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_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_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_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; }