From bb5ccefcab9f25021caee4a346d045591d67b148 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Patrick=20Jos=C3=A9=20Pereira?= <patrickelectric@gmail.com>
Date: Mon, 20 Nov 2023 13:24:45 -0300
Subject: [PATCH] tests: Add more ser/deser test
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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
Co-authored-by: : Ihsen Bouallegue <48621967+IhsenBouallegue@users.noreply.github.com>
---
 tests/mav_frame_tests.rs | 51 +++++++++++++++++++++++++++++++++++++++-
 1 file changed, 50 insertions(+), 1 deletion(-)

diff --git a/tests/mav_frame_tests.rs b/tests/mav_frame_tests.rs
index 6d96c25b23..33399fb376 100644
--- a/tests/mav_frame_tests.rs
+++ b/tests/mav_frame_tests.rs
@@ -1,7 +1,11 @@
 pub mod test_shared;
 
 mod mav_frame_tests {
-    // NOTE: No header
+    use mavlink::common::MavMessage;
+    use mavlink::MavFrame;
+    use mavlink::MavHeader;
+
+    // NOTE: No header, based over get_heartbeat_msg
     pub const HEARTBEAT_V2: &[u8] = &[
         crate::test_shared::COMMON_MSG_HEADER.sequence,
         crate::test_shared::COMMON_MSG_HEADER.system_id,
@@ -44,4 +48,49 @@ mod mav_frame_tests {
         assert_eq!(msg.system_status, heartbeat_msg.system_status);
         assert_eq!(msg.mavlink_version, heartbeat_msg.mavlink_version);
     }
+
+    #[test]
+    pub fn test_deser_ser_message() {
+        let mavlink_message = mavlink_message();
+        let mavlink_frame = new(mavlink_message);
+
+        let buffer = mavlink_frame.ser();
+
+        let parsed_mavlink_frame =
+            MavFrame::<mavlink::common::MavMessage>::deser(mavlink::MavlinkVersion::V2, &buffer)
+                .unwrap();
+
+        assert_eq!(
+            format!("{mavlink_frame:?}"),
+            format!("{parsed_mavlink_frame:?}")
+        );
+    }
+
+    fn mavlink_message() -> mavlink::common::MavMessage {
+        mavlink::common::MavMessage::LINK_NODE_STATUS(mavlink::common::LINK_NODE_STATUS_DATA {
+            timestamp: 92197916,
+            tx_rate: 0x11223344,
+            rx_rate: 0x55667788,
+            messages_sent: 0x99001122,
+            messages_received: 0x33445566,
+            messages_lost: 0x77889900,
+            rx_parse_err: 0x1122,
+            tx_overflows: 0x3355,
+            rx_overflows: 0x5566,
+            tx_buf: 0xff,
+            rx_buf: 0x11,
+        })
+    }
+
+    fn new(msg: MavMessage) -> MavFrame<MavMessage> {
+        MavFrame {
+            header: MavHeader {
+                system_id: 1,
+                component_id: 2,
+                sequence: 84,
+            },
+            msg,
+            protocol_version: mavlink::MavlinkVersion::V2,
+        }
+    }
 }