300 lines
9.0 KiB
Python
300 lines
9.0 KiB
Python
"""
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Unit tests for Matlab wrap program
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Author: Matthew Sklar, Varun Agrawal
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Date: March 2019
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"""
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# pylint: disable=import-error, wrong-import-position
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import filecmp
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import os
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import os.path as osp
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import sys
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import unittest
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sys.path.append(osp.dirname(osp.dirname(osp.abspath(__file__))))
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from gtwrap.matlab_wrapper import MatlabWrapper
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class TestWrap(unittest.TestCase):
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"""
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Test the Matlab wrapper
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"""
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def setUp(self) -> None:
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super().setUp()
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# Set up all the directories
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self.TEST_DIR = osp.dirname(osp.realpath(__file__))
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self.INTERFACE_DIR = osp.join(self.TEST_DIR, "fixtures")
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self.MATLAB_TEST_DIR = osp.join(self.TEST_DIR, "expected", "matlab")
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self.MATLAB_ACTUAL_DIR = osp.join(self.TEST_DIR, "actual", "matlab")
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if not osp.exists(self.MATLAB_ACTUAL_DIR):
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os.mkdir(self.MATLAB_ACTUAL_DIR)
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# Generate the matlab.h file if it does not exist
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template_file = osp.join(self.TEST_DIR, "..", "gtwrap",
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"matlab_wrapper", "matlab_wrapper.tpl")
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if not osp.exists(template_file):
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with open(template_file, 'w', encoding="UTF-8") as tpl:
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tpl.write("#include <gtwrap/matlab.h>\n#include <map>\n")
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# Create the `actual/matlab` directory
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os.makedirs(self.MATLAB_ACTUAL_DIR, exist_ok=True)
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def compare_and_diff(self, file, actual):
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"""
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Compute the comparison between the expected and actual file,
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and assert if diff is zero.
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"""
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expected = osp.join(self.MATLAB_TEST_DIR, file)
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success = filecmp.cmp(actual, expected)
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if not success:
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os.system(f"diff {actual} {expected}")
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self.assertTrue(success, f"Mismatch for file {file}")
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def test_geometry(self):
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"""
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Check generation of matlab geometry wrapper.
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python3 wrap/matlab_wrapper.py --src wrap/tests/geometry.h
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--module_name geometry --out wrap/tests/actual-matlab
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"""
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file = osp.join(self.INTERFACE_DIR, 'geometry.i')
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# Create MATLAB wrapper instance
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wrapper = MatlabWrapper(module_name='geometry',
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top_module_namespace=['gtsam'],
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ignore_classes=[''],
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use_boost_serialization=True)
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wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
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files = ['+gtsam/Point2.m', '+gtsam/Point3.m', 'geometry_wrapper.cpp']
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self.assertTrue(osp.isdir(osp.join(self.MATLAB_ACTUAL_DIR, '+gtsam')))
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for file in files:
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actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
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self.compare_and_diff(file, actual)
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def test_functions(self):
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"""Test interface file with function info."""
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file = osp.join(self.INTERFACE_DIR, 'functions.i')
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wrapper = MatlabWrapper(
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module_name='functions',
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top_module_namespace=['gtsam'],
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ignore_classes=[''],
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)
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wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
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files = [
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'functions_wrapper.cpp',
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'aGlobalFunction.m',
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'load2D.m',
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'MultiTemplatedFunctionDoubleSize_tDouble.m',
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'MultiTemplatedFunctionStringSize_tDouble.m',
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'overloadedGlobalFunction.m',
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'TemplatedFunctionRot3.m',
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'DefaultFuncInt.m',
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'DefaultFuncObj.m',
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'DefaultFuncString.m',
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'DefaultFuncVector.m',
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'DefaultFuncZero.m',
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'setPose.m',
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]
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for file in files:
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actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
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self.compare_and_diff(file, actual)
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def test_class(self):
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"""Test interface file with only class info."""
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file = osp.join(self.INTERFACE_DIR, 'class.i')
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wrapper = MatlabWrapper(
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module_name='class',
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top_module_namespace=['gtsam'],
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ignore_classes=[''],
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)
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wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
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files = [
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'class_wrapper.cpp',
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'FunDouble.m',
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'FunRange.m',
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'MultipleTemplatesIntDouble.m',
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'MultipleTemplatesIntFloat.m',
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'MyFactorPosePoint2.m',
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'MyVector3.m',
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'MyVector12.m',
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'PrimitiveRefDouble.m',
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'Test.m',
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'ForwardKinematics.m',
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]
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for file in files:
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actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
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self.compare_and_diff(file, actual)
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def test_enum(self):
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"""Test interface file with only enum info."""
