int main()
{
PairWiseMove move;
Dimension atvsize(1,1);
Dimension coptersize(1,1);
Dimension searchSize(2,2);
VirtualQuadCopter copter(coptersize,searchSize,4,4);
VirtualATV atv(atvsize, 0, 0);
Map mapp;
Route atvRoute;
//atvRoute.push_back(WayPoint(1, 1));
Route * result = move.generatePairRoute(atvRoute, atv, copter, mapp )->first;
bool error = false;
if(result->getSize() == 1){ //Quad must move te atv
if(!(result->getWaypoint(0)->x == 0 && result->getWaypoint(0)->y == 0)){
error = true;
std::cout << "Quad must move to atv waypoint ERROR" << std::endl;
}
std::cout << "Quad must move te atv SUCCES" << std::endl;
}
else{
std::cout << "Quad must move te atv size ERROR" << std::endl;
}
copter = VirtualQuadCopter(coptersize,searchSize,0,0);
atv = VirtualATV(atvsize, 0, 0);
atvRoute.clearRoute();
atvRoute.pushWayPoint( new WayPoint(1, 1));
result = move.generatePairRoute(atvRoute, atv, copter, mapp)->first;
if(!(result->getSize() == 0)){ //Atv is just in range of quadsight
error = true;
std::cout << "Atv is just in range of quadsight ERROR"<< std::endl;
}else{
std::cout << "Atv is just in range of quadsight SUCCES"<< std::endl;
}
atvRoute.clearRoute();
atvRoute.pushWayPoint( new WayPoint(2, 2));
result = move.generatePairRoute(atvRoute, atv, copter, mapp)->first;
if(result->getSize() == 1){ //Atv is just out range of quadsight
if(!(result->getWaypoint(0)->x == 2 && result->getWaypoint(0)->y == 2)){
error = true;
std::cout << "Atv is just out range of quadsight waypoint ERROR"<< std::endl;
}
std::cout << "Atv is just out range of quadsight SUCCES" << std::endl;
}
else{
std::cout << "Atv is just out range of quadsight size ERROR"<< std::endl;
}
atvRoute.clearRoute();
result = move.generatePairRoute(atvRoute, atv, copter, mapp)->first;
if(!result->getSize() == 0){//Empty atv route returns...
error = true;
std::cout << "Empty atv route returns empty pair route ERROR"<< std::endl;
}else{
std::cout << "Empty atv route returns empty pair route SUCCES"<< std::endl;
}
copter.goTo(1, 4);
result = move.generatePairRoute(atvRoute, atv, copter, mapp)->first;
if(!result->getSize() == 1){//Empty atv route returns...
error = true;
std::cout << "Empty atv route returns sync waypoint size ERROR"<< std::endl;
}
else{
if(result->getWaypoint(0)->x == 0 && result->getWaypoint(0)->y == 0){
std::cout << "Empty atv route returns sync waypoint SUCCES"<< std::endl;
}
else{
error = true;
std::cout << "Empty atv route returns sync waypoint waypoint ERROR"<< std::endl;
}
}
copter.goTo(0,0);
atvRoute.pushWayPoint(new WayPoint(1, 2));
atvRoute.pushWayPoint(new WayPoint(2, 3));
atvRoute.pushWayPoint(new WayPoint(4, 2));
atvRoute.pushWayPoint(new WayPoint(5, 3));
atvRoute.pushWayPoint(new WayPoint(-1, -1));
result = move.generatePairRoute(atvRoute, atv, copter, mapp)->first;
if(result->getSize() == 3){//Longer route
std::cout << "Long route size: Good, SUCCES" << std::endl;
if(!(result->getWaypoint(0)->x == 1 && result->getWaypoint(0)->y == 2)){
error = true;
std::cout << " Point 1,2 ERROR" << std::endl;
}
else{
std::cout << " Point 1,2 SUCCES" << std::endl;
}
if(!(result->getWaypoint(1)->x == 4 && result->getWaypoint(1)->y == 2)){
error = true;
std::cout << " Point 4,2 ERROR" << std::endl;
}
else{
std::cout << " Point 4,2 SUCCES" << std::endl;
}
if(!(result->getWaypoint(2)->x == -1 && result->getWaypoint(2)->y == -1)){
error = true;
std::cout << " Point -1,-1 ERROR" << std::endl;
}
else{
std::cout << " Point -1,-1 SUCCES" << std::endl;
}
}
else{
error = true;
std::cout << "Long route size: fault, ERROR" << std::endl;
}
return error;
}
