Merge pull request #8 from karlobermeyer/sp_tests

Implement test framework for shortest path calculation

README.md

@@ -127,7 +127,23 @@ Description: a subroutine of `visibiity_polygon_demonstration.m` and
 `shortest_path_demo.m` used to read a VisiLibity style Environment file into a
 Matlab cell array.
 
+## Testing
+Testing frameworks are available for visibility polygon and shortest path
+calculations.
 
+### Visibility polygon calculation testing
+TBD
+
+### Shortest path calculation testing
+
+The script `test_shortest_path.sh` will execute all the tests in the `shortest_path_tests` (by default) directory.
+
+Every test requires three files:
+1. `<name>.environment`: The environment in which to find a shortest path between two points. Specify this like any other environment file.
+2. `<name>.guards`: The location of 2 (two) points in the environment and not in a hole. The first point is the start point and the second point is the end point. The test will calculate the shortest path between those points with respect to the environment defined in `<name>.environment`.
+3. `<name>.result`: The vertices of the shortest path between the points defined in <name>.guards in the environment defined in `<name>.environment`.
+
+The test passes when the path specified in the result file matches the path actually calculated by VisiLibity.
 
 ## License
 
@@ -146,4 +162,4 @@ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
 PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more details.
 
 You should have received a copy of the GNU Lesser General Public License along
-with VisiLibity.  If not, see  <http://www.gnu.org/licenses/>.
+with VisiLibity.  If not, see  <http://www.gnu.org/licenses/>.

src/makefile

@@ -1,5 +1,5 @@
 #Phony target.
-current_target: main
+all: main test_shortest_path
 
 
 #Compiler flags
@@ -12,16 +12,19 @@ LDFLAGS = -O2
 
 #Modules
 main.o: main.cpp visilibity.hpp
+test_shortest_path.o: test_shortest_path.cpp visilibity.hpp
 visilibity.o: visilibity.cpp visilibity.hpp
 
 
 #Executables
 main: main.o visilibity.o
 	g++ -o main $(CXXFLAGS) main.o visilibity.o
 
+test_shortest_path: test_shortest_path.o visilibity.o
+	g++ -o test_shortest_path $(CXXFLAGS) test_shortest_path.o visilibity.o
 
 clean:   
-	rm main *~ *.o *.do *.db
+	rm main *~ *.o *.do *.db test_shortest_path
 	clear
 	pwd
 	ls

src/shortest_path_tests/test.environment

@@ -0,0 +1,11 @@
+//Environment Model
+//Outer Boundary x-y coordinates listed counterclockwise
+0.0 0.0
+10.0 0.0
+10.0 10.0
+0.0 10.0
+//Hole x-y coordinates listed clockwise
+4.0 4.0
+4.0 7.0
+8.0 7.0
+8.0 4.0

src/shortest_path_tests/test.guards

@@ -0,0 +1,3 @@
+//Guard x-y coordinates
+1.0 1.0
+9.0 9.0

src/shortest_path_tests/test.result

@@ -0,0 +1,3 @@
+1.0 1.0
+4.0 7.0
+9.0 9.0

src/shortest_path_tests/test1.environment

@@ -0,0 +1,11 @@
+//Environment Model
+//Outer Boundary x-y coordinates listed counterclockwise
+0.0 0.0
+10.0 0.0
+10.0 10.0
+0.0 10.0
+//Hole x-y coordinates listed clockwise
+4.0 4.0
+4.0 7.0
+8.0 7.0
+8.0 4.0

src/shortest_path_tests/test1.guards

@@ -0,0 +1,3 @@
+//Guard x-y coordinates
+1.0 1.0
+9.0 9.0

src/shortest_path_tests/test1.result

@@ -0,0 +1,3 @@
+1.0 1.0
+4.0 7.0
+9.0 9.0

src/shortest_path_tests/test2.environment

@@ -0,0 +1,14 @@
+//Environment Model
+//Outer Boundary x-y coordinates listed counterclockwise
+0.0 0.0
+10.0 0.0
+10.0 10.0
+0.0 10.0
+//Hole x-y coordinates listed clockwise
+2.0 2.0
+2.0 3.0
+4.0 3.0
+///////
+7.0 3.0
+6.0 4.0
+8.0 5.0

