From 3ad68169536a150852155e9ff8a9f6f9be54f01e Mon Sep 17 00:00:00 2001
From: Uku Loskit <ukuloskit@gmail.com>
Date: Wed, 10 Jul 2024 03:36:23 +0300
Subject: [PATCH] Convert tests to use pytest instead of unittest (#43)

* Convert tests to use pytest instead of unittest

* Augment PYTHONPATH for pytest via pyproject.toml

* cleanup

---------

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 .github/workflows/tests.yml   |  4 ++--
 examples/test_compare.py      | 10 +++++-----
 examples/test_kinematic_kf.py | 18 +++++++-----------
 pyproject.toml                |  7 +++++++
 requirements.txt              |  2 ++
 5 files changed, 23 insertions(+), 18 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 0e09120..9b0f82d 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -17,8 +17,8 @@ jobs:
     - name: Static analysis
       run: ${{ env.RUN }} "git init && git add -A && pre-commit run --all"
     - name: Unit Tests
-      run: ${{ env.RUN }} "cd /project/examples; python -m unittest discover"
-  
+      run: ${{ env.RUN }} "pytest"
+
   docker_push:
     name: docker push
     runs-on: ubuntu-latest
diff --git a/examples/test_compare.py b/examples/test_compare.py
index 0b2cdd3..291f29e 100755
--- a/examples/test_compare.py
+++ b/examples/test_compare.py
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
+import pytest
 import os
 import sys
 import sympy as sp
 import numpy as np
-import unittest
 
 if __name__ == '__main__':  # generating sympy code
   from rednose.helpers.ekf_sym import gen_code
@@ -83,7 +83,7 @@ class CompareFilter:
     return R
 
 
-class TestCompare(unittest.TestCase):
+class TestCompare:
   def test_compare(self):
     np.random.seed(0)
 
@@ -115,9 +115,9 @@ class TestCompare(unittest.TestCase):
       kf.filter_py.predict_and_update_batch(t, ObservationKind.POSITION, z, R)
       kf.filter_pyx.predict_and_update_batch(t, ObservationKind.POSITION, z, R)
 
-      self.assertAlmostEqual(kf.filter_py.get_filter_time(), kf.filter_pyx.get_filter_time())
-      self.assertTrue(np.allclose(kf.filter_py.state(), kf.filter_pyx.state()))
-      self.assertTrue(np.allclose(kf.filter_py.covs(), kf.filter_pyx.covs()))
+      assert kf.filter_py.get_filter_time() == pytest.approx(kf.filter_pyx.get_filter_time())
+      assert np.allclose(kf.filter_py.state(), kf.filter_pyx.state())
+      assert np.allclose(kf.filter_py.covs(), kf.filter_pyx.covs())
 
 
 if __name__ == "__main__":
diff --git a/examples/test_kinematic_kf.py b/examples/test_kinematic_kf.py
index 749eaf0..05d4d3e 100644
--- a/examples/test_kinematic_kf.py
+++ b/examples/test_kinematic_kf.py
@@ -1,12 +1,12 @@
+import pytest
 import os
 import numpy as np
-import unittest
 
-from kinematic_kf import KinematicKalman, ObservationKind, States  # pylint: disable=import-error
+from .kinematic_kf import KinematicKalman, ObservationKind, States
 
 GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), 'generated'))
 
-class TestKinematic(unittest.TestCase):
+class TestKinematic:
   def test_kinematic_kf(self):
     np.random.seed(0)
 
@@ -49,10 +49,10 @@ class TestKinematic(unittest.TestCase):
 
     xs, xs_meas, xs_kf, vs_kf, xs_kf_std, vs_kf_std = (np.asarray(a) for a in (xs, xs_meas, xs_kf, vs_kf, xs_kf_std, vs_kf_std))
 
-    self.assertAlmostEqual(xs_kf[-1], -0.010866289677966417)
-    self.assertAlmostEqual(xs_kf_std[-1], 0.04477103863330089)
-    self.assertAlmostEqual(vs_kf[-1], -0.8553720537261753)
-    self.assertAlmostEqual(vs_kf_std[-1], 0.6695762270974388)
+    assert xs_kf[-1] == pytest.approx(-0.010866289677966417)
+    assert xs_kf_std[-1] == pytest.approx(0.04477103863330089)
+    assert vs_kf[-1] == pytest.approx(-0.8553720537261753)
+    assert vs_kf_std[-1] == pytest.approx(0.6695762270974388)
 
     if "PLOT" in os.environ:
       import matplotlib.pyplot as plt  # pylint: disable=import-error
@@ -80,7 +80,3 @@ class TestKinematic(unittest.TestCase):
       plt.legend()
 
       plt.show()
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/pyproject.toml b/pyproject.toml
index b417c70..fa6ae11 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -7,3 +7,10 @@ target-version="py311"
 select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"]
 ignore = ["W292", "E741", "E402", "C408", "ISC003"]
 flake8-implicit-str-concat.allow-multiline=false
+
+[tool.ruff.lint.flake8-tidy-imports.banned-api]
+"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
+"unittest".msg = "Use pytest"
+
+[tool.pytest.ini_options]
+addopts = "--durations=10 -n auto"
diff --git a/requirements.txt b/requirements.txt
index 453554b..81875a8 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -7,3 +7,5 @@ cffi
 scons
 pre-commit
 Cython
+pytest
+pytest-xdist