// Start a move to the value setpoint:
AMControl::FailureExplanation CLSMDriveMotorControl::move(double Setpoint) {
if(isMoving()) {
if(!allowsMovesWhileMoving()) {
AMErrorMon::debug(this, AMPVCONTROL_COULD_NOT_MOVE_WHILE_MOVING, QString("AMPVControl: Could not move %1 (%2) to %3, because the control is already moving.").arg(name()).arg(writePV_->pvName()).arg(setpoint_));
return AlreadyMovingFailure;
}
if(!moveInProgress()) {
// the control is already moving, but it's not one of our moves. In this situation, there is no way that we can start a move and be assured that we'll be notified when OUR move finishes.
AMErrorMon::debug(this, AMPVCONTROL_COULD_NOT_MOVE_WHILE_MOVING_EXTERNAL, QString("AMPVControl: Could not move %1 (%2) to %3, because the control is already moving.").arg(name()).arg(writePV_->pvName()).arg(setpoint_));
return AlreadyMovingFailure;
}
// Otherwise: This control supports mid-move updates, and we're already moving. We just need to update the setpoint and send it.
setpoint_ = writeUnitConverter()->convertToRaw(Setpoint);
writePV_->setValue(setpoint_);
// since the settling phase is considered part of a move, it's OK to be here while settling... But for Acquaman purposes, this will be considered a single re-targetted move, even though the hardware will see two. If we're settling, disable the settling timer, because we only want to respond to the end of the second move.
if(settlingInProgress_) {
settlingInProgress_ = false;
settlingTimer_.stop();
}
emit moveReTargetted(); // re-targetted moves will emit moveReTargetted(), although no moveSucceeded()/moveFailed() will be issued for the initial move.
}
else {
settlingInProgress_ = false;
stopInProgress_ = false;
moveInProgress_ = false;
// Flag that "our" move started:
startInProgress_ = true;
// This is our new target:
setpoint_ = writeUnitConverter()->convertToRaw(Setpoint);
// Special case: "null move" should complete immediately. Use only if moveStartTolerance() is non-zero, and the move distance is within moveStartTolerance().
if(moveStartTolerance() != 0 && fabs(setpoint()-value()) < moveStartTolerance()) {
startInProgress_ = false;
moveInProgress_ = true;
emit moveStarted();
moveInProgress_ = false;
emit moveSucceeded();
}
// Normal move:
else {
// Issue the move command:
writePV_->setValue(setpoint_);
// start the timer to check if our move failed to start:
moveStartTimer_.start(int(moveStartTimeout_*1000.0));
}
}
return NoFailure;
}
void AMPVwStatusAndUnitConversionControl::setUnitConverters(AMAbstractUnitConverter *readUnitConverter, AMAbstractUnitConverter* writeUnitConverter)
{
double oldValue = value();
double oldSetpoint = setpoint();
delete readConverter_;
readConverter_ = readUnitConverter;
if(writeConverter_)
delete writeConverter_;
writeConverter_ = writeUnitConverter;
double newValue = value();
double newSetpoint = setpoint();
setUnits(readConverter_->units());
if(newValue != oldValue)
emit valueChanged(newValue);
if(newSetpoint != oldSetpoint)
emit setpointChanged(newSetpoint);
}
void
plD_line_ljii(PLStream *pls, short x1a, short y1a, short x2a, short y2a)
{
PLDev *dev = (PLDev *) pls->dev;
int i;
int xx1 = x1a, yy1 = y1a, xx2 = x2a, yy2 = y2a;
PLINT x1b, y1b, x2b, y2b;
PLFLT length, fx, fy, dx, dy;
/* Take mirror image, since PCL expects (0,0) to be at top left */
yy1 = dev->ymax - (yy1 - dev->ymin);
yy2 = dev->ymax - (yy2 - dev->ymin);
/* Rotate by 90 degrees */
plRotPhy(ORIENTATION, dev->xmin, dev->ymin, dev->xmax, dev->ymax, &xx1, &yy1);
plRotPhy(ORIENTATION, dev->xmin, dev->ymin, dev->xmax, dev->ymax, &xx2, &yy2);
x1b = xx1, x2b = xx2, y1b = yy1, y2b = yy2;
length = (PLFLT) sqrt((double)
((x2b - x1b) * (x2b - x1b) + (y2b - y1b) * (y2b - y1b)));
if (length == 0.)
