ -553,3 +578,4 @@ def generate(basename, xml_list):
for xml in xml_list:
generate_one(basename, xml)
copy_fixed_headers(basename, xml_list[0])
copy_fixed_sources(basename, xml_list[0])
files/mavlink_generator/generator/mavlink.py deleted 100644 → 0
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files/mavlink_generator/generator/mavlinkv10.py deleted 100644 → 0
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files/mavlink_generator/generator/mavparse.py
View file @ 33b2346e
......@@ -272,7 +272,7 @@ class MAVXML(object):
self.largest_payload = m.wire_length
if m.wire_length+8 > 64:
print("Warning: message %s is longer than 64 bytes long (%u bytes)" % (m.name, m.wire_length+8))
print("Note: message %s is longer than 64 bytes long (%u bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit." % (m.name, m.wire_length+8))
def __str__(self):
return "MAVXML for %s from %s (%u message, %u enums)" % (
......
files/mavlink_generator/generator/mavutil.py deleted 100644 → 0
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files/mavlink_generator/generator/mavwp.py deleted 100644 → 0
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files/mavlink_generator/generator/scanwin32.py deleted 100644 → 0
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