rqt_graph: dotcode_test.py Source File

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00001 #!/usr/bin/env python
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00033 
00034 import unittest
00035 import rospkg
00036 
00037 import os
00038 from rqt_graph.dotcode import RosGraphDotcodeGenerator
00039 
00040 PKG = 'rqt_graph'
00041 
00042 
00043 class DotcodeTest(unittest.TestCase):
00044 
00045     def test_split_filter_empty(self):
00046         gen = RosGraphDotcodeGenerator()
00047         inc, exc = gen._split_filter_string('')
00048         self.assertEqual(['.*'], inc)
00049         self.assertEqual(0, len(exc))
00050         inc, exc = gen._split_filter_string('/')
00051         self.assertEqual(['.*'], inc)
00052         self.assertEqual(0, len(exc))
00053 
00054     def test_split_filter_includes(self):
00055         gen = RosGraphDotcodeGenerator()
00056         inc, exc = gen._split_filter_string('foo')
00057         self.assertEqual(['foo'], inc)
00058         self.assertEqual(0, len(exc))
00059         inc, exc = gen._split_filter_string('foo,bar')
00060         self.assertEqual(['foo', 'bar'], inc)
00061         self.assertEqual(0, len(exc))
00062 
00063     def test_split_filter_excludes(self):
00064         gen = RosGraphDotcodeGenerator()
00065         inc, exc = gen._split_filter_string('-foo')
00066         self.assertEqual(['.*'], inc)
00067         self.assertEqual(['foo'], exc)
00068         inc, exc = gen._split_filter_string('-foo,-bar')
00069         self.assertEqual(['.*'], inc)
00070         self.assertEqual(['foo', 'bar'], exc)
00071 
00072     def test_split_filter_both(self):
00073         gen = RosGraphDotcodeGenerator()
00074         inc, exc = gen._split_filter_string('-foo , bar ,baz, -bam')
00075         self.assertEqual(['bar', 'baz'], inc)
00076         self.assertEqual(['foo', 'bam'], exc)
00077 
00078     class MockEdge():
00079 
00080         def __init__(self, start, end):
00081             self.start = start
00082             self.end = end
00083 
00084     def test_get_node_edge_map(self):
00085         gen = RosGraphDotcodeGenerator()
00086         e1 = self.MockEdge('foo', 'bar')
00087         nmap = gen._get_node_edge_map([e1])
00088         self.assertEqual(2, len(nmap))
00089         self.assertTrue('foo' in nmap)
00090         self.assertTrue('bar' in nmap)
00091         self.assertEqual([], nmap['foo'].incoming)
00092         self.assertEqual([e1], nmap['foo'].outgoing)
00093         self.assertEqual([e1], nmap['bar'].incoming)
00094         self.assertEqual([], nmap['bar'].outgoing)
00095 
00096     def test_get_node_edge_map2(self):
00097         gen = RosGraphDotcodeGenerator()
00098         e1 = self.MockEdge('foo', 'bar')
00099         e2 = self.MockEdge('bar', 'foo')
00100         e3 = self.MockEdge('foo', 'pam')
00101         nmap = gen._get_node_edge_map([e1, e2, e3])
00102         self.assertEqual(3, len(nmap))
00103         self.assertTrue('foo' in nmap)
00104         self.assertTrue('bar' in nmap)
00105         self.assertTrue('pam' in nmap)
00106         self.assertEqual([e2], nmap['foo'].incoming)
00107         self.assertEqual([e1, e3], nmap['foo'].outgoing)
00108         self.assertEqual([e1], nmap['bar'].incoming)
00109         self.assertEqual([e2], nmap['bar'].outgoing)
00110 
00111     def test_filter_leaf_topics_single_connection(self):
00112         gen = RosGraphDotcodeGenerator()
00113         topic_nodes = ['foo', 'bar', 'pam', 'boo']
00114         e1 = self.MockEdge('n1', 'foo')
00115         e2 = self.MockEdge('n2', 'foo')
00116         e3 = self.MockEdge('n3', 'bar')
00117         e4 = self.MockEdge('bar', 'n4')
00118         e5 = self.MockEdge('n5', 'pam')
00119         e6 = self.MockEdge('boo', 'n6')
00120         edges = [e1, e2, e3, e4, e5, e6]
00121         node_connections = gen._get_node_edge_map(edges)
00122         print(node_connections)
00123         hide_single_connection_topics = True
00124         hide_dead_end_topics = False
00125         rnodes, redges = gen._filter_leaf_topics(topic_nodes,
00126                                                  edges,
00127                                                  node_connections,
00128                                                  hide_single_connection_topics,
