public void SerializationTest()
{
var data = System.IO.File.ReadAllBytes("test_packets_v2.bin");
MavnetParser parser = new MavnetParser(Console.WriteLine);
// Read messages
var messages = parser.ParseBytes(data);
// Hook up receive event
int packetsRead = 0;
parser.PacketReceived += (sender, e) =>
{
packetsRead++;
};
foreach (var msg in messages)
{
parser.ParseBytes(msg.toBytes());
}
// Check that we received copies of the serialized messages
Assert.Equal(5, packetsRead);
}
public void ParseV1PacketsTest()
{
var data = System.IO.File.ReadAllBytes("test_packets_v1.bin");
MavnetParser parser = new MavnetParser(Console.WriteLine);
var messages = parser.ParseBytes(data);
// V1 packets:
// 0 123 212 0 0 None False HEARTBEAT {type : 1, autopilot : 2, base_mode : 3, custom_mode : 4, system_status : 5, mavlink_version : 1}
// 1 123 212 0 0 None False HEARTBEAT { type: 1, autopilot: 2, base_mode: 3, custom_mode: 4, system_status: 5, mavlink_version: 1}
Action <MavnetMessage> v1HeartBeatCheck = (MavnetMessage m) =>
{
Assert.False(m.is_mavlink_v2);
Assert.Equal("HEARTBEAT", m.message_name);
Assert.Equal(123, m.system_id);
Assert.Equal(212, m.component_id);
Assert.NotNull(m.payload);
var payload = (MAVLink.mavlink_heartbeat_t)m.payload;
Assert.Equal(1, payload.mavlink_version);
Assert.Equal(MAVLink.MAV_TYPE.FIXED_WING, payload.type);
Assert.Equal(MAVLink.MAV_AUTOPILOT.SLUGS, payload.autopilot);
Assert.Equal((MAVLink.MAV_MODE_FLAG) 3, payload.base_mode);
};
Assert.Collection(messages, v1HeartBeatCheck, v1HeartBeatCheck);
}
static void Main(string[] args)
{
const string DATA_FILE = "/Users/thadthompson/dev/uvdl/thirdparty/genwork/test_packets_v2.bin";
const string TEST_OUT_FILE = "/Users/thadthompson/dev/uvdl/thirdparty/genwork/test_output_packets_v2.bin";
Console.WriteLine("Starting MAVLink test");
var data = System.IO.File.ReadAllBytes(DATA_FILE);
// Create a parser with logging output to Console.WriteLine
MavnetParser parser = new MavnetParser(Console.WriteLine);
parser.PacketReceived += (sender, e) =>
{
Console.WriteLine("Received Packet: " + e);
};
var messages = parser.ParseBytes(data);
using (var fout = System.IO.File.OpenWrite(TEST_OUT_FILE))
{
foreach (var msg in messages)
{
// Round trip through JSON
string js = msg.toJson();
MavnetMessage jsmsg = Newtonsoft.Json.JsonConvert.DeserializeObject <MavnetMessage>(js);
fout.Write(jsmsg.toBytes());
}
}
Console.WriteLine("Testing incremental message parsing");
for (int i = 0; i < data.Length; i++)
{
var messages2 = parser.ParseBytes(new byte[] { data[i] });
if (messages2.Count > 0)
{
Console.WriteLine("Parsed message at {0} bytes: {1}", i, messages2[0].toJson());
}
}
// string TEST_MESSAGE = "{\"system_id\":123,\"component_id\":212,\"message_name\":\"HEARTBEAT\",\"payload\":{\"custom_mode\":4,\"type\":1,\"autopilot\":2,\"base_mode\":3,\"system_status\":5,\"mavlink_version\":1}}";
// //MavnetMessage jsmsg = Newtonsoft.Json.JsonConvert.DeserializeObject<MavnetMessage>(TEST_MESSAGE);
// Console.WriteLine(jsmsg.toJson());
}
public void ParseV2PacketsTest()
{
var data = System.IO.File.ReadAllBytes("test_packets_v2.bin");
MavnetParser parser = new MavnetParser(Console.WriteLine);
var messages = parser.ParseBytes(data);
// V2 packets:
// 0 123 212 0 0 None False HEARTBEAT {type : 1, autopilot : 2, base_mode : 3, custom_mode : 4, system_status : 5, mavlink_version : 1}
// 1 123 212 0 0 None False HEARTBEAT { type: 1, autopilot: 2, base_mode: 3, custom_mode: 4, system_status: 5, mavlink_version: 1}
// 2 123 212 0 0 None False REQUEST_DATA_STREAM { target_system: 98, target_component: 99, req_stream_id: 10, req_message_rate: 5, start_stop: 7}
// 3 123 212 0 0 None False GPS_RAW_INT { time_usec: 1, fix_type: 2, lat: 3, lon: 4, alt: 5, eph: 6, epv: 7, vel: 8, cog: 9, satellites_visible: 10, alt_ellipsoid: 11, h_acc: 12, v_acc: 13, vel_acc: 14, hdg_acc: 15}
// 4 123 212 0 0 None False DEVICE_OP_WRITE_REPLY { request_id: 55, result: 99}
Assert.Collection(messages,
m =>
{
Assert.True(m.is_mavlink_v2);
Assert.Equal(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, (MAVLink.MAVLINK_MSG_ID)m.message_id);
},
m =>
{
Assert.True(m.is_mavlink_v2);
Assert.Equal("HEARTBEAT", m.message_name);
},
m =>
{
Assert.True(m.is_mavlink_v2);
Assert.Equal("REQUEST_DATA_STREAM", m.message_name);
var payload = (MAVLink.mavlink_request_data_stream_t)m.payload;
Assert.Equal(98, payload.target_system);
Assert.Equal(99, payload.target_component);
},
m =>
{
Assert.True(m.is_mavlink_v2);
Assert.Equal("GPS_RAW_INT", m.message_name);
// Check an extension field
var payload = (MAVLink.mavlink_gps_raw_int_t)m.payload;
Assert.Equal((uint)15, payload.hdg_acc);
},
m =>
{
// High message ID packet
Assert.True(m.is_mavlink_v2);
Assert.Equal("DEVICE_OP_WRITE_REPLY", m.message_name);
var payload = (MAVLink.mavlink_device_op_write_reply_t)m.payload;
Assert.Equal((uint)55, payload.request_id);
});
}
public void ParsingEventTest()
{
var data = System.IO.File.ReadAllBytes("test_packets_v2.bin");
MavnetParser parser = new MavnetParser(Console.WriteLine);
int packetsRead = 0;
parser.PacketReceived += (sender, e) =>
{
packetsRead++;
};
var messages = parser.ParseBytes(data);
Assert.Equal(5, packetsRead);
}
public void IncrementalParsingTest()
{
var data = System.IO.File.ReadAllBytes("test_packets_v2.bin");
MavnetParser parser = new MavnetParser(Console.WriteLine);
int packetsRead = 0;
parser.PacketReceived += (sender, e) =>
{
packetsRead++;
};
// Parse one byte at a time
for (int i = 0; i < data.Length; i++)
{
parser.ParseBytes(new byte[] { data[i] });
}
Assert.Equal(5, packetsRead);
}