Jake J. Abbott

88 papers A* 17A 13C 3Journal 41Unranked 14
YearRankTypeTitle / Venue / Authors
2025 J jnl
Sci. Robotics
Nicholas R. Posselli, Eileen S. Hwang, Zachary J. Olson, Aaron Nagiel, Paul S. Bernstein, Jake J. Abbott
2025 J jnl
Int. J. Robotics Res.
Griffin F. Tabor, Lan N. Pham, Jake J. Abbott, Tucker Hermans
2025 J jnl
Sci. Robotics
Jake J. Abbott
2024 J jnl
J. Medical Robotics Res.
Nicholas R. Posselli, Patrick S. Wellborn, Paul S. Bernstein, Robert J. Webster III, Jake J. Abbott
2024 J jnl
IEEE Trans. Robotics
Devin K. Dalton, Griffin F. Tabor, Tucker Hermans, Jake J. Abbott
2022 conf
Robotics: Science and Systems
Griffin F. Tabor, Lan N. Pham, Jake J. Abbott, Tucker Hermans
2022 J jnl
IEEE Robotics Autom. Lett.
Devin K. Dalton, Griffin F. Tabor, Tucker Hermans, Jake J. Abbott
2022 J jnl
IEEE Trans. Haptics
Ruisi Zhang, Jake J. Abbott
2022 J jnl
IEEE Robotics Autom. Lett.
Adam J. Sperry, Jordan J. Christensen, Jake J. Abbott
2021 J jnl
IEEE Trans. Haptics
Ruisi Zhang, Trevor J. Schwehr, Jake J. Abbott
2021 J jnl
IEEE Trans. Haptics
Ruisi Zhang, Jake J. Abbott
2020 J jnl
IEEE Trans. Haptics
Ruisi Zhang, Trevor J. Schwehr, Jake J. Abbott
2020 J jnl
IEEE Robotics Autom. Lett.
Ashkan Pourkand, Jake J. Abbott
2020 J jnl
IEEE Robotics Autom. Lett.
BhanuKiran Chaluvadi, Kristen M. Stewart, Adam J. Sperry, Henry C. Fu, Jake J. Abbott
2020 J jnl
IEEE Robotics Autom. Lett.
Ashkan Pourkand, Jake J. Abbott
2020 J jnl
Annu. Rev. Control. Robotics Auton. Syst.
Jake J. Abbott, Eric D. Diller, Andrew J. Petruska
2020 J jnl
IEEE Robotics Autom. Lett.
Trevor L. Bruns, Katherine E. Riojas, Dominick S. Ropella, Matt S. Cavilla, Andrew J. Petruska, Michael H. Freeman, Robert F. Labadie, Jake J. Abbott, Robert J. Webster III
2020 J jnl
ACM Trans. Appl. Percept.
David E. Usevitch, Adam J. Sperry, Jake J. Abbott
2019 J jnl
IEEE Robotics Autom. Lett.
Ashkan Pourkand, Jake J. Abbott
2019 J jnl
IEEE Robotics Autom. Lett.
Colton R. Thornley, Lan N. Pham, Jake J. Abbott
2018 J jnl
IEEE Robotics Autom. Lett.
Ashkan Pourkand, Jake J. Abbott
2018 A conf
IROS
Lan N. Pham, Jake J. Abbott
2018 J jnl
J. Medical Robotics Res.
Lisandro Leon, Frank M. Warren, Jake J. Abbott
2018 conf
HAPTICS
Ruisi Zhang, Andrew J. Boyles, Jake J. Abbott
2017 J jnl
IEEE Robotics Autom. Lett.
Jake J. Abbott, Joseph B. Brink, Braxton Osting
2017 C conf
ISRR
Jake J. Abbott, Henry C. Fu
2017 J jnl
IEEE Robotics Autom. Lett.
Manikantan Nambi, Paul S. Bernstein, Jake J. Abbott
2017 A* conf
ICRA
Katie M. Popek, Tucker Hermans, Jake J. Abbott
2017 J jnl
IEEE Trans. Robotics
Louis B. Kratchman, Trevor L. Bruns, Jake J. Abbott, Robert J. Webster III
2017 J jnl
