Exemplo n.º 1
0
int uORBTest::UnitTest::test_unadvertise()
{
	test_note("Testing unadvertise");

	//we still have the advertisements from the previous test_multi calls.
	for (int i = 0; i < 4; ++i) {
		int ret = orb_unadvertise(_pfd[i]);

		if (ret != PX4_OK) {
			return test_fail("orb_unadvertise failed (%i)", ret);
		}
	}

	//try to advertise and see whether we get the right instance
	int instance_test[4];
	struct orb_test t;

	for (int i = 0; i < 4; ++i) {
		_pfd[i] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance_test[i], ORB_PRIO_MAX);

		if (instance_test[i] != i) {
			return test_fail("got wrong instance (should be %i, is %i)", i, instance_test[i]);
		}
	}

	for (int i = 0; i < 4; ++i) {
		orb_unadvertise(_pfd[i]);
	}

	return test_note("PASS unadvertise");
}
Exemplo n.º 2
0
int uORBTest::UnitTest::test_multi2()
{

	test_note("Testing multi-topic 2 test (queue simulation)");
	//test: first subscribe, then advertise

	_thread_should_exit = false;
	const int num_instances = 3;
	int orb_data_fd[num_instances];
	int orb_data_next = 0;

	for (int i = 0; i < num_instances; ++i) {
//		PX4_WARN("subscribe %i, t=%" PRIu64, i, hrt_absolute_time());
		orb_data_fd[i] = orb_subscribe_multi(ORB_ID(orb_test_medium_multi), i);
	}

	char *const args[1] = { NULL };
	int pubsub_task = px4_task_spawn_cmd("uorb_test_multi",
					     SCHED_DEFAULT,
					     SCHED_PRIORITY_MAX - 5,
					     1500,
					     (px4_main_t)&uORBTest::UnitTest::pub_test_multi2_entry,
					     args);

	if (pubsub_task < 0) {
		return test_fail("failed launching task");
	}

	hrt_abstime last_time = 0;

	while (!_thread_should_exit) {

		bool updated = false;
		int orb_data_cur_fd = orb_data_fd[orb_data_next];
		orb_check(orb_data_cur_fd, &updated);

		if (updated) {
			struct orb_test_medium msg;
			orb_copy(ORB_ID(orb_test_medium_multi), orb_data_cur_fd, &msg);
			usleep(1000);

			if (last_time >= msg.time && last_time != 0) {
				return test_fail("Timestamp not increasing! (%" PRIu64 " >= %" PRIu64 ")", last_time, msg.time);
			}

			last_time = msg.time;

//			PX4_WARN("      got message (val=%i, idx=%i, t=%" PRIu64 ")", msg.val, orb_data_next, msg.time);
			orb_data_next = (orb_data_next + 1) % num_instances;
		}
	}

	for (int i = 0; i < num_instances; ++i) {
		orb_unsubscribe(orb_data_fd[i]);
	}

	return test_note("PASS multi-topic 2 test (queue simulation)");
}
Exemplo n.º 3
0
int uORBTest::UnitTest::test_queue_poll_notify()
{
	test_note("Testing orb queuing (poll & notify)");

	struct orb_test_medium t;
	int sfd;

	if ((sfd = orb_subscribe(ORB_ID(orb_test_medium_queue_poll))) < 0) {
		return test_fail("subscribe failed: %d", errno);
	}

	_thread_should_exit = false;

	char *const args[1] = { nullptr };
	int pubsub_task = px4_task_spawn_cmd("uorb_test_queue",
					     SCHED_DEFAULT,
					     SCHED_PRIORITY_MIN + 5,
					     1500,
					     (px4_main_t)&uORBTest::UnitTest::pub_test_queue_entry,
					     args);

	if (pubsub_task < 0) {
		return test_fail("failed launching task");
	}

	int next_expected_val = 0;
	px4_pollfd_struct_t fds[1];
	fds[0].fd = sfd;
	fds[0].events = POLLIN;

	while (!_thread_should_exit) {

		int poll_ret = px4_poll(fds, 1, 500);

		if (poll_ret == 0) {
			if (_thread_should_exit) {
				break;
			}

			return test_fail("poll timeout");

