bool test_task_fai(TaskManager& task_manager,
const Waypoints &waypoints)
{
task_manager.set_factory(TaskBehaviour::FACTORY_FAI_GENERAL);
AbstractTaskFactory &fact = task_manager.get_factory();
const Waypoint *wp;
task_report(task_manager, "# adding start\n");
wp = waypoints.lookup_id(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 intermdiate\n");
wp = waypoints.lookup_id(2);
if (wp) {
OrderedTaskPoint *tp = fact.createIntermediate(*wp);
if (!fact.append(*tp, false)) {
return false;
}
delete tp;
}
task_report(task_manager, "# adding intermdiate\n");
wp = waypoints.lookup_id(3);
if (wp) {
OrderedTaskPoint *tp = fact.createIntermediate(*wp);
if (!fact.append(*tp,false)) {
return false;
}
delete tp;
}
task_report(task_manager, "# adding finish\n");
wp = waypoints.lookup_id(1);
if (wp) {
OrderedTaskPoint *tp = fact.createFinish(*wp);
if (!fact.append(*tp,false)) {
return false;
}
delete tp;
}
task_report(task_manager, "# checking task\n");
if (!fact.validate()) {
return false;
}
if (!task_manager.check_ordered_task()) {
return false;
}
return true;
}
static void
CreateDefaultTask(TaskManager &task_manager, const Waypoints &way_points)
{
const TCHAR start_name[] = _T("Bergneustadt");
task_manager.set_factory(OrderedTask::FACTORY_MIXED);
AbstractTaskFactory &factory = task_manager.get_factory();
const Waypoint *wp;
OrderedTaskPoint *tp;
wp = way_points.lookup_name(start_name);
if (wp != NULL) {
tp = factory.createStart(AbstractTaskFactory::START_LINE, *wp);
if (!factory.append(tp, false)) {
fprintf(stderr, "Failed to create start point\n");
}
} else {
fprintf(stderr, "No start waypoint\n");
}
wp = way_points.lookup_name(_T("Uslar"));
if (wp != NULL) {
tp = factory.createIntermediate(AbstractTaskFactory::AST_CYLINDER, *wp);
if (!factory.append(tp, false)) {
fprintf(stderr, "Failed to create turn point\n");
}
} else {
fprintf(stderr, "No turn point\n");
}
wp = way_points.lookup_name(_T("Suhl Goldlaut"));
if (wp != NULL) {
tp = factory.createIntermediate(AbstractTaskFactory::AST_CYLINDER, *wp);
if (!factory.append(tp, false)) {
fprintf(stderr, "Failed to create turn point\n");
}
} else {
fprintf(stderr, "No turn point\n");
}
wp = way_points.lookup_name(start_name);
if (wp != NULL) {
tp = factory.createFinish(AbstractTaskFactory::FINISH_LINE, *wp);
if (!factory.append(tp, false)) {
fprintf(stderr, "Failed to create finish point\n");
}
} else {
fprintf(stderr, "No finish waypoint\n");
}
}
bool test_task_bad(TaskManager& task_manager,
const Waypoints& waypoints)
{
test_task_random(task_manager,waypoints,2);
task_manager.set_factory(OrderedTask::FACTORY_RT);
AbstractTaskFactory& fact = task_manager.get_factory();
const Waypoint* wp = random_waypoint(waypoints);
ok (!fact.createFinish((AbstractTaskFactory::LegalPointType_t)20,*wp),"bad finish type",0);
ok (!fact.createStart((AbstractTaskFactory::LegalPointType_t)20,*wp),"bad start type",0);
ok (!fact.createIntermediate((AbstractTaskFactory::LegalPointType_t)20,*wp),"bad intermediate type",0);
// now create a taskpoint from FAI
AbstractTaskFactory::LegalPointType_t s =
fact.getIntermediateTypes()[(rand() % fact.getIntermediateTypes().size())];
// test it is bad for AAT
task_manager.set_factory(OrderedTask::FACTORY_AAT);
AbstractTaskFactory& bfact = task_manager.get_factory();
ok (!bfact.createIntermediate(s,*wp),"bad intermediate type (after task change)",0);
bfact.remove(1);