IEEE Robotics Autom. Lett.
Katie M. Popek, Thomas Schmid, Jake J. Abbott
2017 J jnl
IEEE Trans. Robotics
Samuel E. Wright, Arthur W. Mahoney, Katie M. Popek, Jake J. Abbott
2016 J jnl
J. Medical Robotics Res.
Manikantan Nambi, Paul S. Bernstein, Jake J. Abbott
2016 J jnl
Int. J. Robotics Res.
Arthur W. Mahoney, Jake J. Abbott
2016 J jnl
IEEE Trans. Hum. Mach. Syst.
Troy K. Arbuckle, Manikantan Nambi, Jonathan E. Butner, William R. Provancher, Jake J. Abbott
2016 conf
SSRR
Kam K. Leang, Jake J. Abbott, Jur van den Berg, Daman Bareiss
2015 conf
MICCAI (1)
Manikantan Nambi, Paul S. Bernstein, Jake J. Abbott
2015 A* conf
ICRA
Samuel E. Wright, Arthur W. Mahoney, Katie M. Popek, Jake J. Abbott
2015 A* conf
ICRA
Owen R. Barnes, Babak Hejrati, Jake J. Abbott
2015 A* conf
ICRA
Andrew J. Petruska, Joseph B. Brink, Jake J. Abbott
2015 A* conf
ICRA
Nathan D. Nelson, Jake J. Abbott
2015 J jnl
IEEE Trans. Haptics
Babak Hejrati, Kyle Lawson Crandall, John M. Hollerbach, Jake J. Abbott
2014 conf
Robotics: Science and Systems
Arthur W. Mahoney, Jake J. Abbott
2014 conf
HAPTICS
Joseph B. Brink, Andrew J. Petruska, David E. Johnson, Jake J. Abbott
2014 J jnl
IEEE Trans. Robotics
Arthur W. Mahoney, Jake J. Abbott
2014 J jnl
IEEE Trans. Robotics
Andrew J. Petruska, Arthur W. Mahoney, Jake J. Abbott
2013 A* conf
ICRA
Nathan D. Nelson, Jessica Delacenserie, Jake J. Abbott
2013 A* conf
ICRA
Andrew J. Petruska, Jake J. Abbott
2013 A* conf
ICRA
Katie M. Popek, Arthur W. Mahoney, Jake J. Abbott
2013 A* conf
ICRA
Arthur W. Mahoney, Samuel E. Wright, Jake J. Abbott
2012 conf
ISER
Aayush Damani, Manikantan Nambi, Jake J. Abbott
2012 A* conf
ICRA
Arthur W. Mahoney, Daniel L. Cowan, Katie M. Miller, Jake J. Abbott
2012 conf
EMBC
Babak Hejrati, Dale Hull, Jan Black, Jake J. Abbott, John M. Hollerbach
2012 A conf
IROS
Arthur W. Mahoney, Nathan D. Nelson, Erin M. Parsons, Jake J. Abbott
2012 A conf
IROS
Katie M. Miller, Arthur W. Mahoney, Thomas Schmid, Jake J. Abbott
2011 A conf
IROS
Courtney E. Doyle, Justin J. Bird, Taylor A. Isom, C. Jerald Johnson, Jason C. Kallman, Jason A. Simpson, Raymond J. King, Jake J. Abbott, Mark A. Minor
2011 A conf
IROS
James R. Clark, Lisandro Leon, Frank M. Warren, Jake J. Abbott
2011 J jnl
Adv. Robotics
Manikantan Nambi, William R. Provancher, Jake J. Abbott
2011 A conf
IROS
Manikantan Nambi, Aayush Damani, Jake J. Abbott
2011 J jnl
Adv. Robotics
Arthur W. Mahoney, John C. Sarrazin, Eberhard Bamberg, Jake J. Abbott
2010 conf
EuroHaptics (1)
Aman V. Shah, Scott Teuscher, Eric W. McClain, Jake J. Abbott
2010 J jnl
IEEE Trans. Robotics
Michael P. Kummer, Jake J. Abbott, Bradley Kratochvil, Ruedi Borer, Ali Sengul, Bradley J. Nelson
