Nawid Jamali

42 papers A* 6A 5B 1C 1Journal 24Unranked 4
YearRankTypeTitle / Venue / Authors
2026 J jnl
ACM Trans. Hum. Robot Interact.
Thomas H. Weisswange, Hifza Javed, Manuel Dietrich, Malte F. Jung, Nawid Jamali
2026 J jnl
CoRR
Anil Zeybek, Rhys Newbury, Snehal Dikhale, Nawid Jamali, Soshi Iba, Akansel Cosgun
2026 J jnl
CoRR
Snehal Dikhale, Karankumar Patel, Daksh Dhingra, Itoshi Naramura, Akinobu Hayashi, Soshi Iba, Nawid Jamali
2024 A conf
IROS
Hongyu Li, Snehal Dikhale, Jinda Cui, Soshi Iba, Nawid Jamali
2024 J jnl
CoRR
Hongyu Li, Snehal Dikhale, Jinda Cui, Soshi Iba, Nawid Jamali
2024 J jnl
Frontiers Robotics AI
Hifza Javed, Weinan Wang, Affan Bin Usman, Nawid Jamali
2024 J jnl
CoRR
Thomas H. Weisswange, Hifza Javed, Manuel Dietrich, Malte F. Jung, Nawid Jamali
2023 J jnl
CoRR
Maria Teresa Parreira, Michael J. Sack, Hifza Javed, Nawid Jamali, Malte F. Jung
2023 B conf
ACII
Michael J. Sack, Maria Teresa Parreira, Xiyu Jenny Fu, Asher Lipman, Hifza Javed, Nawid Jamali, Malte F. Jung
2023 J jnl
CoRR
Michael J. Sack, Maria Teresa Parreira, Xiyu Jenny Fu, Asher Lipman, Hifza Javed, Nawid Jamali, Malte F. Jung
2023 J jnl
CoRR
Hifza Javed, Nawid Jamali
2023 A* conf
ICRA
Alireza Rezazadeh, Snehal Dikhale, Soshi Iba, Nawid Jamali
2023 J jnl
CoRR
Alireza Rezazadeh, Snehal Dikhale, Soshi Iba, Nawid Jamali
2023 J jnl
CoRR
Hifza Javed, Nawid Jamali
2023 J jnl
IEEE Robotics Autom. Lett.
Hongyu Li, Snehal Dikhale, Soshi Iba, Nawid Jamali
2023 J jnl
CoRR
Hongyu Li, Snehal Dikhale, Soshi Iba, Nawid Jamali
2023 J jnl
CoRR
Thomas H. Weisswange, Hifza Javed, Manuel Dietrich, Tuan Vu Pham, Maria Teresa Parreira, Michael J. Sack, Nawid Jamali
2022 J jnl
Auton. Robots
Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg
2022 J jnl
IEEE Robotics Autom. Lett.
Snehal Dikhale, Karankumar Patel, Daksh Dhingra, Itoshi Naramura, Akinobu Hayashi, Soshi Iba, Nawid Jamali
2021 J jnl
CoRR
Karankumar Patel, Soshi Iba, Nawid Jamali
2021 A* conf
ICRA
Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Jennifer Grannen, Minho Hwang, Ryan Hoque, Joseph E. Gonzalez, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg
2021 J jnl
CoRR
Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg
2020 A conf
IROS
Daniel Seita, Aditya Ganapathi, Ryan Hoque, Minho Hwang, Edward Cen, Ajay Kumar Tanwani, Ashwin Balakrishna, Brijen Thananjeyan, Jeffrey Ichnowski, Nawid Jamali, Katsu Yamane, Soshi Iba, John F. Canny, Ken Goldberg
2020 A conf
IROS
Karankumar Patel, Soshi Iba, Nawid Jamali
2020 J jnl
CoRR
Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Jennifer Grannen, Minho Hwang, Ryan Hoque, Joseph E. Gonzalez, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg
2020 conf
Robotics: Science and Systems
Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg
2020 J jnl
CoRR
Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg
2019 J jnl
CoRR
Daniel Seita, Aditya Ganapathi, Ryan Hoque, Minho Hwang, Edward Cen, Ajay Kumar Tanwani, Ashwin Balakrishna, Brijen Thananjeyan, Jeffrey Ichnowski, Nawid Jamali, Katsu Yamane, Soshi Iba, John F. Canny, Ken Goldberg
2019 C conf
ISRR
Daniel Seita, Nawid Jamali, Michael Laskey, Ajay Kumar Tanwani, Ron Berenstein, Prakash Baskaran, Soshi Iba, John F. Canny, Ken Goldberg
2018 J jnl
CoRR
Daniel Seita, Nawid Jamali, Michael Laskey, Ron Berenstein, Ajay Kumar Tanwani, Prakash Baskaran, Soshi Iba, John F. Canny, Ken Goldberg
2017 J jnl
CoRR
Massimo Regoli, Nawid Jamali, Giorgio Metta, Lorenzo Natale
2017 conf
ICAR
Massimo Regoli, Nawid Jamali, Giorgio Metta, Lorenzo Natale
2017 A conf
IROS
Chiara Bartolozzi, Paolo Motto Ros, Francesco Diotalevi, Nawid Jamali, Lorenzo Natale, Marco Crepaldi, Danilo Demarchi
2016 conf
Humanoids
Giulia Vezzani, Nawid Jamali, Ugo Pattacini, Giorgio Battistelli, Luigi Chisci, Lorenzo Natale
2016 conf
Humanoids
Nawid Jamali, Carlo Ciliberto, Lorenzo Rosasco, Lorenzo Natale
2015 A conf
IROS
Nawid Jamali, Marco Maggiali, Francesco Giovannini, Giorgio Metta, Lorenzo Natale
2015 A* conf
ICRA
Nawid Jamali, Petar Kormushev, Arnau Carrera Viñas, Marc Carreras, Darwin G. Caldwell
2014 A* conf
ICRA
Nawid Jamali, Petar Kormushev, Darwin G. Caldwell
2012 A* conf
ICRA
Nawid Jamali, Claude Sammut
2012
Nawid Jamali
2011 J jnl
IEEE Trans. Robotics
Nawid Jamali, Claude Sammut
2010 A* conf
ICRA
Nawid Jamali, Claude Sammut
tests/unit/test_database_exporters.py
← Index tests/unit/test_database_exporters.py python
"""
Unit tests for database exporters.
"""
import pytest
import json
from dataclasses import dataclass, asdict
from datetime import datetime, timezone
from unittest.mock import Mock, patch, MagicMock