		} else if (poll_ret < 0) {
			return test_fail("poll error (%d, %d)", poll_ret, errno);
		}

		if (fds[0].revents & POLLIN) {
			orb_copy(ORB_ID(orb_test_medium_queue_poll), sfd, &t);

			if (next_expected_val != t.val) {
				return test_fail("copy mismatch: %d expected %d", t.val, next_expected_val);
			}

			++next_expected_val;
		}
	}

	if (_num_messages_sent != next_expected_val) {
		return test_fail("number of sent and received messages mismatch (sent: %i, received: %i)",
				 _num_messages_sent, next_expected_val);
	}

	return test_note("PASS orb queuing (poll & notify), got %i messages", next_expected_val);
}
Exemplo n.º 4
0
int uORBTest::UnitTest::test_queue()
{
	test_note("Testing orb queuing");

	struct orb_test_medium t, u;
	int sfd;
	orb_advert_t ptopic;
	bool updated;

	sfd = orb_subscribe(ORB_ID(orb_test_medium_queue));

	if (sfd < 0) {
		return test_fail("subscribe failed: %d", errno);
	}


	const unsigned int queue_size = 11;
	t.val = 0;
	ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue), &t, queue_size);

	if (ptopic == nullptr) {
		return test_fail("advertise failed: %d", errno);
	}

	orb_check(sfd, &updated);

	if (!updated) {
		return test_fail("update flag not set");
	}

	if (PX4_OK != orb_copy(ORB_ID(orb_test_medium_queue), sfd, &u)) {
		return test_fail("copy(1) failed: %d", errno);
	}

	if (u.val != t.val) {
		return test_fail("copy(1) mismatch: %d expected %d", u.val, t.val);
	}

	orb_check(sfd, &updated);

	if (updated) {
		return test_fail("spurious updated flag");
	}

#define CHECK_UPDATED(element) \
	orb_check(sfd, &updated); \
	if (!updated) { \
		return test_fail("update flag not set, element %i", element); \
	}
#define CHECK_NOT_UPDATED(element) \
	orb_check(sfd, &updated); \
	if (updated) { \
		return test_fail("update flag set, element %i", element); \
	}
#define CHECK_COPY(i_got, i_correct) \
	orb_copy(ORB_ID(orb_test_medium_queue), sfd, &u); \
	if (i_got != i_correct) { \
		return test_fail("got wrong element from the queue (got %i, should be %i)", i_got, i_correct); \
	}

	//no messages in the queue anymore

	test_note("  Testing to write some elements...");

	for (unsigned int i = 0; i < queue_size - 2; ++i) {
		t.val = i;
		orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &t);
	}

	for (unsigned int i = 0; i < queue_size - 2; ++i) {
		CHECK_UPDATED(i);
		CHECK_COPY(u.val, i);
	}

	CHECK_NOT_UPDATED(queue_size);

	test_note("  Testing overflow...");
	int overflow_by = 3;

	for (unsigned int i = 0; i < queue_size + overflow_by; ++i) {
		t.val = i;
		orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &t);
	}

	for (unsigned int i = 0; i < queue_size; ++i) {
		CHECK_UPDATED(i);
		CHECK_COPY(u.val, i + overflow_by);
	}

	CHECK_NOT_UPDATED(queue_size);

	test_note("  Testing underflow...");

	for (unsigned int i = 0; i < queue_size; ++i) {
		CHECK_NOT_UPDATED(i);
		CHECK_COPY(u.val, queue_size + overflow_by - 1);
	}

	t.val = 943;
	orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &t);
	CHECK_UPDATED(-1);
	CHECK_COPY(u.val, t.val);

#undef CHECK_COPY
#undef CHECK_UPDATED
#undef CHECK_NOT_UPDATED

	orb_unadvertise(ptopic);

	return test_note("PASS orb queuing");
}
Exemplo n.º 5
0
int uORBTest::UnitTest::test_multi_reversed()
{
	test_note("try multi-topic support subscribing before publishing");

	/* For these tests 0 and 1 instances are taken from before, therefore continue with 2 and 3. */

	/* Subscribe first and advertise afterwards. */
	int sfd2 = orb_subscribe_multi(ORB_ID(orb_multitest), 2);

	if (sfd2 < 0) {
		return test_fail("sub. id2: ret: %d", sfd2);
	}

	struct orb_test t {}, u {};

	t.val = 0;

	int instance2;

	_pfd[2] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance2, ORB_PRIO_MAX);

	int instance3;