2010 A* conf
ICRA
Bradley Kratochvil, Michael P. Kummer, Jake J. Abbott, Ruedi Borer, Olgaç Ergeneman, Bradley J. Nelson
2010 A* conf
ICRA
Michael P. Kummer, Jake J. Abbott, Bradley Kratochvil, Ruedi Borer, Ali Sengul, Bradley J. Nelson
2010 conf
EuroHaptics (1)
Manikantan Nambi, William R. Provancher, Jake J. Abbott
2010 J jnl
IEEE Trans. Biomed. Eng.
Christos Bergeles, Kamran Shamaei, Jake J. Abbott, Bradley J. Nelson
2010 A* conf
ICRA
Thomas W. R. Fountain, Prem V. Kailat, Jake J. Abbott
2009 J jnl
Int. J. Robotics Res.
Jake J. Abbott, Kathrin Eva Peyer, Marco Cosentino Lagomarsino, Li Zhang, Lixin Dong, Ioannis K. Kaliakatsos, Bradley J. Nelson
2009 A conf
IROS
Li Zhang, Jake J. Abbott, Lixin Dong, Bradley Kratochvil, Haixin Zhang, Kathrin Eva Peyer, Bradley J. Nelson
2009 A conf
IROS
Zoltán Nagy, Shuhei Miyashita, Simon Muntwyler, Ashish Cherukuri, Jake J. Abbott, Rolf Pfeifer, Bradley J. Nelson
2009 A* conf
ICRA
Christos Bergeles, Georgios Fagogenis, Jake J. Abbott, Bradley J. Nelson
2009 conf
MICCAI (1)
Christos Bergeles, Kamran Shamaei, Jake J. Abbott, Bradley J. Nelson
2009 A conf
IROS
Christos Bergeles, Kamran Shamaei, Jake J. Abbott, Bradley J. Nelson
2008 A conf
IROS
Zoltán Nagy, Raymond Oung, Jake J. Abbott, Bradley J. Nelson
2008 A* conf
ICRA
Zoltán Nagy, Olgaç Ergeneman, Jake J. Abbott, Marco Hutter, Ann M. Hirt, Bradley J. Nelson
2008 A conf
IROS
Bradley Kratochvil, Lixin Dong, Li Zhang, Jake J. Abbott, Bradley J. Nelson
2008 A conf
IROS
Gorkem Dogangil, Olgaç Ergeneman, Jake J. Abbott, Salvador Pané, Heike Hall, Simon Muntwyler, Bradley J. Nelson
2007 C conf
ISRR
Jake J. Abbott, Kathrin Eva Peyer, Lixin Dong, Bradley J. Nelson
2007 A* conf
ICRA
Michael P. Kummer, Jake J. Abbott, Karl Vollmers, Bradley J. Nelson
2007 J jnl
IEEE Trans. Robotics
Jake J. Abbott, Olgaç Ergeneman, Michael P. Kummer, Ann M. Hirt, Bradley J. Nelson
2007 J jnl
Int. J. Robotics Res.
Jake J. Abbott, Allison M. Okamura
2007 J jnl
IEEE Robotics Autom. Mag.
Jake J. Abbott, Zoltán Nagy, Felix Beyeler, Bradley J. Nelson
2006 conf
HAPTICS
Jake J. Abbott, Allison M. Okamura
2005 conf
WHC
Mengnan (Mary) Wu, Jake J. Abbott, Allison M. Okamura
2005 J jnl
IEEE Trans. Robotics
Jake J. Abbott, Allison M. Okamura
2005 C conf
ISRR
Jake J. Abbott, Panadda Marayong, Allison M. Okamura
2004 conf
HAPTICS
Izukanne Emeagwali, Panadda Marayong, Jake J. Abbott, Allison M. Okamura
2003 A conf
IROS
Jake J. Abbott, Allison M. Okamura
2003 A* conf
ICRA
Jake J. Abbott, Allison M. Okamura
tests/unit/test_cfg_features.py
← Index tests/unit/test_cfg_features.py python
"""
Unit tests for cfg_features.py — all new CFG feature computations.

