bool test_lookup(const Waypoints& waypoints, unsigned id)
{
const Waypoint* wp;
wp = waypoints.lookup_id(id);
if (wp== NULL) {
return false;
}
return true;
}
bool test_task_dash(TaskManager& task_manager,
const Waypoints &waypoints)
{
const Waypoint *wp;
task_manager.set_factory(TaskBehaviour::FACTORY_TOURING);
AbstractTaskFactory &fact = task_manager.get_factory();
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 finish\n");
wp = waypoints.lookup_id(3);
if (wp) {
OrderedTaskPoint *tp = fact.createFinish(*wp);
if (!fact.append(*tp)) {
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;
}
unsigned test_radius(const Waypoints& waypoints, const double range)
{
const Waypoint *r = waypoints.lookup_id(3);
if (r) {
WaypointVisitorPrint v;
waypoints.visit_within_radius(r->Location, fixed(range), v);
return v.count;
} else {
return 0;
}
}
bool test_replace(Waypoints& waypoints, unsigned id)
{
const Waypoint* wp;
wp = waypoints.lookup_id(id);
if (wp== NULL) {
return false;
}
tstring oldName = wp->Name;
Waypoint copy = *wp;
copy.Name= "Fred";
waypoints.replace(*wp,copy);
waypoints.optimise();
wp = waypoints.lookup_id(id);
if (wp== NULL) {
return false;
}
return (wp->Name != oldName) && (wp->Name == "Fred");
}
static bool
test_nearest(const Waypoints& waypoints)
{
const Waypoint *r = waypoints.lookup_id(3);
if (!r)
return false;
r = waypoints.get_nearest(r->Location);
if (!r)
return false;
return r->id == 3;
}
unsigned test_nearest(const Waypoints& waypoints)
{
const Waypoint *r = waypoints.lookup_id(3);
if (r) {
Waypoints::WaypointTree::const_iterator it = waypoints.find_nearest(r->Location);
if (it != waypoints.end()) {
return true;
} else {
return false;
}
}
return false;
}
unsigned test_copy(Waypoints& waypoints)
{
const Waypoint *r = waypoints.lookup_id(5);
if (!r) {
return false;
}
unsigned size_old = waypoints.size();
Waypoint wp = *r;
wp.id = waypoints.size()+1;
waypoints.append(wp);
waypoints.optimise();
unsigned size_new = waypoints.size();
return (size_new == size_old+1);
}
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;
}