00129                                                  hide_dead_end_topics
00130                                                  )
00131         self.assertEqual(['foo', 'bar'], rnodes)
00132         self.assertEqual([e1, e2, e3, e4], redges)
00133         self.assertEqual(['foo', 'bar', 'pam', 'boo'], topic_nodes)
00134         self.assertEqual([e1, e2, e3, e4, e5, e6], edges)
00135 
00136     def test_filter_leaf_topics_dead_end(self):
00137         gen = RosGraphDotcodeGenerator()
00138         topic_nodes = ['foo', 'bar', 'pam', 'boo']
00139         e1 = self.MockEdge('n1', 'foo')
00140         e2 = self.MockEdge('n2', 'foo')
00141         e3 = self.MockEdge('n3', 'bar')
00142         e4 = self.MockEdge('bar', 'n4')
00143         e5 = self.MockEdge('n5', 'pam')
00144         e6 = self.MockEdge('boo', 'n6')
00145         edges = [e1, e2, e3, e4, e5, e6]
00146         node_connections = gen._get_node_edge_map(edges)
00147         print(node_connections)
00148         hide_single_connection_topics = False
00149         hide_dead_end_topics = True
00150         rnodes, redges = gen._filter_leaf_topics(topic_nodes,
00151                                                  edges,
00152                                                  node_connections,
00153                                                  hide_single_connection_topics,
00154                                                  hide_dead_end_topics
00155                                                  )
00156         self.assertEqual(['bar', 'boo'], rnodes)
00157         self.assertEqual([e3, e4, e6], redges)
00158         self.assertEqual(['foo', 'bar', 'pam', 'boo'], topic_nodes)
00159         self.assertEqual([e1, e2, e3, e4, e5, e6], edges)
00160 
00161     def test_filter_leaf_topics_both(self):
00162         gen = RosGraphDotcodeGenerator()
00163         topic_nodes = ['foo', 'bar', 'pam', 'boo']
00164         e1 = self.MockEdge('n1', 'foo')
00165         e2 = self.MockEdge('n2', 'foo')
00166         e3 = self.MockEdge('n3', 'bar')
00167         e4 = self.MockEdge('bar', 'n4')
00168         e5 = self.MockEdge('n5', 'pam')
00169         e6 = self.MockEdge('boo', 'n6')
00170         edges = [e1, e2, e3, e4, e5, e6]
00171         node_connections = gen._get_node_edge_map(edges)
00172         print(node_connections)
00173         hide_single_connection_topics = True
00174         hide_dead_end_topics = True
00175         rnodes, redges = gen._filter_leaf_topics(topic_nodes,
00176                                                  edges,
00177                                                  node_connections,
00178                                                  hide_single_connection_topics,
00179                                                  hide_dead_end_topics
00180                                                  )
00181         self.assertEqual(['bar'], rnodes)
00182         self.assertEqual([e3, e4], redges)
00183         self.assertEqual(['foo', 'bar', 'pam', 'boo'], topic_nodes)
00184         self.assertEqual([e1, e2, e3, e4, e5, e6], edges)
00185 
00186     def test_accumulate_action_topics(self):
00187         gen = RosGraphDotcodeGenerator()
00188         topic_nodes = ['foo/feedback', 'foo/goal', 'foo/cancel', 'foo/result', 'foo/status', 'bar']
00189         e1 = self.MockEdge('n1', 'foo/feedback')
00190         e2 = self.MockEdge('n1', 'foo/goal')
00191         e3 = self.MockEdge('n1', 'foo/cancel')
00192         e4 = self.MockEdge('n1', 'foo/result')
00193         e5 = self.MockEdge('n1', 'foo/status')
00194         e6 = self.MockEdge('n2', 'bar')
00195         edges = [e1, e2, e3, e4, e5, e6]
00196         node_connections = gen._get_node_edge_map(edges)
00197         rnodes, redges, raction_nodes = gen._accumulate_action_topics(
00198             topic_nodes, edges, node_connections)
00199         self.assertEqual(1, len(rnodes))  # node 'bar'
00200         self.assertEqual(1, len(redges))
00201         self.assertEqual(1, len(raction_nodes))
00202         self.assertEqual(
00203             ['foo/feedback', 'foo/goal', 'foo/cancel', 'foo/result', 'foo/status', 'bar'], topic_nodes)
00204         self.assertEqual([e1, e2, e3, e4, e5, e6], edges)
00205 
00206 
00207 if __name__ == '__main__':
00208     import rosunit
00209     rosunit.unitrun(PKG, 'dotcode_test', DotcodeTest)