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; }