length = 1.;
dx = (xx2 - xx1) / length;
dy = (yy2 - yy1) / length;
fx = xx1;
fy = yy1;
setpoint((PLINT) xx1, (PLINT) yy1);
setpoint((PLINT) xx2, (PLINT) yy2);
for (i = 1; i <= (int) length; i++)
setpoint((PLINT) (fx += dx), (PLINT) (fy += dy));
}
// This is used to handle the timeout of a move start:
void CLSMDriveMotorControl::onMoveStartTimeout() {
moveStartTimer_.stop();
// This is only meaningful if one of our moves is in progress.
if(startInProgress_) {
// give up on this move:
startInProgress_ = false;
// Special case: only applies if moveTimeoutTolerance_ != 0 AND we've gotten within moveTimeoutTolerance_ of the setpoint.
if(moveTimeoutTolerance() != 0.0 && fabs(setpoint() - value()) < moveTimeoutTolerance_) {
moveInProgress_ = true;
emit moveStarted();
moveInProgress_ = false;
emit moveSucceeded();
}
else {
// The move didn't start within our allowed start period. That counts as a move failed.
emit moveFailed(AMControl::TimeoutFailure);
}
}
}
void* ThreadFunction2(void* port)
{
int secondcounter = 0;
int outtransition = 0;
int state = (int)(HASH("de.cau.cs.kieler.simplerailctrl.impl.SetPointImpl@7c26a0ba (initial: true) (point: [POINT_19, POINT_20, POINT_23, POINT_24], direction: BRANCH)"));
if (DEBUGCONTROLLER) printf("Thread 'org.eclipse.internal.xpand2.type.XpandIterator@432dbb4b' started.\n");
while(1) {
if (DEBUGCONTROLLER) printf("Entering state %d.\n",state);
//escape if railway system is down
if (!railway_alive(railway)) {
if (DEBUGCONTROLLER) printf("Railway system down - terminating thread.\n");
exit(EXIT_FAILURE);
}//end if
//all states
if (state == -1) {}
else if (state == ((int)(HASH("de.cau.cs.kieler.simplerailctrl.impl.SetSpeedImpl@73b61aea (initial: false) (track: [IC_JCT_0, IC_LN_0, IC_LN_1, IC_LN_2, IC_LN_3, IC_LN_4, IC_LN_5, IC_ST_0, IC_ST_2, IC_ST_4], speed: 100, direction: FWD)")))) {
P(2); // GET THE GLOBALLOCK
if (DEBUGCONTROLLER) printf("State %d (de.cau.cs.kieler.simplerailctrl.impl.SetSpeedImpl@73b61aea (initial: false) (track: [IC_JCT_0, IC_LN_0, IC_LN_1, IC_LN_2, IC_LN_3, IC_LN_4, IC_LN_5, IC_ST_0, IC_ST_2, IC_ST_4], speed: 100, direction: FWD)) entered.\n",(int)(HASH("de.cau.cs.kieler.simplerailctrl.impl.SetSpeedImpl@73b61aea (initial: false) (track: [IC_JCT_0, IC_LN_0, IC_LN_1, IC_LN_2, IC_LN_3, IC_LN_4, IC_LN_5, IC_ST_0, IC_ST_2, IC_ST_4], speed: 100, direction: FWD)")));
//state1 entry code (SET SPEED)
settrack(railway, IC_JCT_0, FWD, 100);
setsignal(railway, IC_JCT_0, FIRST, OFF);
setsignal(railway, IC_JCT_0, SECOND, GREEN);
settrack(railway, IC_LN_0, FWD, 100);
setsignal(railway, IC_LN_0, FIRST, OFF);
setsignal(railway, IC_LN_0, SECOND, GREEN);
settrack(railway, IC_LN_1, FWD, 100);
setsignal(railway, IC_LN_1, FIRST, OFF);
