Esempio n. 1
0
bool test_lookup(const Waypoints& waypoints, unsigned id)
{
    const Waypoint* wp;
    wp = waypoints.lookup_id(id);
    if (wp== NULL) {
        return false;
    }
    return true;
}
bool test_task_dash(TaskManager& task_manager,
                    const Waypoints &waypoints)
{
  const Waypoint *wp;

  task_manager.set_factory(TaskBehaviour::FACTORY_TOURING);
  AbstractTaskFactory &fact = task_manager.get_factory();

  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 finish\n");
  wp = waypoints.lookup_id(3);
  if (wp) {
    OrderedTaskPoint *tp = fact.createFinish(*wp);
    if (!fact.append(*tp)) {
      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;

}
Esempio n. 3
0
unsigned test_radius(const Waypoints& waypoints, const double range)
{
    const Waypoint *r = waypoints.lookup_id(3);
    if (r) {
        WaypointVisitorPrint v;
        waypoints.visit_within_radius(r->Location, fixed(range), v);
        return v.count;
    } else {
        return 0;
    }
}
Esempio n. 4
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bool test_replace(Waypoints& waypoints, unsigned id)
{
    const Waypoint* wp;
    wp = waypoints.lookup_id(id);
    if (wp== NULL) {
        return false;
    }
    tstring oldName = wp->Name;

    Waypoint copy = *wp;
    copy.Name= "Fred";
    waypoints.replace(*wp,copy);
    waypoints.optimise();

    wp = waypoints.lookup_id(id);
    if (wp== NULL) {
        return false;
    }
    return (wp->Name != oldName) && (wp->Name == "Fred");
}
Esempio n. 5
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static bool
test_nearest(const Waypoints& waypoints)
{
  const Waypoint *r = waypoints.lookup_id(3);
  if (!r)
    return false;

  r = waypoints.get_nearest(r->Location);
  if (!r)
    return false;

  return r->id == 3;
}
Esempio n. 6
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unsigned test_nearest(const Waypoints& waypoints)
{
    const Waypoint *r = waypoints.lookup_id(3);
    if (r) {
        Waypoints::WaypointTree::const_iterator it = waypoints.find_nearest(r->Location);
        if (it != waypoints.end()) {
            return true;
        } else {
            return false;
        }
    }
    return false;
}
Esempio n. 7
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unsigned test_copy(Waypoints& waypoints)
{
    const Waypoint *r = waypoints.lookup_id(5);
    if (!r) {
        return false;
    }
    unsigned size_old = waypoints.size();
    Waypoint wp = *r;
    wp.id = waypoints.size()+1;
    waypoints.append(wp);
    waypoints.optimise();
    unsigned size_new = waypoints.size();
    return (size_new == size_old+1);
}
Esempio n. 8
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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;
}
Esempio n. 9
0
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;
}
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;
}