TEST(wali$wfa$$WFA$$semideterminize, weightGenAcceptingStates)
{
sem_elem_t reach_one = Reach(true).one();
sem_elem_t reach_zero = Reach(true).zero();
Letters letters;
Key start = getKey("start"),
acc1 = getKey("acc1"),
acc2 = getKey("acc2"),
rej = getKey("rej");
// --> start -----> ((acc1))
// | |
// | +------> ((acc2))
// |
// +---------> rej
WFA nondet;
nondet.addState(start, reach_zero);
nondet.addState(acc1, reach_zero);
nondet.addState(acc2, reach_zero);
nondet.addState(rej, reach_zero);
nondet.setInitialState(start);
nondet.addFinalState(acc1);
nondet.addFinalState(acc2);
nondet.addTrans(start, letters.a, acc1, reach_one);
nondet.addTrans(start, letters.a, acc2, reach_one);
nondet.addTrans(start, letters.a, rej, reach_one);
WFA det = nondet.semideterminize(TestLifter());
// Sanity checks
std::set<Key> start_set, fin_set;
start_set.insert(start);
fin_set.insert(acc1);
fin_set.insert(acc2);
fin_set.insert(rej);
Key start_set_key = getKey(start_set),
fin_set_key = getKey(fin_set);
ASSERT_EQ(2u, det.getStates().size());
ASSERT_CONTAINS(det.getStates(), start_set_key);
ASSERT_CONTAINS(det.getStates(), fin_set_key);
// Extract the transition, then the weight
StringWeight * w = dynamic_cast<StringWeight*>(det.getState(fin_set_key)->acceptWeight().get_ptr());
ASSERT_TRUE(w != NULL);
// Test. This is maybe a fragile (though not as much as before)...
EXPECT_EQ(" | acc1 | acc2", w->str);
}
TEST(wali$wfa$$isIsomorphicTo, isomorphismChecksStateWeights)
{
sem_elem_t one = Reach(true).one();
sem_elem_t zero = Reach(true).zero();
Letters l;
WFA w0, w1;
w0.addState(l.a, zero);
w1.addState(l.a, one);
EXPECT_FALSE(w0.isIsomorphicTo(w1));
}
TEST(wali$wfa$$isIsomorphicTo, isomorphismIgnoresStateWeightsWhenCheckWeghtsIsFalse)
{
sem_elem_t one = Reach(true).one();
sem_elem_t zero = Reach(true).zero();
Letters l;
WFA w0, w1;
w0.addState(l.a, zero);
w1.addState(l.a, one);
EXPECT_TRUE(w0.isIsomorphicTo(w1, false));
}
TEST(wali$wfa$$semideterminize, initialStateGetsLabeledWithTheCorrectKindOfWeight)
{
// zero
// -> A ---> (B)
Key A = getKey("A");
Key B = getKey("B");
sem_elem_t zero = Reach(true).zero();
WFA wfa;
wfa.addState(A, zero);
wfa.addState(B, zero);
wfa.addTrans(A, A, B, zero);
wfa.setInitialState(A);
wfa.addFinalState(B);
WFA det = wfa.semideterminize(TestLifter());
sem_elem_t initial_weight = det.getState(det.getInitialState())->weight();
Reach * reach = dynamic_cast<Reach*>(initial_weight.get_ptr());
StringWeight * str = dynamic_cast<StringWeight*>(initial_weight.get_ptr());
EXPECT_EQ(NULL, reach);
EXPECT_TRUE(str != NULL);
}
// FIXME: this isn't a test!
