feat: add scientific planning dashboard

ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/Program.cs

@@ -1,16 +1,26 @@
 using System;
+using System.Diagnostics;
+using System.Threading;
+using TrajectoryPlanningVisualization;
 
 namespace TrajectoryPlanningVisualizationVerificationHost;
 
 internal static class Program
 {
-    private static int Main()
+    private static int Main(string[] args)
     {
+        if (args.Length == 2 && args[0] == "--smoke-seconds" &&
+            int.TryParse(args[1], out int seconds) && seconds > 0)
+        {
+            return RunSmoke(seconds);
+        }
+
         try
         {
             ContractChecks.Run();
             RuntimeChecks.Run();
             ServerChecks.Run();
+            WebAssetChecks.Run();
             Console.WriteLine("PASS trajectory-planning-visualization");
             return 0;
         }
@@ -20,4 +30,36 @@ internal static class Program
             return 1;
         }
     }
+
+    private static int RunSmoke(int seconds)
+    {
+        try
+        {
+            using var session = new PlanningVisualizationSession(
+                new PlanningVisualizationOptions { Port = 0, RefreshRateHz = 10, HistoryCycleLimit = 60 });
+            PlanningVisualizationSessionInfo info = session.Start(SampleSnapshotFactory.CreateStaticSnapshot());
+            Console.WriteLine(info.Uri.AbsoluteUri);
+            Stopwatch stopwatch = Stopwatch.StartNew();
+            long sequence = 1L;
+            while (stopwatch.Elapsed < TimeSpan.FromSeconds(seconds))
+            {
+                session.Publish(SampleSnapshotFactory.CreateDynamicSnapshot(sequence++));
+                TimeSpan remaining = TimeSpan.FromSeconds(seconds) - stopwatch.Elapsed;
+                if (remaining <= TimeSpan.Zero)
+                {
+                    break;
+                }
+
+                Thread.Sleep(remaining < TimeSpan.FromMilliseconds(100) ? remaining : TimeSpan.FromMilliseconds(100));
+            }
+
+            session.Stop();
+            return 0;
+        }
+        catch (Exception exception)
+        {
+            Console.Error.WriteLine(exception);
+            return 1;
+        }
+    }
 }