hm
e7cf44504c
## 架构升级：Service Registry + Bridge 模式 - 新增 PluginSDK/IPluginServices.h：10 个纯虚服务接口(IDataProvider/ILinkProvider/...) - 新增 MavLinkServiceBridge：单 QObject 实现全部服务，隔离 MavLinkNode 依赖 - 升级 PluginManifest：支持 plugin.json 的 provides/consumes 声明式依赖 - 实现 ExtensionHost::autoWire()：元对象自省自动连接信号槽 - 集成到 AppController：initModules() 中创建桥接器并注册到 ServiceRegistry - CockpitPlugin 演示服务发现：initialize() 中通过 PluginContext 查找服务 ## 代码清理 - Plugins/opmap：~280 行死代码(waypointsetting 100行注释块/tilematrix 54行/等27个文件) - Plugins/MavLinkNode：~200 行 GBK 乱码注释翻译为 UTF-8 + 12 行注释死代码 - Plugins/ToolsUI：~222 行死代码(ECU.cpp 82行/INS.cpp 113行/Parse/ToolsUI 等) - StatusUI/Setting/MissionUI：~65 行注释死代码 - Cockpit/leftladder.cpp：10 处 GBK 乱码翻译为中文 - 清理头文件注释掉的 #include(19 处)、空 if-else 分支、注释变量声明 ## 编译验证 - [100%] Built target GCS 零错误 - 运行时 timeout 3s 正常退出，无崩溃
161 lines
7.1 KiB
C
161 lines
7.1 KiB
C
/** @file
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* @brief MAVLink comm protocol testsuite generated from icarous.xml
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* @see http://qgroundcontrol.org/mavlink/
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*/
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#pragma once
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#ifndef ICAROUS_TESTSUITE_H
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#define ICAROUS_TESTSUITE_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifndef MAVLINK_TEST_ALL
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#define MAVLINK_TEST_ALL
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static void mavlink_test_icarous(uint8_t, uint8_t, mavlink_message_t *last_msg);
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static void mavlink_test_all(uint16_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_test_icarous(system_id, component_id, last_msg);
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}
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#endif
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static void mavlink_test_icarous_heartbeat(uint16_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
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if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_ICAROUS_HEARTBEAT >= 256) {
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return;
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}
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#endif
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_icarous_heartbeat_t packet_in = {
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5
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};
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mavlink_icarous_heartbeat_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.status = packet_in.status;
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
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// cope with extensions
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memset(MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_MIN_LEN);
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}
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#endif
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_icarous_heartbeat_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_icarous_heartbeat_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_icarous_heartbeat_pack(system_id, component_id, &msg , packet1.status );
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mavlink_msg_icarous_heartbeat_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_icarous_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.status );
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mavlink_msg_icarous_heartbeat_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_icarous_heartbeat_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_icarous_heartbeat_send(MAVLINK_COMM_1 , packet1.status );
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mavlink_msg_icarous_heartbeat_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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}
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static void mavlink_test_icarous_kinematic_bands(uint16_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
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if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_ICAROUS_KINEMATIC_BANDS >= 256) {
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return;
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}
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#endif
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_icarous_kinematic_bands_t packet_in = {
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17.0,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,125,192,3,70,137,204
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};
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mavlink_icarous_kinematic_bands_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.min1 = packet_in.min1;
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packet1.max1 = packet_in.max1;
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packet1.min2 = packet_in.min2;
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packet1.max2 = packet_in.max2;
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packet1.min3 = packet_in.min3;
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packet1.max3 = packet_in.max3;
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packet1.min4 = packet_in.min4;
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packet1.max4 = packet_in.max4;
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packet1.min5 = packet_in.min5;
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packet1.max5 = packet_in.max5;
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packet1.numBands = packet_in.numBands;
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packet1.type1 = packet_in.type1;
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packet1.type2 = packet_in.type2;
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packet1.type3 = packet_in.type3;
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packet1.type4 = packet_in.type4;
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packet1.type5 = packet_in.type5;
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
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// cope with extensions
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memset(MAVLINK_MSG_ID_ICAROUS_KINEMATIC_BANDS_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_ICAROUS_KINEMATIC_BANDS_MIN_LEN);
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}
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#endif
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_icarous_kinematic_bands_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_icarous_kinematic_bands_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_icarous_kinematic_bands_pack(system_id, component_id, &msg , packet1.numBands , packet1.type1 , packet1.min1 , packet1.max1 , packet1.type2 , packet1.min2 , packet1.max2 , packet1.type3 , packet1.min3 , packet1.max3 , packet1.type4 , packet1.min4 , packet1.max4 , packet1.type5 , packet1.min5 , packet1.max5 );
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mavlink_msg_icarous_kinematic_bands_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_icarous_kinematic_bands_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.numBands , packet1.type1 , packet1.min1 , packet1.max1 , packet1.type2 , packet1.min2 , packet1.max2 , packet1.type3 , packet1.min3 , packet1.max3 , packet1.type4 , packet1.min4 , packet1.max4 , packet1.type5 , packet1.min5 , packet1.max5 );
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mavlink_msg_icarous_kinematic_bands_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_icarous_kinematic_bands_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_icarous_kinematic_bands_send(MAVLINK_COMM_1 , packet1.numBands , packet1.type1 , packet1.min1 , packet1.max1 , packet1.type2 , packet1.min2 , packet1.max2 , packet1.type3 , packet1.min3 , packet1.max3 , packet1.type4 , packet1.min4 , packet1.max4 , packet1.type5 , packet1.min5 , packet1.max5 );
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mavlink_msg_icarous_kinematic_bands_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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}
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static void mavlink_test_icarous(uint16_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_test_icarous_heartbeat(system_id, component_id, last_msg);
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mavlink_test_icarous_kinematic_bands(system_id, component_id, last_msg);
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}
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#ifdef __cplusplus
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}
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#endif // __cplusplus
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#endif // ICAROUS_TESTSUITE_H
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