TEST(wali$wfa$$semideterminize, zeroWeightPathDoesNotAccept)
{
// zero
// -> A ---> (B)
Key A = getKey("A");
Key B = getKey("B");
sem_elem_t zero = Reach(true).zero();
WFA wfa;
wfa.addState(A, zero);
wfa.addState(B, zero);
wfa.addTrans(A, A, B, zero);
wfa.setInitialState(A);
wfa.addFinalState(B);
WFA det = wfa.semideterminize();
wfa.print(std::cerr);
det.print(std::cerr);
WFA::Word w;
w.push_back(A);
std::cerr << "wfa accepts: " << wfa.isAcceptedWithNonzeroWeight(w) << "\n";
std::cerr << "det accepts: " << det.isAcceptedWithNonzeroWeight(w) << "\n";
}
int Reaching::StartRecordTraj(joint_vec_t& initpos){
if(SetActualRobPosition(initpos)){
return Reach();
}
else{
return -1; //unvalid init position
}
}
TEST(wali$wfa$$isIsomorphicTo, loopRejectAndSimilar)
{
LoopReject f;
WFA wfa;
sem_elem_t one = Reach(true).one();
sem_elem_t zero = Reach(true).zero();
Letters l;
Key state = getKey("different state");
ASSERT_NE(state, f.state);
wfa.addState(state, zero);
wfa.setInitialState(state);
wfa.addTrans(state, l.a, state, one);
wfa.addTrans(state, l.b, state, one);
wfa.addTrans(state, l.c, state, one);
EXPECT_TRUE(f.wfa.isIsomorphicTo(wfa));
}
void
GlideComputerRoute::ProcessRoute(const MoreData &basic,
DerivedInfo &calculated,
const DerivedInfo &last_calculated,
const RoutePlannerConfig &config,
const GlidePolar &glide_polar,
const GlidePolar &safety_polar)
{
protected_route_planner.SetPolars(glide_polar, safety_polar,
calculated.wind);
Reach(basic, calculated, config);
TerrainWarning(basic, calculated, last_calculated, config);
}
void
RouteComputer::ProcessRoute(const MoreData &basic, DerivedInfo &calculated,
const GlideSettings &settings,
const RoutePlannerConfig &config,
const GlidePolar &glide_polar,
const GlidePolar &safety_polar)
{
if (!basic.location_available || !basic.NavAltitudeAvailable())
return;
protected_route_planner.SetPolars(settings, glide_polar, safety_polar,
calculated.GetWindOrZero());
Reach(basic, calculated, config);
TerrainWarning(basic, calculated, config);
}
void Climber_Class::AutoClimb(int state)
{
bool climb;
bool reach;
bool pushOut;
bool safety;
bool release;
switch(state)
{
case AUTO_CLIMB_STATE_1:
//brings the towers stationary hooks all the way up
//The towers need to be reset, but only once
/*if(firstReach)
{
ResetTowers();
firstReach = false;
}*/
if(startCC)
{
ResetTowers();
startCC = false;
}
inState = ReachDistance(LEVEL_1A_REACH_POS);
break;
case AUTO_CLIMB_STATE_2:
//pushes the candy cane out
inState = (bool)candyCane->PushOut();
//The startCC boolean only allows the CC functions to be called once per state
startCC = true;
break;
case AUTO_CLIMB_STATE_3:
//Reset the towers so we know we can move them in the next state
ResetTowers();
TowersStop();
//Grab the pole
if(startCC)
{
candyCane->StartGrab(LEVEL_1_GRAB_POS);
//This line makes the CC only grab once
startCC = false;
}
//If we're done grabbing, inState will be false and we can go to the next state otherwise it will be true
inState = (bool)candyCane->Grab();
break;
case AUTO_CLIMB_STATE_4:
//climb until arms grab the horizontal bar
//If we're still climbing inState is set to true, otherwise it is set to false
inState = (bool)ClimbDistance(LEVEL_1A_CLIMB_POS);
//Tell the CC it can move in the next state
startCC = true;
break;
case AUTO_CLIMB_STATE_5:
//Release the CC
if(startCC)
{
//Reset the towers so we know we can move them in the next state
ResetTowers();
TowersStop();
candyCane->StartRelease();