	_pfd[3] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance3, ORB_PRIO_MIN);

	test_note("advertised");

	if (instance2 != 2) {
		return test_fail("mult. id2: %d", instance2);
	}

	if (instance3 != 3) {
		return test_fail("mult. id3: %d", instance3);
	}

	t.val = 204;

	if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[2], &t)) {
		return test_fail("mult. pub0 fail");
	}


	t.val = 304;

	if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[3], &t)) {
		return test_fail("mult. pub1 fail");
	}

	test_note("published");

	if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd2, &u)) {
		return test_fail("sub #2 copy failed: %d", errno);
	}

	if (u.val != 204) {
		return test_fail("sub #3 val. mismatch: %d", u.val);
	}

	int sfd3 = orb_subscribe_multi(ORB_ID(orb_multitest), 3);

	if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd3, &u)) {
		return test_fail("sub #3 copy failed: %d", errno);
	}

	if (u.val != 304) {
		return test_fail("sub #3 val. mismatch: %d", u.val);
	}

	return test_note("PASS multi-topic reversed");
}
Exemplo n.º 6
0
int uORBTest::UnitTest::test_multi()
{
	/* this routine tests the multi-topic support */
	test_note("try multi-topic support");

	struct orb_test t {}, u {};
	t.val = 0;
	int instance0;
	_pfd[0] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0, ORB_PRIO_MAX);

	test_note("advertised");

	int instance1;
	_pfd[1] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);

	if (instance0 != 0) {
		return test_fail("mult. id0: %d", instance0);
	}

	if (instance1 != 1) {
		return test_fail("mult. id1: %d", instance1);
	}

	t.val = 103;

	if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[0], &t)) {
		return test_fail("mult. pub0 fail");
	}

	test_note("published");

	t.val = 203;

	if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[1], &t)) {
		return test_fail("mult. pub1 fail");
	}

	/* subscribe to both topics and ensure valid data is received */
	int sfd0 = orb_subscribe_multi(ORB_ID(orb_multitest), 0);

	if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd0, &u)) {
		return test_fail("sub #0 copy failed: %d", errno);
	}

	if (u.val != 103) {
		return test_fail("sub #0 val. mismatch: %d", u.val);
	}

	int sfd1 = orb_subscribe_multi(ORB_ID(orb_multitest), 1);

	if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd1, &u)) {
		return test_fail("sub #1 copy failed: %d", errno);
	}

	if (u.val != 203) {
		return test_fail("sub #1 val. mismatch: %d", u.val);
	}

	/* test priorities */
	int prio;

	if (PX4_OK != orb_priority(sfd0, &prio)) {
		return test_fail("prio #0");
	}

	if (prio != ORB_PRIO_MAX) {
		return test_fail("prio: %d", prio);
	}

	if (PX4_OK != orb_priority(sfd1, &prio)) {
		return test_fail("prio #1");
	}

	if (prio != ORB_PRIO_MIN) {
		return test_fail("prio: %d", prio);
	}

	if (PX4_OK != latency_test<struct orb_test>(ORB_ID(orb_test), false)) {
		return test_fail("latency test failed");
	}

	orb_unsubscribe(sfd0);
	orb_unsubscribe(sfd1);

	return test_note("PASS multi-topic test");
}
Exemplo n.º 7
0
int uORBTest::UnitTest::test_single()
{
	test_note("try single-topic support");

	struct orb_test t, u;
	int sfd;
	orb_advert_t ptopic;
	bool updated;

	t.val = 0;
	ptopic = orb_advertise(ORB_ID(orb_test), &t);

	if (ptopic == nullptr) {
		return test_fail("advertise failed: %d", errno);
	}

	test_note("publish handle 0x%08x", ptopic);
	sfd = orb_subscribe(ORB_ID(orb_test));

	if (sfd < 0) {
		return test_fail("subscribe failed: %d", errno);
	}

	test_note("subscribe fd %d", sfd);
	u.val = 1;

	if (PX4_OK != orb_copy(ORB_ID(orb_test), sfd, &u)) {
		return test_fail("copy(1) failed: %d", errno);
	}

	if (u.val != t.val) {
		return test_fail("copy(1) mismatch: %d expected %d", u.val, t.val);
	}

	if (PX4_OK != orb_check(sfd, &updated)) {
		return test_fail("check(1) failed");
	}

