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Merge pull request #6 from JuliaRobotics/feature/testharness
Feature/testharness
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‎test/interfaceTests.jl

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,99 @@
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dfg = testDFGAPI()
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v1 = DFGVariable(:a)
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v2 = DFGVariable(:b)
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f1 = DFGFactor(:f1)
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@testset "Creating Graphs" begin
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global dfg,v1,v2,f1
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addVariable!(dfg, v1)
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@test_throws Exception addVariable!(dfg, v1)
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addVariable!(dfg, v2)
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addFactor!(dfg, f1, [v1, v2])
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@test_throws Exception addFactor!(dfg, DFGFactor("f2"), [v1, DFGVariable("Nope")])
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end
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@testset "Listing Nodes" begin
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global dfg,v1,v2,f1
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@test length(ls(dfg)) == 2
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@test length(lsf(dfg)) == 1
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# Regexes
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@test ls(dfg, r"a") == [v1]
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@test lsf(dfg, r"f*") == [f1]
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end
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# Gets
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@testset "Gets and Sets" begin
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global dfg,v1,v2,f1
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@test getVariable(dfg, v1.label) == v1
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@test getFactor(dfg, f1.label) == f1
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@test_throws Exception getVariable(dfg, :nope)
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@test_throws Exception getVariable(dfg, "nope")
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@test_throws Exception getFactor(dfg, :nope)
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@test_throws Exception getFactor(dfg, "nope")
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# Sets
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v1Prime = deepcopy(v1)
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@test updateVariable!(dfg, v1Prime) != v1
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f1Prime = deepcopy(f1)
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@test updateFactor!(dfg, f1Prime) != f1
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end
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# Deletions
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# Not supported at present
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@testset "Deletions" begin
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@warn "Deletions with Graph.jl is not supported at present"
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end
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# Connectivity test
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@testset "Connectivity Test" begin
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global dfg,v1,v2,f1
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@test isFullyConnected(dfg) == true
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@test hasOrphans(dfg) == false
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addVariable!(dfg, DFGVariable(:orphan))
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@test isFullyConnected(dfg) == false
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@test hasOrphans(dfg) == true
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end
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# Adjacency matrices
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@testset "Adjacency Matrices" begin
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global dfg,v1,v2,f1
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# Normal
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adjMat = getAdjacencyMatrix(dfg)
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@test size(adjMat) == (2,4)
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@test adjMat[1, :] == [nothing, :a, :b, :orphan]
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@test adjMat[2, :] == [:f1, :f1, :f1, nothing]
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# Dataframe
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adjDf = getAdjacencyMatrixDataFrame(dfg)
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@test size(adjDf) == (1,4)
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end
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# Now make a complex graph for connectivity tests
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numNodes = 10
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dfg = testDFGAPI()
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verts = map(n -> DFGVariable(Symbol("x$n")), 1:numNodes)
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map(v -> addVariable!(dfg, v), verts)
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map(n -> addFactor!(dfg, DFGFactor(Symbol("x$(n)x$(n+1)f1")), [verts[n], verts[n+1]]), 1:(numNodes-1))
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# map(n -> addFactor!(dfg, [verts[n], verts[n+2]], DFGFactor(Symbol("x$(n)x$(n+2)f2"))), 1:2:(numNodes-2))
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@testset "Getting Neighbors" begin
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global dfg,verts
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# Get neighbors tests
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@test getNeighbors(dfg, verts[1]) == [:x1x2f1]
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neighbors = getNeighbors(dfg, getFactor(dfg, :x1x2f1))
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@test all([v in [:x1, :x2] for v in neighbors])
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# Testing aliases
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@test getNeighbors(dfg, getFactor(dfg, :x1x2f1)) == ls(dfg, getFactor(dfg, :x1x2f1))
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@test getNeighbors(dfg, :x1x2f1) == ls(dfg, :x1x2f1)
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end
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@testset "Getting Subgraphs" begin
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# Subgraphs
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dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 2)
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# Only returns x1 and x2
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@test setdiff([:x1, :x1x2f1, :x2], map(n -> n.label, [ls(dfgSubgraph)..., lsf(dfgSubgraph)...])) == []
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# Test include orphan factorsVoid
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dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 1, true)
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@test setdiff([:x1, :x1x2f1], map(n -> n.label, [ls(dfgSubgraph)..., lsf(dfgSubgraph)...])) == []
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# Test adding to the dfg
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dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 2, true, dfgSubgraph)
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@test setdiff([:x1, :x1x2f1, :x2], map(n -> n.label, [ls(dfgSubgraph)..., lsf(dfgSubgraph)...])) == []
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end