startCC = false;
release = true;
climb = true;
}
//If we're done releasing, inState will be set to false so we can go to the next state, otherwise it will be true
release = (bool)candyCane->Release();
climb = (bool)Climb();
if(!climb && !release)
{
inState = false;
}
break;
/*case AUTO_CLIMB_STATE_6:
//Climb until the hooks transition
//Check to see if we're still climbing
inState = (bool)Climb();
break;*/
case AUTO_CLIMB_STATE_6:
//Reach until the CC is clear
if(startCC)
{
reach = true;
pushOut = true;
startCC = false;
bringOutCC = true;
}
//Check to see if we're still reaching
reach = (bool)ReachDistance(LEVEL_2A_REACH_POS);
//Once the towers reached a certain distance, push out the CC
if((leftTower->GetDistance() >= DISTANCE_FOR_EXTENDEING_CC) && bringOutCC)
{
candyCane->StartSafety(LEVEL_2A_SAFETY_POS);
bringOutCC = false;
}
pushOut = candyCane->Safety();
//If we're not reaching or pushing out, we're not in the state anymore
if(!reach && !pushOut)
{
inState = false;
}
/*//Check to see if we're still reaching
inState = (bool)ReachDistance(LEVEL_2A_REACH_POS);
//Tell the CC it can move in the next state
startCC = true;*/
break;
//Level 2
/*case AUTO_CLIMB_STATE_7:
//CC safety position
if(startCC)
{
candyCane->StartSafety(LEVEL_2A_SAFETY_POS);
//This line makes the CC go into the safety position only once
startCC = false;
}
inState = (bool)candyCane->Safety();
break;*/
case AUTO_CLIMB_STATE_7:
//Reset the towers so we know we can move them in the next state
ResetTowers();
TowersStop();
//Bring in the CC so the servo turns
if(startCC)
{
candyCane->StartLeanIn(LEVEL_2A_SAFETY_LEAN_POS);
startCC = false;
}
inState = (bool)candyCane->LeanIn();
break;
case AUTO_CLIMB_STATE_8:
//Reach until the CC grabs the vertical bar
//Check to see if we're still reaching
inState = (bool)ReachDistance(LEVEL_2B_REACH_POS);
//Tell the CC it can move in the next state
startCC = true;
break;
case AUTO_CLIMB_STATE_9:
//Reset the towers so we know we can move them in the next state
ResetTowers();
TowersStop();
//Lean a little bit
if(startCC)
{
candyCane->StartLeanIn(LEVEL_2A_LEAN_POS);
startCC = false;
}
//Check to see if we're still leaning in
inState = (bool)candyCane->LeanIn();
break;
case AUTO_CLIMB_STATE_10:
//Reach all the way
//Check to see if we're still reaching
inState = (bool)Reach();
startCC = true;
break;
case AUTO_CLIMB_STATE_11:
//Reset the towers so we know we can move them in the next state
ResetTowers();
TowersStop();
//Lean in until the arms touch the horizontal bars
if(startCC)
{
candyCane->StartLeanIn(LEVEL_2B_LEAN_POS);
startCC = false;
}
//Check to see if we're still leaning in
inState = (bool)candyCane->LeanIn();
break;
case AUTO_CLIMB_STATE_12:
//climb until the arms grab the horizontal bars
//Check to see if we're still climbing
inState = (bool)ClimbDistance(LEVEL_2A_CLIMB_POS);
startCC = true;
break;
/*case AUTO_CLIMB_STATE_14:
//Reset the towers so we know we can move them in the next state
ResetTowers();
TowersStop();
//CC safety
if(startCC)
{
candyCane->StartSafety(LEVEL_2B_SAFETY);
startCC = false;
}
//Check to see if we're still safetying
inState = (bool)candyCane->Safety();
break;*/
case AUTO_CLIMB_STATE_13:
//Release the CC
if(startCC)
{
//Reset the towers so we know we can move them in the next state
ResetTowers();
TowersStop();
candyCane->StartRelease();
startCC = false;
climb = true;
release = true;
}
//Climb until the hooks transition
//Check to see if we're still climbing
