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;
}
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;
}
