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flightgear/test_suite/unit_tests/AI/test_AIFlightPlan.cxx
portree_kid 03574442c0 AI Tests
2021-07-12 16:19:44 +01:00

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/*
* Copyright (C) 2020 James Turner
*
* This file is part of the program FlightGear.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "test_AIFlightPlan.hxx"
#include <cstring>
#include <memory>
#include "config.h"
#include "test_suite/FGTestApi/testGlobals.hxx"
#include "test_suite/FGTestApi/NavDataCache.hxx"
#include "test_suite/FGTestApi/TestDataLogger.hxx"
#include "test_suite/FGTestApi/TestPilot.hxx"
#include <AIModel/AIAircraft.hxx>
#include <AIModel/AIFlightPlan.hxx>
#include <AIModel/AIManager.hxx>
#include <Airports/airport.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include <Navaids/NavDataCache.hxx>
#include <Navaids/navrecord.hxx>
using namespace flightgear;
/////////////////////////////////////////////////////////////////////////////
// Set up function for each test.
void AIFlightPlanTests::setUp()
{
FGTestApi::setUp::initTestGlobals("AI");
FGTestApi::setUp::initNavDataCache();
globals->add_new_subsystem<FGAIManager>();
auto props = globals->get_props();
props->setBoolValue("sim/ai/enabled", true);
globals->get_subsystem_mgr()->bind();
globals->get_subsystem_mgr()->init();
globals->get_subsystem_mgr()->postinit();
}
// Clean up after each test.
void AIFlightPlanTests::tearDown()
{
FGTestApi::tearDown::shutdownTestGlobals();
}
void AIFlightPlanTests::testAIFlightPlan()
{
std::unique_ptr<FGAIFlightPlan> aiFP(new FGAIFlightPlan);
aiFP->setName("Bob");
aiFP->setRunway("24");
CPPUNIT_ASSERT_EQUAL(string{"Bob"}, aiFP->getName());
CPPUNIT_ASSERT_EQUAL(string{"24"}, aiFP->getRunway());
CPPUNIT_ASSERT_EQUAL(0, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getPreviousWaypoint());
CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
FGPositioned::TypeFilter ty(FGPositioned::VOR);
auto cache = flightgear::NavDataCache::instance();
auto shannonVOR = cache->findClosestWithIdent("SHA", SGGeod::fromDeg(-8, 52), &ty);
CPPUNIT_ASSERT_EQUAL(string{"SHANNON VOR-DME"}, shannonVOR->name());
auto wp1 = new FGAIWaypoint;
wp1->setPos(shannonVOR->geod());
wp1->setName("testWp_0");
wp1->setOn_ground(true);
wp1->setGear_down(true);
wp1->setSpeed(100);
auto wp2 = new FGAIWaypoint;
const auto g1 = SGGeodesy::direct(shannonVOR->geod(), 10.0, SG_NM_TO_METER * 5.0);
wp2->setPos(g1);
wp2->setName("upInTheAir");
wp2->setOn_ground(false);
wp2->setGear_down(true);
wp2->setSpeed(150);
aiFP->addWaypoint(wp1);
aiFP->addWaypoint(wp2);
CPPUNIT_ASSERT_EQUAL(2, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(wp1, aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getNextWaypoint());
CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
CPPUNIT_ASSERT_DOUBLES_EQUAL(10.0, aiFP->getBearing(wp1, wp2), 0.1);
time_t startTime = 1498;
aiFP->setTime(startTime);
CPPUNIT_ASSERT(!aiFP->isActive(1400));
CPPUNIT_ASSERT(aiFP->isActive(1500));
aiFP->IncrementWaypoint(false);
CPPUNIT_ASSERT_EQUAL(2, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(wp1, aiFP->getPreviousWaypoint());
CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
auto wp3 = new FGAIWaypoint;
auto diganWpt = cache->findClosestWithIdent("DIGAN", shannonVOR->geod(), nullptr);
wp3->setPos(diganWpt->geod());
wp3->setName("overDIGAN");
wp3->setOn_ground(false);
wp3->setGear_down(false);
wp3->setSpeed(180);
// check that adding a waypoint doesn't mess up the iterators or
// current position
aiFP->addWaypoint(wp3);
