edgefirst-schemas 3.4.0

Message schemas for EdgeFirst Perception - ROS2 Common Interfaces, Foxglove, and custom types
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147

/**
 * @file test_mavros_views.cpp
 * @brief Catch2 tests for mavros_msgs C++ View classes
 *
 * SPDX-License-Identifier: Apache-2.0
 * Copyright (c) 2026 Au-Zone Technologies. All Rights Reserved.
 */

#define CATCH_CONFIG_MAIN
#include "catch.hpp"
#include <edgefirst/schemas.hpp>

namespace ef = edgefirst::schemas;

// ============================================================================
// MavrosAltitudeView
// ============================================================================

TEST_CASE("MavrosAltitudeView from_cdr empty returns error", "[mavros][altitude]") {
    auto result = ef::MavrosAltitudeView::from_cdr({});
    REQUIRE_FALSE(result.has_value());
}

TEST_CASE("MavrosAltitudeView from_cdr invalid returns error", "[mavros][altitude]") {
    uint8_t bad[] = {0xDE, 0xAD, 0xBE, 0xEF};
    auto result = ef::MavrosAltitudeView::from_cdr({bad, sizeof(bad)});
    REQUIRE_FALSE(result.has_value());
}

// ============================================================================
// MavrosVfrHudView
// ============================================================================

TEST_CASE("MavrosVfrHudView from_cdr empty returns error", "[mavros][vfrhud]") {
    auto result = ef::MavrosVfrHudView::from_cdr({});
    REQUIRE_FALSE(result.has_value());
}

TEST_CASE("MavrosVfrHudView from_cdr invalid returns error", "[mavros][vfrhud]") {
    uint8_t bad[] = {0xDE, 0xAD, 0xBE, 0xEF};
    auto result = ef::MavrosVfrHudView::from_cdr({bad, sizeof(bad)});
    REQUIRE_FALSE(result.has_value());
}

// ============================================================================
// MavrosEstimatorStatusView
// ============================================================================

TEST_CASE("MavrosEstimatorStatusView from_cdr empty returns error", "[mavros][estimator]") {
    auto result = ef::MavrosEstimatorStatusView::from_cdr({});
    REQUIRE_FALSE(result.has_value());
}

TEST_CASE("MavrosEstimatorStatusView from_cdr invalid returns error", "[mavros][estimator]") {
    uint8_t bad[] = {0x01, 0x02};
    auto result = ef::MavrosEstimatorStatusView::from_cdr({bad, sizeof(bad)});
    REQUIRE_FALSE(result.has_value());
}

// ============================================================================
// MavrosExtendedStateView
// ============================================================================

TEST_CASE("MavrosExtendedStateView from_cdr empty returns error", "[mavros][extstate]") {
    auto result = ef::MavrosExtendedStateView::from_cdr({});
    REQUIRE_FALSE(result.has_value());
}

TEST_CASE("MavrosExtendedStateView constants", "[mavros][extstate]") {
    CHECK(ef::MavrosExtendedStateView::VTOL_STATE_UNDEFINED == 0);
    CHECK(ef::MavrosExtendedStateView::VTOL_STATE_FW == 4);
    CHECK(ef::MavrosExtendedStateView::LANDED_STATE_IN_AIR == 2);
}

// ============================================================================
// MavrosSysStatusView
// ============================================================================

TEST_CASE("MavrosSysStatusView from_cdr empty returns error", "[mavros][sysstatus]") {
    auto result = ef::MavrosSysStatusView::from_cdr({});
    REQUIRE_FALSE(result.has_value());
}

TEST_CASE("MavrosSysStatusView from_cdr invalid returns error", "[mavros][sysstatus]") {
    uint8_t bad[] = {0xFF, 0xFF, 0xFF, 0xFF};
    auto result = ef::MavrosSysStatusView::from_cdr({bad, sizeof(bad)});
    REQUIRE_FALSE(result.has_value());
}

// ============================================================================
// MavrosStateView
// ============================================================================

TEST_CASE("MavrosStateView from_cdr empty returns error", "[mavros][state]") {
    auto result = ef::MavrosStateView::from_cdr({});
    REQUIRE_FALSE(result.has_value());
}

TEST_CASE("MavrosStateView constants", "[mavros][state]") {
    CHECK(ef::MavrosStateView::MAV_STATE_UNINIT == 0);
    CHECK(ef::MavrosStateView::MAV_STATE_ACTIVE == 4);
    CHECK(ef::MavrosStateView::MAV_STATE_FLIGHT_TERMINATION == 8);
}

// ============================================================================
// MavrosStatusTextView
// ============================================================================

TEST_CASE("MavrosStatusTextView from_cdr empty returns error", "[mavros][statustext]") {
    auto result = ef::MavrosStatusTextView::from_cdr({});
    REQUIRE_FALSE(result.has_value());
}

TEST_CASE("MavrosStatusTextView severity constants", "[mavros][statustext]") {
    CHECK(ef::MavrosStatusTextView::SEVERITY_EMERGENCY == 0);
    CHECK(ef::MavrosStatusTextView::SEVERITY_DEBUG == 7);
}

// ============================================================================
// MavrosGpsRawView
// ============================================================================

TEST_CASE("MavrosGpsRawView from_cdr empty returns error", "[mavros][gpsraw]") {
    auto result = ef::MavrosGpsRawView::from_cdr({});
    REQUIRE_FALSE(result.has_value());
}

TEST_CASE("MavrosGpsRawView fix type constants", "[mavros][gpsraw]") {
    CHECK(ef::MavrosGpsRawView::GPS_FIX_TYPE_NO_GPS == 0);
    CHECK(ef::MavrosGpsRawView::GPS_FIX_TYPE_3D_FIX == 3);
    CHECK(ef::MavrosGpsRawView::GPS_FIX_TYPE_PPP == 8);
}

// ============================================================================
// MavrosTimesyncStatusView
// ============================================================================

TEST_CASE("MavrosTimesyncStatusView from_cdr empty returns error", "[mavros][timesync]") {
    auto result = ef::MavrosTimesyncStatusView::from_cdr({});
    REQUIRE_FALSE(result.has_value());
}

TEST_CASE("MavrosTimesyncStatusView from_cdr invalid returns error", "[mavros][timesync]") {
    uint8_t bad[] = {0xBA, 0xDC, 0x0D, 0xE0};
    auto result = ef::MavrosTimesyncStatusView::from_cdr({bad, sizeof(bad)});
    REQUIRE_FALSE(result.has_value());
}