public static MavLink Deserialize(string path)
{
XDocument mavLinkDocument = XDocument.Load(path);
MavLink mavLink = Deserialize(mavLinkDocument);
return(mavLink);
}
public static MavLink Deserialize(TextReader textReader)
{
XDocument mavLinkDocument = XDocument.Load(textReader);
MavLink mavLink = Deserialize(mavLinkDocument);
return(mavLink);
}
public void AreCrcValid()
{
MavLink mavLink = LoadMavLink();
IDictionary <uint, MessageInfo> messageInfoById = DefinitionDataHelper.GetMessageInfoById();
IDictionary <Message, byte> errorDictionary = new Dictionary <Message, byte>();
foreach (Message message in mavLink.Messages)
{
uint messageId = (uint)message.Id;
MessageInfo messageInfo = messageInfoById.ContainsKey(messageId) ? messageInfoById[messageId] : null;
if (messageInfo != null)
{
Assert.AreEqual(messageInfo.Crc, message.CrcExtra);
if (messageInfo.Crc != message.CrcExtra)
{
errorDictionary.Add(message, messageInfo.Crc);
}
}
}
Console.WriteLine("Name \t| Expected \t| Computed");
foreach (var kvp in errorDictionary)
{
Console.WriteLine($"{kvp.Key.Name} \t| {kvp.Value} \t| {kvp.Key.CrcExtra}");
}
}
private static MavLink LoadMavLink()
{
//string definitionFilePath = @"F:\UserData\Amael\OneDrive\Projets\MavLink4Net\message_definitions\0.9\common.xml";
string definitionFilePath = @"F:\UserData\Amael\OneDrive\Projets\MavLink4Net\message_definitions\1.0\common.xml";
MavLink1MessageFilter messageFilter = new MavLink1MessageFilter();
DataProvider dataProvider = new DataProvider(false, null, null, null, null, messageFilter);
MavLink mavLink = dataProvider.GetMavLink(definitionFilePath);
return(mavLink);
}
public void AreNameValid()
{
MavLink mavLink = LoadMavLink();
IDictionary <uint, MessageInfo> messageInfoById = DefinitionDataHelper.GetMessageInfoById();
foreach (Message message in mavLink.Messages)
{
uint messageId = (uint)message.Id;
MessageInfo messageInfo = messageInfoById.ContainsKey(messageId) ? messageInfoById[messageId] : null;
if (messageInfo != null)
{
Assert.AreEqual(messageInfo.Name, message.Name);
}
}
}
private static MavLink ToMavLink(XElement xElement)
{
MavLink mavLink = new MavLink();
mavLink.Version = Int32.Parse(xElement.Element(XName.Get("version")).Value);
mavLink.Dialect = xElement.Element(XName.Get("dialect"))?.Value;
// enums
XElement enumsElement = xElement.Element(XName.Get("enums"));
IEnumerable <XElement> enumElements = enumsElement.Elements(XName.Get("enum"));
mavLink.Enums = ToEnums(enumElements);
// messages
XElement messagesElement = xElement.Element(XName.Get("messages"));
IEnumerable <XElement> messageElements = messagesElement.Elements(XName.Get("message"));
mavLink.Messages = ToMessages(messageElements);
return(mavLink);
}