setsignal(railway, IC_LN_1, SECOND, GREEN);
settrack(railway, IC_LN_2, FWD, 100);
setsignal(railway, IC_LN_2, FIRST, OFF);
setsignal(railway, IC_LN_2, SECOND, GREEN);
settrack(railway, IC_LN_3, FWD, 100);
setsignal(railway, IC_LN_3, FIRST, OFF);
setsignal(railway, IC_LN_3, SECOND, GREEN);
settrack(railway, IC_LN_4, FWD, 100);
setsignal(railway, IC_LN_4, FIRST, OFF);
setsignal(railway, IC_LN_4, SECOND, GREEN);
settrack(railway, IC_LN_5, FWD, 100);
setsignal(railway, IC_LN_5, FIRST, OFF);
setsignal(railway, IC_LN_5, SECOND, GREEN);
settrack(railway, IC_ST_0, FWD, 100);
setsignal(railway, IC_ST_0, FIRST, OFF);
setsignal(railway, IC_ST_0, SECOND, GREEN);
settrack(railway, IC_ST_2, FWD, 100);
setsignal(railway, IC_ST_2, FIRST, OFF);
setsignal(railway, IC_ST_2, SECOND, GREEN);
settrack(railway, IC_ST_4, FWD, 100);
setsignal(railway, IC_ST_4, FIRST, OFF);
setsignal(railway, IC_ST_4, SECOND, GREEN);
V(2); // RELEASE THE GLOBALLOCK
//state1 transitions code
secondcounter = 0;
while(1) {
P(2); // GET THE GLOBALLOCK
outtransition = 0;
if ((DEBUGCONTROLLER)&&(!(secondcounter%10))) printf("Transition wait (%d seconds).\n",secondcounter/10);
outtransition = 1;
//test for contact-events
if ((getcontact_sync(railway,IC_ST_2,FIRST,1) != 0)) {
V(2); // RELEASE THE GLOBALLOCK
if (DEBUGCONTROLLER) printf("Event-Transition taken.\n");
state = HASH("de.cau.cs.kieler.simplerailctrl.impl.SetSpeedImpl@2af590c6 (initial: false) (track: [IC_ST_0, IC_ST_2], speed: 30, direction: FWD)");
break;
}
V(2); // RELEASE THE GLOBALLOCK
//escape if railway system is down
if (!railway_alive(railway)) {
if (DEBUGCONTROLLER) printf("Railway system down - terminating thread.\n");
exit(EXIT_FAILURE);
}//end if
//escape if not outtransitions
if (!outtransition) {
if (DEBUGCONTROLLER) printf("Final state - terminating thread.\n");
//set localTERMINATED := 1 (so that we not wait on this thread in any next macro-tick any more)
localTERMINATED2 = 1;
return (void *)1;
}//end if
secondcounter++;
usleep(100000); // sleep for 100ms
//set localLOCK := 1 and wait for its reset
localLOCK2 = 1;
while (localLOCK2 == 1){
if (!railway_alive(railway)) {
if (DEBUGCONTROLLER) printf("Railway system down - terminating thread.\n");
exit(EXIT_FAILURE);
}//end if
usleep(5000); // sleep for 5ms
//if (DEBUGCONTROLLER) printf("Thread 2 waiting for next tick.\n");
}//end while
}//end while
}//end if
else if (state == ((int)(HASH("de.cau.cs.kieler.simplerailctrl.impl.SetPointImpl@7c26a0ba (initial: true) (point: [POINT_19, POINT_20, POINT_23, POINT_24], direction: BRANCH)")))) {
P(2); // GET THE GLOBALLOCK
