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mod test_shared;
#[cfg(all(feature = "std", feature = "transport-udp", feature = "dialect-common"))]
mod test_udp_connections {
use std::thread;
use mavlink::{MavConnection, MessageData};
/// Test whether we can send a message via UDP and receive it OK
#[test]
fn test_udp_loopback() {
const RECEIVE_CHECK_COUNT: i32 = 3;
let server = mavlink::connect("udpin:0.0.0.0:14551").expect("Couldn't create server");
// have the client send one heartbeat per second
thread::spawn({
move || {
let msg = mavlink::dialects::common::MavMessage::HEARTBEAT(
crate::test_shared::get_heartbeat_msg(),
);
let client =
mavlink::connect("udpout:127.0.0.1:14551").expect("Couldn't create client");
loop {
client.send_default(&msg).ok();
}
}
});
//TODO use std::sync::WaitTimeoutResult to timeout ourselves if recv fails?
let mut recv_count = 0;
for _i in 0..RECEIVE_CHECK_COUNT {
match server.recv() {
Ok((_header, msg)) => {
if let mavlink::dialects::common::MavMessage::HEARTBEAT(_heartbeat_msg) = msg {
recv_count += 1;
} else {
// one message parse failure fails the test
break;
}
}
Err(..) => {
// one message read failure fails the test
break;
}
}
}
assert_eq!(recv_count, RECEIVE_CHECK_COUNT);
}
/// Test whether we can send a message via UDP and receive it OK using recv_raw
#[test]
fn test_udp_loopback_recv_raw() {
const RECEIVE_CHECK_COUNT: i32 = 3;
let server =
mavlink::connect::<mavlink::dialects::common::MavMessage>("udpin:0.0.0.0:14561")
.expect("Couldn't create server");
// have the client send one heartbeat per second
thread::spawn({
move || {
let msg = mavlink::dialects::common::MavMessage::HEARTBEAT(
crate::test_shared::get_heartbeat_msg(),
);
let client =
mavlink::connect("udpout:127.0.0.1:14561").expect("Couldn't create client");
loop {
client.send_default(&msg).ok();
}
}
});
//TODO use std::sync::WaitTimeoutResult to timeout ourselves if recv fails?
let mut recv_count = 0;
for _i in 0..RECEIVE_CHECK_COUNT {
match server.recv_raw() {
Ok(message) => {
if message.message_id() == mavlink::dialects::common::HEARTBEAT_DATA::ID {
recv_count += 1;
} else {
// one message parse failure fails the test
break;
}
}
Err(..) => {
// one message read failure fails the test
break;
}
}
}
assert_eq!(recv_count, RECEIVE_CHECK_COUNT);
}
}