pytestmark = [pytest.mark.unit, pytest.mark.exporters]


# ============================================================================
# Sample Dataclass for Testing
# ============================================================================

@dataclass
class SampleData:
    """Sample dataclass for export testing."""
    sha256: str = "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855"
    name: str = "test_sample"
    value: int = 42
    _id: str = "test_id"


# ============================================================================
# PrintExporter Tests
# ============================================================================

class TestPrintExporter:
    """Tests for PrintExporter class."""

    def test_initialization(self, mock_logger):
        """Test PrintExporter initialization."""
        from redb.extractors.database_exporters import PrintExporter

        exporter = PrintExporter(mock_logger, "test_index")

        assert exporter.index_prefix == "test_index"
        assert exporter.log is mock_logger

    def test_export_dataclass(self, mock_logger, capsys):
        """Test exporting a dataclass."""
        from redb.extractors.database_exporters import PrintExporter

        exporter = PrintExporter(mock_logger, "test_index")
        sample = SampleData()

        result = exporter.export(sample)

        assert result is True
        captured = capsys.readouterr()
        assert "test_sample" in captured.out

    def test_export_list_of_dataclasses(self, mock_logger, capsys):
        """Test exporting a list of dataclasses."""
        from redb.extractors.database_exporters import PrintExporter

        exporter = PrintExporter(mock_logger, "test_index")
        samples = [SampleData(name="sample1"), SampleData(name="sample2")]

        result = exporter.export(samples)

        assert result is True
        captured = capsys.readouterr()
        assert "sample1" in captured.out
        assert "sample2" in captured.out

    def test_export_dict(self, mock_logger, capsys):
        """Test exporting a dictionary."""
        from redb.extractors.database_exporters import PrintExporter

        exporter = PrintExporter(mock_logger, "test_index")
        data = {"key": "value", "number": 42}

        result = exporter.export(data)

        assert result is True
        captured = capsys.readouterr()
        assert "key" in captured.out
        assert "value" in captured.out

    def test_export_none(self, mock_logger):
        """Test exporting None."""
        from redb.extractors.database_exporters import PrintExporter

        exporter = PrintExporter(mock_logger, "test_index")

        result = exporter.export(None)

        assert result is True

    def test_export_empty_list(self, mock_logger):
        """Test exporting empty list."""
        from redb.extractors.database_exporters import PrintExporter

        exporter = PrintExporter(mock_logger, "test_index")

        result = exporter.export([])

        assert result is True


# ============================================================================
# ElasticsearchExporter Tests
# ============================================================================

class TestElasticsearchExporter:
    """Tests for ElasticsearchExporter class."""

