dotcode_test.py

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#!/usr/bin/env python
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import unittest
import rospkg

import os
from rqt_graph.dotcode import RosGraphDotcodeGenerator

PKG = 'rqt_graph'


class DotcodeTest(unittest.TestCase):

    def test_split_filter_empty(self):
        gen = RosGraphDotcodeGenerator()
        inc, exc = gen._split_filter_string('')
        self.assertEqual(['.*'], inc)
        self.assertEqual(0, len(exc))
        inc, exc = gen._split_filter_string('/')
        self.assertEqual(['.*'], inc)
        self.assertEqual(0, len(exc))

    def test_split_filter_includes(self):
        gen = RosGraphDotcodeGenerator()
        inc, exc = gen._split_filter_string('foo')
        self.assertEqual(['foo'], inc)
        self.assertEqual(0, len(exc))
        inc, exc = gen._split_filter_string('foo,bar')
        self.assertEqual(['foo', 'bar'], inc)
        self.assertEqual(0, len(exc))

    def test_split_filter_excludes(self):
        gen = RosGraphDotcodeGenerator()
        inc, exc = gen._split_filter_string('-foo')
        self.assertEqual(['.*'], inc)
        self.assertEqual(['foo'], exc)
        inc, exc = gen._split_filter_string('-foo,-bar')
        self.assertEqual(['.*'], inc)
        self.assertEqual(['foo', 'bar'], exc)

    def test_split_filter_both(self):
        gen = RosGraphDotcodeGenerator()
        inc, exc = gen._split_filter_string('-foo , bar ,baz, -bam')
        self.assertEqual(['bar', 'baz'], inc)
        self.assertEqual(['foo', 'bam'], exc)

    class MockEdge():

        def __init__(self, start, end):
            self.start = start
            self.end = end

    def test_get_node_edge_map(self):
        gen = RosGraphDotcodeGenerator()
        e1 = self.MockEdge('foo', 'bar')
        nmap = gen._get_node_edge_map([e1])
        self.assertEqual(2, len(nmap))
        self.assertTrue('foo' in nmap)
        self.assertTrue('bar' in nmap)
        self.assertEqual([], nmap['foo'].incoming)
        self.assertEqual([e1], nmap['foo'].outgoing)
        self.assertEqual([e1], nmap['bar'].incoming)
        self.assertEqual([], nmap['bar'].outgoing)

    def test_get_node_edge_map2(self):
        gen = RosGraphDotcodeGenerator()
        e1 = self.MockEdge('foo', 'bar')
        e2 = self.MockEdge('bar', 'foo')
        e3 = self.MockEdge('foo', 'pam')
        nmap = gen._get_node_edge_map([e1, e2, e3])
        self.assertEqual(3, len(nmap))
        self.assertTrue('foo' in nmap)
        self.assertTrue('bar' in nmap)
        self.assertTrue('pam' in nmap)
        self.assertEqual([e2], nmap['foo'].incoming)
        self.assertEqual([e1, e3], nmap['foo'].outgoing)
        self.assertEqual([e1], nmap['bar'].incoming)
        self.assertEqual([e2], nmap['bar'].outgoing)

    def test_filter_leaf_topics_single_connection(self):
        gen = RosGraphDotcodeGenerator()
        topic_nodes = ['foo', 'bar', 'pam', 'boo']
        e1 = self.MockEdge('n1', 'foo')
        e2 = self.MockEdge('n2', 'foo')
        e3 = self.MockEdge('n3', 'bar')
        e4 = self.MockEdge('bar', 'n4')
        e5 = self.MockEdge('n5', 'pam')
        e6 = self.MockEdge('boo', 'n6')
        edges = [e1, e2, e3, e4, e5, e6]
        node_connections = gen._get_node_edge_map(edges)
        print(node_connections)
        hide_single_connection_topics = True
        hide_dead_end_topics = False
        rnodes, redges = gen._filter_leaf_topics(topic_nodes,
                                                 edges,
                                                 node_connections,
                                                 hide_single_connection_topics,
                                                 hide_dead_end_topics
                                                 )
        self.assertEqual(['foo', 'bar'], rnodes)
        self.assertEqual([e1, e2, e3, e4], redges)
        self.assertEqual(['foo', 'bar', 'pam', 'boo'], topic_nodes)
        self.assertEqual([e1, e2, e3, e4, e5, e6], edges)

