test/src/test_modes.cpp

   1 /* Copyright_License {
   2
   3   XCSoar Glide Computer - http://www.xcsoar.org/
   4   Copyright (C) 2000-2013 The XCSoar Project
   5   A detailed list of copyright holders can be found in the file "AUTHORS".
   6
   7   This program is free software; you can redistribute it and/or
   8   modify it under the terms of the GNU General Public License
   9   as published by the Free Software Foundation; either version 2
  10   of the License, or (at your option) any later version.
  11
  12   This program is distributed in the hope that it will be useful,
  13   but WITHOUT ANY WARRANTY; without even the implied warranty of
  14   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  15   GNU General Public License for more details.
  16
  17   You should have received a copy of the GNU General Public License
  18   along with this program; if not, write to the Free Software
  19   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
  20 }
  21 */
  22
  23 #include "TaskEventsPrint.hpp"
  24 #include "harness_flight.hpp"
  25 #include "Engine/Waypoint/Waypoints.hpp"
  26
  27 static bool
  28 test_abort(int n_wind)
  29 {
  30   GlidePolar glide_polar(fixed(2));
  31   Waypoints waypoints;
  32   SetupWaypoints(waypoints);
  33
  34   if (verbose)
  35     PrintDistanceCounts();
  36
  37   TaskBehaviour task_behaviour;
  38   task_behaviour.SetDefaults();
  39   task_behaviour.DisableAll();
  40   task_behaviour.enable_trace = false;
  41
  42   TaskManager task_manager(task_behaviour, waypoints);
  43
  44   TaskEventsPrint default_events(verbose);
  45   task_manager.SetTaskEvents(default_events);
  46
  47   task_manager.SetGlidePolar(glide_polar);
  48
  49   test_task(task_manager, waypoints, 1);
  50
  51   task_manager.Abort();
  52   task_report(task_manager, "abort");
  53
  54   autopilot_parms.goto_target = true;
  55   return run_flight(task_manager, autopilot_parms, n_wind);
  56 }
  57
  58 static bool
  59 test_goto(int n_wind, unsigned id, bool auto_mc)
  60 {
  61   GlidePolar glide_polar(fixed(2));
  62   Waypoints waypoints;
  63   SetupWaypoints(waypoints);
  64
  65   if (verbose)
  66     PrintDistanceCounts();
  67
  68   TaskBehaviour task_behaviour;
  69   task_behaviour.SetDefaults();
  70   task_behaviour.DisableAll();
  71   task_behaviour.auto_mc = auto_mc;
  72   task_behaviour.enable_trace = false;
  73
  74   TaskManager task_manager(task_behaviour, waypoints);
  75
  76   TaskEventsPrint default_events(verbose);
  77   task_manager.SetTaskEvents(default_events);
  78
  79   task_manager.SetGlidePolar(glide_polar);
  80
  81   test_task(task_manager, waypoints, 1);
  82
  83   task_manager.DoGoto(*waypoints.LookupId(id));
  84   task_report(task_manager, "goto");
  85
  86   waypoints.Clear(); // clear waypoints so abort wont do anything
  87
  88   autopilot_parms.goto_target = true;
  89   return run_flight(task_manager, autopilot_parms, n_wind);
  90 }
  91
  92 static bool
  93 test_null()
  94 {
  95   GlidePolar glide_polar(fixed(2));
  96   Waypoints waypoints;
  97   SetupWaypoints(waypoints);
  98
  99   if (verbose)
 100     PrintDistanceCounts();
 101
 102   TaskBehaviour task_behaviour;
 103   task_behaviour.SetDefaults();
 104   task_behaviour.DisableAll();
 105   task_behaviour.enable_trace = false;
 106
 107   TaskManager task_manager(task_behaviour, waypoints);
 108
 109   TaskEventsPrint default_events(verbose);
 110   task_manager.SetTaskEvents(default_events);
 111
 112   task_manager.SetGlidePolar(glide_polar);
 113
 114   task_report(task_manager, "null");
 115
 116   waypoints.Clear(); // clear waypoints so abort wont do anything
 117
 118   autopilot_parms.goto_target = true;
 119   return run_flight(task_manager, autopilot_parms, 0);
 120 }
 121
 122 int
 123 main(int argc, char** argv)
 124 {
 125   // default arguments
 126   autopilot_parms.SetIdeal();
 127
 128   if (!ParseArgs(argc, argv))
 129     return 0;
 130
 131   plan_tests(4);
 132
 133   ok(test_abort(0), "abort", 0);
 134   ok(test_goto(0, 5, false), "goto", 0);
 135   ok(test_goto(0, 5, true), "goto with auto mc", 0);
 136   ok(test_null(), "null", 0);
 137
 138   return exit_status();
 139 }