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; }
static void CreateDefaultTask(TaskManager &task_manager, const Waypoints &way_points) { const TCHAR start_name[] = _T("Bergneustadt"); task_manager.set_factory(OrderedTask::FACTORY_MIXED); AbstractTaskFactory &factory = task_manager.get_factory(); const Waypoint *wp; OrderedTaskPoint *tp; wp = way_points.lookup_name(start_name); if (wp != NULL) { tp = factory.createStart(AbstractTaskFactory::START_LINE, *wp); if (!factory.append(tp, false)) { fprintf(stderr, "Failed to create start point\n"); } } else { fprintf(stderr, "No start waypoint\n"); } wp = way_points.lookup_name(_T("Uslar")); if (wp != NULL) { tp = factory.createIntermediate(AbstractTaskFactory::AST_CYLINDER, *wp); if (!factory.append(tp, false)) { fprintf(stderr, "Failed to create turn point\n"); } } else { fprintf(stderr, "No turn point\n"); } wp = way_points.lookup_name(_T("Suhl Goldlaut")); if (wp != NULL) { tp = factory.createIntermediate(AbstractTaskFactory::AST_CYLINDER, *wp); if (!factory.append(tp, false)) { fprintf(stderr, "Failed to create turn point\n"); } } else { fprintf(stderr, "No turn point\n"); } wp = way_points.lookup_name(start_name); if (wp != NULL) { tp = factory.createFinish(AbstractTaskFactory::FINISH_LINE, *wp); if (!factory.append(tp, false)) { fprintf(stderr, "Failed to create finish point\n"); } } else { fprintf(stderr, "No finish waypoint\n"); } }
bool test_task_bad(TaskManager& task_manager, const Waypoints& waypoints) { test_task_random(task_manager,waypoints,2); task_manager.set_factory(OrderedTask::FACTORY_RT); AbstractTaskFactory& fact = task_manager.get_factory(); const Waypoint* wp = random_waypoint(waypoints); ok (!fact.createFinish((AbstractTaskFactory::LegalPointType_t)20,*wp),"bad finish type",0); ok (!fact.createStart((AbstractTaskFactory::LegalPointType_t)20,*wp),"bad start type",0); ok (!fact.createIntermediate((AbstractTaskFactory::LegalPointType_t)20,*wp),"bad intermediate type",0); // now create a taskpoint from FAI AbstractTaskFactory::LegalPointType_t s = fact.getIntermediateTypes()[(rand() % fact.getIntermediateTypes().size())]; // test it is bad for AAT task_manager.set_factory(OrderedTask::FACTORY_AAT); AbstractTaskFactory& bfact = task_manager.get_factory(); ok (!bfact.createIntermediate(s,*wp),"bad intermediate type (after task change)",0); bfact.remove(1); ok (bfact.validate(),"ok with one tp",0); bfact.remove(1); ok (!bfact.validate(),"insufficient tps for aat",0); ok (bfact.remove(task_manager.task_size()-1,false),"remove finish manually",0); ok (!bfact.validate(),"aat is invalid (no finish)",0); 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_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; }
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; }
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; }