ok (bfact.validate(),"ok with one tp",0);
bfact.remove(1);
ok (!bfact.validate(),"insufficient tps for aat",0);
ok (bfact.remove(task_manager.task_size()-1,false),"remove finish manually",0);
ok (!bfact.validate(),"aat is invalid (no finish)",0);
return true;
}
bool test_task_or(TaskManager& task_manager,
const Waypoints &waypoints)
{
const Waypoint *wp;
task_manager.set_factory(OrderedTask::FACTORY_TOURING);
AbstractTaskFactory &fact = task_manager.get_factory();
task_report(task_manager, "# adding start\n");
wp = waypoints.lookup_id(1);
if (wp) {
if (!fact.append(fact.createStart(*wp))) {
return false;
}
}
task_manager.setActiveTaskPoint(0);
task_manager.resume();
task_report(task_manager, "# adding intermediate\n");
wp = waypoints.lookup_id(2);
if (wp) {
if (!fact.append(fact.createIntermediate(*wp))) {
return false;
}
}
task_report(task_manager, "# adding finish\n");
wp = waypoints.lookup_id(1);
if (wp) {
if (!fact.append(fact.createFinish(*wp))) {
return false;
}
}
task_report(task_manager, "# checking task..\n");
if (!fact.validate()) {
return false;
}
if (!task_manager.check_ordered_task()) {
return false;
}
return true;
}
bool test_task_random(TaskManager& task_manager,
const Waypoints &waypoints,
const unsigned num_points)
{
const Waypoint *wp;
OrderedTaskPoint *tp;
task_manager.set_factory(OrderedTask::FACTORY_MIXED);
AbstractTaskFactory &fact = task_manager.get_factory();
task_report(task_manager, "# adding start\n");
wp = random_waypoint(waypoints);
if (wp) {
AbstractTaskFactory::LegalPointType_t s =
fact.getStartTypes()[(rand() % fact.getStartTypes().size())];
tp = fact.createStart(s,*wp);
if (!fact.append(tp,false)) {
return false;
}
}
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) {
AbstractTaskFactory::LegalPointType_t s =
fact.getIntermediateTypes()[(rand() % fact.getIntermediateTypes().size())];
tp = fact.createIntermediate(s,*wp);
if (!fact.append(tp,false)) {
return false;
}
}
}
task_report(task_manager, "# adding finish\n");
wp = random_waypoint(waypoints);
if (wp) {
AbstractTaskFactory::LegalPointType_t s =
fact.getFinishTypes()[(rand() % fact.getFinishTypes().size())];
tp = fact.createFinish(s,*wp);
if (!fact.append(tp,false)) {
return false;
}
}
task_report(task_manager, "# validating task..\n");
if (!fact.validate()) {
return false;
}
task_report(task_manager, "# checking task..\n");
if (!task_manager.check_ordered_task()) {
return false;
}
return true;
}
bool test_task_aat(TaskManager& task_manager,
const Waypoints &waypoints)
{
const TaskProjection &projection =
task_manager.get_ordered_task().get_task_projection();
task_manager.set_factory(OrderedTask::FACTORY_AAT);
AbstractTaskFactory &fact = task_manager.get_factory();
const Waypoint *wp;
task_report(task_manager, "# adding start\n");
wp = waypoints.lookup_id(1);
if (wp) {
if (!fact.append(fact.createStart(*wp),false)) {
return false;
}
}
task_manager.setActiveTaskPoint(0);
task_manager.resume();
task_report(task_manager, "# adding intermediate\n");
wp = waypoints.lookup_id(2);
if (wp) {
OrderedTaskPoint* tp = fact.createIntermediate(AbstractTaskFactory::AAT_CYLINDER,*wp);
if (tp->get_oz()->shape == ObservationZonePoint::CYLINDER) {
CylinderZone *cz = (CylinderZone *)tp->get_oz();
cz->setRadius(fixed(30000.0));
tp->update_oz(projection);
}
if (!fact.append(tp,false)) {
return false;
}
}
task_report(task_manager, "# adding intermediate\n");