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file = osp.join(self.INTERFACE_DIR, 'enum.i')
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wrapper = MatlabWrapper(
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module_name='enum',
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top_module_namespace=['gtsam'],
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ignore_classes=[''],
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)
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wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
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files = [
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'enum_wrapper.cpp',
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'Color.m',
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'+Pet/Kind.m',
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'+gtsam/VerbosityLM.m',
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'+gtsam/+MCU/Avengers.m',
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'+gtsam/+MCU/GotG.m',
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'+gtsam/+OptimizerGaussNewtonParams/Verbosity.m',
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]
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for file in files:
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actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
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self.compare_and_diff(file, actual)
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def test_templates(self):
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"""Test interface file with template info."""
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file = osp.join(self.INTERFACE_DIR, 'templates.i')
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wrapper = MatlabWrapper(
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module_name='template',
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top_module_namespace=['gtsam'],
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ignore_classes=[''],
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)
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wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
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files = [
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'template_wrapper.cpp', 'ScopedTemplateResult.m',
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'TemplatedConstructor.m'
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]
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for file in files:
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actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
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self.compare_and_diff(file, actual)
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def test_inheritance(self):
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"""Test interface file with class inheritance definitions."""
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file = osp.join(self.INTERFACE_DIR, 'inheritance.i')
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wrapper = MatlabWrapper(
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module_name='inheritance',
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top_module_namespace=['gtsam'],
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ignore_classes=[''],
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)
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wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
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files = [
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'inheritance_wrapper.cpp',
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'MyBase.m',
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'MyTemplateMatrix.m',
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'MyTemplatePoint2.m',
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'ForwardKinematicsFactor.m',
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]
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for file in files:
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actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
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self.compare_and_diff(file, actual)
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def test_namespaces(self):
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"""
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Test interface file with full namespace definition.
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"""
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file = osp.join(self.INTERFACE_DIR, 'namespaces.i')
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wrapper = MatlabWrapper(
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module_name='namespaces',
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top_module_namespace=['gtsam'],
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ignore_classes=[''],
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)
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wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
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files = [
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'namespaces_wrapper.cpp',
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'+ns1/aGlobalFunction.m',
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'+ns1/ClassA.m',
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'+ns1/ClassB.m',
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'+ns2/+ns3/ClassB.m',
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'+ns2/aGlobalFunction.m',
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'+ns2/ClassA.m',
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'+ns2/ClassC.m',
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'+ns2/overloadedGlobalFunction.m',
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'ClassD.m',
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'+gtsam/Values.m',
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]
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for file in files:
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actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
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self.compare_and_diff(file, actual)
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def test_special_cases(self):
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"""
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Tests for some unique, non-trivial features.
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"""
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file = osp.join(self.INTERFACE_DIR, 'special_cases.i')
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wrapper = MatlabWrapper(
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module_name='special_cases',
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top_module_namespace=['gtsam'],
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ignore_classes=[''],
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)
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wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
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files = [
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'special_cases_wrapper.cpp',
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'+gtsam/GeneralSFMFactorCal3Bundler.m',
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'+gtsam/NonlinearFactorGraph.m',
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'+gtsam/PinholeCameraCal3Bundler.m',
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'+gtsam/SfmTrack.m',
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]
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for file in files:
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actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
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self.compare_and_diff(file, actual)
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def test_multiple_files(self):
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"""
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Test for when multiple interface files are specified.
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"""
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file1 = osp.join(self.INTERFACE_DIR, 'part1.i')
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file2 = osp.join(self.INTERFACE_DIR, 'part2.i')
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wrapper = MatlabWrapper(
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module_name='multiple_files',
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top_module_namespace=['gtsam'],
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ignore_classes=[''],
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)
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wrapper.wrap([file1, file2], path=self.MATLAB_ACTUAL_DIR)
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files = [
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'multiple_files_wrapper.cpp',
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'+gtsam/Class1.m',
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'+gtsam/Class2.m',
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'+gtsam/ClassA.m',
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]
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for file in files:
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actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
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self.compare_and_diff(file, actual)
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if __name__ == '__main__':
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unittest.main()
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