msg_global_position_int_cov_test.java

/* AUTO-GENERATED FILE.  DO NOT MODIFY.
 *
 * This class was automatically generated by the
 * java mavlink generator tool. It should not be modified by hand.
 */
         
// MESSAGE GLOBAL_POSITION_INT_COV PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Parser;
import com.MAVLink.ardupilotmega.CRC;
import java.nio.ByteBuffer;
import org.junit.Test;

import static org.junit.Assert.assertArrayEquals;

/**
* The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It  is designed as scaled integer message since the resolution of float is not sufficient. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.
*/
public class msg_global_position_int_cov_test{

public static final int MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV = 63;
public static final int MAVLINK_MSG_LENGTH = 185;
private static final long serialVersionUID = MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV;

private Parser parser = new Parser();

public CRC generateCRC(byte[] packet){
    CRC crc = new CRC();
    for (int i = 1; i < packet.length - 2; i++) {
        crc.update_checksum(packet[i] & 0xFF);
    }
    crc.finish_checksum(MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV);
    return crc;
}

public byte[] generateTestPacket(){
    ByteBuffer payload = ByteBuffer.allocate(6 + MAVLINK_MSG_LENGTH + 2);
    payload.put((byte)MAVLinkPacket.MAVLINK_STX); //stx
    payload.put((byte)MAVLINK_MSG_LENGTH); //len
    payload.put((byte)0); //seq
    payload.put((byte)255); //sysid
    payload.put((byte)190); //comp id
    payload.put((byte)MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV); //msg id
    payload.putLong((long)93372036854775807L); //time_utc
    payload.putInt((int)963497880); //time_boot_ms
    payload.putInt((int)963498088); //lat
    payload.putInt((int)963498296); //lon
    payload.putInt((int)963498504); //alt
    payload.putInt((int)963498712); //relative_alt
    payload.putFloat((float)213.0); //vx
    payload.putFloat((float)241.0); //vy
    payload.putFloat((float)269.0); //vz
    //covariance
    payload.putFloat((float)297.0);
    payload.putFloat((float)298.0);
    payload.putFloat((float)299.0);
    payload.putFloat((float)300.0);
    payload.putFloat((float)301.0);
    payload.putFloat((float)302.0);
    payload.putFloat((float)303.0);
    payload.putFloat((float)304.0);
    payload.putFloat((float)305.0);
    payload.putFloat((float)306.0);
    payload.putFloat((float)307.0);
    payload.putFloat((float)308.0);
    payload.putFloat((float)309.0);
    payload.putFloat((float)310.0);
    payload.putFloat((float)311.0);
    payload.putFloat((float)312.0);
    payload.putFloat((float)313.0);
    payload.putFloat((float)314.0);
    payload.putFloat((float)315.0);
    payload.putFloat((float)316.0);
    payload.putFloat((float)317.0);
    payload.putFloat((float)318.0);
    payload.putFloat((float)319.0);
    payload.putFloat((float)320.0);
    payload.putFloat((float)321.0);
    payload.putFloat((float)322.0);
    payload.putFloat((float)323.0);
    payload.putFloat((float)324.0);
    payload.putFloat((float)325.0);
    payload.putFloat((float)326.0);
    payload.putFloat((float)327.0);
    payload.putFloat((float)328.0);
    payload.putFloat((float)329.0);
    payload.putFloat((float)330.0);
    payload.putFloat((float)331.0);
    payload.putFloat((float)332.0);
    payload.put((byte)45); //estimator_type
    
    CRC crc = generateCRC(payload.array());
    payload.put((byte)crc.getLSB());
    payload.put((byte)crc.getMSB());
    return payload.array();
}

@Test
public void test(){
    byte[] packet = generateTestPacket();
    for(int i = 0; i < packet.length - 1; i++){
        parser.mavlink_parse_char(packet[i] & 0xFF);
    }
    MAVLinkPacket m = parser.mavlink_parse_char(packet[packet.length - 1] & 0xFF);
    byte[] processedPacket = m.encodePacket();
    assertArrayEquals("msg_global_position_int_cov", processedPacket, packet);
}
}