bool test_task_or(TaskManager& task_manager,
const Waypoints &waypoints)
{
const Waypoint *wp;
task_manager.SetFactory(TaskFactoryType::FAI_OR);
AbstractTaskFactory &fact = task_manager.GetFactory();
task_report(task_manager, "# adding start\n");
wp = waypoints.LookupId(1);
if (wp) {
OrderedTaskPoint *tp = fact.CreateStart(*wp);
if (!fact.Append(*tp)) {
return false;
}
delete tp;
}
task_manager.SetActiveTaskPoint(0);
task_manager.Resume();
task_report(task_manager, "# adding intermediate\n");
wp = waypoints.LookupId(2);
if (wp) {
OrderedTaskPoint *tp = fact.CreateIntermediate(*wp);
if (!fact.Append(*tp)) {
return false;
}
delete tp;
}
task_report(task_manager, "# adding finish\n");
wp = waypoints.LookupId(1);
if (wp) {
OrderedTaskPoint *tp = fact.CreateFinish(*wp);
if (!fact.Append(*tp)) {
return false;
}
delete tp;
}
fact.UpdateStatsGeometry();
task_report(task_manager, "# checking task..\n");
if (!fact.Validate()) {
return false;
}
if (!task_manager.CheckOrderedTask()) {
return false;
}
return true;
}
bool test_task_dash(TaskManager& task_manager,
const Waypoints &waypoints)
{
WaypointPtr wp;
task_manager.SetFactory(TaskFactoryType::TOURING);
AbstractTaskFactory &fact = task_manager.GetFactory();
task_report(task_manager, "# adding start\n");
wp = waypoints.LookupId(1);
if (wp) {
OrderedTaskPoint *tp = fact.CreateStart(std::move(wp));
if (!fact.Append(*tp)) {
return false;
}
delete tp;
}
task_manager.SetActiveTaskPoint(0);
task_manager.Resume();
task_report(task_manager, "# adding finish\n");
wp = waypoints.LookupId(3);
if (wp) {
OrderedTaskPoint *tp = fact.CreateFinish(std::move(wp));
if (!fact.Append(*tp)) {
return false;
}
delete tp;
}
fact.UpdateStatsGeometry();
task_report(task_manager, "# checking task..\n");
if (!fact.Validate()) {
return false;
}
if (!task_manager.CheckOrderedTask()) {
return false;
}
return true;
}
bool test_task_random_RT_AAT_FAI(TaskManager& task_manager,
const Waypoints &waypoints,
const unsigned _num_points)
{
const Waypoint *wp;
OrderedTaskPoint *tp;
char tmp[255];
char tskType[20];
tskType[0] = '\0';
switch (rand() %3) {
case 0:
task_manager.SetFactory(TaskFactoryType::AAT);
strcpy(tskType,"AAT");
test_note("# creating random AAT task\n");
break;
case 1:
task_manager.SetFactory(TaskFactoryType::RACING);
strcpy(tskType,"RT");
test_note("# creating random RT task\n");
break;
case 2:
task_manager.SetFactory(TaskFactoryType::FAI_GENERAL);
strcpy(tskType,"FAI");
test_note("# creating random FAI GENERAL\n");
break;
}
AbstractTaskFactory &fact = task_manager.GetFactory();
//max points includes start & finish
const TaskFactoryConstraints &constraints =
task_manager.GetOrderedTask().GetFactoryConstraints();
const unsigned num_points_total =
std::max(constraints.min_points,
_num_points % constraints.max_points) + 1;
const unsigned num_int_points = num_points_total - 2;
test_note("# adding start\n");
wp = random_waypoint(waypoints);
if (wp) {
const TaskPointFactoryType s = GetRandomType(fact.GetStartTypes());
tp = fact.CreateStart(s,*wp);
if (!fact.Append(*tp,false)) {
return false;
}
delete tp;
}
for (unsigned i=0; i<num_int_points; i++) {
test_note("# adding intermediate\n");
wp = random_waypoint(waypoints);
if (wp) {
const TaskPointFactoryType s = GetRandomType(fact.GetIntermediateTypes());
tp = fact.CreateIntermediate(s,*wp);
if (!fact.Append(*tp,false)) {
