mavlink-log 0.0.1 → 0.0.2

data/spec/messages/attitude_spec.rb

@@ -0,0 +1,34 @@
+require 'spec_helper'
+
+describe MAVLink::Log::Messages::Attitude do
+
+  let(:time) { ["0004E87DD12586BD"].pack('H*') }
+
+  let(:header) { MAVLink::Log::Header.new(["FE1CEB01011E"].pack('H*')) }
+
+  let(:payload) { ["6533010081A986BB0EB69CBB2311D93F3CE3933AC0BB36BA80C911B9"].pack('H*') }
+
+  let(:crc) { ["4D46"].pack('H*') }
+
+  subject do
+    entry = MAVLink::Log::Entry.new(time, header, payload, crc)
+    MAVLink::Log::Messages::Attitude.new(entry)
+  end
+
+  it_behaves_like 'a message'
+
+  it_behaves_like 'a timed message (ms)', 78693
+
+  its(:roll) { should be_within(0.01).of(0.0) }
+
+  its(:pitch) { should be_within(0.01).of(0.0) }
+
+  its(:yaw) { should be_within(0.01).of(0.0) }
+
+  its(:rollspeed) { should be_within(0.01).of(1.695) }
+
+  its(:pitchspeed) { should be_within(0.01).of(0.0) }
+
+  its(:yawspeed) { should be_within(0.01).of(0.0) }
+
+end

data/spec/messages/global_position_int_spec.rb

@@ -0,0 +1,38 @@
+require 'spec_helper'
+
+describe MAVLink::Log::Messages::GlobalPositionInt do
+
+  let(:time) { ["0004D9EE608DF2D4"].pack('H*') }
+
+  let(:header) { MAVLink::Log::Header.new(["FE1CA7370121"].pack('H*')) }
+
+  let(:payload) { ["0C260A00E065B117B3535BC140D31900C0E0FFFFF2FF0F00EEFF3C8C"].pack('H*') }
+
+  let(:crc) { ["FD73"].pack('H*') }
+
+  subject do
+    entry = MAVLink::Log::Entry.new(time, header, payload, crc)
+    MAVLink::Log::Messages::GlobalPositionInt.new(entry)
+  end
+
+  it_behaves_like 'a message'
+
+  it_behaves_like 'a timed message (ms)', 665100
+
+  its(:lat) { should be_within(0.0001).of(39.7501) }
+
+  its(:lon) { should be_within(0.0001).of(-105.0979) }
+
+  its(:alt) { should be_within(0.01).of(1692.48) }
+
+  its(:relative_alt) { should be_within(0.01).of(-8.0) }
+
+  its(:vx) { should be_within(0.01).of(-0.14) }
+
+  its(:vy) { should be_within(0.01).of(0.15) }
+
+  its(:vz) { should be_within(0.01).of(-0.18) }
+
+  its(:hdg) { should be_within(0.1).of(359.0) }
+
+end

data/spec/messages/gps_raw_int_spec.rb

@@ -0,0 +1,40 @@
+require 'spec_helper'
+
+describe MAVLink::Log::Messages::GpsRawInt do
+
+  let(:time) { ["0004d9ee608d5a08"].pack('H*') }
+
+  let(:header) { MAVLink::Log::Header.new(["FE1E9C370118"].pack('H*')) }
+
+  let(:payload) { ["a091a127000000003066b11751535bc1959402000800ffff0500232d0305"].pack('H*') }
+
+  let(:crc) { ["c13a"].pack('H*') }
+
+  subject do
+    entry = MAVLink::Log::Entry.new(time, header, payload, crc)
+    MAVLink::Log::Messages::GpsRawInt.new(entry)
+  end
+
+  it_behaves_like 'a message'
+
+  it_behaves_like 'a timed message (us)', 664900000
+
+  its(:fix_type) { should eql(3) }
+
+  its(:lat) { should be_within(0.0001).of(39.7502) }
+
+  its(:lon) { should be_within(0.0001).of(-105.0979) }
+
+  its(:alt) { should be_within(0.01).of(169.11) }
+
+  its(:eph) { should be_within(0.01).of(0.08) }
+
+  its(:epv) { should be_within(0.01).of(655.35) }
+
+  its(:vel) { should be_within(0.01).of(0.05) }
+
+  its(:cog) { should be_within(0.01).of(115.55) }
+
+  its(:satellites_visible) { should eql(5) }
+
+end

