From 60afd308f21d2c8a71bc8555c4f55b08d2035c65 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Tue, 26 May 2020 14:51:13 +0200
Subject: [PATCH] Add test binary

The binary is used for JSON input/output.
---
 CMakeLists.txt | 11 ++++----
 src/test.cc    | 69 ++++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 75 insertions(+), 5 deletions(-)
 create mode 100644 src/test.cc

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 86962ce..ddef510 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,12 +18,13 @@ set_target_properties(psp PROPERTIES
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/wvtest/cpp)
 ADD_DEFINITIONS(-DWVTEST_CONFIGURED)
-add_executable(ut
-        wvtest/cpp/wvtestmain.cc
-        wvtest/cpp/wvtest.cc
-        ut/psp.t.cc
+add_executable(test
+        src/test.cc
+)
+target_link_libraries(test
+        psp
+        jsoncpp
 )
-target_link_libraries(ut psp)
 
 add_custom_command(TARGET ut
         POST_BUILD COMMAND ./wvtestrun ../build/ut
diff --git a/src/test.cc b/src/test.cc
new file mode 100644
index 0000000..addb89c
--- /dev/null
+++ b/src/test.cc
@@ -0,0 +1,69 @@
+#include <chrono>
+#include <iostream>
+#include <jsoncpp/json/json.h>
+
+#include "psp.h"
+
+std::chrono::high_resolution_clock::time_point TSTART_;
+std::chrono::high_resolution_clock::time_point TEND_;
+inline void TSTART() { TSTART_ = std::chrono::high_resolution_clock::now(); }
+inline void TEND() { TEND_ = std::chrono::high_resolution_clock::now(); }
+inline double TDIFF()
+{
+        std::chrono::duration<double> DT_;
+        DT_ = std::chrono::duration_cast<std::chrono::duration<double>>(
+                TEND_ - TSTART_
+        );
+        return DT_.count();
+}
+inline void TPRINT(const char *what)
+{
+        std::cerr << what << ": " << TDIFF() << std::endl;
+}
+
+PSPlanner psp;
+int main()
+{
+        Json::Value jvi; // JSON input
+        Json::Value jvo; // JSON output
+        std::cin >> jvi;
+        jvo = jvi;
+
+        psp.ps().border(
+                jvi["slot"][0][0][0].asDouble(),
+                jvi["slot"][0][0][1].asDouble(),
+
+                jvi["slot"][0][1][0].asDouble(),
+                jvi["slot"][0][1][1].asDouble(),
+
+                jvi["slot"][0][2][0].asDouble(),
+                jvi["slot"][0][2][1].asDouble(),
+
+                jvi["slot"][0][3][0].asDouble(),
+                jvi["slot"][0][3][1].asDouble()
+        );
+
+        psp.fe();
+
+        jvi["goal"][0] = psp.cc().x();
+        jvi["goal"][1] = psp.cc().y();
+        jvi["goal"][2] = psp.cc().h();
+
+        jvo["slot"] = jvi["slot"];
+
+        unsigned int i = 0;
+        std::cerr << "last maneuver" << std::endl;
+        jvo["last"][i][0] = psp.gc().x();
+        jvo["last"][i][1] = psp.gc().y();
+        jvo["last"][i][2] = psp.gc().h();
+        i++;
+        for (auto p: psp.last_maneuver()) {
+                jvo["last"][i][0] = p.x();
+                jvo["last"][i][1] = p.y();
+                jvo["last"][i][2] = p.h();
+                i++;
+        }
+        std::cerr << "... done" << std::endl;
+        std::cout << jvo << std::endl;
+        return 0;
+}
-- 
2.39.2