wp = waypoints.lookup_id(3);
if (wp) {
OrderedTaskPoint* tp = fact.createIntermediate(AbstractTaskFactory::AAT_CYLINDER,*wp);
if (tp->get_oz()->shape == ObservationZonePoint::CYLINDER) {
CylinderZone *cz = (CylinderZone *)tp->get_oz();
cz->setRadius(fixed(40000.0));
tp->update_oz(projection);
}
if (!fact.append(tp,false)) {
return false;
}
}
task_report(task_manager, "# adding finish\n");
wp = waypoints.lookup_id(1);
if (wp) {
if (!fact.append(fact.createFinish(*wp),false)) {
return false;
}
}
task_report(task_manager, "# checking task..\n");
if (!fact.validate()) {
return false;
}
if (!task_manager.check_ordered_task()) {
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;
AbstractTaskFactory &fact = task_manager.get_factory();
char tmp[255];
char tskType[20];
tskType[0] = '\0';
switch (rand() %3) {
case 0:
task_manager.set_factory(TaskBehaviour::FACTORY_AAT);
strcpy(tskType,"AAT");
test_note("# creating random AAT task\n");
break;
case 1:
task_manager.set_factory(TaskBehaviour::FACTORY_RT);
strcpy(tskType,"RT");
test_note("# creating random RT task\n");
break;
case 2:
task_manager.set_factory(TaskBehaviour::FACTORY_FAI_GENERAL);
strcpy(tskType,"FAI");
test_note("# creating random FAI GENERAL\n");
break;
}
//max points includes start & finish
const unsigned num_points_total = (
max(task_manager.get_ordered_task_behaviour().min_points,
(_num_points % task_manager.get_ordered_task_behaviour().max_points) + 1));
const unsigned num_int_points = num_points_total - 2;
test_note("# adding start\n");
wp = random_waypoint(waypoints);
if (wp) {
AbstractTaskFactory::LegalPointType_t s =
fact.getStartTypes()[(rand() % fact.getStartTypes().size())];
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) {
AbstractTaskFactory::LegalPointType_t s =
fact.getIntermediateTypes()[(rand() % fact.getIntermediateTypes().size())];
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) {
AbstractTaskFactory::LegalPointType_t s =
fact.getFinishTypes()[(rand() % fact.getFinishTypes().size())];
tp = fact.createFinish(s,*wp);
if (!fact.append(*tp,false)) {
return false;
}
delete tp;
}
test_note("# validating task..\n");
if (!fact.validate()) {
return false;
}
if (task_manager.get_ordered_task().get_factory_type()
== TaskBehaviour::FACTORY_FAI_GENERAL)
{
test_note("# checking OZs for FAI General..\n");
if (!fact.validateFAIOZs())
return false;
}
task_manager.resume();
sprintf(tmp, "# SUCCESS CREATING %s task! task_size():%d..\n",
tskType,
task_manager.task_size());
test_note(tmp);
return true;
}
bool test_task_mixed(TaskManager& task_manager,
const Waypoints &waypoints)
{
const TaskProjection &projection =
task_manager.get_ordered_task().get_task_projection();
OrderedTaskPoint *tp;
const Waypoint *wp;
task_manager.set_factory(TaskBehaviour::FACTORY_MIXED);
AbstractTaskFactory &fact = task_manager.get_factory();
task_report(task_manager, "# adding start\n");
wp = waypoints.lookup_id(1);
if (wp) {
tp = fact.createStart(AbstractTaskFactory::START_LINE,*wp);
if (tp->get_oz()->shape == ObservationZonePoint::CYLINDER) {
CylinderZone *cz = (CylinderZone *)tp->get_oz();
cz->setRadius(fixed(5000.0));
tp->update_oz(projection);
}
if (!fact.append(*tp,false)) return false;
delete tp;
} else {
return false;
}
task_manager.setActiveTaskPoint(0);
task_manager.resume();
task_report(task_manager, "# adding intermdiate\n");
wp = waypoints.lookup_id(2);
if (wp) {