if (DEBUGCONTROLLER) printf("State %d (de.cau.cs.kieler.simplerailctrl.impl.SetPointImpl@7c26a0ba (initial: true) (point: [POINT_19, POINT_20, POINT_23, POINT_24], direction: BRANCH)) entered.\n",(int)(HASH("de.cau.cs.kieler.simplerailctrl.impl.SetPointImpl@7c26a0ba (initial: true) (point: [POINT_19, POINT_20, POINT_23, POINT_24], direction: BRANCH)")));
//state2 enty code (SET POINT)
setpoint(railway, POINT_19, BRANCH);
setpoint(railway, POINT_20, BRANCH);
setpoint(railway, POINT_23, BRANCH);
setpoint(railway, POINT_24, BRANCH);
V(2); // RELEASE THE GLOBALLOCK
//state2 transitions code
secondcounter = 0;
while(1) {
P(2); // GET THE GLOBALLOCK
outtransition = 0;
if ((DEBUGCONTROLLER)&&(!(secondcounter%10))) printf("Transition wait (%d seconds).\n",secondcounter/10);
outtransition = 1;
//test for wait-events
if (secondcounter/10 >= 5) {
V(2); // RELEASE THE GLOBALLOCK
if (DEBUGCONTROLLER) printf("Wait-Transition taken.\n");
state = HASH("de.cau.cs.kieler.simplerailctrl.impl.SetSpeedImpl@73b61aea (initial: false) (track: [IC_JCT_0, IC_LN_0, IC_LN_1, IC_LN_2, IC_LN_3, IC_LN_4, IC_LN_5, IC_ST_0, IC_ST_2, IC_ST_4], speed: 100, direction: FWD)");
break;
}
V(2); // RELEASE THE GLOBALLOCK
//escape if railway system is down
if (!railway_alive(railway)) {
if (DEBUGCONTROLLER) printf("Railway system down - terminating thread.\n");
exit(EXIT_FAILURE);
}//end if
//escape if not outtransitions
if (!outtransition) {
if (DEBUGCONTROLLER) printf("Final state - terminating thread.\n");
//set localTERMINATED := 1 (so that we not wait on this thread in any next macro-tick any more)
localTERMINATED2 = 1;
return (void *)1;
}//end if
secondcounter++;
usleep(100000); // sleep for 100ms
//set localLOCK := 1 and wait for its reset
localLOCK2 = 1;
while (localLOCK2 == 1){
if (!railway_alive(railway)) {
if (DEBUGCONTROLLER) printf("Railway system down - terminating thread.\n");
exit(EXIT_FAILURE);
}//end if
usleep(5000); // sleep for 5ms
//if (DEBUGCONTROLLER) printf("Thread 2 waiting for next tick.\n");
}//end while
}//end while
}//end if
else if (state == ((int)(HASH("de.cau.cs.kieler.simplerailctrl.impl.SetSpeedImpl@2af590c6 (initial: false) (track: [IC_ST_0, IC_ST_2], speed: 30, direction: FWD)")))) {
P(2); // GET THE GLOBALLOCK
if (DEBUGCONTROLLER) printf("State %d (de.cau.cs.kieler.simplerailctrl.impl.SetSpeedImpl@2af590c6 (initial: false) (track: [IC_ST_0, IC_ST_2], speed: 30, direction: FWD)) entered.\n",(int)(HASH("de.cau.cs.kieler.simplerailctrl.impl.SetSpeedImpl@2af590c6 (initial: false) (track: [IC_ST_0, IC_ST_2], speed: 30, direction: FWD)")));
//state3 entry code (SET SPEED)
settrack(railway, IC_ST_0, FWD, 30);
setsignal(railway, IC_ST_0, FIRST, OFF);
setsignal(railway, IC_ST_0, SECOND, YELLOW);
settrack(railway, IC_ST_2, FWD, 30);
setsignal(railway, IC_ST_2, FIRST, OFF);