data/spec/messages/heart_beat_spec.rb

@@ -0,0 +1,32 @@
+require 'spec_helper'
+
+describe MAVLink::Log::Messages::HeartBeat do
+
+  let(:time) { ["0004D9EE608AD128"].pack('H*') }
+
+  let(:header) { MAVLink::Log::Header.new(["FE09F7370100"].pack('H*')) }
+
+  let(:payload) { ["01000000010AC10403"].pack('H*') }
+
+  let(:crc) { ["F8CE"].pack('H*') }
+
+  subject do
+    entry = MAVLink::Log::Entry.new(time, header, payload, crc)
+    MAVLink::Log::Messages::HeartBeat.new(entry)
+  end
+
+  it_behaves_like 'a message'
+
+  its(:type) { should eql(1) }
+
+  its(:autopilot) { should eql(0) }
+
+  its(:base_mode) { should eql(0) }
+
+  its(:custom_mode) { should eql(0xC10A0100) }
+
+  its(:system_status) { should eql(4) }
+
+  its(:mavlink_version) { should eql(3) }
+
+end

data/spec/messages/param_value_spec.rb

@@ -0,0 +1,30 @@
+require 'spec_helper'
+
+describe MAVLink::Log::Messages::ParamValue do
+
+  let(:time) { ["0004E87DCDB548F1"].pack('H*') }
+
+  let(:header) { MAVLink::Log::Header.new(["FE192D010116"].pack('H*')) }
+
+  let(:payload) { ["0000BA4210010F014D4F545F544352565F4D41585043540002"].pack('H*') }
+
+  let(:crc) { ["6982"].pack('H*') }
+
+  subject do
+    entry = MAVLink::Log::Entry.new(time, header, payload, crc)
+    MAVLink::Log::Messages::ParamValue.new(entry)
+  end
+
+  it_behaves_like 'a message'
+
+  its(:param_value) { should be_within(0.01).of(93.0) }
+
+  its(:param_count) { should eql(272) }
+
+  its(:param_index) { should eql(271) }
+
+  its(:param_id) { should eql('MOT_TCRV_MAXPCT') }
+
+  its(:param_type) { should eql(2) }
+
+end

data/spec/messages/raw_imu_spec.rb

@@ -0,0 +1,40 @@
+require 'spec_helper'
+
+describe MAVLink::Log::Messages::RawImu do
+
+  let(:time) { ["0004D9EE608DA5E4"].pack('H*') }
+
+  let(:header) { MAVLink::Log::Header.new(["FE1AA237011B"].pack('H*')) }
+
+  let(:payload) { ["4018A32700000000C6027F0155F4EE17F017B418000000000000"].pack('H*') }
+
+  let(:crc) { ["DD85"].pack('H*') }
+
+  subject do
+    entry = MAVLink::Log::Entry.new(time, header, payload, crc)
+    MAVLink::Log::Messages::RawImu.new(entry)
+  end
+
+  it_behaves_like 'a message'
+
+  it_behaves_like 'a timed message (us)', 665000000
+
+  its(:xacc) { should eql(710) }
+
+  its(:yacc) { should eql(383) }
+
+  its(:zacc) { should eql(-2987) }
+
+  its(:xgyro) { should eql(6126) }
+
+  its(:ygyro) { should eql(6128) }
+
+  its(:zgyro) { should eql(6324) }
+
+  its(:xmag) { should eql(0) }
+
+  its(:ymag) { should eql(0) }
+
+  its(:zmag) { should eql(0) }
+
+end

data/spec/messages/rc_channels_raw_spec.rb

@@ -0,0 +1,42 @@
+require 'spec_helper'
+
+describe MAVLink::Log::Messages::RcChannelsRaw do
+
+  let(:time) { ["0004E87DD1249299"].pack('H*') }
+
+  let(:header) { MAVLink::Log::Header.new(["FE16E5010123"].pack('H*')) }
+
+  let(:payload) { ["BA320100EE05F5054A04FA058207D905d905d9050000"].pack('H*') }
+
+  let(:crc) { ["71CD"].pack('H*') }
+
+  subject do
+    entry = MAVLink::Log::Entry.new(time, header, payload, crc)
+    MAVLink::Log::Messages::RcChannelsRaw.new(entry)
+  end
+
+  it_behaves_like 'a message'
+
+  it_behaves_like 'a timed message (ms)', 78522
+
+  its(:port) { should eql(0) }
+
+  its(:chan1_raw) { should eql(1518) }
+
+  its(:chan2_raw) { should eql(1525) }
+
+  its(:chan3_raw) { should eql(1098) }
+
+  its(:chan4_raw) { should eql(1530) }
+
+  its(:chan5_raw) { should eql(1922) }
+
+  its(:chan6_raw) { should eql(1497) }
+
+  its(:chan7_raw) { should eql(1497) }
+
+  its(:chan8_raw) { should eql(1497) }
+
+  its(:rssi) { should eql(0) }
+
+end