These tests use plain Python data structures (index-based adjacency lists)
and require no Binary Ninja dependency.
"""
import pytest

from redb.extractors.decompiler.bninja.analysis.cfg_features import (
    bfs_order,
    bfs_max_depth,
    count_back_edges,
    compute_topology_hash,
    compute_md_index_topdown,
    compute_md_index_bottomup,
    compute_prime_product,
    build_block_features,
    compute_cfg_feature_tlsh,
    compute_wl_minhash,
    pack_adjacency,
    LLIL_OP_CATEGORIES,
    CAT_ARITHMETIC,
    CAT_LOGIC,
    CAT_CALL,
    CAT_MEMORY,
    NUM_WL_MINHASH_PERMS,
)


# ===================================================================
# Helper: common graph topologies
# ===================================================================

def _linear_chain(n):
    """0 -> 1 -> 2 -> ... -> (n-1)"""
    return [[i + 1] if i < n - 1 else [] for i in range(n)]


def _diamond():
    """
    0 -> 1, 0 -> 2, 1 -> 3, 2 -> 3
    (classic if/else diamond)
    """
    return [[1, 2], [3], [3], []]


def _predecessors_from_successors(successors, n):
    preds = [[] for _ in range(n)]
    for src, targets in enumerate(successors):
        for tgt in targets:
            preds[tgt].append(src)
    return preds


# ===================================================================
# TestBfsOrder
# ===================================================================

class TestBfsOrder:
    def test_empty_graph(self):
        assert bfs_order([], 0) == []

    def test_single_node(self):
        assert bfs_order([[]], 1) == [0]

    def test_linear_chain(self):
        succs = _linear_chain(4)
        assert bfs_order(succs, 4) == [0, 1, 2, 3]

    def test_diamond(self):
        succs = _diamond()
        order = bfs_order(succs, 4)
        assert order[0] == 0
        assert order[-1] == 3
        assert set(order) == {0, 1, 2, 3}

    def test_unreachable_nodes(self):
        # 0 -> 1, node 2 is unreachable
        succs = [[1], [], []]
        order = bfs_order(succs, 3)
        assert order[:2] == [0, 1]
        assert 2 in order  # unreachable appended

    def test_all_nodes_visited(self):
        succs = _diamond()
        order = bfs_order(succs, 4)
        assert len(order) == 4


# ===================================================================
# TestBfsMaxDepth
# ===================================================================

class TestBfsMaxDepth:
    def test_empty_graph(self):
        assert bfs_max_depth([], 0) == 0

    def test_single_block(self):
        assert bfs_max_depth([[]], 1) == 0

    def test_linear_chain(self):
        succs = _linear_chain(5)
        assert bfs_max_depth(succs, 5) == 4

    def test_diamond(self):
        succs = _diamond()
        assert bfs_max_depth(succs, 4) == 2

    def test_wide_graph(self):
        # 0 -> 1, 0 -> 2, 0 -> 3 (all at depth 1)
        succs = [[1, 2, 3], [], [], []]
        assert bfs_max_depth(succs, 4) == 1


# ===================================================================
# TestCountBackEdges
# ===================================================================

class TestCountBackEdges:
    def test_empty_graph(self):
        assert count_back_edges([], 0) == 0

    def test_no_loops(self):
        succs = _linear_chain(3)
        assert count_back_edges(succs, 3) == 0

    def test_single_loop(self):
        # 0 -> 1 -> 2 -> 0 (one back edge: 2->0)
        succs = [[1], [2], [0]]
        assert count_back_edges(succs, 3) == 1

    def test_nested_loops(self):
        # 0 -> 1 -> 2 -> 1 (inner), 2 -> 3 -> 0 (outer)
        succs = [[1], [2], [1, 3], [0]]
        assert count_back_edges(succs, 4) == 2

    def test_self_loop(self):
        # 0 -> 0 (self-loop)
        succs = [[0]]
        assert count_back_edges(succs, 1) == 1

    def test_diamond_no_loops(self):
        succs = _diamond()
        assert count_back_edges(succs, 4) == 0

    def test_single_node_no_loop(self):
        succs = [[]]
        assert count_back_edges(succs, 1) == 0