setsignal(railway, IC_ST_2, SECOND, YELLOW);
V(2); // RELEASE THE GLOBALLOCK
//state3 transitions code
secondcounter = 0;
while(1) {
P(2); // GET THE GLOBALLOCK
outtransition = 0;
if ((DEBUGCONTROLLER)&&(!(secondcounter%10))) printf("Transition wait (%d seconds).\n",secondcounter/10);
outtransition = 1;
//test for contact-events
if ((getcontact_sync(railway,IC_ST_2,SECOND,1) != 0)) {
V(2); // RELEASE THE GLOBALLOCK
if (DEBUGCONTROLLER) printf("Event-Transition taken.\n");
state = HASH("de.cau.cs.kieler.simplerailctrl.impl.SetSpeedImpl@5ff3cd32 (initial: false) (track: [IC_ST_2], speed: 0, direction: FWD)");
break;
}
V(2); // RELEASE THE GLOBALLOCK
//escape if railway system is down
if (!railway_alive(railway)) {
if (DEBUGCONTROLLER) printf("Railway system down - terminating thread.\n");
exit(EXIT_FAILURE);
}//end if
//escape if not outtransitions
if (!outtransition) {
if (DEBUGCONTROLLER) printf("Final state - terminating thread.\n");
//set localTERMINATED := 1 (so that we not wait on this thread in any next macro-tick any more)
localTERMINATED2 = 1;
return (void *)1;
}//end if
secondcounter++;
usleep(100000); // sleep for 100ms
//set localLOCK := 1 and wait for its reset
localLOCK2 = 1;
while (localLOCK2 == 1){
if (!railway_alive(railway)) {
if (DEBUGCONTROLLER) printf("Railway system down - terminating thread.\n");
exit(EXIT_FAILURE);
}//end if
usleep(5000); // sleep for 5ms
//if (DEBUGCONTROLLER) printf("Thread 2 waiting for next tick.\n");
}//end while
}//end while
}//end if
else if (state == ((int)(HASH("de.cau.cs.kieler.simplerailctrl.impl.SetSpeedImpl@5ff3cd32 (initial: false) (track: [IC_ST_2], speed: 0, direction: FWD)")))) {
P(2); // GET THE GLOBALLOCK
if (DEBUGCONTROLLER) printf("State %d (de.cau.cs.kieler.simplerailctrl.impl.SetSpeedImpl@5ff3cd32 (initial: false) (track: [IC_ST_2], speed: 0, direction: FWD)) entered.\n",(int)(HASH("de.cau.cs.kieler.simplerailctrl.impl.SetSpeedImpl@5ff3cd32 (initial: false) (track: [IC_ST_2], speed: 0, direction: FWD)")));
//state4 entry code (SET SPEED)
settrack(railway, IC_ST_2, FWD, 0);
setsignal(railway, IC_ST_2, FIRST, OFF);
setsignal(railway, IC_ST_2, SECOND, RED);
V(2); // RELEASE THE GLOBALLOCK
//state4 transitions code
secondcounter = 0;
while(1) {
P(2); // GET THE GLOBALLOCK
outtransition = 0;
if ((DEBUGCONTROLLER)&&(!(secondcounter%10))) printf("Transition wait (%d seconds).\n",secondcounter/10);
outtransition = 1;
//test for wait-events
if (secondcounter/10 >= 10) {
V(2); // RELEASE THE GLOBALLOCK
if (DEBUGCONTROLLER) printf("Wait-Transition taken.\n");
state = HASH("de.cau.cs.kieler.simplerailctrl.impl.SetSpeedImpl@73b61aea (initial: false) (track: [IC_JCT_0, IC_LN_0, IC_LN_1, IC_LN_2, IC_LN_3, IC_LN_4, IC_LN_5, IC_ST_0, IC_ST_2, IC_ST_4], speed: 100, direction: FWD)");
