bool test_task(TaskManager& task_manager, const Waypoints &waypoints, int test_num) { unsigned n_points = rand()%8+1; switch (test_num) { case 0: return test_task_mixed(task_manager,waypoints); case 1: return test_task_fai(task_manager,waypoints); case 2: return test_task_aat(task_manager,waypoints); case 3: return test_task_or(task_manager,waypoints); case 4: return test_task_dash(task_manager,waypoints); case 5: return test_task_fg(task_manager,waypoints); case 6: return test_task_manip(task_manager,waypoints); case 7: return test_task_random(task_manager,waypoints,n_points); case 8: return test_task_mat(task_manager,waypoints); default: return false; } }
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; }
bool test_task_manip(TaskManager& task_manager, const Waypoints &waypoints) { if (!test_task_mixed(task_manager, waypoints)) { return false; } AbstractTaskFactory &fact = task_manager.get_factory(); 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.lookup_id(3); if (wp) { tp = fact.createIntermediate(AbstractTaskFactory::AST_CYLINDER,*wp); if (!fact.insert(tp,3)) return false; } task_report(task_manager, "# auto-replacing at 2 (no morph)\n"); wp = waypoints.lookup_id(9); if (wp) { tp = fact.createIntermediate(AbstractTaskFactory::AST_CYLINDER,*wp); if (!fact.replace(tp,2)) return false; } task_report(task_manager, "# auto-replacing at 2 (morph)\n"); wp = waypoints.lookup_id(9); if (wp) { tp = fact.createStart(*wp); if (!fact.replace(tp,2)) return false; } task_report(task_manager, "# auto-replacing at 0 (morph this)\n"); wp = waypoints.lookup_id(12); if (wp) { tp = fact.createIntermediate(AbstractTaskFactory::AST_CYLINDER,*wp); if (!fact.replace(tp,0)) return false; } task_report(task_manager, "# auto-replacing at end (morph this)\n"); wp = waypoints.lookup_id(14); if (wp) { tp = fact.createIntermediate(AbstractTaskFactory::AST_CYLINDER,*wp); if (!fact.replace(tp,task_manager.task_size()-1)) return false; } task_report(task_manager, "# removing finish point\n"); if (!fact.remove(task_manager.task_size()-1)) { return false; } task_report(task_manager, "# inserting at 50 (equivalent to append)\n"); wp = waypoints.lookup_id(8); if (wp) { tp = fact.createFinish(*wp); if (!fact.insert(tp,50)) return false; } task_report(task_manager, "# inserting at 0 (morph this)\n"); wp = waypoints.lookup_id(3); if (wp) { tp = fact.createFinish(*wp); if (!fact.insert(tp,0)) return false; } task_report(task_manager, "# inserting at 2 (morph this)\n"); wp = waypoints.lookup_id(4); if (wp) { tp = fact.createStart(*wp); if (!fact.insert(tp,2)) return false; } task_report(task_manager, "# inserting at 2 (direct)\n"); wp = waypoints.lookup_id(6); if (wp) { tp = fact.createIntermediate(*wp); if (!fact.insert(tp,2,false)) return false; } task_report(task_manager, "# checking task\n"); if (task_manager.check_ordered_task()) { task_manager.reset(); task_manager.setActiveTaskPoint(0); task_manager.resume(); } else { return false; } return true; }