	if (updated) {
		return test_fail("spurious updated flag");
	}

	t.val = 2;
	test_note("try publish");

	if (PX4_OK != orb_publish(ORB_ID(orb_test), ptopic, &t)) {
		return test_fail("publish failed");
	}

	if (PX4_OK != orb_check(sfd, &updated)) {
		return test_fail("check(2) failed");
	}

	if (!updated) {
		return test_fail("missing updated flag");
	}

	if (PX4_OK != orb_copy(ORB_ID(orb_test), sfd, &u)) {
		return test_fail("copy(2) failed: %d", errno);
	}

	if (u.val != t.val) {
		return test_fail("copy(2) mismatch: %d expected %d", u.val, t.val);
	}

	orb_unsubscribe(sfd);

	int ret = orb_unadvertise(ptopic);

	if (ret != PX4_OK) {
		return test_fail("orb_unadvertise failed: %i", ret);
	}

	return test_note("PASS single-topic test");
}
Exemplo n.º 8
0
bool test_task_random_RT_AAT_FAI(TaskManager& task_manager,
                                 const Waypoints &waypoints,
                                 const unsigned _num_points)
{
    const Waypoint *wp;

    OrderedTaskPoint *tp;
    char tmp[255];
    char tskType[20];
    tskType[0] = '\0';


    switch (rand() %3) {
    case 0:
        task_manager.SetFactory(TaskFactoryType::AAT);
        strcpy(tskType,"AAT");
        test_note("# creating random AAT task\n");
        break;
    case 1:
        task_manager.SetFactory(TaskFactoryType::RACING);
        strcpy(tskType,"RT");
        test_note("# creating random RT task\n");
        break;
    case 2:
        task_manager.SetFactory(TaskFactoryType::FAI_GENERAL);
        strcpy(tskType,"FAI");
        test_note("# creating random FAI GENERAL\n");
        break;
    }

    AbstractTaskFactory &fact = task_manager.GetFactory();

    //max points includes start & finish
    const TaskFactoryConstraints &constraints =
        task_manager.GetOrderedTask().GetFactoryConstraints();
    const unsigned num_points_total =
        std::max(constraints.min_points,
                 _num_points % constraints.max_points) + 1;
    const unsigned num_int_points = num_points_total - 2;

    test_note("# adding start\n");
    wp = random_waypoint(waypoints);
    if (wp) {
        const TaskPointFactoryType s = GetRandomType(fact.GetStartTypes());

        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) {
            const TaskPointFactoryType s = GetRandomType(fact.GetIntermediateTypes());

            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) {
        const TaskPointFactoryType s = GetRandomType(fact.GetFinishTypes());

        tp = fact.CreateFinish(s,*wp);
        if (!fact.Append(*tp,false)) {
            return false;
        }
        delete tp;
    }

    fact.UpdateStatsGeometry();

    test_note("# validating task..\n");
    if (!fact.Validate()) {
        return false;
    }
    if (task_manager.GetOrderedTask().GetFactoryType()
            == TaskFactoryType::FAI_GENERAL)
    {
        test_note("# checking OZs for FAI General..\n");
        if (!fact.ValidateFAIOZs())
            return false;
    }

    if (task_manager.GetOrderedTask().GetFactoryType()
            == TaskFactoryType::MAT)
    {
        test_note("# checking OZs for MAT General..\n");
        if (!fact.ValidateMATOZs())
            return false;
    }
    task_manager.Resume();
    sprintf(tmp, "# SUCCESS CREATING %s task! task_size():%d..\n",
            tskType,
            task_manager.TaskSize());
    test_note(tmp);
    return true;
}
Exemplo n.º 9
0
bool test_task_type_manip(TaskManager& task_manager,
                          const Waypoints &waypoints, unsigned n_points)
{
    if (!test_task_random_RT_AAT_FAI(task_manager, waypoints, n_points))
        return false;

    switch (rand() %4) {
    case 0:
        task_manager.SetFactory(TaskFactoryType::AAT);
        test_note("# switched FACTORY TYPE to AAT\n");
        break;
    case 1:
        task_manager.SetFactory(TaskFactoryType::RACING);
        test_note("# switched FACTORY TYPE to RT\n");
        break;
    case 2:
        task_manager.SetFactory(TaskFactoryType::FAI_GENERAL);
        test_note("# switched FACTORY TYPE to FAI GENERAL\n");
        break;
    case 3:
        task_manager.SetFactory(TaskFactoryType::MAT);
        test_note("# switched FACTORY TYPE to MAT\n");
        break;
    default:
        test_note("# unknown task type\n");
    }

