void ThermalModelSimple::init(ParseBlock &b) {
Checker *check = getChecker();
try {
b.checkUsing(check);
// Get updraft info
ParseBlock::Blocks *updrafts = b.getBlocks("updraft");
updraft_vector.clear();
ParseBlock::Blocks::iterator it = updrafts->begin();
for ( ; it != updrafts->end(); it++) {
Updraft aux(**it);
updraft_vector.push_back(aux);
}
} catch (exception &e) {
cerr << "ThermalModelSimple::ThermalModelSimple --> Error: could not load the data.\n";
throw(e);
}
delete check;
}
void Checker::apply( const ParseBlock *block ) {
for (CheckMap::iterator i = propertyChecks.begin(); i != propertyChecks.end(); i++ ) {
const char *name = i->first;
// std::cout << "check property " << name << "\n";
try {
(*(i->second))( block->getProperties( name ) );
} catch ( std::runtime_error& e ) {
throw std::runtime_error( prependContext( e, name ));
}
}
for (CheckMap::iterator i = blockChecks.begin(); i != blockChecks.end(); i++ ) {
const char *name = i->first;
ParseBlock::Blocks *innerBlocks = block->getBlocks( name );
//s std::cout << "check block " << name << "\n";
try {
(*(i->second))( innerBlocks );
if ( checkerMap.count( name ) != 0 ) {
for ( ParseBlock::Blocks::iterator j = innerBlocks->begin();
j != innerBlocks->end();
j++) {
checkerMap[name]->apply( *j );
}
}
} catch ( std::runtime_error& e ) {
throw std::runtime_error( prependContext( e, name ));
}
}
}
int main(int argc, char **argv) {
ArgumentData arg(argc,argv);
if (argc < 2) {
cerr << "Use: " << arg.at(0) << "<input_filename>" << endl;
return 1;
} else {
if (arg.isOption("simulation")) {
UAVFactory fac;
UAV *uav = NULL;
try {
ParseBlock block;
block.load(arg.at(1).c_str());
uav = fac.create_from_block(block["uav"]);
} catch (exception &e) {
cerr << "main:: Exception while loading data\n";
}
if (uav != NULL) {
cout << uav->toString() << endl;
for (int i = 0; i < 100; i++) {
uav->actualize();
}
cout << uav->toString() << endl;
}
} else if (arg.isOption("time-slot")) {
cout << "Performing time slot testing.\n";
TimeSlotList list;
double min_dist = 5.0;
double max_altitude = 250.0;
try {
ParseBlock block;
block.load(arg.at(1).c_str());
ParseBlock::Blocks *slots = block.getBlocks("timeslot");
if (block.hasProperty("min_dist")) {
min_dist = block("min_dist").as<double>();
}
cout << "Min dist = " << min_dist << endl;
if (block.hasProperty("max_altitude")) {
max_altitude = block("max_altitude").as<double>();
}
cout << "Maximum altitude = " << max_altitude << endl;
ParseBlock::Blocks::iterator sl = slots->begin();
for (;sl != slots->end(); sl++) {
TimeSlot s(**sl);
cout << "Timeslot loaded: " << s.toString() << endl;
list.push_back(s);
}
} catch (exception &e) {
cerr << "main:: Exception while loading data\n";
exit(1);
}
// Perform the tests. Check the first with all the other
TimeSlotList::iterator it = list.begin();
it++;
TimeSlot &first = *list.begin();
cout << "Checking this with all the others. " <<first.toString() << endl;
for (;it != list.end(); it++) {
cout << "With: " << it->toString();
if (it->check(first.updraft_id, first.min_time, first.initial_altitude, first.ascending_rate, min_dist, max_altitude, first.uav_id)) {
cout << "Passes." << endl;
} else {
cout << "Fails." << endl;
}
}
} else {
URM *urm = NULL;
// double sleep_time;
cout << "Performing normal test.\n";
try {
ParseBlock data;
data.load(arg.at(1).c_str());
// Get the parameters of URM manager (updrafts, etc.)
if (!data.hasBlock("urm")) {
cerr << "The data faile has not urm data.\n";
exit(1);
}
urm = new URM(data["urm"]);
// sleep_time = 1.0; // Default sleep time
// if (data.hasProperty("uav_sleep")) {
// sleep_time = data("uav_sleep").as<double>();
// }
// Get the UAV data
ParseBlock::Blocks *uav_blocks = data.getBlocks("uav");
ParseBlock::Blocks::iterator uav_it = uav_blocks->begin();
int cont = 0;
// bool error = false;
simulator::FlightPlan plan;
int n_points = 0;
if (arg.isOption("random_wp")) {
arg.getOption("random_wp", n_points);
for (int i = 0; i < n_points; i++) {
functions::RealVector v(2, true);
v = v * 1000.0;
urm->addWaypoint(v);
}
}
for (;uav_it != uav_blocks->end(); uav_it++, cont++) {
// Get the UAV parameters
UAVFactory fac;
UAV *aux = fac.create_from_block(**uav_it);
if (!aux) {
cerr << "Error while loading UAV " << cont << " data.\n";
continue;
}
aux->id = cont;
// Then the planner parameters
SoaringPlanner *aux_planner = NULL;
if ((*uav_it)->hasBlock("planner")) {
SoaringPlannerFactory fac_planner;
aux_planner = fac_planner.createFromBlock( (**uav_it)["planner"] );
if (aux_planner != NULL) {
aux_planner->setURM(urm);
aux_planner->setUAV(aux);
}
functions::FormattedTime t0;
t0.getTime();
if (aux_planner != NULL && aux_planner->execute(plan)) {
functions::FormattedTime t1;
t1.getTime();
cout << "Output flight plan: " << plan.toString() << endl;
cout << "Expended time: " << t1 - t0 << endl;
} else {
cout << "The planner failed.\n";
}
}
}
} catch (exception &e) {
cerr << "main:: Exception while loading data\n";
}
}
}
return 0;
}