CPPUNIT_ASSERT_EQUAL(3, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(wp1, aiFP->getPreviousWaypoint());
CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(wp3, aiFP->getNextWaypoint());
CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
auto p3 = SGGeodesy::direct(diganWpt->geod(), 45, SG_NM_TO_METER * 4);
p3.setElevationFt(12000);
auto wp4 = new FGAIWaypoint;
wp4->setPos(p3);
wp4->setName("passDIGAN");
wp4->setSpeed(200);
aiFP->addWaypoint(wp4);
auto ingur = cache->findClosestWithIdent("INGUR", shannonVOR->geod(), nullptr);
auto p4 = ingur->geod();
p4.setElevationFt(16000);
auto wp5 = new FGAIWaypoint;
wp5->setPos(p4);
wp5->setName("INGUR");
wp5->setSpeed(250);
aiFP->addWaypoint(wp5);
aiFP->IncrementWaypoint(false);
CPPUNIT_ASSERT_EQUAL(5, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getPreviousWaypoint());
CPPUNIT_ASSERT_EQUAL(wp3, aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(wp4, aiFP->getNextWaypoint());
CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
// let's increment to the end
aiFP->IncrementWaypoint(false);
aiFP->IncrementWaypoint(false);
CPPUNIT_ASSERT_EQUAL(5, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(wp4, aiFP->getPreviousWaypoint());
CPPUNIT_ASSERT_EQUAL(wp5, aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
// one more increment 'off the end'
aiFP->IncrementWaypoint(false);
CPPUNIT_ASSERT_EQUAL(5, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(wp5, aiFP->getPreviousWaypoint());
CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
// should put us back on the last waypoint
aiFP->DecrementWaypoint();
CPPUNIT_ASSERT_EQUAL(5, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(wp4, aiFP->getPreviousWaypoint());
CPPUNIT_ASSERT_EQUAL(wp5, aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
aiFP->DecrementWaypoint(); // back to wp4
aiFP->DecrementWaypoint(); // back to wp3
aiFP->DecrementWaypoint(); // back to wp2
CPPUNIT_ASSERT_EQUAL(5, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(wp1, aiFP->getPreviousWaypoint());
CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(wp3, aiFP->getNextWaypoint());
CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
// restart to the beginning
aiFP->restart();
CPPUNIT_ASSERT_EQUAL(5, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getPreviousWaypoint());
CPPUNIT_ASSERT_EQUAL(wp1, aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getNextWaypoint());
CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
// test increment with delete
aiFP->IncrementWaypoint(true);
CPPUNIT_ASSERT_EQUAL(5, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(wp1, aiFP->getPreviousWaypoint());
CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(wp3, aiFP->getNextWaypoint());
aiFP->IncrementWaypoint(true);
CPPUNIT_ASSERT_EQUAL(4, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getPreviousWaypoint());
CPPUNIT_ASSERT_EQUAL(wp3, aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(wp4, aiFP->getNextWaypoint());
aiFP->IncrementWaypoint(true);
CPPUNIT_ASSERT_EQUAL(3, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(wp3, aiFP->getPreviousWaypoint());
CPPUNIT_ASSERT_EQUAL(wp4, aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(wp5, aiFP->getNextWaypoint());
// let's run up to the end and check nothing explodes
aiFP->IncrementWaypoint(true);
CPPUNIT_ASSERT_EQUAL(2, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(wp4, aiFP->getPreviousWaypoint());
CPPUNIT_ASSERT_EQUAL(wp5, aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
aiFP->IncrementWaypoint(true);
CPPUNIT_ASSERT_EQUAL(1, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(wp5, aiFP->getPreviousWaypoint());
CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
}
void AIFlightPlanTests::testAIFlightPlanLeftCircle()
{
auto aiFP = new FGAIFlightPlan;
aiFP->setName("Bob");
aiFP->setRunway("24");
CPPUNIT_ASSERT_EQUAL(string{"Bob"}, aiFP->getName());
CPPUNIT_ASSERT_EQUAL(string{"24"}, aiFP->getRunway());
CPPUNIT_ASSERT_EQUAL(0, aiFP->getNrOfWayPoints());
CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getPreviousWaypoint());
CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getCurrentWaypoint());
CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
FGPositioned::TypeFilter ty(FGPositioned::VOR);
auto cache = flightgear::NavDataCache::instance();
auto shannonVOR = cache->findClosestWithIdent("SHA", SGGeod::fromDeg(-8, 52), &ty);
CPPUNIT_ASSERT_EQUAL(string{"SHANNON VOR-DME"}, shannonVOR->name());
auto wp1 = new FGAIWaypoint;
wp1->setPos(shannonVOR->geod());
wp1->setName("testWp_0");
wp1->setOn_ground(true);
wp1->setGear_down(true);
wp1->setSpeed(10);
aiFP->addWaypoint(wp1);
auto lastWp = wp1;
int course = 0;
for(int i = 1; i <= 10; i++) {
auto wp = new FGAIWaypoint;
course += 10;
const auto g1 = SGGeodesy::direct(lastWp->getPos(), course, SG_NM_TO_METER * 5.0);
wp->setPos(g1);
wp->setName("testWp_" + i);
wp->setOn_ground(true);
wp->setGear_down(true);
wp->setSpeed(10);
aiFP->addWaypoint(wp);
lastWp = wp;
}
CPPUNIT_ASSERT_EQUAL(aiFP->getNrOfWayPoints(), 11);
}
void AIFlightPlanTests::testAIFlightPlanLoadXML()
{
const auto xml = R"(<?xml version="1.0" encoding="UTF-8"?>
<PropertyList>
<flightplan>
<wp>
<name>onGroundWP</name>
<lat></lat>
<lon></lon>
<ktas>10</ktas>
<on-ground>1</on-ground>
</wp>
<wp>
<name>someWP</name>
<lat></lat>
<lon></lon>
<ktas>200</ktas>
<alt>8000</alt>
</wp>
<wp>
<name>END</name>
</wp>
</flightplan>
</PropertyList>
)";
std::istringstream is(xml);
std::unique_ptr<FGAIFlightPlan> aiFP(new FGAIFlightPlan);
bool ok = aiFP->readFlightplan(is, sg_location("In-memory test_ai_fp.xml"));
CPPUNIT_ASSERT(ok);
CPPUNIT_ASSERT_EQUAL(false, aiFP->getCurrentWaypoint()->getInAir());
CPPUNIT_ASSERT_EQUAL(true, aiFP->getCurrentWaypoint()->getGear_down());
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, aiFP->getCurrentWaypoint()->getFlaps(), 0.1);
auto wp2 = aiFP->getNextWaypoint();
CPPUNIT_ASSERT_EQUAL(true, wp2->getInAir());
CPPUNIT_ASSERT_EQUAL(false, wp2->getGear_down());
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, wp2->getFlaps(), 0.1);
}
void AIFlightPlanTests::testLeftTurnFlightplanXML()
{
std::unique_ptr<FGAIFlightPlan> aiFP(new FGAIFlightPlan);
const auto fpath = SGPath::fromUtf8(FG_TEST_SUITE_DATA) / "AI"/"Flightplan"/"left_onground.xml";
std::fstream fs(fpath.c_str());
bool ok = aiFP->readFlightplan(fs, sg_location("In-memory test_ai_fp.xml"));
CPPUNIT_ASSERT(ok);
CPPUNIT_ASSERT_EQUAL(false, aiFP->getCurrentWaypoint()->getInAir());
auto wp2 = aiFP->getNextWaypoint();
CPPUNIT_ASSERT_EQUAL(false, wp2->getInAir());
CPPUNIT_ASSERT_DOUBLES_EQUAL(10.0, wp2->getSpeed(), 0.1);
}
void AIFlightPlanTests::testRightTurnFlightplanXML()
{
std::unique_ptr<FGAIFlightPlan> aiFP(new FGAIFlightPlan);
const auto fpath = SGPath::fromUtf8(FG_TEST_SUITE_DATA) / "AI"/"Flightplan"/"right_onground.xml";
std::fstream fs(fpath.c_str());
bool ok = aiFP->readFlightplan(fs, sg_location("In-memory test_ai_fp.xml"));
CPPUNIT_ASSERT(ok);
CPPUNIT_ASSERT_EQUAL(false, aiFP->getCurrentWaypoint()->getInAir());
auto wp2 = aiFP->getNextWaypoint();
CPPUNIT_ASSERT_EQUAL(false, wp2->getInAir());
CPPUNIT_ASSERT_DOUBLES_EQUAL(10.0, wp2->getSpeed(), 0.1);
}
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