MSP protocol implementation and settings menu

2026-07-30 21:18:48 +02:00
parent 5994aee7ad
commit 078d58dbc0
16 changed files with 1132 additions and 29 deletions
@@ -0,0 +1,68 @@
+import 'dart:typed_data';
+
+import 'package:flutter_test/flutter_test.dart';
+
+import 'package:dmc_app/transport/msp/msp_frame.dart';
+
+/// Erwartete Bytefolgen unabhaengig (in Python, CRC8-DVB-S2 mit Poly 0xD5,
+/// Startwert 0) nachgerechnet - siehe Kommentare.
+void main() {
+  group('crc8DvbS2', () {
+    test('leerer Header (flags=0, function=106, size=0) ergibt 0x93', () {
+      final header = Uint8List.fromList([0x00, 0x6A, 0x00, 0x00, 0x00]);
+      expect(crc8DvbS2Update(0, header), 0x93);
+    });
+  });
+
+  group('encodeMspV2Request', () {
+    test('MSP_RAW_GPS (106) ohne Payload', () {
+      final bytes = encodeMspV2Request(106);
+      expect(bytes, Uint8List.fromList([
+        0x24, 0x58, 0x3C, // '$', 'X', '<'
+        0x00, 0x6A, 0x00, 0x00, 0x00, // flags, fn LE, size LE
+        0x93, // crc
+      ]));
+    });
+
+    test('MSP2_INAV_STATUS (0x2000) ohne Payload', () {
+      final bytes = encodeMspV2Request(0x2000);
+      expect(bytes, Uint8List.fromList([
+        0x24, 0x58, 0x3C,
+        0x00, 0x00, 0x20, 0x00, 0x00,
+        0x32,
+      ]));
+    });
+
+    test('Anfrage mit Payload', () {
+      final bytes = encodeMspV2Request(
+        1,
+        Uint8List.fromList([0xAA, 0xBB, 0xCC]),
+      );
+      expect(bytes, Uint8List.fromList([
+        0x24, 0x58, 0x3C,
+        0x00, 0x01, 0x00, 0x03, 0x00,
+        0xAA, 0xBB, 0xCC,
+        0x1A,
+      ]));
+    });
+  });
+
+  group('encodeMspV2Frame', () {
+    test('Antwortrahmen (dir = \'>\') fuer MSP_ALTITUDE', () {
+      // estAlt=1234cm (i32 LE), vario=-50cm/s (i16 LE), baroAlt=1200cm (i32 LE)
+      final payload = Uint8List.fromList(
+        [0xD2, 0x04, 0x00, 0x00, 0xCE, 0xFF, 0xB0, 0x04, 0x00, 0x00],
+      );
+      final bytes = encodeMspV2Frame(MspDirection.response, 109, payload);
+      expect(
+        bytes,
+        Uint8List.fromList([
+          0x24, 0x58, 0x3E,
+          0x00, 0x6D, 0x00, 0x0A, 0x00,
+          ...payload,
+          0x73,
+        ]),
+      );
+    });
+  });
+}