data/spec/messages/sys_status_spec.rb

@@ -0,0 +1,46 @@
+require 'spec_helper'
+
+describe MAVLink::Log::Messages::SysStatus do
+
+  let(:time) { ["0004D9EE5A9C7690"].pack('H*') }
+
+  let(:header) { MAVLink::Log::Header.new(["FE09F7370100"].pack('H*')) }
+
+  let(:payload) { ["2FFCFFFF2FACFFFF2FFCFFFF0000112BFFFF000000000000000000000000FF"].pack('H*') }
+
+  let(:crc) { ["E3E0"].pack('H*') }
+
+  subject do
+    entry = MAVLink::Log::Entry.new(time, header, payload, crc)
+    MAVLink::Log::Messages::SysStatus.new(entry)
+  end
+
+  it_behaves_like 'a message'
+
+  its(:onboard_control_sensors_present) { should eql(0xFFFFFC2F) }
+
+  its(:onboard_control_sensors_enabled) { should eql(0xFFFFAC2F) }
+
+  its(:onboard_control_sensors_health) { should eql(0xFFFFFC2F) }
+
+  its(:load) { should be_within(0.001).of(0.0) }
+
+  its(:voltage_battery) { should be_within(0.01).of(11.025) }
+
+  its(:current_battery) { should be_within(0.01).of(-0.01) }
+
+  its(:battery_remaining) { should eql(0) }
+
+  its(:drop_rate_comm) { should eql(0) }
+
+  its(:errors_comm) { should eql(0) }
+
+  its(:errors_count1) { should eql(0) }
+
+  its(:errors_count2) { should eql(0) }
+
+  its(:errors_count3) { should eql(0) }
+
+  its(:errors_count4) { should eql(65280) }
+
+end

data/spec/messages/vfr_hud_spec.rb

@@ -0,0 +1,32 @@
+require 'spec_helper'
+
+describe MAVLink::Log::Messages::VfrHud do
+
+  let(:time) { ["0004d9ee608dc804"].pack('H*') }
+
+  let(:header) { MAVLink::Log::Header.new(["FE14A437014A"].pack('H*')) }
+
+  let(:payload) { ["713d8a3e8fc2753d5c8fd344000090c167010000"].pack('H*') }
+
+  let(:crc) { ["8C40"].pack('H*') }
+
+  subject do
+    entry = MAVLink::Log::Entry.new(time, header, payload, crc)
+    MAVLink::Log::Messages::VfrHud.new(entry)
+  end
+
+  it_behaves_like 'a message'
+
+  its(:airspeed) { should be_within(0.01).of(0.27) }
+
+  its(:groundspeed) { should be_within(0.01).of(0.06) }
+
+  its(:heading) { should eql(-28836) }
+
+  its(:throttle) { should eql(17619) }
+
+  its(:alt) { should be_within(0.1).of(-18.0) }
+
+  its(:climb) { should be_within(0.1).of(0.0) }
+
+end

data/spec/spec_helper.rb

@@ -8,6 +8,8 @@ require 'awesome_print'
 require 'pathname'
 require 'mavlink/log'
 