break;
}
V(2); // RELEASE THE GLOBALLOCK
//escape if railway system is down
if (!railway_alive(railway)) {
if (DEBUGCONTROLLER) printf("Railway system down - terminating thread.\n");
exit(EXIT_FAILURE);
}//end if
//escape if not outtransitions
if (!outtransition) {
if (DEBUGCONTROLLER) printf("Final state - terminating thread.\n");
//set localTERMINATED := 1 (so that we not wait on this thread in any next macro-tick any more)
localTERMINATED2 = 1;
return (void *)1;
}//end if
secondcounter++;
usleep(100000); // sleep for 100ms
//set localLOCK := 1 and wait for its reset
localLOCK2 = 1;
while (localLOCK2 == 1){
if (!railway_alive(railway)) {
if (DEBUGCONTROLLER) printf("Railway system down - terminating thread.\n");
exit(EXIT_FAILURE);
}//end if
usleep(5000); // sleep for 5ms
//if (DEBUGCONTROLLER) printf("Thread 2 waiting for next tick.\n");
}//end while
}//end while
}//end if
}//end while
}
void
plD_line_ljiip(PLStream *pls, short x1a, short y1a, short x2a, short y2a)
{
PLDev *dev = (PLDev *) pls->dev;
int xx1 = x1a, yy1 = y1a, xx2 = x2a, yy2 = y2a;
int abs_dx, abs_dy, dx, dy, incx, incy;
int i, j, width, residual;
PLFLT tmp;
width = MIN(pls->width, MAX_WID);
/* Take mirror image, since PCL expects (0,0) to be at top left */
yy1 = dev->ymax - (yy1 - dev->ymin);
yy2 = dev->ymax - (yy2 - dev->ymin);
/* Rotate by 90 degrees */
plRotPhy(ORIENTATION, dev->xmin, dev->ymin, dev->xmax, dev->ymax, &xx1, &yy1);
plRotPhy(ORIENTATION, dev->xmin, dev->ymin, dev->xmax, dev->ymax, &xx2, &yy2);
dx = xx2 - xx1;
dy = yy2 - yy1;
if (dx < 0) {
abs_dx = -dx;
incx = -1;
}
else {
abs_dx = dx;
incx = 1;
}
if (dy < 0) {
abs_dy = -dy;
incy = -1;
}
else {
abs_dy = dy;
incy = 1;
}
/* make pixel width narrower for diag lines */
if (abs_dy <= abs_dx) {
if (abs_dx == 0)
tmp = 1.0;
else
tmp = 1.0 - (PLFLT) abs_dy / abs_dx;
}
else {
tmp = 1.0 - (PLFLT) abs_dx / abs_dy;
}
width = floor(0.5 + width * (tmp*tmp*tmp*(1.0-0.707107) + 0.707107));
if (width < 1) width = 1;
if (width > 1) {
for (i = 0; i < width; i++) {
for (j = 0; j < width; j++) {
setpoint((PLINT) (xx1+i), (PLINT) (yy1+j));
setpoint((PLINT) (xx2+i), (PLINT) (yy2+j));
}
}
}
if (abs_dx >= abs_dy) {
residual = -(abs_dx >> 1);
if (width == 1) {
for (i = 0; i <= abs_dx; i++, xx1 += incx) {
setpoint((PLINT) (xx1), (PLINT) (yy1));
if ((residual += abs_dy) >= 0) {
residual -= abs_dx;
yy1 += incy;
}
}
}
else {
for (i = 0; i <= abs_dx; i++, xx1 += incx) {
for (j = 0; j < width; j++) {
setpoint((PLINT) (xx1), (PLINT) (yy1+j));
setpoint((PLINT) (xx1+width-1), (PLINT) (yy1+j));
}
if ((residual += abs_dy) >= 0) {
residual -= abs_dx;
yy1 += incy;
