N3_sub/modules/mavlink/pymavlink/examples/mavtest.py

#!/usr/bin/env python

"""
Generate a message using different MAVLink versions, put in a buffer and then read from it.
"""

from __future__ import print_function
from builtins import object

from pymavlink.dialects.v10 import ardupilotmega as mavlink1
from pymavlink.dialects.v20 import ardupilotmega as mavlink2

class fifo(object):
    def __init__(self):
        self.buf = []
    def write(self, data):
        self.buf += data
        return len(data)
    def read(self):
        return self.buf.pop(0)

def test_protocol(mavlink, signing=False):
    # we will use a fifo as an encode/decode buffer
    f = fifo()

    print("Creating MAVLink message...")
    # create a mavlink instance, which will do IO on file object 'f'
    mav = mavlink.MAVLink(f)

    if signing:
        mav.signing.secret_key = chr(42)*32
        mav.signing.link_id = 0
        mav.signing.timestamp = 0
        mav.signing.sign_outgoing = True

    # set the WP_RADIUS parameter on the MAV at the end of the link
    mav.param_set_send(7, 1, "WP_RADIUS", 101, mavlink.MAV_PARAM_TYPE_REAL32)

    # alternatively, produce a MAVLink_param_set object 
    # this can be sent via your own transport if you like
    m = mav.param_set_encode(7, 1, "WP_RADIUS", 101, mavlink.MAV_PARAM_TYPE_REAL32)

    m.pack(mav)

    # get the encoded message as a buffer
    b = m.get_msgbuf()

    bi=[]
    for c in b:
        bi.append(int(c))
    print("Buffer containing the encoded message:")
    print(bi)

    print("Decoding message...")
    # decode an incoming message
    m2 = mav.decode(b)

    # show what fields it has
    print("Got a message with id %u and fields %s" % (m2.get_msgId(), m2.get_fieldnames()))

    # print out the fields
    print(m2)


print("Testing mavlink1\n")
test_protocol(mavlink1)

print("\nTesting mavlink2\n")
test_protocol(mavlink2)

print("\nTesting mavlink2 with signing\n")
test_protocol(mavlink2, True)