climb = (bool)Climb();
release = (bool)candyCane->Release();
if(!climb && !release)
{
inState = false;
}
break;
/*case AUTO_CLIMB_STATE_16:
//Reset the towers so we know we can move them in the next state
ResetTowers();
TowersStop();
//Release the CC
if(startCC)
{
candyCane->StartRelease();
startCC = false;
}
//Check to see if we're still releasing
inState = (bool)candyCane->Release();
break;*/
//Level 3
case AUTO_CLIMB_STATE_14:
//Reach until the CC is clear
if(startCC)
{
reach = true;
pushOut = true;
bringOutCC = true;
startCC = false;
}
//Check to see if we're still reaching
reach = (bool)ReachDistance(LEVEL_3A_REACH_POS);
//Once the towers reached a certain distance, push out the CC
if((leftTower->GetDistance() >= DISTANCE_FOR_EXTENDEING_CC) && bringOutCC)
{
candyCane->StartSafety(LEVEL_3A_SAFETY_POS);
bringOutCC = false;
}
pushOut = candyCane->Safety();
//If we're not reaching or pushing out, we're not in the state anymore
if(!reach && !pushOut)
{
inState = false;
}
/*//Check to see if we're still reaching
inState = (bool)ReachDistance(LEVEL_3A_REACH_POS);
startCC = true;*/
break;
/*case AUTO_CLIMB_STATE_16:
//CC safety
if(startCC)
{
candyCane->StartSafety(LEVEL_3A_SAFETY_POS);
startCC = false;
}
//Check to see if we're still safetying
inState = (bool)candyCane->Safety();
break;*/
case AUTO_CLIMB_STATE_15:
//Reset the towers so we know we can move them in the next state
ResetTowers();
TowersStop();
//Bring in the CC so the servo turns
if(startCC)
{
candyCane->StartLeanIn(LEVEL_3A_SAFETY_LEAN_POS);
startCC = false;
}
inState = (bool)candyCane->LeanIn();
break;
case AUTO_CLIMB_STATE_16:
//Reach until the CC grabs the verticle bar
//Check to see if we're still reaching
inState = (bool)ReachDistance(LEVEL_3B_REACH_POS);
startCC = true;
break;
case AUTO_CLIMB_STATE_17:
//Reset the towers so we know we can move them in the next state
ResetTowers();
TowersStop();
//Lean in
if(startCC)
{
candyCane->StartLeanIn(LEVEL_3A_LEAN_POS);
startCC = false;
}
//Check to see if we're still leaning in
inState = (bool)candyCane->LeanIn();
break;
case AUTO_CLIMB_STATE_18:
//Reach all the way
//Check to see if we're still reaching
inState = (bool)Reach();
startCC = true;
break;
case AUTO_CLIMB_STATE_19:
//Reset the towers so we know we can move them in the next state
ResetTowers();
TowersStop();
//Lean in until the arms hit the horizontal bar
if(startCC)
{
candyCane->StartLeanIn(LEVEL_3B_LEAN_POS);
startCC = false;
}
//Check to see if we're still leaning in
inState = (bool)candyCane->LeanIn();
break;
case AUTO_CLIMB_STATE_20:
//climb until the arms grab the horizontal bars
//Check to see if we're still climbing
inState = (bool)ClimbDistance(LEVEL_3A_CLIMB_POS);
startCC = true;
break;
case AUTO_CLIMB_STATE_21:
//CC safety
if(startCC)
{
//Reset the towers so we know we can move them in the next state
ResetTowers();
TowersStop();
candyCane->StartSafety(LEVEL_3B_SAFETY_POS);
startCC = false;
safety = true;
climb = true;
}
//Check to see if we're still safetying
safety = (bool)candyCane->Safety();
climb = (bool)ClimbDistance(LEVEL_3B_CLIMB_POS);
if(!safety && !climb)
{
inState = false;
}
break;
/*case AUTO_CLIMB_STATE_27:
//Climb until we want to stop and win
////Check to see if we're still climbing
inState = (bool)ClimbDistance(LEVEL_3B_CLIMB_POS);
break;*/
}
/*grabbing = (bool)candyCane->Grab();
safetying = (bool)candyCane->Safety();
releasing = (bool)candyCane->Release();
leaningIn = (bool)candyCane->LeanIn();*/
}