return false;
}
delete tp;
}
}
test_note("# adding finish\n");
wp = random_waypoint(waypoints);
if (wp) {
const TaskPointFactoryType s = GetRandomType(fact.GetFinishTypes());
tp = fact.CreateFinish(s,*wp);
if (!fact.Append(*tp,false)) {
return false;
}
delete tp;
}
fact.UpdateStatsGeometry();
test_note("# validating task..\n");
if (!fact.Validate()) {
return false;
}
if (task_manager.GetOrderedTask().GetFactoryType()
== TaskFactoryType::FAI_GENERAL)
{
test_note("# checking OZs for FAI General..\n");
if (!fact.ValidateFAIOZs())
return false;
}
if (task_manager.GetOrderedTask().GetFactoryType()
== TaskFactoryType::MAT)
{
test_note("# checking OZs for MAT General..\n");
if (!fact.ValidateMATOZs())
return false;
}
task_manager.Resume();
sprintf(tmp, "# SUCCESS CREATING %s task! task_size():%d..\n",
tskType,
task_manager.TaskSize());
test_note(tmp);
return true;
}
bool test_task_random(TaskManager& task_manager,
const Waypoints &waypoints,
const unsigned num_points)
{
const Waypoint *wp;
OrderedTaskPoint *tp;
task_manager.SetFactory(TaskFactoryType::MIXED);
AbstractTaskFactory &fact = task_manager.GetFactory();
task_report(task_manager, "# adding start\n");
wp = random_waypoint(waypoints);
if (wp) {
const TaskPointFactoryType s = GetRandomType(fact.GetStartTypes());
tp = fact.CreateStart(s,*wp);
if (!fact.Append(*tp,false)) {
return false;
}
delete tp;
}
task_manager.SetActiveTaskPoint(0);
task_manager.Resume();
for (unsigned i=0; i<num_points; i++) {
task_report(task_manager, "# adding intermediate\n");
wp = random_waypoint(waypoints);
if (wp) {
const TaskPointFactoryType s = GetRandomType(fact.GetIntermediateTypes());
tp = fact.CreateIntermediate(s,*wp);
if (!fact.Append(*tp,false)) {
return false;
}
delete tp;
}
}
task_report(task_manager, "# adding finish\n");
wp = random_waypoint(waypoints);
if (wp) {
const TaskPointFactoryType s = GetRandomType(fact.GetFinishTypes());
tp = fact.CreateFinish(s,*wp);
if (!fact.Append(*tp,false)) {
return false;
}
delete tp;
}
fact.UpdateStatsGeometry();
task_report(task_manager, "# validating task..\n");
if (!fact.Validate()) {
return false;
}
task_report(task_manager, "# checking task..\n");
if (!task_manager.CheckOrderedTask()) {
return false;
}
return true;
}
bool test_task_aat(TaskManager& task_manager,
const Waypoints &waypoints)
{
task_manager.SetFactory(TaskFactoryType::AAT);
AbstractTaskFactory &fact = task_manager.GetFactory();
const Waypoint *wp;
task_report(task_manager, "# adding start\n");
wp = waypoints.LookupId(1);
if (wp) {
OrderedTaskPoint *tp = fact.CreateStart(*wp);
if (!fact.Append(*tp,false)) {
return false;
}
delete tp;
}
task_manager.SetActiveTaskPoint(0);
task_manager.Resume();
task_report(task_manager, "# adding intermediate\n");
wp = waypoints.LookupId(2);
if (wp) {
OrderedTaskPoint* tp = fact.CreateIntermediate(TaskPointFactoryType::AAT_CYLINDER,*wp);
if (tp->GetObservationZone().GetShape() == ObservationZone::Shape::CYLINDER) {
CylinderZone &cz = (CylinderZone &)tp->GetObservationZone();
cz.SetRadius(fixed(30000.0));
}
if (!fact.Append(*tp,false)) {
return false;
}
delete tp;
}
task_report(task_manager, "# adding intermediate\n");
wp = waypoints.LookupId(3);
if (wp) {
OrderedTaskPoint* tp = fact.CreateIntermediate(TaskPointFactoryType::AAT_CYLINDER,*wp);
if (tp->GetObservationZone().GetShape() == ObservationZone::Shape::CYLINDER) {
