static bool
test_olc(int n_wind, Contest olc_type)
{
GlidePolar glide_polar(fixed_two);
Waypoints waypoints;
SetupWaypoints(waypoints);
if (verbose)
PrintDistanceCounts();
TaskBehaviour task_behaviour;
task_behaviour.SetDefaults();
task_behaviour.DisableAll();
if (!verbose)
task_behaviour.enable_trace = false;
TaskManager task_manager(task_behaviour, waypoints);
TaskEventsPrint default_events(verbose);
task_manager.SetTaskEvents(default_events);
task_manager.SetGlidePolar(glide_polar);
test_task(task_manager, waypoints, 1);
waypoints.Clear(); // clear waypoints so abort wont do anything
autopilot_parms.goto_target = true;
return run_flight(task_manager, autopilot_parms, n_wind);
}
static bool
test_goto(int n_wind, unsigned id, bool auto_mc)
{
GlidePolar glide_polar(fixed(2));
Waypoints waypoints;
SetupWaypoints(waypoints);
if (verbose)
PrintDistanceCounts();
TaskBehaviour task_behaviour;
task_behaviour.SetDefaults();
task_behaviour.DisableAll();
task_behaviour.auto_mc = auto_mc;
task_behaviour.enable_trace = false;
TaskManager task_manager(task_behaviour, waypoints);
TaskEventsPrint default_events(verbose);
task_manager.SetTaskEvents(default_events);
task_manager.SetGlidePolar(glide_polar);
test_task(task_manager, waypoints, 1);
task_manager.DoGoto(*waypoints.LookupId(id));
task_report(task_manager, "goto");
waypoints.Clear(); // clear waypoints so abort wont do anything
autopilot_parms.goto_target = true;
return run_flight(task_manager, autopilot_parms, n_wind);
}
static bool
test_null()
{
GlidePolar glide_polar(fixed(2));
Waypoints waypoints;
SetupWaypoints(waypoints);
if (verbose)
PrintDistanceCounts();
TaskBehaviour task_behaviour;
task_behaviour.SetDefaults();
task_behaviour.DisableAll();
task_behaviour.enable_trace = false;
TaskManager task_manager(task_behaviour, waypoints);
TaskEventsPrint default_events(verbose);
task_manager.SetTaskEvents(default_events);
task_manager.SetGlidePolar(glide_polar);
task_report(task_manager, "null");
waypoints.Clear(); // clear waypoints so abort wont do anything
autopilot_parms.goto_target = true;
return run_flight(task_manager, autopilot_parms, 0);
}
static bool
test_abort(int n_wind)
{
GlidePolar glide_polar(fixed(2));
Waypoints waypoints;
SetupWaypoints(waypoints);
if (verbose)
PrintDistanceCounts();
TaskBehaviour task_behaviour;
task_behaviour.SetDefaults();
task_behaviour.DisableAll();
task_behaviour.enable_trace = false;
TaskManager task_manager(task_behaviour, waypoints);
TaskEventsPrint default_events(verbose);
task_manager.SetTaskEvents(default_events);
task_manager.SetGlidePolar(glide_polar);
test_task(task_manager, waypoints, 1);
task_manager.Abort();
task_report(task_manager, "abort");
autopilot_parms.goto_target = true;
return run_flight(task_manager, autopilot_parms, n_wind);
}
TestFlightResult
test_flight(TestFlightComponents components, int test_num, int n_wind,
const double speed_factor, const bool auto_mc)
{
// multipurpose flight test
GlidePolar glide_polar(fixed(2));
Waypoints waypoints;
SetupWaypoints(waypoints);
if (verbose)
PrintDistanceCounts();
TaskBehaviour task_behaviour;
task_behaviour.SetDefaults();
task_behaviour.enable_trace = false;
task_behaviour.auto_mc = auto_mc;
task_behaviour.calc_glide_required = false;
if ((test_num == 0) || (test_num == 2))
task_behaviour.optimise_targets_bearing = false;
TaskManager task_manager(task_behaviour, waypoints);
TaskEventsPrint default_events(verbose);
task_manager.SetTaskEvents(default_events);
task_manager.SetGlidePolar(glide_polar);
OrderedTaskSettings otb = task_manager.GetOrderedTask().GetOrderedTaskSettings();
otb.aat_min_time = aat_min_time(test_num);