# ===================================================================
# TestTopologyHash
# ===================================================================

class TestTopologyHash:
    def test_same_graph_same_hash(self):
        succs = _diamond()
        bfs = bfs_order(succs, 4)
        h1 = compute_topology_hash(succs, bfs, 4)
        h2 = compute_topology_hash(succs, bfs, 4)
        assert h1 == h2

    def test_different_graphs_different_hash(self):
        succs1 = _linear_chain(3)
        bfs1 = bfs_order(succs1, 3)
        h1 = compute_topology_hash(succs1, bfs1, 3)

        succs2 = _diamond()
        bfs2 = bfs_order(succs2, 4)
        h2 = compute_topology_hash(succs2, bfs2, 4)

        assert h1 != h2

    def test_returns_16_bytes(self):
        succs = _diamond()
        bfs = bfs_order(succs, 4)
        h = compute_topology_hash(succs, bfs, 4)
        assert isinstance(h, bytes)
        assert len(h) == 16

    def test_isomorphic_graphs_same_hash(self):
        # Graph A: 0->1, 0->2, 1->3, 2->3 (diamond with successors [1,2])
        succs_a = [[1, 2], [3], [3], []]
        # Graph B: same structure but successors listed as [2,1]
        # BFS from 0 will visit them in different order, but after remapping
        # the canonical form should be identical for isomorphic graphs
        succs_b = [[2, 1], [3], [3], []]

        bfs_a = bfs_order(succs_a, 4)
        bfs_b = bfs_order(succs_b, 4)

        h_a = compute_topology_hash(succs_a, bfs_a, 4)
        h_b = compute_topology_hash(succs_b, bfs_b, 4)
        assert h_a == h_b

    def test_empty_graph(self):
        h = compute_topology_hash([], [], 0)
        assert h == b'\x00' * 16

    def test_single_node(self):
        succs = [[]]
        bfs = bfs_order(succs, 1)
        h = compute_topology_hash(succs, bfs, 1)
        assert isinstance(h, bytes)
        assert len(h) == 16


# ===================================================================
# TestMdIndex
# ===================================================================

class TestMdIndex:
    def test_single_block_topdown(self):
        succs = [[]]
        preds = [[]]
        bfs = [0]
        result = compute_md_index_topdown(succs, preds, bfs)
        assert isinstance(result, int)
        assert result > 0

    def test_single_block_bottomup(self):
        succs = [[]]
        preds = [[]]
        result = compute_md_index_bottomup(succs, preds, 1)
        assert isinstance(result, int)
        assert result > 0

    def test_linear_chain_topdown_vs_bottomup(self):
        succs = _linear_chain(4)
        preds = _predecessors_from_successors(succs, 4)
        bfs = bfs_order(succs, 4)
        td = compute_md_index_topdown(succs, preds, bfs)
        bu = compute_md_index_bottomup(succs, preds, 4)
        # Top-down and bottom-up should be different for a linear chain
        # (entry has in_deg=0, exit has out_deg=0, so the sequences differ)
        assert td != bu

    def test_deterministic(self):
        succs = _diamond()
        preds = _predecessors_from_successors(succs, 4)
        bfs = bfs_order(succs, 4)
        td1 = compute_md_index_topdown(succs, preds, bfs)
        td2 = compute_md_index_topdown(succs, preds, bfs)
        assert td1 == td2

    def test_different_graphs_different_index(self):
        succs1 = _linear_chain(3)
        preds1 = _predecessors_from_successors(succs1, 3)
        bfs1 = bfs_order(succs1, 3)
        td1 = compute_md_index_topdown(succs1, preds1, bfs1)

        succs2 = _diamond()
        preds2 = _predecessors_from_successors(succs2, 4)
        bfs2 = bfs_order(succs2, 4)
        td2 = compute_md_index_topdown(succs2, preds2, bfs2)

        assert td1 != td2

    def test_topdown_empty(self):
        assert compute_md_index_topdown([], [], []) == 0

    def test_bottomup_empty(self):
        assert compute_md_index_bottomup([], [], 0) == 0