src/shortest_path_tests/test2.guards

@@ -0,0 +1,3 @@
+//Guard x-y coordinates
+5.0 1.0
+7.0 6.0

src/shortest_path_tests/test2.result

@@ -0,0 +1,3 @@
+5.0000000000 1.0000000000
+6.0000000000 4.0000000000
+7.0000000000 6.0000000000

src/test_shortest_path.cpp

@@ -0,0 +1,136 @@
+/*
+ * This program will create a testable scenario based on user input for
+ * generating the shortest path between two points in an environment and compare
+ * that with expected results.
+ *
+ * Usage:
+ * ./test_shortest_path <test environment file> <test path start/finish file>
+ * <test results file>
+ *
+ * See README.md for information about the format of these files.
+ */
+
+#include "visilibity.hpp" //VisiLibity header file
+#include <cmath>          //Puts math functions in std namespace
+#include <cstdlib>        //Gives rand, srand, exit
+#include <cstring>        //Gives C-string manipulation
+#include <ctime>          //Gives Unix time
+#include <fstream>        //File I/O
+#include <iostream>       //std I/O
+#include <sstream>        //Gives string streams
+#include <string>         //Gives string class
+#include <vector>         //std vectors
+//#define NDEBUG           //Turns off assert.
+#include <cassert>
+
+// ASCII escape sequences for formatting terminal text.
+std::string alert("\a");       // Beep
+std::string normal("\x1b[0m"); // Designated fg color default bg color
+std::string red("\x1b[31m");
+std::string red_blink("\x1b[5;31m");
+std::string black("\E[30;47m");
+std::string green("\E[32m");
+std::string yellow("\E[33;40m");
+std::string blue("\E[34;47m");
+std::string magenta("\x1b[35m");
+std::string cyan("\E[36m");
+std::string white_bold("\E[1;37;40m");
+std::string clear_display("\E[2J");
+
+void print_usage(const char *const self_name) {
+  std::cout << self_name
+            << " <test environment file> <test path start/stop file> <test "
+               "results file>"
+            << std::endl;
+  std::cout
+      << "\tSee README.md for information about the format of these files."
+      << std::endl;
+}
+
+int main(int argc, char *argv[]) {
+
+  // Check whether the user gave us the right number of parameters. If not, tell
+  // them how to use our program.
+  if (argc != 4) {
+    print_usage(argv[0]);
+    exit(1);
+  }
+
+  // Variables for the filenames specified on the command line.
+  std::string test_environment_filename(argv[1]);
+  std::string test_start_finish_filename(argv[2]);
+  std::string test_results_filename(argv[3]);
+
+  // Set the precision of the numbers that we will print to the screen for the
+  // user to see.
+  VisiLibity::Unit_Test::set_output_precision();
+  // Seed the random number generator that we have to use throughout the code.
+  VisiLibity::Unit_Test::seed_random();
+
+  // Set geometric robustness constant
+  //:WARNING:
+  // may need to modify epsilon for Environments with greatly varying
+  // scale of features
+  double epsilon = 0.000000001;
+  std::cout << "The robustness constant epsilon is set to " << epsilon
+            << std::endl;
+
+  // Load geometric environment model from file
+  std::cout << "Loading test environment file ";
+  // Print environment filename to screen
+  std::cout << test_environment_filename << " . . . ";
+  // Construct Environment object from file
+  VisiLibity::Environment test_environment(test_environment_filename);
+  std::cout << green << "OK" << normal << std::endl;
+
+  // Load start/finish positions from file
+  std::cout << "Loading test start/finish file ";
+  // Print start/finish filename to screen
+  std::cout << test_start_finish_filename << " . . . ";
+  // Construct a Guards object from file
+  VisiLibity::Guards test_start_finish(test_start_finish_filename);
+  std::cout << green << "OK" << normal << std::endl;
+
+  // Load the expected shortest path coordinates from file
+  std::cout << "Loading expected results file ";
+  // Print the expected shortest path coordinates filename to screen
+  std::cout << test_results_filename << " . . . ";
+  // Construct the Polyline of the expected shortest path from the file
+  VisiLibity::Polyline expected_shortest_path(test_results_filename);
+  std::cout << green << "OK" << normal << std::endl;
+
+  // Satisfy the preconditions for visibility polygon calculation by snapping
+  // the observers.
+  test_start_finish.snap_to_boundary_of(test_environment, epsilon);
+  test_start_finish.snap_to_vertices_of(test_environment, epsilon);
+
+  // Check whether the parameters in the input files make a testable
+  // scenario.
+  assert(VisiLibity::Shortest_Path_Test::validate(test_environment, epsilon,
+                                                  test_start_finish));
+  std::cout
+      << "Shortest path test parameters specified by input files are . . . "
+      << green << "OK" << normal << std::endl;
+
+  // Compute the shortest path between the two guards.
+  VisiLibity::Polyline actual_shortest_path = test_environment.shortest_path(
+      test_start_finish[0], test_start_finish[1], epsilon);
+
+  // Print the actual and expected shortest path to help the user debug
+  // failures.
+  std::cout << "The (actual) shortest path is" << std::endl
+            << magenta << actual_shortest_path << normal << std::endl;
+  std::cout << "The (expected) shortest path is" << std::endl
+            << magenta << expected_shortest_path << normal << std::endl;
+
+  // If the actual and expected shortest paths match, then print that the test
+  // passed and return 0 (no error). Otherwise, Alert the user of failure and
+  // return 1 (error).
+  if (actual_shortest_path == expected_shortest_path) {
+    std::cout << green << "Passed" << normal << std::endl;
+    return 0;
+  } else {
+    std::cout << red << "Failed" << normal << std::endl;
+    return 1;
+  }
+}

