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; }
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_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; }