CylinderZone &cz = (CylinderZone &)tp->GetObservationZone();
cz.SetRadius(fixed(40000.0));
}
if (!fact.Append(*tp,false)) {
return false;
}
delete tp;
}
task_report(task_manager, "# adding finish\n");
wp = waypoints.LookupId(1);
if (wp) {
OrderedTaskPoint *tp = fact.CreateFinish(*wp);
if (!fact.Append(*tp,false)) {
return false;
}
delete tp;
}
fact.UpdateStatsGeometry();
task_report(task_manager, "# checking task..\n");
if (!fact.Validate()) {
return false;
}
if (!task_manager.CheckOrderedTask()) {
return false;
}
return true;
}
bool test_task_manip(TaskManager& task_manager,
const Waypoints &waypoints)
{
if (!test_task_mixed(task_manager, waypoints)) {
return false;
}
AbstractTaskFactory &fact = task_manager.GetFactory();
task_report(task_manager, "# removing tp 2\n");
if (!fact.Remove(2)) {
return false;
}
task_report(task_manager, "# removing tp 0\n");
if (!fact.Remove(0)) {
return false;
}
task_report(task_manager, "# removing tp -1 (illegal)\n");
if (fact.Remove(0-1)) {
return false;
}
task_report(task_manager, "# removing tp 50 (illegal)\n");
if (fact.Remove(50)) {
return false;
}
OrderedTaskPoint *tp;
const Waypoint *wp;
task_report(task_manager, "# inserting at 3\n");
wp = waypoints.LookupId(3);
if (wp) {
tp = fact.CreateIntermediate(TaskPointFactoryType::AST_CYLINDER,*wp);
if (!fact.Insert(*tp,3)) return false;
delete tp;
}
task_report(task_manager, "# auto-replacing at 2 (no morph)\n");
wp = waypoints.LookupId(9);
if (wp) {
tp = fact.CreateIntermediate(TaskPointFactoryType::AST_CYLINDER,*wp);
if (!fact.Replace(*tp,2)) return false;
delete tp;
}
task_report(task_manager, "# auto-replacing at 2 (morph)\n");
wp = waypoints.LookupId(9);
if (wp) {
tp = fact.CreateStart(*wp);
if (!fact.Replace(*tp,2)) return false;
delete tp;
}
task_report(task_manager, "# auto-replacing at 0 (morph this)\n");
wp = waypoints.LookupId(12);
if (wp) {
tp = fact.CreateIntermediate(TaskPointFactoryType::AST_CYLINDER,*wp);
if (!fact.Replace(*tp,0)) return false;
delete tp;
}
task_report(task_manager, "# auto-replacing at end (morph this)\n");
wp = waypoints.LookupId(14);
if (wp) {
tp = fact.CreateIntermediate(TaskPointFactoryType::AST_CYLINDER,*wp);
if (!fact.Replace(*tp,task_manager.TaskSize()-1)) return false;
delete tp;
}
task_report(task_manager, "# removing finish point\n");
if (!fact.Remove(task_manager.TaskSize()-1)) {
return false;
}
task_report(task_manager, "# inserting at 50 (equivalent to append)\n");
wp = waypoints.LookupId(8);
if (wp) {
tp = fact.CreateFinish(*wp);
if (!fact.Insert(*tp,50)) return false;
delete tp;
}
task_report(task_manager, "# inserting at 0 (morph this)\n");
wp = waypoints.LookupId(3);
if (wp) {
tp = fact.CreateFinish(*wp);
if (!fact.Insert(*tp,0)) return false;
delete tp;
}
task_report(task_manager, "# inserting at 2 (morph this)\n");
wp = waypoints.LookupId(4);
if (wp) {
tp = fact.CreateStart(*wp);
if (!fact.Insert(*tp,2)) return false;
delete tp;
}
task_report(task_manager, "# inserting at 2 (direct)\n");
wp = waypoints.LookupId(6);
if (wp) {
tp = fact.CreateIntermediate(*wp);
if (!fact.Insert(*tp,2,false)) return false;
delete tp;
}
task_report(task_manager, "# checking task\n");
fact.UpdateStatsGeometry();
if (task_manager.CheckOrderedTask()) {
task_manager.Reset();
task_manager.SetActiveTaskPoint(0);
task_manager.Resume();
} else {
return false;
}
return true;
}
