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/*
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* Copyright (C) 2020 James Turner
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*
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* This file is part of the program FlightGear.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "test_AIFlightPlan.hxx"
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#include <cstring>
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#include <memory>
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#include "config.h"
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#include "test_suite/FGTestApi/testGlobals.hxx"
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#include "test_suite/FGTestApi/NavDataCache.hxx"
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#include "test_suite/FGTestApi/TestDataLogger.hxx"
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#include "test_suite/FGTestApi/TestPilot.hxx"
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#include <AIModel/AIAircraft.hxx>
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#include <AIModel/AIFlightPlan.hxx>
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#include <AIModel/AIManager.hxx>
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#include <Airports/airport.hxx>
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#include <Main/fg_props.hxx>
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#include <Main/globals.hxx>
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#include <Navaids/NavDataCache.hxx>
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#include <Navaids/navrecord.hxx>
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using namespace flightgear;
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/////////////////////////////////////////////////////////////////////////////
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// Set up function for each test.
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void AIFlightPlanTests::setUp()
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{
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FGTestApi::setUp::initTestGlobals("AI");
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FGTestApi::setUp::initNavDataCache();
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globals->add_new_subsystem<FGAIManager>(SGSubsystemMgr::GENERAL);
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auto props = globals->get_props();
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props->setBoolValue("sim/ai/enabled", true);
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globals->get_subsystem_mgr()->bind();
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globals->get_subsystem_mgr()->init();
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globals->get_subsystem_mgr()->postinit();
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}
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// Clean up after each test.
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void AIFlightPlanTests::tearDown()
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{
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FGTestApi::tearDown::shutdownTestGlobals();
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}
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void AIFlightPlanTests::testAIFlightPlan()
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{
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std::unique_ptr<FGAIFlightPlan> aiFP(new FGAIFlightPlan);
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aiFP->setName("Bob");
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aiFP->setRunway("24");
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CPPUNIT_ASSERT_EQUAL(string{"Bob"}, aiFP->getName());
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CPPUNIT_ASSERT_EQUAL(string{"24"}, aiFP->getRunway());
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CPPUNIT_ASSERT_EQUAL(0, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getPreviousWaypoint());
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CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
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CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
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FGPositioned::TypeFilter ty(FGPositioned::VOR);
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auto cache = flightgear::NavDataCache::instance();
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auto shannonVOR = cache->findClosestWithIdent("SHA", SGGeod::fromDeg(-8, 52), &ty);
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CPPUNIT_ASSERT_EQUAL(string{"SHANNON VOR-DME"}, shannonVOR->name());
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auto wp1 = new FGAIWaypoint;
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wp1->setPos(shannonVOR->geod());
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wp1->setName("testWp_0");
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wp1->setOn_ground(true);
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wp1->setGear_down(true);
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wp1->setSpeed(100);
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auto wp2 = new FGAIWaypoint;
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const auto g1 = SGGeodesy::direct(shannonVOR->geod(), 10.0, SG_NM_TO_METER * 5.0);
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wp2->setPos(g1);
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wp2->setName("upInTheAir");
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wp2->setOn_ground(false);
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wp2->setGear_down(true);
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wp2->setSpeed(150);
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aiFP->addWaypoint(wp1);
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aiFP->addWaypoint(wp2);
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CPPUNIT_ASSERT_EQUAL(2, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(wp1, aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getNextWaypoint());
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CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
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CPPUNIT_ASSERT_DOUBLES_EQUAL(10.0, aiFP->getBearing(wp1, wp2), 0.1);
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time_t startTime = 1498;
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aiFP->setTime(startTime);
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CPPUNIT_ASSERT(!aiFP->isActive(1400));
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CPPUNIT_ASSERT(aiFP->isActive(1500));
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aiFP->IncrementWaypoint(false);
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CPPUNIT_ASSERT_EQUAL(2, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(wp1, aiFP->getPreviousWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
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CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
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auto wp3 = new FGAIWaypoint;
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auto diganWpt = cache->findClosestWithIdent("DIGAN", shannonVOR->geod(), nullptr);
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wp3->setPos(diganWpt->geod());
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wp3->setName("overDIGAN");
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wp3->setOn_ground(false);
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wp3->setGear_down(false);
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wp3->setSpeed(180);
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// check that adding a waypoint doesn't mess up the iterators or
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// current position