# ===================================================================
# TestPrimeProduct
# ===================================================================

class TestPrimeProduct:
    def test_empty(self):
        assert compute_prime_product([]) == 0

    def test_known_sequence(self):
        # Use actual LLIL enum values from conftest_binja_stubs:
        # LLIL_NOP=0 -> prime 1, LLIL_LOAD=4 -> prime 5
        from redb.extractors.decompiler.bninja.analysis.cfg_features import LLIL_OP_PRIMES
        nop_val = 0   # LLIL_NOP
        load_val = 4  # LLIL_LOAD
        expected = LLIL_OP_PRIMES.get(nop_val, 1) * LLIL_OP_PRIMES.get(load_val, 1)
        result = compute_prime_product([nop_val, load_val])
        assert result == expected

    def test_order_independence(self):
        # LLIL_LOAD=4, LLIL_STORE=5, LLIL_ADD=13
        ops_a = [4, 5, 13]
        ops_b = [13, 4, 5]
        assert compute_prime_product(ops_a) == compute_prime_product(ops_b)

    def test_unknown_ops_map_to_1(self):
        # Unknown ops get prime 1, so they don't change the product
        result_known = compute_prime_product([4])  # LLIL_LOAD -> 5
        result_with_unknown = compute_prime_product([4, 9999])  # LOAD * unknown(1)
        assert result_known == result_with_unknown

    def test_mod_2_64(self):
        # Product should be mod 2^64
        result = compute_prime_product([4] * 1000)  # LLIL_LOAD
        assert 0 <= result < 2**64

    def test_single_op(self):
        # LLIL_STORE=5 -> prime 7
        assert compute_prime_product([5]) == 7


# ===================================================================
# TestBuildBlockFeatures
# ===================================================================

class TestBuildBlockFeatures:
    def test_empty_llil(self):
        succs = [[1], []]
        features = build_block_features([[], []], succs, 2)
        assert len(features) == 2
        # All zeros except successor_count
        assert features[0] == [0, 0, 0, 0, 0, 0, 0, 1]  # 1 successor
        assert features[1] == [0, 0, 0, 0, 0, 0, 0, 0]  # 0 successors

    def test_correct_categorization(self):
        # Set up categories for testing
        import redb.extractors.decompiler.bninja.analysis.cfg_features as cf
        old_cats = cf.LLIL_OP_CATEGORIES.copy()
        cf.LLIL_OP_CATEGORIES.update({
            100: CAT_ARITHMETIC,
            101: CAT_ARITHMETIC,
            200: CAT_LOGIC,
            300: CAT_CALL,
            400: CAT_MEMORY,
        })
        try:
            block_ops = [[100, 101, 200, 300, 400]]
            succs = [[]]
            features = build_block_features(block_ops, succs, 1)
            assert features[0][0] == 5   # instr_count
            assert features[0][1] == 2   # arithmetic
            assert features[0][2] == 1   # logic
            assert features[0][4] == 1   # call
            assert features[0][6] == 1   # memory
        finally:
            cf.LLIL_OP_CATEGORIES.clear()
            cf.LLIL_OP_CATEGORIES.update(old_cats)

    def test_cap_at_65535(self):
        # More than 65535 ops in one block
        huge_ops = [0] * 70000  # NOP x 70000
        succs = [[]]
        features = build_block_features([huge_ops], succs, 1)
        assert features[0][0] == 65535  # capped

    def test_missing_block_ops(self):
        # block_llil_ops shorter than n
        succs = [[1], [2], []]
        features = build_block_features([[1, 2]], succs, 3)
        assert len(features) == 3
        # Block 1 and 2 get empty ops since block_llil_ops only has 1 entry
        assert features[1] == [0, 0, 0, 0, 0, 0, 0, 1]
        assert features[2] == [0, 0, 0, 0, 0, 0, 0, 0]


# ===================================================================
# TestCfgFeatureTlsh
# ===================================================================

class TestCfgFeatureTlsh:
    def test_too_few_blocks_returns_none(self):
        # 5 blocks = 5 * 9 bytes = 45 < 50
        bb_features = [[10, 1, 0, 2, 0, 1, 1, 2]] * 5
        bfs = list(range(5))
        result = compute_cfg_feature_tlsh(bb_features, bfs)
        assert result is None

    def test_uniform_data_returns_none(self):
        # 7 identical blocks — TLSH returns TNULL for low-entropy input
        bb_features = [[10, 1, 0, 2, 0, 1, 1, 2]] * 7
        bfs = list(range(7))
        result = compute_cfg_feature_tlsh(bb_features, bfs)
        assert result is None

    def test_varied_data_returns_string(self):
        # 20 blocks with varied features — enough entropy for TLSH
        bb_features = [
            [i * 7 + 3, (i * 13) % 50, (i * 17) % 30, (i * 23) % 40,
             (i * 11) % 20, (i * 7) % 25, (i * 19) % 35, (i * 3) % 10]
            for i in range(20)
        ]
        bfs = list(range(20))
        result = compute_cfg_feature_tlsh(bb_features, bfs)
        assert isinstance(result, str)
        assert len(result) > 0
        assert result.startswith("T1")