task_manager.SetOrderedTaskSettings(otb);
bool goto_target = false;
switch (test_num) {
case 0:
case 2:
case 7:
goto_target = true;
break;
};
autopilot_parms.goto_target = goto_target;
test_task(task_manager, waypoints, test_num);
waypoints.Clear(); // clear waypoints so abort wont do anything
return run_flight(components, task_manager, autopilot_parms, n_wind,
speed_factor);
}
bool
test_flight(int test_num, int n_wind, const double speed_factor,
const bool auto_mc)
{
// multipurpose flight test
GlidePolar glide_polar(fixed_two);
Waypoints waypoints;
setup_waypoints(waypoints);
if (verbose)
distance_counts();
TaskEventsPrint default_events(verbose);
TaskManager task_manager(default_events, waypoints);
task_manager.set_glide_polar(glide_polar);
task_manager.get_ordered_task_behaviour().aat_min_time = aat_min_time(test_num);
TaskBehaviour task_behaviour = task_manager.get_task_behaviour();
task_behaviour.enable_trace = false;
task_behaviour.auto_mc = auto_mc;
task_behaviour.calc_glide_required = false;
if ((test_num == 0) || (test_num == 2))
task_behaviour.optimise_targets_bearing = false;
task_manager.set_task_behaviour(task_behaviour);
bool goto_target = false;
switch (test_num) {
case 0:
case 2:
case 7:
goto_target = true;
break;
};
autopilot_parms.goto_target = goto_target;
test_task(task_manager, waypoints, test_num);
waypoints.clear(); // clear waypoints so abort wont do anything
return run_flight(task_manager, autopilot_parms, n_wind,
speed_factor);
}
int main(int argc, char** argv) {
// default arguments
verbose=1;
if (!parse_args(argc,argv)) {
return 0;
}
TaskBehaviour task_behaviour;
TaskEventsPrint default_events(verbose);
GlidePolar glide_polar(fixed_two);
Waypoints waypoints;
setup_waypoints(waypoints);
TaskManager task_manager(default_events,
task_behaviour,
waypoints);
task_manager.set_glide_polar(glide_polar);
test_task(task_manager, waypoints, 0);
plan_tests(1);
ok(test_edit(task_manager, task_behaviour),
"edit task", 0);
/*
plan_tests(task_manager.task_size());
// here goes, example, edit all task points
SafeTaskEdit ste(task_manager, waypoints);
for (unsigned i=0; i<task_manager.task_size(); i++) {
ok(ste.edit(i),"edit tp",0);
task_report(task_manager, "edit tp\n");
}
*/
return exit_status();
}
static bool
test_replay()
{
Directory::Create(Path(_T("output/results")));
std::ofstream f("output/results/res-sample.txt");
GlidePolar glide_polar(4.0);
Waypoints waypoints;
AircraftState state_last;
TaskBehaviour task_behaviour;
task_behaviour.SetDefaults();
task_behaviour.auto_mc = true;
TaskManager task_manager(task_behaviour, waypoints);
TaskEventsPrint default_events(verbose);
task_manager.SetTaskEvents(default_events);
glide_polar.SetBallast(1.0);
task_manager.SetGlidePolar(glide_polar);
OrderedTask* t = task_load(task_behaviour);
if (t) {
task_manager.Commit(*t);
delete t;
task_manager.Resume();
} else {
return false;
}
// task_manager.get_task_advance().get_advance_state() = TaskAdvance::AUTO;
Error error;
FileLineReaderA *reader = new FileLineReaderA(replay_file, error);
if (reader->error()) {
delete reader;
fprintf(stderr, "%s\n", error.GetMessage());
return false;
}
ReplayLoggerSim sim(reader);
sim.state.netto_vario = 0;
bool do_print = verbose;
unsigned print_counter=0;
NMEAInfo basic;
basic.Reset();
while (sim.Update(basic) && !sim.started) {
}
state_last = sim.state;
sim.state.wind.norm = 7;
sim.state.wind.bearing = Angle::Degrees(330);
auto time_last = sim.state.time;
// uncomment this to manually go to first tp
// task_manager.incrementActiveTaskPoint(1);
FlyingComputer flying_computer;
flying_computer.Reset();
FlyingState flying_state;
flying_state.Reset();
while (sim.Update(basic)) {
