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;
}
