Updated to most recent MAVLink v1.0.8

files/mavlink_generator/C/include_v0.9/checksum.h

-#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/C/include_v0.9/test/mavlink.h

-/** @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/C/include_v0.9/test/test.h

-/** @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/C/include_v0.9/test/testsuite.h

-/** @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/C/include_v0.9/test/version.h

-/** @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/C/include_v1.0/checksum.h

-#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/C/include_v1.0/mavlink_protobuf_manager.hpp

-#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/C/include_v1.0/mavlink_types.h

-#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
-
-#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;
-
-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/C/include_v1.0/test/mavlink.h

-/** @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

files/mavlink_generator/C/include_v1.0/test/test.h

-/** @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

files/mavlink_generator/C/include_v1.0/test/testsuite.h

-/** @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

files/mavlink_generator/C/include_v1.0/test/version.h

-/** @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

files/mavlink_generator/C/test/posix/.gitignore

-/testmav0.9
-/testmav1.0
-/testmav1.0_nonstrict

files/mavlink_generator/C/test/posix/testmav.c

-/*
-  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;
-}
-

files/mavlink_generator/C/test/windows/stdafx.cpp

-// 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

files/mavlink_generator/C/test/windows/stdafx.h

-// 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

files/mavlink_generator/C/test/windows/targetver.h

-#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>

files/mavlink_generator/C/test/windows/testmav.cpp

-// 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/.gitignore

-*.pyc

files/mavlink_generator/generator/gen_MatrixPilot.py

-#!/usr/bin/env python
-'''
-Use mavgen.py matrixpilot.xml definitions to generate
-C and Python MAVLink routines for sending and parsing the protocol
-This python script is soley for MatrixPilot MAVLink impoementation
-
-Copyright Pete Hollands 2011
-Released under GNU GPL version 3 or later
-'''
-
-import os, sys, glob, re
-from shutil import copy
-from mavgen import mavgen
-
-# allow import from the parent directory, where mavutil.py is
-# Under Windows, this script must be run from a DOS command window
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-class options:
-    """ a class to simulate the options of mavgen OptionsParser"""
-    def __init__(self, lang, output, wire_protocol):
-        self.language = lang
-        self.wire_protocol = wire_protocol
-        self.output = output
-
-def remove_include_files(target_directory):
-    search_pattern = target_directory+'/*.h'
-    print "search pattern is", search_pattern
-    files_to_remove = glob.glob(search_pattern)
-    for afile in files_to_remove :
-        try:
-            print "removing", afile
-            os.remove(afile)
-        except:
-            print "error while trying to remove", afile
-
-def copy_include_files(source_directory,target_directory):
-    search_pattern = source_directory+'/*.h'
-    files_to_copy = glob.glob(search_pattern)
-    for afile in files_to_copy:
-        basename = os.path.basename(afile)
-        print "Copying ...", basename
-        copy(afile, target_directory)
-
-protocol = "1.0"
-
-xml_directory = './message_definitions/v'+protocol
-print "xml_directory is", xml_directory
-xml_file_names = []
-xml_file_names.append(xml_directory+"/"+"matrixpilot.xml")
-
-for xml_file in xml_file_names:
-    print "xml file is ", xml_file
-    opts = options(lang = "C", output = "C/include_v"+protocol, \
-                   wire_protocol=protocol)
-    args = []
-    args.append(xml_file)
-    mavgen(opts, args)
-    xml_file_base = os.path.basename(xml_file)
-    xml_file_base = re.sub("\.xml","", xml_file_base)
-    print "xml_file_base is", xml_file_base
-    opts = options(lang = "python", \
-                   output="python/mavlink_"+xml_file_base+"_v"+protocol+".py", \
-                   wire_protocol=protocol)
-    mavgen(opts,args)
-
-mavlink_directory_list = ["common","matrixpilot"]
-for mavlink_directory in mavlink_directory_list :
-    # Look specifically for MatrixPilot directory structure
-    target_directory = "../../../../MAVLink/include/"+mavlink_directory
-    source_directory = "C/include_v"+protocol+"/"+mavlink_directory
-    if os.access(source_directory, os.R_OK):
-        if os.access(target_directory, os.W_OK):
-            print "Preparing to copy over files..."
-            print "About to remove all files in",target_directory
-            print "OK to continue ?[Yes / No]: ",
-            line = sys.stdin.readline()
-            if line == "Yes\n" or line == "yes\n" \
-               or line == "Y\n" or line == "y\n":
-                print "passed"
-                remove_include_files(target_directory)
-                copy_include_files(source_directory,target_directory)
-                print "Finished copying over include files"
-            else :
-                print "Your answer is No. Exiting Program"
-                sys.exit()
-        else :
-           print "Cannot find " + target_directory + "in MatrixPilot"
-           sys.exit()
-    else:
-        print "Could not find files to copy at", source_directory
-        print "Exiting Program."
-        sys.exit()