if (sim.state.time>time_last) {
n_samples++;
flying_computer.Compute(glide_polar.GetVTakeoff(),
sim.state, sim.state.time - time_last,
flying_state);
sim.state.flying = flying_state.flying;
task_manager.Update(sim.state, state_last);
task_manager.UpdateIdle(sim.state);
task_manager.UpdateAutoMC(sim.state, 0);
task_manager.SetTaskAdvance().SetArmed(true);
state_last = sim.state;
if (verbose>1) {
sim.print(f);
f.flush();
}
if (do_print) {
PrintHelper::taskmanager_print(task_manager, sim.state);
}
do_print = (++print_counter % output_skip ==0) && verbose;
}
time_last = sim.state.time;
};
if (verbose) {
PrintDistanceCounts();
printf("# task elapsed %d (s)\n", (int)task_manager.GetStats().total.time_elapsed);
printf("# task speed %3.1f (kph)\n", (int)task_manager.GetStats().total.travelled.GetSpeed()*3.6);
printf("# travelled distance %4.1f (km)\n",
(double)task_manager.GetStats().total.travelled.GetDistance()/1000.0);
printf("# scored distance %4.1f (km)\n",
(double)task_manager.GetStats().distance_scored/1000.0);
if (task_manager.GetStats().total.time_elapsed > 0) {
printf("# scored speed %3.1f (kph)\n",
(double)task_manager.GetStats().distance_scored/(double)task_manager.GetStats().total.time_elapsed*3.6);
}
}
return true;
}
static bool
test_replay(const OLCRules olc_type)
{
#ifdef DO_PRINT
std::ofstream f("results/res-sample.txt");
#endif
GlidePolar glide_polar(fixed_two);
Waypoints waypoints;
AIRCRAFT_STATE state_last;
TaskBehaviour task_behaviour;
TaskEventsPrint default_events(verbose);
TaskManager task_manager(default_events,
waypoints);
task_manager.set_glide_polar(glide_polar);
task_manager.get_task_behaviour().olc_rules = olc_type;
task_manager.get_task_behaviour().enable_olc = true;
ReplayLoggerSim sim;
TCHAR szFilename[MAX_PATH];
ConvertCToT(szFilename, replay_file.c_str());
sim.SetFilename(szFilename);
sim.Start();
bool do_print = verbose;
unsigned print_counter=0;
while (sim.Update() && !sim.started) {
}
state_last = sim.state;
fixed time_last = sim.state.Time;
while (sim.Update()) {
if (sim.state.Time>time_last) {
n_samples++;
if (sim.state.Speed> glide_polar.get_Vtakeoff()) {
sim.state.flying_state_moving(sim.state.Time);
} else {
sim.state.flying_state_stationary(sim.state.Time);
}
task_manager.update(sim.state, state_last);
task_manager.update_idle(sim.state);
task_manager.update_auto_mc(sim.state, fixed_zero);
state_last = sim.state;
#ifdef DO_PRINT
if (verbose) {
sim.print(f);
f.flush();
}
if (do_print) {
task_manager.print(sim.state);
}
#endif
do_print = (++print_counter % output_skip ==0) && verbose;
}
time_last = sim.state.Time;
};
sim.Stop();
const CommonStats& stats = task_manager.get_common_stats();
printf("# OLC dist %g speed %g time %g\n",
(double)stats.olc.distance,
(double)(stats.olc.speed*fixed(3.6)),
(double)stats.olc.time);
if (verbose) {
distance_counts();
}
return true;
}
static bool
test_replay(const Contests olc_type,
const ContestResult &official_score)
{
std::ofstream f("results/res-sample.txt");
GlidePolar glide_polar(fixed_two);
Waypoints waypoints;
AIRCRAFT_STATE state_last;
TaskBehaviour task_behaviour;
TaskEventsPrint default_events(verbose);
TaskManager task_manager(default_events,
waypoints);
task_manager.set_glide_polar(glide_polar);
task_manager.set_contest(olc_type);
task_manager.get_task_behaviour().enable_olc = true;
ReplayLoggerSim sim;
TCHAR szFilename[MAX_PATH];
ConvertCToT(szFilename, replay_file.c_str());
sim.SetFilename(szFilename);
load_scores(task_manager.get_task_behaviour().contest_handicap);
if (verbose) {
switch (olc_type) {
case OLC_League:
std::cout << "# OLC-League\n";
break;
case OLC_Sprint:
std::cout << "# OLC-Sprint\n";
