From cce691f3dd724318e7701796f1f967dd14e0a6b7 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Tue, 2 Jan 2024 10:25:43 +0100
Subject: [PATCH] Fix basic test

---
 Perception.h      |  9 +--------
 test/BB2B_Test.cc | 18 +++++++++---------
 2 files changed, 10 insertions(+), 17 deletions(-)

diff --git a/Perception.h b/Perception.h
index b18c4ce..1519e32 100644
--- a/Perception.h
+++ b/Perception.h
@@ -17,13 +17,6 @@ public:
   /// @brief Default Constructor
   Perception();
 
-  /// @brief Template to make it possible to leave out ths sensorCount
-  /// @tparam sensorCount
-  /// @param sensors An array of sensor placements
-  template <unsigned int sensorCount>
-  inline Perception(Placement (&sensors)[sensorCount]) {
-    Perception(sensors, sensorCount);
-  }
   /// @brief Create a perception setup with the given Sensors
   /// @param sensors The Placement of Sensors on the Roboid
   /// @param sensorCount The number of sensors in the placement array
@@ -94,7 +87,7 @@ public:
 
   float nearbyDistance = 0.3F;
 
-protected:
+public:
   /// @brief The Placement of the Sensors used for Perception
   Placement *sensorPlacements = nullptr;
   /// @brief The number of Sensors used for Perception
diff --git a/test/BB2B_Test.cc b/test/BB2B_Test.cc
index 5d09bf8..5cb642f 100644
--- a/test/BB2B_Test.cc
+++ b/test/BB2B_Test.cc
@@ -14,7 +14,7 @@ TEST(BB2B, Basics) {
 
   Placement sensors[] = {Placement(sensorLeft, -30),
                          Placement(sensorRight, 30)};
-  Perception *perception = new Perception(sensors);
+  Perception *perception = new Perception(sensors, 2);
 
   DifferentialDrive *propulsion =
       new DifferentialDrive(Placement(motorLeft, Vector3(-1, 0, 0)),
@@ -22,17 +22,17 @@ TEST(BB2B, Basics) {
 
   Roboid *roboid = new Roboid(perception, propulsion);
 
-  // bool obstacleLeft = roboid->perception->ObjectNearby(-30);
-  // bool obstacleRight = roboid->perception->ObjectNearby(30);
+  bool obstacleLeft = roboid->perception->ObjectNearby(-30);
+  bool obstacleRight = roboid->perception->ObjectNearby(30);
 
-  // EXPECT_FALSE(obstacleLeft);
-  // EXPECT_FALSE(obstacleRight);
+  EXPECT_FALSE(obstacleLeft);
+  EXPECT_FALSE(obstacleRight);
 
-  // float leftMotorSpeed = obstacleRight ? -1.0F : 1.0F;
-  // float rightMotorSpeed = obstacleLeft ? -1.0F : 1.0F;
+  float leftMotorSpeed = obstacleRight ? -1.0F : 1.0F;
+  float rightMotorSpeed = obstacleLeft ? -1.0F : 1.0F;
 
-  // DifferentialDrive *diffDrive = (DifferentialDrive *)&roboid->propulsion;
-  // diffDrive->SetTargetSpeeds(leftMotorSpeed, rightMotorSpeed);
+  DifferentialDrive *diffDrive = (DifferentialDrive *)roboid->propulsion;
+  diffDrive->SetTargetSpeeds(leftMotorSpeed, rightMotorSpeed);
 
   // cannot chek verlocity in this branch?
 }