mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-16 20:56:01 +08:00
Andrew Tridgell
b1b18460f7
Support the widened mavlink_message_t layout and reconstruct CRCs for independent source-width and targeting flags. Share PARAM_SET header decoding so consumers use the correct layout threshold. Retain older layouts and test flag combinations, reduced payload storage and invalid frames.
50 lines
2.8 KiB
Lua
50 lines
2.8 KiB
Lua
-- Run from the repository root with Lua 5.3 or newer.
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package.path = 'libraries/AP_Scripting/modules/?.lua;' .. package.path
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local mav = require('MAVLink/mavlink_msgs')
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-- Independent wire CRC fixtures for all signing/source-width/target flags.
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local checksums = {0x94ce, 0x3662, 0xb1b5, 0x878e, 0xa192, 0x2ef4, 0x468d, 0x9a1d}
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for flags=0,7 do
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local source = flags & 2 ~= 0 and 0xabcdef12 or 42
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local target = flags & 4 ~= 0 and 0xfedcba98 or 7
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local payload = string.pack('<fffffffHBBB', 1,2,3,4,5,6,7,300, flags & 4 ~= 0 and 255 or target, 250, 1)
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for _,storage in ipairs({40,256,264}) do
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local data = string.pack('<I2BBBBBI4B', checksums[flags+1], 253, #payload, flags, 0, 0, source, 11)
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.. string.pack('<I3', 76) .. payload .. string.rep('\0', storage - #payload + 15)
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.. string.pack('<I4', target)
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local msg = assert(mav.decode(data, {[76]='COMMAND_LONG'}, true))
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assert(msg.sysid == source and msg.command == 300)
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assert(msg.target_sysid == (flags & 4 ~= 0 and target or nil))
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assert(msg.target_component == 250)
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if storage == 264 then assert(mav.decode(data, {[76]='COMMAND_LONG'})) end
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local bad = data:sub(1,4)..string.char(flags | 128)..data:sub(6)
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assert(mav.decode(bad, {[76]='COMMAND_LONG'}, true) == nil)
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bad = string.char(data:byte(1) ~ 1)..data:sub(2)
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assert(mav.decode(bad, {[76]='COMMAND_LONG'}, true) == nil)
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end
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end
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-- Legacy C storage is 291 bytes, regardless of MAVLink wire version.
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local legacy_payload = string.pack('<fffffffHBBB', 1,2,3,4,5,6,7,300,7,250,1)
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for _, magic in ipairs({253, 254}) do
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local header = string.pack('<I2BBBBBBB', 0, magic, #legacy_payload, 0, 0, 0, 42, 11)
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local data = header .. string.pack('<I3', 76) .. legacy_payload .. string.rep('\0', 264 - #legacy_payload + 15)
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assert(#data == 291)
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local decoded, offset = mav.decode_header(data)
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assert(decoded.sysid == 42 and decoded.compid == 11 and decoded.msgid == 76)
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assert(offset == 13 and decoded.target_sysid == nil)
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assert(mav.sysid32_layout(data) == false)
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end
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-- PARAM_SET is consumed by both param-lockdown and config_profiles.
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for _, wide in ipairs({false, true}) do
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local source = wide and 0xFFFFFFFF or 42
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local payload = string.pack('<fBBc16B', 123.5, 1, 1, 'CRUISE_SPEED', 9)
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local prefix = wide and string.pack('<I2BBBBBI4B', 0,253,#payload,2,0,0,source,11)
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or string.pack('<I2BBBBBBB', 0,253,#payload,0,0,0,source,11)
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local data = prefix .. string.pack('<I3', 23) .. payload .. string.rep('\0',264 - #payload + 15)
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.. (wide and string.pack('<I4',0) or '')
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assert(#data == (wide and 298 or 291))
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local header, offset = mav.decode_header(data)
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local value, _, _, name = string.unpack('<fBBc16', data, offset)
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assert(header.sysid == source and value == 123.5 and name:gsub('%z','') == 'CRUISE_SPEED')
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end
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print('MAVLink layout and target tests passed')
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