break;
case OLC_FAI:
std::cout << "# OLC-FAI\n";
break;
case OLC_Classic:
std::cout << "# OLC-Classic\n";
break;
case OLC_Plus:
std::cout << "# OLC-Plus\n";
break;
default:
std::cout << "# Unknown!\n";
break;
}
}
sim.Start();
bool do_print = verbose;
unsigned print_counter=0;
while (sim.Update() && !sim.started) {
}
state_last = sim.state;
fixed time_last = sim.state.Time;
while (sim.Update()) {
if (sim.state.Time>time_last) {
n_samples++;
if (sim.state.Speed> glide_polar.get_Vtakeoff()) {
sim.state.flying_state_moving(sim.state.Time);
} else {
sim.state.flying_state_stationary(sim.state.Time);
}
task_manager.update(sim.state, state_last);
task_manager.update_idle(sim.state);
state_last = sim.state;
if (verbose>1) {
sim.print(f);
f.flush();
}
if (do_print) {
PrintHelper::taskmanager_print(task_manager, sim.state);
}
do_print = (++print_counter % output_skip ==0) && verbose;
}
time_last = sim.state.Time;
};
sim.Stop();
task_manager.score_exhaustive();
if (verbose) {
distance_counts();
}
return compare_scores(official_score,
task_manager.get_contest_stats().get_contest_result(0));
}
static bool
test_replay()
{
std::ofstream f("results/res-sample.txt");
GlidePolar glide_polar(fixed(4.0));
Waypoints waypoints;
AIRCRAFT_STATE state_last;
TaskBehaviour task_behaviour;
TaskEventsPrint default_events(verbose);
TaskManager task_manager(default_events,
waypoints);
glide_polar.set_ballast(fixed(1.0));
task_manager.set_glide_polar(glide_polar);
task_manager.get_task_behaviour().auto_mc = true;
task_manager.get_task_behaviour().enable_trace = false;
OrderedTask* blank =
new OrderedTask(default_events, task_behaviour, glide_polar);
OrderedTask* t = task_load(blank);
if (t) {
task_manager.commit(*t);
task_manager.resume();
} else {
return false;
}
// task_manager.get_task_advance().get_advance_state() = TaskAdvance::AUTO;
ReplayLoggerSim sim;
sim.state.NettoVario = fixed_zero;
TCHAR szFilename[MAX_PATH];
ConvertCToT(szFilename, replay_file.c_str());
sim.SetFilename(szFilename);
sim.Start();
bool do_print = verbose;
unsigned print_counter=0;
while (sim.Update() && !sim.started) {
}
state_last = sim.state;
sim.state.wind.norm = fixed(7);
sim.state.wind.bearing = Angle::degrees(fixed(330));
fixed time_last = sim.state.Time;
// uncomment this to manually go to first tp
// task_manager.incrementActiveTaskPoint(1);
while (sim.Update()) {
if (sim.state.Time>time_last) {
n_samples++;
if (sim.state.Speed> glide_polar.get_Vtakeoff()) {
sim.state.flying_state_moving(sim.state.Time);
} else {
sim.state.flying_state_stationary(sim.state.Time);
}
task_manager.update(sim.state, state_last);
task_manager.update_idle(sim.state);
task_manager.update_auto_mc(sim.state, fixed_zero);
task_manager.get_task_advance().set_armed(true);
state_last = sim.state;
if (verbose>1) {
sim.print(f);
f.flush();
}
if (do_print) {
PrintHelper::taskmanager_print(task_manager, sim.state);
}
do_print = (++print_counter % output_skip ==0) && verbose;
}
time_last = sim.state.Time;
};
sim.Stop();
if (verbose) {
distance_counts();
printf("# task elapsed %d (s)\n", (int)task_manager.get_stats().total.TimeElapsed);
printf("# task speed %3.1f (kph)\n", (int)task_manager.get_stats().total.travelled.get_speed()*3.6);
printf("# travelled distance %4.1f (km)\n",
(double)task_manager.get_stats().total.travelled.get_distance()/1000.0);
printf("# scored distance %4.1f (km)\n",
(double)task_manager.get_stats().distance_scored/1000.0);
if (task_manager.get_stats().total.TimeElapsed) {
printf("# scored speed %3.1f (kph)\n",
(double)task_manager.get_stats().distance_scored/(double)task_manager.get_stats().total.TimeElapsed*3.6);
}
}
return true;
}