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Fix more ser/deser and add tests #206

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merged 4 commits into from
Nov 20, 2023
Merged

Fix more ser/deser and add tests #206

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82c78e6
tests: Use COMMON_MSG_HEADER values over hardcoded numbers
patrickelectric Nov 20, 2023
37155f0
tests: Change value of component id to check for correct ser/deser logic
patrickelectric Nov 20, 2023
f39cd28
lib: Fix serialization of mavlink v2
patrickelectric Nov 20, 2023
49686b7
tests: Add serialization test
patrickelectric Nov 20, 2023
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2 changes: 1 addition & 1 deletion src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -162,7 +162,7 @@ impl<M: Message> MavFrame<M> {
match self.protocol_version {
MavlinkVersion::V2 => {
let bytes: [u8; 4] = self.msg.message_id().to_le_bytes();
buf.put_slice(&bytes);
buf.put_slice(&bytes[..3]);
}
MavlinkVersion::V1 => {
buf.put_u8(self.msg.message_id() as u8); //TODO check
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29 changes: 22 additions & 7 deletions tests/mav_frame_tests.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -3,23 +3,38 @@ pub mod test_shared;
mod mav_frame_tests {
// NOTE: No header
pub const HEARTBEAT_V2: &[u8] = &[
0xef, // seq 239
0x01, // sys ID
0x01, // comp ID
0x00, 0x00, 0x00, // msg ID
0x05, 0x00, 0x00, 0x00, 0x02, 0x03, 0x59, 0x03, 0x03, // payload
16, 240, // checksum
crate::test_shared::COMMON_MSG_HEADER.sequence,
crate::test_shared::COMMON_MSG_HEADER.system_id,
crate::test_shared::COMMON_MSG_HEADER.component_id,
0x00, // msg ID
0x00,
0x00,
0x05, // payload
0x00,
0x00,
0x00,
0x02,
0x03,
0x59,
0x03,
0x03,
0x10, // checksum
0xf0,
];

#[test]
pub fn test_deser() {
pub fn test_deser_ser() {
use mavlink::{common::MavMessage, MavFrame, MavlinkVersion};
let frame = MavFrame::<MavMessage>::deser(MavlinkVersion::V2, HEARTBEAT_V2)
.expect("failed to parse message");

assert_eq!(frame.header, crate::test_shared::COMMON_MSG_HEADER);
let heartbeat_msg = crate::test_shared::get_heartbeat_msg();

let mut buffer = [0u8; HEARTBEAT_V2.len()];
frame.ser(&mut buffer);
assert_eq!(buffer[..buffer.len() - 2], HEARTBEAT_V2[..buffer.len() - 2]);

let msg = match frame.msg {
MavMessage::HEARTBEAT(msg) => msg,
_ => panic!("Decoded wrong message type"),
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2 changes: 1 addition & 1 deletion tests/test_shared/mod.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
pub const COMMON_MSG_HEADER: mavlink::MavHeader = mavlink::MavHeader {
sequence: 239,
system_id: 1,
component_id: 1,
component_id: 2,
};

#[cfg(feature = "common")]
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10 changes: 5 additions & 5 deletions tests/v1_encode_decode_tests.rs
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Expand Up @@ -6,9 +6,9 @@ mod test_v1_encode_decode {
pub const HEARTBEAT_V1: &[u8] = &[
mavlink::MAV_STX,
0x09,
0xef,
0x01,
0x01,
crate::test_shared::COMMON_MSG_HEADER.sequence,
crate::test_shared::COMMON_MSG_HEADER.system_id,
crate::test_shared::COMMON_MSG_HEADER.component_id,
0x00,
0x05,
0x00,
Expand All @@ -19,8 +19,8 @@ mod test_v1_encode_decode {
0x59,
0x03,
0x03,
0xf1,
0xd7,
0x1f,
0x50,
];

#[test]
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10 changes: 5 additions & 5 deletions tests/v2_encode_decode_tests.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@ mod test_v2_encode_decode {
0x09, //payload len
0, //incompat flags
0, //compat flags
0xef, //seq 239
0x01, //sys ID
0x01, //comp ID
crate::test_shared::COMMON_MSG_HEADER.sequence,
crate::test_shared::COMMON_MSG_HEADER.system_id,
crate::test_shared::COMMON_MSG_HEADER.component_id,
0x00,
0x00,
0x00, //msg ID
Expand All @@ -22,8 +22,8 @@ mod test_v2_encode_decode {
0x59,
0x03,
0x03, //payload
16,
240, //checksum
46,
115, //checksum
];

#[test]
Expand Down
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