    def test_filter_leaf_topics_dead_end(self):
        gen = RosGraphDotcodeGenerator()
        topic_nodes = ['foo', 'bar', 'pam', 'boo']
        e1 = self.MockEdge('n1', 'foo')
        e2 = self.MockEdge('n2', 'foo')
        e3 = self.MockEdge('n3', 'bar')
        e4 = self.MockEdge('bar', 'n4')
        e5 = self.MockEdge('n5', 'pam')
        e6 = self.MockEdge('boo', 'n6')
        edges = [e1, e2, e3, e4, e5, e6]
        node_connections = gen._get_node_edge_map(edges)
        print(node_connections)
        hide_single_connection_topics = False
        hide_dead_end_topics = True
        rnodes, redges = gen._filter_leaf_topics(topic_nodes,
                                                 edges,
                                                 node_connections,
                                                 hide_single_connection_topics,
                                                 hide_dead_end_topics
                                                 )
        self.assertEqual(['bar', 'boo'], rnodes)
        self.assertEqual([e3, e4, e6], redges)
        self.assertEqual(['foo', 'bar', 'pam', 'boo'], topic_nodes)
        self.assertEqual([e1, e2, e3, e4, e5, e6], edges)

    def test_filter_leaf_topics_both(self):
        gen = RosGraphDotcodeGenerator()
        topic_nodes = ['foo', 'bar', 'pam', 'boo']
        e1 = self.MockEdge('n1', 'foo')
        e2 = self.MockEdge('n2', 'foo')
        e3 = self.MockEdge('n3', 'bar')
        e4 = self.MockEdge('bar', 'n4')
        e5 = self.MockEdge('n5', 'pam')
        e6 = self.MockEdge('boo', 'n6')
        edges = [e1, e2, e3, e4, e5, e6]
        node_connections = gen._get_node_edge_map(edges)
        print(node_connections)
        hide_single_connection_topics = True
        hide_dead_end_topics = True
        rnodes, redges = gen._filter_leaf_topics(topic_nodes,
                                                 edges,
                                                 node_connections,
                                                 hide_single_connection_topics,
                                                 hide_dead_end_topics
                                                 )
        self.assertEqual(['bar'], rnodes)
        self.assertEqual([e3, e4], redges)
        self.assertEqual(['foo', 'bar', 'pam', 'boo'], topic_nodes)
        self.assertEqual([e1, e2, e3, e4, e5, e6], edges)

    def test_accumulate_action_topics(self):
        gen = RosGraphDotcodeGenerator()
        topic_nodes = ['foo/feedback', 'foo/goal', 'foo/cancel', 'foo/result', 'foo/status', 'bar']
        e1 = self.MockEdge('n1', 'foo/feedback')
        e2 = self.MockEdge('n1', 'foo/goal')
        e3 = self.MockEdge('n1', 'foo/cancel')
        e4 = self.MockEdge('n1', 'foo/result')
        e5 = self.MockEdge('n1', 'foo/status')
        e6 = self.MockEdge('n2', 'bar')
        edges = [e1, e2, e3, e4, e5, e6]
        node_connections = gen._get_node_edge_map(edges)
        rnodes, redges, raction_nodes = gen._accumulate_action_topics(
            topic_nodes, edges, node_connections)
        self.assertEqual(1, len(rnodes))  # node 'bar'
        self.assertEqual(1, len(redges))
        self.assertEqual(1, len(raction_nodes))
        self.assertEqual(
            ['foo/feedback', 'foo/goal', 'foo/cancel', 'foo/result', 'foo/status', 'bar'], topic_nodes)
        self.assertEqual([e1, e2, e3, e4, e5, e6], edges)


if __name__ == '__main__':
    import rosunit
    rosunit.unitrun(PKG, 'dotcode_test', DotcodeTest)