    def test_initialization(self, mock_logger):
        """Test ElasticsearchExporter initialization."""
        with patch('redb.settings.get_elasticsearch_client') as mock_client:
            mock_client.return_value = Mock()
            from redb.extractors.database_exporters import ElasticsearchExporter

            exporter = ElasticsearchExporter(mock_logger, "test_index")

            assert exporter.index_prefix == "test_index"
            assert exporter.log is mock_logger
            assert exporter.client is not None

    def test_export_dataclass(self, mock_logger):
        """Test exporting a dataclass to Elasticsearch."""
        with patch('redb.settings.get_elasticsearch_client') as mock_get_client:
            mock_client = Mock()
            mock_get_client.return_value = mock_client

            from redb.extractors.database_exporters import ElasticsearchExporter

            exporter = ElasticsearchExporter(mock_logger, "test_index")
            sample = SampleData()

            result = exporter.export(
                sample,
                index="test_index",
                tag="test_tag",
                hashes={"sha256": sample.sha256}
            )

            assert result is True
            mock_client.index.assert_called()

    def test_export_list(self, mock_logger):
        """Test exporting a list to Elasticsearch."""
        with patch('redb.settings.get_elasticsearch_client') as mock_get_client:
            mock_client = Mock()
            mock_get_client.return_value = mock_client

            from redb.extractors.database_exporters import ElasticsearchExporter

            exporter = ElasticsearchExporter(mock_logger, "test_index")
            samples = [SampleData(name="sample1"), SampleData(name="sample2")]

            result = exporter.export(
                samples,
                index="test_index",
                tag="test_tag",
                hashes={"sha256": "test_hash"}
            )

            assert result is True
            # Should be called twice (once per sample)
            assert mock_client.index.call_count == 2

    def test_export_failure(self, mock_logger):
        """Test handling export failure."""
        with patch('redb.settings.get_elasticsearch_client') as mock_get_client:
            mock_client = Mock()
            mock_client.index.side_effect = Exception("Connection failed")
            mock_get_client.return_value = mock_client

            from redb.extractors.database_exporters import ElasticsearchExporter

            exporter = ElasticsearchExporter(mock_logger, "test_index")
            sample = SampleData()

            result = exporter.export(
                sample,
                index="test_index",
                tag="test_tag",
                hashes={"sha256": sample.sha256}
            )

            assert result is False
            mock_logger.error.assert_called()

    def test_export_with_custom_id(self, mock_logger):
        """Test exporting with custom _id field."""
        with patch('redb.settings.get_elasticsearch_client') as mock_get_client:
            mock_client = Mock()
            mock_get_client.return_value = mock_client

            from redb.extractors.database_exporters import ElasticsearchExporter

            exporter = ElasticsearchExporter(mock_logger, "test_index")
            sample = SampleData(_id="custom_id")

            result = exporter.export(
                sample,
                index="test_index",
                tag="test_tag",
                hashes={"sha256": sample.sha256}
            )

            assert result is True


# ============================================================================
# ClickHouseExporter Tests
# ============================================================================

class TestClickHouseExporter:
    """Tests for ClickHouseExporter class."""

    def test_initialization(self, mock_logger):
        """Test ClickHouseExporter initialization."""
        from redb.extractors.database_exporters import ClickHouseExporter

        mock_client = Mock()
        exporter = ClickHouseExporter(mock_logger, "test_index", client=mock_client)

        assert exporter.index_prefix == "test_index"
        assert exporter.log is mock_logger
        assert exporter.client is mock_client

    def test_export_tuple_data(self, mock_logger):
        """Test exporting tuple data to ClickHouse."""
        with patch('redb.settings.create_clickhouse_client') as mock_create:
            mock_client = Mock()
            mock_client.insert.return_value = True
            mock_create.return_value = mock_client

