public async Task GetTheSameMessageAsSendAsync()
{
HeartbeatMessage receivedHeartbeat = default(HeartbeatMessage);
IMavlinkCommunicator mavlinkCommunicator = MavlinkCommunicatorFactory.Create(Stream);
IMessageNotifier messageNotifier = mavlinkCommunicator.SubscribeForReceive(m => m.Id == MessageId.Heartbeat);
messageNotifier.MessageReceived += (s, e) =>
{
receivedHeartbeat = (HeartbeatMessage)e.Message;
};
HeartbeatMessage sentHeartbetat = new HeartbeatMessage
{
Autopilot = MavAutopilot.Ardupilotmega,
BaseMode =
MavModeFlag.CustomModeEnabled | MavModeFlag.StabilizeEnabled | MavModeFlag.ManualInputEnabled,
MavlinkVersion = 3,
Type = MavType.Quadrotor,
SystemStatus = MavState.Active,
CustomMode = 0
};
await mavlinkCommunicator.SendMessageAsync(sentHeartbetat, 1, 1);
Stream.Seek(0, SeekOrigin.Begin);
Thread.Sleep(3000);
Assert.AreEqual(sentHeartbetat.Autopilot, receivedHeartbeat.Autopilot);
Assert.AreEqual(sentHeartbetat.Type, receivedHeartbeat.Type);
Assert.AreEqual(sentHeartbetat.CustomMode, receivedHeartbeat.CustomMode);
Assert.AreEqual(sentHeartbetat.BaseMode, receivedHeartbeat.BaseMode);
Assert.AreEqual(sentHeartbetat.SystemStatus, receivedHeartbeat.SystemStatus);
Assert.AreEqual(sentHeartbetat.MavlinkVersion, receivedHeartbeat.MavlinkVersion);
mavlinkCommunicator.Dispose();
Thread.Sleep(1000);
}
public async Task GetTheSameMessageCountAsSendAsync()
{
int messagesToSend = 20;
int messagesReceived = 0;
int messagesSuccessfullySent = 0;
IMavlinkCommunicator mavlinkCommunicator = MavlinkCommunicatorFactory.Create(Stream);
IMessageNotifier messageNotifier = mavlinkCommunicator.SubscribeForReceive(m => m.Id == MessageId.Heartbeat);
messageNotifier.MessageReceived += (s, e) =>
{
Interlocked.Increment(ref messagesReceived);
};
HeartbeatMessage sentHeartbeat = new HeartbeatMessage
{
Autopilot = MavAutopilot.Ardupilotmega,
BaseMode =
MavModeFlag.CustomModeEnabled | MavModeFlag.StabilizeEnabled | MavModeFlag.ManualInputEnabled,
MavlinkVersion = 3,
Type = MavType.Quadrotor,
SystemStatus = MavState.Active,
CustomMode = 0
};
for (int i = 0; i < messagesToSend; i++)
{
bool result = await mavlinkCommunicator.SendMessageAsync(sentHeartbeat, 1, 1);
if (result)
{
messagesSuccessfullySent++;
}
}
Stream.Seek(0, SeekOrigin.Begin);
Thread.Sleep(8000);
Assert.AreEqual(messagesSuccessfullySent, messagesReceived, 0,
$"Successfully sent {messagesSuccessfullySent}. Successfully received {messagesReceived}");
mavlinkCommunicator.Dispose();
Thread.Sleep(1000);
}