diff --git a/generator/C/include_v2.0/mavlink_get_info.h b/generator/C/include_v2.0/mavlink_get_info.h
index fa98d09665652a3d5f3ece796cce6c74ed6f5468..302ec8bd6b94f2f8635f9be6b7fdf13fd4c8f18c 100644
--- a/generator/C/include_v2.0/mavlink_get_info.h
+++ b/generator/C/include_v2.0/mavlink_get_info.h
@@ -9,32 +9,31 @@
MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info_by_id(uint32_t msgid)
{
static const mavlink_message_info_t mavlink_message_info[] = MAVLINK_MESSAGE_INFO;
- /*
+ /*
use a bisection search to find the right entry. A perfect hash may be better
Note that this assumes the table is sorted with primary key msgid
*/
- const uint32_t count = sizeof(mavlink_message_info)/sizeof(mavlink_message_info[0]);
- if (count == 0) {
- return NULL;
- }
- uint32_t low=0, high=count-1;
- while (low <= high) {
- uint32_t mid = (low+1+high)/2;
- if (msgid < mavlink_message_info[mid].msgid) {
- high = mid-1;
- continue;
- }
- if (msgid > mavlink_message_info[mid].msgid) {
- low = mid;
- continue;
- }
- low = mid;
- break;
- }
- if (mavlink_message_info[low].msgid == msgid) {
- return &mavlink_message_info[low];
- }
- return NULL;
+ const uint32_t count = sizeof(mavlink_message_info)/sizeof(mavlink_message_info[0]);
+ if (count == 0) {
+ return NULL;
+ }
+ uint32_t low=0, high=count-1;
+ while (low < high) {
+ uint32_t mid = (low+high)/2;
+ if (msgid < mavlink_message_info[mid].msgid) {
+ high = mid;
+ continue;
+ }
+ if (msgid > mavlink_message_info[mid].msgid) {
+ low = mid+1;
+ continue;
+ }
+ return &mavlink_message_info[mid];
+ }
+ if (mavlink_message_info[low].msgid == msgid) {
+ return &mavlink_message_info[low];
+ }
+ return NULL;
}
/*
@@ -51,28 +50,33 @@ MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info(const mavl
MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info_by_name(const char *name)
{
static const struct { const char *name; uint32_t msgid; } mavlink_message_names[] = MAVLINK_MESSAGE_NAMES;
- /*
+ /*
use a bisection search to find the right entry. A perfect hash may be better
Note that this assumes the table is sorted with primary key name
*/
- const uint32_t count = sizeof(mavlink_message_names)/sizeof(mavlink_message_names[0]);
- if (count == 0) {
- return NULL;
- }
- uint32_t low=0, high=count-1;
- while (low <= high) {
- uint32_t mid = (low+1+high)/2;
- int cmp = strcmp(mavlink_message_names[mid].name, name);
- if (cmp == 0) {
- return mavlink_get_message_info_by_id(mavlink_message_names[mid].msgid);
- }
- if (cmp > 0) {
- high = mid-1;
- } else {
- low = mid;
- }
- }
- return NULL;
+ const uint32_t count = sizeof(mavlink_message_names)/sizeof(mavlink_message_names[0]);
+ if (count == 0) {
+ return NULL;
+ }
+ uint32_t low=0, high=count-1;
+ while (low < high) {
+ uint32_t mid = (low+high)/2;
+ int cmp = strcmp(mavlink_message_names[mid].name, name);
+ if (cmp > 0) {
+ high = mid;
+ continue;
+ }
+ if (cmp < 0) {
+ low = mid+1;
+ continue;
+ }
+ low = mid;
+ break;
+ }
+ if (strcmp(mavlink_message_names[low].name, name) == 0) {
+ return mavlink_get_message_info_by_id(mavlink_message_names[low].msgid);
+ }
+ return NULL;
}
#endif // MAVLINK_USE_MESSAGE_INFO
