tests: Add more ser/deser test

Signed-off-by: Patrick José Pereira <[email protected]>
mavlink · Nov 20, 2023 · fe6e9f1 · fe6e9f1
1 parent 63a51d8
commit fe6e9f1
Showing 1 changed file with 53 additions and 0 deletions.
diff --git a/tests/mav_frame_tests.rs b/tests/mav_frame_tests.rs
@@ -1,6 +1,10 @@
 pub mod test_shared;
 
 mod mav_frame_tests {
+    use mavlink::ardupilotmega::MavMessage;
+    use mavlink::MavFrame;
+    use mavlink::MavHeader;
+
     // NOTE: No header
     pub const HEARTBEAT_V2: &[u8] = &[
         crate::test_shared::COMMON_MSG_HEADER.sequence,
@@ -46,4 +50,53 @@ 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 buf: &mut [u8; 255] = &mut [0; 255];
+
+        let mavlink_message = mavlink_message();
+        let mavlink_frame = new(mavlink_message);
+
+        let _len = mavlink_frame.ser(buf);
+
+        let parsed_mavlink_frame =
+            MavFrame::<mavlink::ardupilotmega::MavMessage>::deser(mavlink::MavlinkVersion::V2, buf)
+                .unwrap();
+
+        assert_eq!(
+            format!("{mavlink_frame:?}"),
+            format!("{parsed_mavlink_frame:?}")
+        );
+    }
+
+    fn mavlink_message() -> mavlink::ardupilotmega::MavMessage {
+        mavlink::ardupilotmega::MavMessage::LINK_NODE_STATUS(
+            mavlink::ardupilotmega::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,
+        }
+    }
 }