    AbstractTaskFactory &fact = task_manager.GetFactory();
    fact.MutateTPsToTaskType();
    fact.UpdateStatsGeometry();

    test_note("# checking mutated start..\n");
    if (!fact.IsValidStartType(fact.GetType(task_manager.GetOrderedTask().GetTaskPoint(0))))
        return false;


    char tmp[255];
    sprintf(tmp, "# checking mutated intermediates.  task_size():%d..\n",
            task_manager.TaskSize());
    test_note(tmp);

    for (unsigned i = 1; i < (task_manager.TaskSize() - 1); i++) {
        sprintf(tmp, "# checking mutated intermediate point %d..\n", i);
        test_note(tmp);
        if (!fact.IsValidIntermediateType(fact.GetType(task_manager.GetOrderedTask().GetTaskPoint(i))))
            return false;
    }

    test_note("# checking mutated finish..\n");
    if (!fact.IsValidFinishType(
                fact.GetType(task_manager.GetOrderedTask().GetTaskPoint(task_manager.TaskSize() - 1))))
        return false;

    test_note("# validating task..\n");
    if (!fact.Validate()) {
        return false;
    }
    test_note("# checking task..\n");
    if (!task_manager.CheckOrderedTask()) {
        return false;
    }

    if (task_manager.GetOrderedTask().GetFactoryType() ==
            TaskFactoryType::FAI_GENERAL) {
        test_note("# checking OZs for FAI task..\n");
        if (!fact.ValidateFAIOZs())
            return false;
    }

    if (task_manager.GetOrderedTask().GetFactoryType() ==
            TaskFactoryType::MAT) {
        test_note("# checking OZs for MAT task..\n");
        if (!fact.ValidateMATOZs())
            return false;
    }
    return true;
}
Exemplo n.º 10
0
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;
}
Exemplo n.º 11
0
bool test_task_type_manip(TaskManager& task_manager,
                     const Waypoints &waypoints, unsigned n_points)
{
  if (!test_task_random_RT_AAT_FAI(task_manager, waypoints, n_points))
    return false;

  AbstractTaskFactory &fact = task_manager.get_factory();

  switch (rand() %3) {
  case 0:
    task_manager.set_factory(TaskBehaviour::FACTORY_AAT);
    test_note("# switched FACTORY TYPE to AAT\n");
    break;
  case 1:
    task_manager.set_factory(TaskBehaviour::FACTORY_RT);
    test_note("# switched FACTORY TYPE to RT\n");
    break;
  case 2:
    task_manager.set_factory(TaskBehaviour::FACTORY_FAI_GENERAL);
    test_note("# switched FACTORY TYPE to FAI GENERAL\n");
    break;
  default:
    test_note("# unknown task type\n");
  }

  fact.mutate_tps_to_task_type();

  test_note("# checking mutated start..\n");
  if (!fact.validStartType(
      fact.getType(*task_manager.get_ordered_task().getTaskPoint(0))))
    return false;


  char tmp[255];
  sprintf(tmp, "# checking mutated intermediates.  task_size():%d..\n",
      task_manager.task_size());
  test_note(tmp);

  for (unsigned i = 1; i < (task_manager.task_size() - 1); i++) {
    sprintf(tmp, "# checking mutated intermediate point %d..\n", i);
    test_note(tmp);
    if (!fact.validIntermediateType(
        fact.getType(*task_manager.get_ordered_task().getTaskPoint(i))))
      return false;
  }

  test_note("# checking mutated finish..\n");
  if (!fact.validFinishType(
      fact.getType(*task_manager.get_ordered_task().getTaskPoint(
          task_manager.task_size() - 1))))
    return false;

  test_note("# validating task..\n");
  if (!fact.validate()) {
    return false;
  }
  test_note("# checking task..\n");
  if (!task_manager.check_ordered_task()) {
    return false;
  }

  if (task_manager.get_ordered_task().get_factory_type() ==
                                      TaskBehaviour::FACTORY_FAI_GENERAL) {
    test_note("# checking OZs for FAI task..\n");
    if (!fact.validateFAIOZs())
      return false;
  }

  return true;
}