msg_nav_controller_output_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 NAV_CONTROLLER_OUTPUT 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;

/**
* Outputs of the APM navigation controller. The primary use of this message is to check the response and signs of the controller before actual flight and to assist with tuning controller parameters.
*/
public class msg_nav_controller_output_test{

public static final int MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT = 62;
public static final int MAVLINK_MSG_LENGTH = 26;
private static final long serialVersionUID = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;

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_NAV_CONTROLLER_OUTPUT);
    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_NAV_CONTROLLER_OUTPUT); //msg id
    payload.putFloat((float)17.0); //nav_roll
    payload.putFloat((float)45.0); //nav_pitch
    payload.putFloat((float)73.0); //alt_error
    payload.putFloat((float)101.0); //aspd_error
    payload.putFloat((float)129.0); //xtrack_error
    payload.putShort((short)18275); //nav_bearing
    payload.putShort((short)18379); //target_bearing
    payload.putShort((short)18483); //wp_dist
    
    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_nav_controller_output", processedPacket, packet);
}
}