diff --git a/generator/C/test/posix/testmav.c b/generator/C/test/posix/testmav.c
index cc6d7ff88365ee4e41715bfe6d066c4ac9cd3637..de827d60aad07a598b9626a5ae5786da502306f7 100644
--- a/generator/C/test/posix/testmav.c
+++ b/generator/C/test/posix/testmav.c
@@ -186,6 +186,86 @@ static void comm_send_ch(mavlink_channel_t chan, uint8_t c)
}
}
+#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
+static const mavlink_message_info_t *dumb_search_info(const mavlink_message_info_t *msgs, uint32_t num_ids, uint32_t id)
+{
+ for (uint32_t i=0; i<num_ids; i++) {
+ if (msgs[i].msgid == id) {
+ return &msgs[i];
+ }
+ }
+ return NULL;
+}
+
+static void test_get_message_info_by_id()
+{
+ const mavlink_message_info_t *msgs = mavlink_get_message_info_by_id(0);
+ static const mavlink_msg_entry_t crcs[] = MAVLINK_MESSAGE_CRCS;
+ const uint32_t num_msgs = sizeof(crcs)/sizeof(crcs[0]);
+ for (uint32_t i=0; i<70000; i++) {
+ const mavlink_message_info_t *m1 = mavlink_get_message_info_by_id(i);
+ const mavlink_message_info_t *m2 = dumb_search_info(msgs, num_msgs, i);
+ if (m1 != m2) {
+ printf("Search error for id %u\n", (unsigned)i);
+ error_count++;
+ }
+ }
+}
+
+static const mavlink_message_info_t *dumb_search_name(const mavlink_message_info_t *msgs, uint32_t num_ids, const char *name)
+{
+ for (uint32_t i=0; i<num_ids; i++) {
+ if (strcmp(msgs[i].name, name) == 0) {
+ return &msgs[i];
+ }
+ }
+ return NULL;
+}
+
+static void test_get_message_info_by_name()
+{
+ static const char *test_names[] = { "HEARTBEAT", "STATUS_TEXT", "ATTITUDE", "FOOBLAH", "SILLY_NAME" };
+ const uint8_t num_names = sizeof(test_names)/sizeof(test_names[0]);
+ const mavlink_message_info_t *msgs = mavlink_get_message_info_by_id(0);
+ static const mavlink_msg_entry_t crcs[] = MAVLINK_MESSAGE_CRCS;
+ const uint32_t num_msgs = sizeof(crcs)/sizeof(crcs[0]);
+ for (uint32_t i=0; i<num_names; i++) {
+ const mavlink_message_info_t *m1 = mavlink_get_message_info_by_name(test_names[i]);
+ const mavlink_message_info_t *m2 = dumb_search_name(msgs, num_msgs, test_names[i]);
+ if (m1 != m2) {
+ printf("Search error for id %s\n", test_names[i]);
+ error_count++;
+ }
+ }
+}
+
+
+static const mavlink_msg_entry_t *dumb_search_entry(const mavlink_msg_entry_t *msgs, uint32_t num_ids, uint32_t id)
+{
+ for (uint32_t i=0; i<num_ids; i++) {
+ if (msgs[i].msgid == id) {
+ return &msgs[i];
+ }
+ }
+ return NULL;
+}
+
+static void test_get_msg_entry()
+{
+ const mavlink_msg_entry_t *msgs = mavlink_get_msg_entry(0);
+ static const mavlink_msg_entry_t crcs[] = MAVLINK_MESSAGE_CRCS;
+ const uint32_t num_msgs = sizeof(crcs)/sizeof(crcs[0]);
+ for (uint32_t i=0; i<70000; i++) {
+ const mavlink_msg_entry_t *m1 = mavlink_get_msg_entry(i);
+ const mavlink_msg_entry_t *m2 = dumb_search_entry(msgs, num_msgs, i);
+ if (m1 != m2) {
+ printf("Search error for entry id %u\n", (unsigned)i);
+ error_count++;
+ }
+ }
+}
+#endif // MAVLINK_HAVE_GET_MESSAGE_INFO
+
int main(void)
{
mavlink_channel_t chan;
@@ -272,7 +352,12 @@ int main(void)
printf("No errors detected\n");
#endif
-
+#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
+ test_get_message_info_by_id();
+ test_get_message_info_by_name();
+ test_get_msg_entry();
+#endif
+
return 0;
}