src/test_shortest_path.sh

@@ -0,0 +1,59 @@
+#!/bin/bash
+
+# Run all the shortest path tests in the sp_tests directory. See README.md
+# for information on how to write tests.
+
+# Set some strings to help us format our results.
+green_format='\033[0;32m'
+red_format='\033[0;31m'
+reset_format='\033[0m'
+
+# Specify that all the shortest path tests are in the shortest_path_tests directory.
+sp_tests_dir="shortest_path_tests"
+
+# Make sure that the test binary is available.
+make test_shortest_path
+if [ $? -ne 0 ]; then
+	echo -e "${red_format}Error building the testing binary."
+	exit 1;
+fi
+
+# Calculate the list of available tests in the test directory.
+tests=$(for i in `ls ${sp_tests_dir}/*`; do echo `basename $i` | awk -F. '{print $1;}' ; done | sort -u);
+
+total_tests=0
+passing_tests=0
+failing_tests=0
+
+for i in $tests; do
+	# Make sure that all three required files are present.
+	if [ \! \( -f ${sp_tests_dir}/$i.environment \) -o \! \( -f ${sp_tests_dir}/$i.guards \) -o \! \( -f ${sp_tests_dir}/$i.result \) ]; then
+		echo -e "${red_format}Cannot run ${i}: Missing file."
+		failing_tests=$(( failing_tests + 1 ))
+		continue
+	fi
+
+	# Run the test.
+	./test_shortest_path ${sp_tests_dir}/$i.environment ${sp_tests_dir}/$i.guards ${sp_tests_dir}/$i.result
+
+	# Handle the result.
+	if [ $? -ne 0 ]; then
+		echo "${red_format}Test Failure."
+		failing_tests=$(( failing_tests + 1 ))
+	else
+		echo -e "${green_format}Test Passed."
+		passing_tests=$(( passing_tests + 1 ))
+	fi
+
+	# No matter what, we ran a test so we have to add 1 to total_tests.
+	total_tests=$(( total_tests + 1 ))
+done
+
+echo "==============================================="
+echo "Results:"
+echo -e "${green_format}Passing Tests: ${passing_tests}"
+echo -e "${red_format}Failing Tests: ${failing_tests}"
+echo -e "${reset_format}Total   Tests: ${total_tests}"
+
+# The status code will be the number of failing tests.
+exit ${failing_tests}