files/mavlink_generator/generator/gen_all.py

-#!/usr/bin/env python
-
-'''
-Use mavgen.py on all available MAVLink XML definitions to generate
-C and Python MAVLink routines for sending and parsing the protocol
-
-Copyright Pete Hollands 2011
-Released under GNU GPL version 3 or later
-'''
-
-import os, sys, glob, re
-from mavgen import mavgen
-
-# allow import from the parent directory, where mavutil.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-class options:
-    """ a class to simulate the options of mavgen OptionsParser"""
-    def __init__(self, lang, output, wire_protocol):
-        self.language = lang
-        self.wire_protocol = wire_protocol
-        self.output = output
-
-protocols = [ '0.9', '1.0' ]
-
-for protocol in protocols :
-    xml_directory = './message_definitions/v'+protocol
-    print "xml_directory is", xml_directory
-    xml_file_names = glob.glob(xml_directory+'/*.xml')
-
-    for xml_file in xml_file_names:
-        print "xml file is ", xml_file
-        opts = options(lang = "C", output = "C/include_v"+protocol, \
-                       wire_protocol=protocol)
-        args = []
-        args.append(xml_file)
-        mavgen(opts, args)
-        xml_file_base = os.path.basename(xml_file)
-        xml_file_base = re.sub("\.xml","", xml_file_base)
-        print "xml_file_base is", xml_file_base
-        opts = options(lang = "python", \
-                       output="python/mavlink_"+xml_file_base+"_v"+protocol+".py", \
-                       wire_protocol=protocol)
-        mavgen(opts,args)

files/mavlink_generator/generator/gen_all.sh

-#!/bin/sh
-
-for protocol in 0.9 1.0; do
- for xml in message_definitions/v$protocol/*.xml; do
-     base=$(basename $xml .xml)
-     ./mavgen.py --lang=C --wire-protocol=$protocol --output=C/include_v$protocol $xml || exit 1
-     ./mavgen.py --lang=python --wire-protocol=$protocol --output=python/mavlink_${base}_v$protocol.py $xml || exit 1
- done
-done
-
-cp -f python/mavlink_ardupilotmega_v0.9.py ../mavlink.py
-cp -f python/mavlink_ardupilotmega_v1.0.py ../mavlinkv10.py

files/mavlink_generator/generator/mavgen.py

-#!/usr/bin/env python
-'''
-parse a MAVLink protocol XML file and generate a python implementation
-
-Copyright Andrew Tridgell 2011
-Released under GNU GPL version 3 or later
-'''
-
-def mavgen(opts, args) :
-    """Generate mavlink message formatters and parsers (C and Python ) using options
-    and args where args are a list of xml files. This function allows python
-    scripts under Windows to control mavgen using the same interface as
-    shell scripts under Unix"""
-    import sys, textwrap, os
-
-    import mavparse
-    import mavgen_python
-    import mavgen_c
-
-    xml = []
-
-    for fname in args:
-        print("Parsing %s" % fname)
-        xml.append(mavparse.MAVXML(fname, opts.wire_protocol))
-
-    # expand includes
-    for x in xml[:]:
-        for i in x.include:
-            fname = os.path.join(os.path.dirname(x.filename), i)
-            print("Parsing %s" % fname)
-            xml.append(mavparse.MAVXML(fname, opts.wire_protocol))
-
-            # include message lengths and CRCs too
-            for idx in range(0, 256):
-                if x.message_lengths[idx] == 0:
-                    x.message_lengths[idx] = xml[-1].message_lengths[idx]
-                    x.message_crcs[idx] = xml[-1].message_crcs[idx]
-                    x.message_names[idx] = xml[-1].message_names[idx]
-
-    # work out max payload size across all includes
-    largest_payload = 0
-    for x in xml:
-        if x.largest_payload > largest_payload:
-            largest_payload = x.largest_payload
-    for x in xml:
-        x.largest_payload = largest_payload
-
-    if mavparse.check_duplicates(xml):
-        sys.exit(1)
-
-    print("Found %u MAVLink message types in %u XML files" % (
-        mavparse.total_msgs(xml), len(xml)))
-
-    if opts.language == 'python':
-        mavgen_python.generate(opts.output, xml)
-    elif opts.language == 'C':
-        mavgen_c.generate(opts.output, xml)
-    else:
-        print("Unsupported language %s" % opts.language)
-    
-
-if __name__=="__main__":
-    import sys, textwrap, os
-
-    from optparse import OptionParser
-
-    # allow import from the parent directory, where mavutil.py is
-    sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-    import mavparse
-    import mavgen_python
-    import mavgen_c
-
-    parser = OptionParser("%prog [options] <XML files>")
-    parser.add_option("-o", "--output", dest="output", default="mavlink", help="output directory.")
-    parser.add_option("--lang", dest="language", default="python", help="language of generated code: 'Python' or 'C' [default: %default]")
-    parser.add_option("--wire-protocol", dest="wire_protocol", default=mavparse.PROTOCOL_0_9, help="MAVLink protocol version: '0.9' or '1.0'. [default: %default]")
-    (opts, args) = parser.parse_args()
-
-    if len(args) < 1:
-        parser.error("You must supply at least one MAVLink XML protocol definition")
-    mavgen(opts, args)

mavlink/include/mavlink/v0.9/ardupilotmega/mavlink.h

-/** @file
- *	@brief MAVLink comm protocol built from ardupilotmega.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 "ardupilotmega.h"
-
-#endif // MAVLINK_H

mavlink/include/mavlink/v0.9/ardupilotmega/version.h

-/** @file
- *	@brief MAVLink comm protocol built from ardupilotmega.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_VERSION_H
-#define MAVLINK_VERSION_H
-
-#define MAVLINK_BUILD_DATE "Thu Apr 19 19:46:08 2012"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
- 
-#endif // MAVLINK_VERSION_H

mavlink/include/mavlink/v0.9/common/mavlink.h

-/** @file
- *	@brief MAVLink comm protocol built from common.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 "common.h"
-
-#endif // MAVLINK_H