bool test_task_or(TaskManager& task_manager, const Waypoints &waypoints) { const Waypoint *wp; task_manager.SetFactory(TaskFactoryType::FAI_OR); AbstractTaskFactory &fact = task_manager.GetFactory(); task_report(task_manager, "# adding start\n"); wp = waypoints.LookupId(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 intermediate\n"); wp = waypoints.LookupId(2); if (wp) { OrderedTaskPoint *tp = fact.CreateIntermediate(*wp); if (!fact.Append(*tp)) { return false; } delete tp; } task_report(task_manager, "# adding finish\n"); wp = waypoints.LookupId(1); if (wp) { OrderedTaskPoint *tp = fact.CreateFinish(*wp); if (!fact.Append(*tp)) { return false; } delete tp; } fact.UpdateStatsGeometry(); task_report(task_manager, "# checking task..\n"); if (!fact.Validate()) { return false; } if (!task_manager.CheckOrderedTask()) { return false; } return true; }
bool test_task_bad(TaskManager& task_manager, const Waypoints& waypoints) { test_task_random(task_manager,waypoints,2); task_manager.SetFactory(TaskFactoryType::RACING); AbstractTaskFactory& fact = task_manager.GetFactory(); const Waypoint* wp = random_waypoint(waypoints); ok (!fact.CreateFinish((TaskPointFactoryType)20,*wp),"bad finish type",0); ok (!fact.CreateStart((TaskPointFactoryType)20,*wp),"bad start type",0); ok (!fact.CreateIntermediate((TaskPointFactoryType)20,*wp),"bad intermediate type",0); // now create a taskpoint from FAI const TaskPointFactoryType s = GetRandomType(fact.GetIntermediateTypes()); // test it is bad for AAT task_manager.SetFactory(TaskFactoryType::AAT); AbstractTaskFactory& bfact = task_manager.GetFactory(); ok (!bfact.CreateIntermediate(s,*wp),"bad intermediate type (after task change)",0); bfact.Remove(1); bfact.UpdateStatsGeometry(); ok (bfact.Validate(),"ok with one tp",0); bfact.Remove(1); bfact.UpdateStatsGeometry(); ok (bfact.Validate(),"ok with zero tps (just start and finish)",0); ok (bfact.Remove(task_manager.TaskSize()-1,false),"remove finish manually",0); bfact.UpdateStatsGeometry(); ok (!bfact.Validate(),"aat is invalid (no finish)",0); return true; }
bool test_task_dash(TaskManager& task_manager, const Waypoints &waypoints) { WaypointPtr wp; task_manager.SetFactory(TaskFactoryType::TOURING); AbstractTaskFactory &fact = task_manager.GetFactory(); task_report(task_manager, "# adding start\n"); wp = waypoints.LookupId(1); if (wp) { OrderedTaskPoint *tp = fact.CreateStart(std::move(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.LookupId(3); if (wp) { OrderedTaskPoint *tp = fact.CreateFinish(std::move(wp)); if (!fact.Append(*tp)) { return false; } delete tp; } fact.UpdateStatsGeometry(); task_report(task_manager, "# checking task..\n"); if (!fact.Validate()) { return false; } if (!task_manager.CheckOrderedTask()) { 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; 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; }
bool test_task_random(TaskManager& task_manager, const Waypoints &waypoints, const unsigned num_points) { const Waypoint *wp; OrderedTaskPoint *tp; task_manager.SetFactory(TaskFactoryType::MIXED); AbstractTaskFactory &fact = task_manager.GetFactory(); task_report(task_manager, "# 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; } 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) { const TaskPointFactoryType s = GetRandomType(fact.GetIntermediateTypes()); tp = fact.CreateIntermediate(s,*wp); if (!fact.Append(*tp,false)) { return false; } delete tp; } } task_report(task_manager, "# 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(); task_report(task_manager, "# validating task..\n"); if (!fact.Validate()) { return false; } task_report(task_manager, "# checking task..\n"); if (!task_manager.CheckOrderedTask()) { return false; } return true; }
bool test_task_aat(TaskManager& task_manager, const Waypoints &waypoints) { task_manager.SetFactory(TaskFactoryType::AAT); AbstractTaskFactory &fact = task_manager.GetFactory(); const Waypoint *wp; task_report(task_manager, "# adding start\n"); wp = waypoints.LookupId(1); if (wp) { OrderedTaskPoint *tp = fact.CreateStart(*wp); if (!fact.Append(*tp,false)) { return false; } delete tp; } task_manager.SetActiveTaskPoint(0); task_manager.Resume(); task_report(task_manager, "# adding intermediate\n"); wp = waypoints.LookupId(2); if (wp) { OrderedTaskPoint* tp = fact.CreateIntermediate(TaskPointFactoryType::AAT_CYLINDER,*wp); if (tp->GetObservationZone().GetShape() == ObservationZone::Shape::CYLINDER) { CylinderZone &cz = (CylinderZone &)tp->GetObservationZone(); cz.SetRadius(fixed(30000.0)); } if (!fact.Append(*tp,false)) { return false; } delete tp; } task_report(task_manager, "# adding intermediate\n"); wp = waypoints.LookupId(3); if (wp) { OrderedTaskPoint* tp = fact.CreateIntermediate(TaskPointFactoryType::AAT_CYLINDER,*wp); if (tp->GetObservationZone().GetShape() == ObservationZone::Shape::CYLINDER) { CylinderZone &cz = (CylinderZone &)tp->GetObservationZone(); cz.SetRadius(fixed(40000.0)); } if (!fact.Append(*tp,false)) { return false; } delete tp; } task_report(task_manager, "# adding finish\n"); wp = waypoints.LookupId(1); if (wp) { OrderedTaskPoint *tp = fact.CreateFinish(*wp); if (!fact.Append(*tp,false)) { return false; } delete tp; } fact.UpdateStatsGeometry(); task_report(task_manager, "# checking task..\n"); if (!fact.Validate()) { return false; } if (!task_manager.CheckOrderedTask()) { 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; 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; }