‎test/runtests.jl

Lines changed: 8 additions & 99 deletions
Original file line numberDiff line numberDiff line change
@@ -3,102 +3,11 @@ using DataFrames
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using DistributedFactorGraphs
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using DistributedFactorGraphs.GraphsJl
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dfg = GraphsDFG()
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v1 = DFGVariable(:a)
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v2 = DFGVariable(:b)
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f1 = DFGFactor(:f1)
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@testset "Creating Graphs" begin
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global dfg,v1,v2,f1
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addVariable!(dfg, v1)
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@test_throws Exception addVariable!(dfg, v1)
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addVariable!(dfg, v2)
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addFactor!(dfg, f1, [v1, v2])
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@test_throws Exception addFactor!(dfg, DFGFactor("f2"), [v1, DFGVariable("Nope")])
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end
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@testset "Listing Nodes" begin
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global dfg,v1,v2,f1
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@test length(ls(dfg)) == 2
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@test length(lsf(dfg)) == 1
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# Regexes
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@test ls(dfg, r"a") == [v1]
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@test lsf(dfg, r"f*") == [f1]
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end
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# Gets
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@testset "Gets and Sets" begin
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global dfg,v1,v2,f1
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@test getVariable(dfg, v1.label) == v1
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@test getFactor(dfg, f1.label) == f1
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@test_throws Exception getVariable(dfg, :nope)
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@test_throws Exception getVariable(dfg, "nope")
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@test_throws Exception getFactor(dfg, :nope)
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@test_throws Exception getFactor(dfg, "nope")
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# Sets
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v1Prime = deepcopy(v1)
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@test updateVariable!(dfg, v1Prime) != v1
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f1Prime = deepcopy(f1)
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@test updateFactor!(dfg, f1Prime) != f1
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end
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# Deletions
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# Not supported at present
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@testset "Deletions" begin
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@warn "Deletions with Graph.jl is not supported at present"
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end
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# Connectivity test
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@testset "Connectivity Test" begin
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global dfg,v1,v2,f1
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@test isFullyConnected(dfg) == true
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@test hasOrphans(dfg) == false
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addVariable!(dfg, DFGVariable(:orphan))
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@test isFullyConnected(dfg) == false
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@test hasOrphans(dfg) == true
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end
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# Adjacency matrices
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@testset "Adjacency Matrices" begin
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global dfg,v1,v2,f1
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# Normal
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adjMat = getAdjacencyMatrix(dfg)
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@test size(adjMat) == (2,4)
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@test adjMat[1, :] == [nothing, :a, :b, :orphan]
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@test adjMat[2, :] == [:f1, :f1, :f1, nothing]
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# Dataframe
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adjDf = getAdjacencyMatrixDataFrame(dfg)
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@test size(adjDf) == (1,4)
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end
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# Now make a complex graph for connectivity tests
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numNodes = 10
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dfg = GraphsDFG()
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verts = map(n -> DFGVariable(Symbol("x$n")), 1:numNodes)
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map(v -> addVariable!(dfg, v), verts)
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map(n -> addFactor!(dfg, DFGFactor(Symbol("x$(n)x$(n+1)f1")), [verts[n], verts[n+1]]), 1:(numNodes-1))
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# map(n -> addFactor!(dfg, [verts[n], verts[n+2]], DFGFactor(Symbol("x$(n)x$(n+2)f2"))), 1:2:(numNodes-2))
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@testset "Getting Neighbors" begin
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global dfg,verts
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# Get neighbors tests
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@test getNeighbors(dfg, verts[1]) == [:x1x2f1]
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neighbors = getNeighbors(dfg, getFactor(dfg, :x1x2f1))
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@test all([v in [:x1, :x2] for v in neighbors])
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# Testing aliases
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@test getNeighbors(dfg, getFactor(dfg, :x1x2f1)) == ls(dfg, getFactor(dfg, :x1x2f1))
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@test getNeighbors(dfg, :x1x2f1) == ls(dfg, :x1x2f1)
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end
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@testset "Getting Subgraphs" begin
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# Subgraphs
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dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 2)
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# Only returns x1 and x2
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@test setdiff([:x1, :x1x2f1, :x2], map(n -> n.label, [ls(dfgSubgraph)..., lsf(dfgSubgraph)...])) == []
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# Test include orphan factorsVoid
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dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 1, true)
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@test setdiff([:x1, :x1x2f1], map(n -> n.label, [ls(dfgSubgraph)..., lsf(dfgSubgraph)...])) == []
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# Test adding to the dfg
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dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 2, true, dfgSubgraph)
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@test setdiff([:x1, :x1x2f1, :x2], map(n -> n.label, [ls(dfgSubgraph)..., lsf(dfgSubgraph)...])) == []
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end
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# Test each interface
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apis = [GraphsDFG]
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global testDFGAPI = nothing
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for api in apis
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global testDFGAPI = api
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include("interfaceTests.jl")
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end
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# Test other interfaces

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