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aiFP->addWaypoint(wp3);
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CPPUNIT_ASSERT_EQUAL(3, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(wp1, aiFP->getPreviousWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp3, aiFP->getNextWaypoint());
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CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
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auto p3 = SGGeodesy::direct(diganWpt->geod(), 45, SG_NM_TO_METER * 4);
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p3.setElevationFt(12000);
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auto wp4 = new FGAIWaypoint;
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wp4->setPos(p3);
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wp4->setName("passDIGAN");
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wp4->setSpeed(200);
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aiFP->addWaypoint(wp4);
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auto ingur = cache->findClosestWithIdent("INGUR", shannonVOR->geod(), nullptr);
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auto p4 = ingur->geod();
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p4.setElevationFt(16000);
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auto wp5 = new FGAIWaypoint;
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wp5->setPos(p4);
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wp5->setName("INGUR");
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wp5->setSpeed(250);
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aiFP->addWaypoint(wp5);
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aiFP->IncrementWaypoint(false);
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CPPUNIT_ASSERT_EQUAL(5, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getPreviousWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp3, aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp4, aiFP->getNextWaypoint());
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CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
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// let's increment to the end
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aiFP->IncrementWaypoint(false);
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aiFP->IncrementWaypoint(false);
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CPPUNIT_ASSERT_EQUAL(5, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(wp4, aiFP->getPreviousWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp5, aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
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CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
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// one more increment 'off the end'
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aiFP->IncrementWaypoint(false);
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CPPUNIT_ASSERT_EQUAL(5, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(wp5, aiFP->getPreviousWaypoint());
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CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
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// should put us back on the last waypoint
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aiFP->DecrementWaypoint();
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CPPUNIT_ASSERT_EQUAL(5, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(wp4, aiFP->getPreviousWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp5, aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
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CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
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aiFP->DecrementWaypoint(); // back to wp4
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aiFP->DecrementWaypoint(); // back to wp3
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aiFP->DecrementWaypoint(); // back to wp2
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CPPUNIT_ASSERT_EQUAL(5, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(wp1, aiFP->getPreviousWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp3, aiFP->getNextWaypoint());
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CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
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// restart to the beginning
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aiFP->restart();
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CPPUNIT_ASSERT_EQUAL(5, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getPreviousWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp1, aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getNextWaypoint());
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CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
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// test increment with delete
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aiFP->IncrementWaypoint(true);
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CPPUNIT_ASSERT_EQUAL(5, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(wp1, aiFP->getPreviousWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp3, aiFP->getNextWaypoint());
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aiFP->IncrementWaypoint(true);
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CPPUNIT_ASSERT_EQUAL(4, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(wp2, aiFP->getPreviousWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp3, aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp4, aiFP->getNextWaypoint());
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aiFP->IncrementWaypoint(true);
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CPPUNIT_ASSERT_EQUAL(3, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(wp3, aiFP->getPreviousWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp4, aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp5, aiFP->getNextWaypoint());
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// let's run up to the end and check nothing explodes
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aiFP->IncrementWaypoint(true);
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CPPUNIT_ASSERT_EQUAL(2, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(wp4, aiFP->getPreviousWaypoint());
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CPPUNIT_ASSERT_EQUAL(wp5, aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
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aiFP->IncrementWaypoint(true);
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CPPUNIT_ASSERT_EQUAL(1, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(wp5, aiFP->getPreviousWaypoint());
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CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
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}
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void AIFlightPlanTests::testAIFlightPlanLeftCircle()
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{
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auto aiFP = new FGAIFlightPlan;
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aiFP->setName("Bob");
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aiFP->setRunway("24");
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CPPUNIT_ASSERT_EQUAL(string{"Bob"}, aiFP->getName());
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CPPUNIT_ASSERT_EQUAL(string{"24"}, aiFP->getRunway());
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CPPUNIT_ASSERT_EQUAL(0, aiFP->getNrOfWayPoints());
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CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getPreviousWaypoint());
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CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getCurrentWaypoint());