# ===================================================================
# TestWlMinhash
# ===================================================================

class TestWlMinhash:
    def test_empty_function(self):
        result = compute_wl_minhash([], [], [], 0)
        assert result == [255] * NUM_WL_MINHASH_PERMS

    def test_returns_128_elements(self):
        succs = _diamond()
        preds = _predecessors_from_successors(succs, 4)
        bb_feats = [[5, 1, 0, 2, 0, 1, 1, 2]] * 4
        result = compute_wl_minhash(succs, preds, bb_feats, 4)
        assert len(result) == 128

    def test_all_uint8(self):
        succs = _linear_chain(3)
        preds = _predecessors_from_successors(succs, 3)
        bb_feats = [[3, 1, 0, 1, 0, 0, 1, 1]] * 3
        result = compute_wl_minhash(succs, preds, bb_feats, 3)
        assert all(0 <= v <= 255 for v in result)

    def test_identical_graphs_same_signature(self):
        succs = _diamond()
        preds = _predecessors_from_successors(succs, 4)
        bb_feats = [[5, 1, 0, 2, 0, 1, 1, 2]] * 4
        sig1 = compute_wl_minhash(succs, preds, bb_feats, 4)
        sig2 = compute_wl_minhash(succs, preds, bb_feats, 4)
        assert sig1 == sig2

    def test_different_graphs_different_signatures(self):
        # Graph 1: linear chain
        succs1 = _linear_chain(4)
        preds1 = _predecessors_from_successors(succs1, 4)
        bb_feats1 = [[5, 1, 0, 2, 0, 1, 1, i] for i in range(4)]
        sig1 = compute_wl_minhash(succs1, preds1, bb_feats1, 4)

        # Graph 2: diamond
        succs2 = _diamond()
        preds2 = _predecessors_from_successors(succs2, 4)
        bb_feats2 = [[10, 3, 2, 1, 0, 0, 0, i] for i in range(4)]
        sig2 = compute_wl_minhash(succs2, preds2, bb_feats2, 4)

        assert sig1 != sig2

    def test_single_node(self):
        succs = [[]]
        preds = [[]]
        bb_feats = [[1, 0, 0, 0, 0, 0, 0, 0]]
        result = compute_wl_minhash(succs, preds, bb_feats, 1)
        assert len(result) == 128


# ===================================================================
# TestPackAdjacency
# ===================================================================

class TestPackAdjacency:
    def test_empty(self):
        assert pack_adjacency([]) == []

    def test_single_edge(self):
        succs = [[1], []]
        edges = pack_adjacency(succs)
        assert len(edges) == 1
        assert edges[0] == (0 << 16) | 1

    def test_correct_packing(self):
        succs = _diamond()
        edges = pack_adjacency(succs)
        assert len(edges) == 4
        # 0->1, 0->2, 1->3, 2->3
        expected = {
            (0 << 16) | 1,
            (0 << 16) | 2,
            (1 << 16) | 3,
            (2 << 16) | 3,
        }
        assert set(edges) == expected

    def test_roundtrip(self):
        """Unpack edges and verify source/target pairs."""
        succs = [[1, 2], [3], [3], []]
        edges = pack_adjacency(succs)
        unpacked = [(e >> 16, e & 0xFFFF) for e in edges]
        expected = [(0, 1), (0, 2), (1, 3), (2, 3)]
        assert sorted(unpacked) == sorted(expected)

    def test_large_index_filtered(self):
        # Create a successor list where index >= 65536
        succs = [[] for _ in range(65537)]
        succs[0] = [65536]  # target is exactly 65536 — should be filtered
        edges = pack_adjacency(succs)
        assert len(edges) == 0

    def test_max_valid_index(self):
        # Index 65535 is the maximum valid
        succs = [[] for _ in range(65536)]
        succs[0] = [65535]
        edges = pack_adjacency(succs)
        assert len(edges) == 1
        assert edges[0] == (0 << 16) | 65535