            from redb.extractors.database_exporters import ClickHouseExporter

            exporter = ClickHouseExporter(mock_logger, "test_index")

            data = [["hash123", "sample.exe", 1024]]
            column_names = ["sha256", "name", "size"]
            column_type_names = ["String", "String", "UInt64"]

            result = exporter.export(
                (data, column_names, column_type_names),
                table="test_table"
            )

            assert result is True

    def test_export_multi_table(self, mock_logger):
        """Test exporting multi-table data to ClickHouse."""
        with patch('redb.settings.create_clickhouse_client') as mock_create:
            mock_client = Mock()
            mock_client.insert.return_value = True
            mock_create.return_value = mock_client

            from redb.extractors.database_exporters import ClickHouseExporter

            exporter = ClickHouseExporter(mock_logger, "test_index")

            data = {
                'multi_table': True,
                'table1': {
                    'table': 'test_table1',
                    'data': [["hash123", "sample.exe"]],
                    'column_names': ["sha256", "name"],
                    'column_type_names': ["String", "String"]
                }
            }

            result = exporter.export(data)

            assert result is True

    def test_export_failure(self, mock_logger):
        """Test handling export failure."""
        with patch('redb.settings.create_clickhouse_client') as mock_create:
            mock_client = Mock()
            mock_client.insert.side_effect = Exception("Connection failed")
            mock_create.return_value = mock_client

            from redb.extractors.database_exporters import ClickHouseExporter

            exporter = ClickHouseExporter(mock_logger, "test_index")

            data = [["hash123", "sample.exe", 1024]]
            column_names = ["sha256", "name", "size"]
            column_type_names = ["String", "String", "UInt64"]

            result = exporter.export(
                (data, column_names, column_type_names),
                table="test_table"
            )

            assert result is False

    def test_export_missing_table(self, mock_logger):
        """Test export without table name raises error."""
        with patch('redb.settings.create_clickhouse_client') as mock_create:
            mock_client = Mock()
            mock_create.return_value = mock_client

            from redb.extractors.database_exporters import ClickHouseExporter

            exporter = ClickHouseExporter(mock_logger, "test_index")

            data = [["hash123", "sample.exe", 1024]]
            column_names = ["sha256", "name", "size"]
            column_type_names = ["String", "String", "UInt64"]

            result = exporter.export(
                (data, column_names, column_type_names)
                # Missing table parameter
            )

            assert result is False

    def test_get_client(self, mock_logger):
        """Test get_client method."""
        from redb.extractors.database_exporters import ClickHouseExporter

        mock_client = Mock()
        exporter = ClickHouseExporter(mock_logger, "test_index", client=mock_client)

        result = exporter.get_client()

        assert result is mock_client

    def test_get_client_creates_new(self, mock_logger):
        """Test get_client creates new client if none exists."""
        with patch('redb.settings.create_clickhouse_client') as mock_create:
            mock_new_client = Mock()
            mock_create.return_value = mock_new_client

            from redb.extractors.database_exporters import ClickHouseExporter

            exporter = ClickHouseExporter(mock_logger, "test_index")

            result = exporter.get_client()

            assert result is mock_new_client


# ============================================================================
# DatabaseExporter Abstract Base Class Tests
# ============================================================================

class TestDatabaseExporter:
    """Tests for DatabaseExporter abstract base class."""

    def test_cannot_instantiate_abstract(self):
        """Test that DatabaseExporter cannot be instantiated directly."""
        from redb.extractors.database_exporters import DatabaseExporter

        with pytest.raises(TypeError):
            DatabaseExporter()

    def test_subclass_must_implement_export(self):
        """Test that subclasses must implement export method."""
        from redb.extractors.database_exporters import DatabaseExporter

        # Define incomplete subclass
        class IncompleteExporter(DatabaseExporter):
            pass

        with pytest.raises(TypeError):
            IncompleteExporter()


# ============================================================================
# Null/Edge Case Tests
# ============================================================================

class TestExporterEdgeCases:
    """Tests for edge cases in exporters."""