+Dir[File.join(File.dirname(__FILE__), 'support', '**', '*.rb')].each { |f| require f }
+
 RSpec.configure do |config|
   config.treat_symbols_as_metadata_keys_with_true_values = true
   config.run_all_when_everything_filtered = true

data/spec/support/shared_examples_for_message.rb

@@ -0,0 +1,13 @@
+require 'spec_helper'
+
+shared_examples 'a message' do
+
+  it { should respond_to(:id) }
+
+  its(:id) { should_not be_nil }
+
+  it { should respond_to(:crc) }
+
+  its(:crc) { should_not be_nil }
+
+end

data/spec/support/shared_examples_for_timed_message_micro.rb

@@ -0,0 +1,9 @@
+require 'spec_helper'
+
+shared_examples 'a timed message (us)' do |time|
+
+  it { should respond_to(:time_usec) }
+
+  its(:time_usec) { should eql(time) }
+
+end

data/spec/support/shared_examples_for_timed_message_milli.rb

@@ -0,0 +1,9 @@
+require 'spec_helper'
+
+shared_examples 'a timed message (ms)' do |time|
+
+  it { should respond_to(:time_boot_ms) }
+
+  its(:time_boot_ms) { should eql(time) }
+
+end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: mavlink-log
 version: !ruby/object:Gem::Version
-  version: 0.0.1
+  version: 0.0.2
 platform: ruby
 authors:
 - Nick Veys
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-10-12 00:00:00.000000000 Z
+date: 2013-10-13 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: awesome_print
@@ -150,8 +150,27 @@ files:
 - README.md
 - Rakefile
 - lib/mavlink/log.rb
+- lib/mavlink/log/entry.rb
 - lib/mavlink/log/file.rb
-- lib/mavlink/log/messages.rb
+- lib/mavlink/log/header.rb
+- lib/mavlink/log/message.rb
+- lib/mavlink/log/messages/attitude.rb
+- lib/mavlink/log/messages/factory.rb
+- lib/mavlink/log/messages/global_position_int.rb
+- lib/mavlink/log/messages/gps_raw_int.rb
+- lib/mavlink/log/messages/heart_beat.rb
+- lib/mavlink/log/messages/messages.rb
+- lib/mavlink/log/messages/mission_current.rb
+- lib/mavlink/log/messages/nav_controller_output.rb
+- lib/mavlink/log/messages/param_request_list.rb
+- lib/mavlink/log/messages/param_value.rb
+- lib/mavlink/log/messages/raw_imu.rb
+- lib/mavlink/log/messages/rc_channels_raw.rb
+- lib/mavlink/log/messages/request_data_stream.rb
+- lib/mavlink/log/messages/scaled_pressure.rb
+- lib/mavlink/log/messages/servo_output_raw.rb
+- lib/mavlink/log/messages/sys_status.rb
+- lib/mavlink/log/messages/vfr_hud.rb
 - lib/mavlink/log/version.rb
 - mavlink-log.gemspec
 - spec/data/delete-me-soon.tlog
@@ -160,7 +179,20 @@ files:
 - spec/data/invalid/empty.file
 - spec/data/invalid/spektrum/1.TLM
 - spec/file_spec.rb
+- spec/messages/attitude_spec.rb
+- spec/messages/global_position_int_spec.rb
+- spec/messages/gps_raw_int_spec.rb
+- spec/messages/heart_beat_spec.rb
+- spec/messages/param_value_spec.rb
+- spec/messages/raw_imu_spec.rb
+- spec/messages/rc_channels_raw_spec.rb
+- spec/messages/sys_status_spec.rb
+- spec/messages/vfr_hud_spec.rb
 - spec/spec_helper.rb
+- spec/support/shared_examples_for_message.rb
+- spec/support/shared_examples_for_timed_message_micro.rb
+- spec/support/shared_examples_for_timed_message_milli.rb
+- spec/sys_status_spec.rb
 homepage: http://github.com/code-lever/mavlink-log
 licenses:
 - MIT
@@ -192,4 +224,17 @@ test_files:
 - spec/data/invalid/empty.file
 - spec/data/invalid/spektrum/1.TLM
 - spec/file_spec.rb
+- spec/messages/attitude_spec.rb
+- spec/messages/global_position_int_spec.rb
+- spec/messages/gps_raw_int_spec.rb
+- spec/messages/heart_beat_spec.rb
+- spec/messages/param_value_spec.rb
+- spec/messages/raw_imu_spec.rb
+- spec/messages/rc_channels_raw_spec.rb
+- spec/messages/sys_status_spec.rb
+- spec/messages/vfr_hud_spec.rb
 - spec/spec_helper.rb
+- spec/support/shared_examples_for_message.rb
+- spec/support/shared_examples_for_timed_message_micro.rb
+- spec/support/shared_examples_for_timed_message_milli.rb
+- spec/sys_status_spec.rb