}
}
}
}
/*
** Test crossings side.
*/
static void test_lw_segment_intersects(void)
{
#define setpoint(p, x1, y1) {(p).x = (x1); (p).y = (y1);}
POINT2D p1, p2, q1, q2;
/* P: Vertical line at x=0 */
setpoint(p1, 0.0, 0.0);
p1.x = 0.0;
p1.y = 0.0;
p2.x = 0.0;
p2.y = 1.0;
/* Q: Horizontal line crossing left to right */
q1.x = -0.5;
q1.y = 0.5;
q2.x = 0.5;
q2.y = 0.5;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_CROSS_RIGHT );
/* Q: Horizontal line crossing right to left */
q1.x = 0.5;
q1.y = 0.5;
q2.x = -0.5;
q2.y = 0.5;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_CROSS_LEFT );
/* Q: Horizontal line not crossing right to left */
q1.x = 0.5;
q1.y = 1.5;
q2.x = -0.5;
q2.y = 1.5;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_NO_INTERSECTION );
/* Q: Horizontal line crossing at second vertex right to left */
q1.x = 0.5;
q1.y = 1.0;
q2.x = -0.5;
q2.y = 1.0;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_NO_INTERSECTION );
/* Q: Horizontal line crossing at first vertex right to left */
q1.x = 0.5;
q1.y = 0.0;
q2.x = -0.5;
q2.y = 0.0;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_CROSS_LEFT );
/* Q: Diagonal line with large range crossing at first vertex right to left */
q1.x = 0.5;
q1.y = 10.0;
q2.x = -0.5;
q2.y = -10.0;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_CROSS_LEFT );
/* Q: Diagonal line with large range crossing at second vertex right to left */
q1.x = 0.5;
q1.y = 11.0;
q2.x = -0.5;
q2.y = -9.0;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_NO_INTERSECTION );
/* Q: Horizontal touching from left at second vertex*/
q1.x = -0.5;
q1.y = 0.5;
q2.x = 0.0;
q2.y = 0.5;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_NO_INTERSECTION );
/* Q: Horizontal touching from right at first vertex */
q1.x = 0.0;
q1.y = 0.5;
q2.x = 0.5;
q2.y = 0.5;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_CROSS_RIGHT );
/* Q: Horizontal touching from left and far below on second vertex */
q1.x = -0.5;
q1.y = -10.5;
q2.x = 0.0;
q2.y = 0.5;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_NO_INTERSECTION );
/* Q: Horizontal touching from right and far above on second vertex */
q1.x = 0.5;
q1.y = 10.5;
q2.x = 0.0;
q2.y = 0.5;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_NO_INTERSECTION );
/* Q: Co-linear from top */
q1.x = 0.0;
q1.y = 10.0;
q2.x = 0.0;
q2.y = 0.5;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_COLINEAR );
/* Q: Co-linear from bottom */
q1.x = 0.0;
q1.y = -10.0;
q2.x = 0.0;
q2.y = 0.5;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_COLINEAR );
/* Q: Co-linear contained */
q1.x = 0.0;
q1.y = 0.4;
q2.x = 0.0;
q2.y = 0.5;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_COLINEAR );
/* Q: Horizontal touching at end point from left */
q1.x = -0.5;
q1.y = 1.0;
q2.x = 0.0;
q2.y = 1.0;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_NO_INTERSECTION );
/* Q: Horizontal touching at end point from right */
q1.x = 0.0;
q1.y = 1.0;
q2.x = 0.0;
q2.y = 0.5;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_COLINEAR );
/* Q: Horizontal touching at start point from left */
q1.x = 0.0;
q1.y = 0.0;
q2.x = -0.5;
q2.y = 0.0;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_CROSS_LEFT );
/* Q: Horizontal touching at start point from right */
q1.x = 0.0;
q1.y = 0.0;
q2.x = 0.5;
q2.y = 0.0;
CU_ASSERT( lw_segment_intersects(&p1, &p2, &q1, &q2) == SEG_CROSS_RIGHT );
}