    def test_print_exporter_with_complex_nested_data(self, mock_logger, capsys):
        """Test PrintExporter with complex nested data."""
        from redb.extractors.database_exporters import PrintExporter

        exporter = PrintExporter(mock_logger, "test_index")
        data = {
            "level1": {
                "level2": {
                    "level3": [1, 2, 3]
                }
            },
            "array": [{"a": 1}, {"b": 2}]
        }

        result = exporter.export(data)

        assert result is True
        captured = capsys.readouterr()
        assert "level1" in captured.out

    def test_clickhouse_null_handling(self, mock_logger):
        """Test ClickHouse exporter handles null values."""
        with patch('redb.settings.create_clickhouse_client') as mock_create:
            mock_client = Mock()
            mock_client.insert.return_value = True
            mock_create.return_value = mock_client

            from redb.extractors.database_exporters import ClickHouseExporter

            exporter = ClickHouseExporter(mock_logger, "test_index")

            # Multi-table data with null values
            data = {
                'multi_table': True,
                'table1': {
                    'table': 'test_table',
                    'data': [[None, "sample.exe", None]],
                    'column_names': ["sha256", "name", "size"],
                    'column_type_names': ["Nullable(String)", "String", "Nullable(UInt64)"]
                }
            }

            result = exporter.export(data)

            # Should handle nulls appropriately
            assert result is True

    def test_clickhouse_array_handling(self, mock_logger):
        """Test ClickHouse exporter handles array types."""
        with patch('redb.settings.create_clickhouse_client') as mock_create:
            mock_client = Mock()
            mock_client.insert.return_value = True
            mock_create.return_value = mock_client

            from redb.extractors.database_exporters import ClickHouseExporter

            exporter = ClickHouseExporter(mock_logger, "test_index")

            data = {
                'multi_table': True,
                'table1': {
                    'table': 'test_table',
                    'data': [["hash", ["tag1", "tag2"]]],
                    'column_names': ["sha256", "tags"],
                    'column_type_names': ["String", "Array(String)"]
                }
            }

            result = exporter.export(data)

            assert result is True


# ============================================================================
# Type Conversion Tests
# ============================================================================

class TestExporterTypeConversions:
    """Tests for type conversions in exporters."""

    def test_clickhouse_datetime_handling(self, mock_logger):
        """Test ClickHouse exporter handles datetime values."""
        with patch('redb.settings.create_clickhouse_client') as mock_create:
            mock_client = Mock()
            mock_client.insert.return_value = True
            mock_create.return_value = mock_client

            from redb.extractors.database_exporters import ClickHouseExporter

            exporter = ClickHouseExporter(mock_logger, "test_index")

            now = datetime.now(timezone.utc)
            data = {
                'multi_table': True,
                'table1': {
                    'table': 'test_table',
                    'data': [["hash", now]],
                    'column_names': ["sha256", "timestamp"],
                    'column_type_names': ["String", "DateTime64(3, 'UTC')"]
                }
            }

            result = exporter.export(data)

            assert result is True

    def test_print_exporter_datetime_serialization(self, mock_logger, capsys):
        """Test PrintExporter handles datetime serialization."""
        from redb.extractors.database_exporters import PrintExporter

        exporter = PrintExporter(mock_logger, "test_index")
        now = datetime.now(timezone.utc)
        data = {"timestamp": now, "name": "test"}

        result = exporter.export(data)

        assert result is True
        captured = capsys.readouterr()
        assert "timestamp" in captured.out


# ============================================================================
# Connection Context Manager Tests
# ============================================================================

class TestClickHouseConnectionManager:
    """Tests for ClickHouse connection context manager."""

    def test_clickhouse_connection_context(self, mock_logger):
        """Test clickhouse_connection context manager."""
        with patch('redb.settings.create_clickhouse_client') as mock_create:
            mock_client = Mock()
            mock_create.return_value = mock_client

            from redb.extractors.database_exporters import ClickHouseExporter

            exporter = ClickHouseExporter(mock_logger, "test_index")

            with exporter.clickhouse_connection() as client:
                assert client is mock_client

            # Client should be closed after context exits
            mock_client.close.assert_called()

    def test_clickhouse_connection_close_on_error(self, mock_logger):
        """Test client is closed even if operation fails."""
        with patch('redb.settings.create_clickhouse_client') as mock_create:
            mock_client = Mock()
            mock_create.return_value = mock_client

            from redb.extractors.database_exporters import ClickHouseExporter

            exporter = ClickHouseExporter(mock_logger, "test_index")

            try:
                with exporter.clickhouse_connection() as client:
                    raise ValueError("Test error")
            except ValueError:
                pass

            # Client should still be closed
            mock_client.close.assert_called()