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CPPUNIT_ASSERT_EQUAL(static_cast<FGAIWaypoint*>(nullptr), aiFP->getNextWaypoint());
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CPPUNIT_ASSERT_EQUAL(0, aiFP->getLeg());
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FGPositioned::TypeFilter ty(FGPositioned::VOR);
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auto cache = flightgear::NavDataCache::instance();
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auto shannonVOR = cache->findClosestWithIdent("SHA", SGGeod::fromDeg(-8, 52), &ty);
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CPPUNIT_ASSERT_EQUAL(string{"SHANNON VOR-DME"}, shannonVOR->name());
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auto wp1 = new FGAIWaypoint;
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wp1->setPos(shannonVOR->geod());
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wp1->setName("testWp_0");
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wp1->setOn_ground(true);
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wp1->setGear_down(true);
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wp1->setSpeed(10);
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aiFP->addWaypoint(wp1);
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auto lastWp = wp1;
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int course = 0;
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for(int i = 1; i <= 10; i++) {
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auto wp = new FGAIWaypoint;
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course += 10;
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const auto g1 = SGGeodesy::direct(lastWp->getPos(), course, SG_NM_TO_METER * 5.0);
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wp->setPos(g1);
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wp->setName("testWp_" + std::to_string(i));
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wp->setOn_ground(true);
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wp->setGear_down(true);
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wp->setSpeed(10);
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aiFP->addWaypoint(wp);
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lastWp = wp;
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}
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CPPUNIT_ASSERT_EQUAL(aiFP->getNrOfWayPoints(), 11);
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}
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void AIFlightPlanTests::testAIFlightPlanLoadXML()
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{
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const auto xml = R"(<?xml version="1.0" encoding="UTF-8"?>
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<PropertyList>
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<flightplan>
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<wp>
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<name>onGroundWP</name>
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<lat>57</lat>
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<lon>3</lon>
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<ktas>10</ktas>
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<on-ground>1</on-ground>
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</wp>
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<wp>
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<name>someWP</name>
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<lat>57</lat>
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<lon>4</lon>
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<ktas>200</ktas>
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<alt>8000</alt>
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</wp>
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<wp>
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<name>END</name>
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</wp>
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</flightplan>
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</PropertyList>
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)";
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std::istringstream is(xml);
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std::unique_ptr<FGAIFlightPlan> aiFP(new FGAIFlightPlan);
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bool ok = aiFP->readFlightplan(is, sg_location("In-memory test_ai_fp.xml"));
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CPPUNIT_ASSERT(ok);
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CPPUNIT_ASSERT_EQUAL(false, aiFP->getCurrentWaypoint()->getInAir());
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CPPUNIT_ASSERT_EQUAL(true, aiFP->getCurrentWaypoint()->getGear_down());
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CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, aiFP->getCurrentWaypoint()->getFlaps(), 0.1);
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auto wp2 = aiFP->getNextWaypoint();
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CPPUNIT_ASSERT_EQUAL(true, wp2->getInAir());
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CPPUNIT_ASSERT_EQUAL(false, wp2->getGear_down());
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CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, wp2->getFlaps(), 0.1);
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}
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void AIFlightPlanTests::testLeftTurnFlightplanXML()
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{
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std::unique_ptr<FGAIFlightPlan> aiFP(new FGAIFlightPlan);
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const auto fpath = SGPath::fromUtf8(FG_TEST_SUITE_DATA) / "AI"/"Flightplan"/"left_onground.xml";
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std::fstream fs(fpath.c_str());
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bool ok = aiFP->readFlightplan(fs, sg_location("In-memory test_ai_fp.xml"));
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CPPUNIT_ASSERT(ok);
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CPPUNIT_ASSERT_EQUAL(false, aiFP->getCurrentWaypoint()->getInAir());
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auto wp2 = aiFP->getNextWaypoint();
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CPPUNIT_ASSERT_EQUAL(false, wp2->getInAir());
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CPPUNIT_ASSERT_DOUBLES_EQUAL(10.0, wp2->getSpeed(), 0.1);
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}
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void AIFlightPlanTests::testRightTurnFlightplanXML()
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{
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std::unique_ptr<FGAIFlightPlan> aiFP(new FGAIFlightPlan);
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const auto fpath = SGPath::fromUtf8(FG_TEST_SUITE_DATA) / "AI"/"Flightplan"/"right_onground.xml";
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std::fstream fs(fpath.c_str());
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bool ok = aiFP->readFlightplan(fs, sg_location("In-memory test_ai_fp.xml"));
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CPPUNIT_ASSERT(ok);
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CPPUNIT_ASSERT_EQUAL(false, aiFP->getCurrentWaypoint()->getInAir());
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auto wp2 = aiFP->getNextWaypoint();
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CPPUNIT_ASSERT_EQUAL(false, wp2->getInAir());
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CPPUNIT_ASSERT_DOUBLES_EQUAL(10.0, wp2->getSpeed(), 0.1);
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}
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