tp = fact.createIntermediate(AbstractTaskFactory::AST_CYLINDER,*wp);
if (!fact.append(*tp,false)) return false;
delete tp;
} else {
return false;
}
task_report(task_manager, "# adding intermdiate\n");
wp = waypoints.lookup_id(3);
if (wp) {
tp = fact.createIntermediate(AbstractTaskFactory::AAT_CYLINDER,*wp);
if (tp->get_oz()->shape == ObservationZonePoint::CYLINDER) {
CylinderZone *cz = (CylinderZone *)tp->get_oz();
cz->setRadius(fixed(30000.0));
tp->update_oz(projection);
}
if (!fact.append(*tp,false)) return false;
delete tp;
} else {
return false;
}
task_report(task_manager, "# adding intermediate\n");
wp = waypoints.lookup_id(4);
if (wp) {
tp = fact.createIntermediate(AbstractTaskFactory::AAT_CYLINDER,*wp);
if (!fact.append(*tp,false)) return false;
delete tp;
} else {
return false;
}
task_report(task_manager, "# adding intermediate\n");
wp = waypoints.lookup_id(5);
if (wp) {
tp = fact.createIntermediate(AbstractTaskFactory::AAT_CYLINDER,*wp);
if (tp->get_oz()->shape == ObservationZonePoint::CYLINDER) {
CylinderZone *cz = (CylinderZone *)tp->get_oz();
cz->setRadius(fixed(30000.0));
tp->update_oz(projection);
}
if (!fact.append(*tp,false)) return false;
delete tp;
} else {
return false;
}
task_report(task_manager, "# adding finish\n");
wp = waypoints.lookup_id(1);
if (wp) {
tp = fact.createFinish(AbstractTaskFactory::FINISH_LINE,*wp);
if (!fact.append(*tp,false)) return false;
delete tp;
} else {
return false;
}
task_report(task_manager, "# checking task\n");
if (!fact.validate()) {
return false;
}
if (!task_manager.check_ordered_task()) {
return false;
}
return true;
}
bool test_task_type_manip(TaskManager& task_manager,
const Waypoints &waypoints, unsigned n_points)
{
if (!test_task_random_RT_AAT_FAI(task_manager, waypoints, n_points))
return false;
AbstractTaskFactory &fact = task_manager.get_factory();
switch (rand() %3) {
case 0:
task_manager.set_factory(TaskBehaviour::FACTORY_AAT);
test_note("# switched FACTORY TYPE to AAT\n");
break;
case 1:
task_manager.set_factory(TaskBehaviour::FACTORY_RT);
test_note("# switched FACTORY TYPE to RT\n");
break;
case 2:
task_manager.set_factory(TaskBehaviour::FACTORY_FAI_GENERAL);
test_note("# switched FACTORY TYPE to FAI GENERAL\n");
break;
default:
test_note("# unknown task type\n");
}
fact.mutate_tps_to_task_type();
test_note("# checking mutated start..\n");
if (!fact.validStartType(
fact.getType(*task_manager.get_ordered_task().getTaskPoint(0))))
return false;
char tmp[255];
sprintf(tmp, "# checking mutated intermediates. task_size():%d..\n",
task_manager.task_size());
test_note(tmp);
for (unsigned i = 1; i < (task_manager.task_size() - 1); i++) {
sprintf(tmp, "# checking mutated intermediate point %d..\n", i);
test_note(tmp);
if (!fact.validIntermediateType(
fact.getType(*task_manager.get_ordered_task().getTaskPoint(i))))
return false;
}
test_note("# checking mutated finish..\n");
if (!fact.validFinishType(
fact.getType(*task_manager.get_ordered_task().getTaskPoint(
task_manager.task_size() - 1))))
return false;
test_note("# validating task..\n");
if (!fact.validate()) {
return false;
}
test_note("# checking task..\n");
if (!task_manager.check_ordered_task()) {
return false;
}
if (task_manager.get_ordered_task().get_factory_type() ==
TaskBehaviour::FACTORY_FAI_GENERAL) {
test_note("# checking OZs for FAI task..\n");
if (!fact.validateFAIOZs())
return false;
}
return true;
}
