Merge pull request #625 from JuliaRobotics/3Q20/621_473_filedfg_updates

Additional FileDFG test; fixed CGDFG flag in runtests.jl

Author: GearsAD

test/data/0_10_0.tar.gz

@@ -17,43 +17,39 @@ using Test
         # Same graph as iifInterfaceTests.jl
         numNodes = 5
 
-        #change ready and solvable for x7,x8 for improved tests on x7x8f1
+        # Arranging some random data
         verts = map(n -> addVariable!(dfg, Symbol("x$n"), ContinuousScalar, labels = [:POSE]), 1:numNodes)
-        #TODO fix this to use accessors
-        verts[3].solvable = 1
-        verts[4].solvable = 0
-        getSolverData(verts[4]).solveInProgress = 1
-        #call update to set it on cloud
-        updateVariable!(dfg, verts[3])
-        updateVariable!(dfg, verts[4])
+        map(v -> setSolvable!(v, Int(round(rand()))), verts)
+        map(v -> getSolverData(verts[4]).solveInProgress=Int(round(rand())), verts)
+        map(v -> setSolvedCount!(v, Int(round(10*rand()))), verts)
 
-        setSolvedCount!(verts[1], 5)
-        # Add some data entries to x1, x2
+        # Add some data entries
+        map(v -> addDataEntry!(v, BlobStoreEntry(:testing, uuid4(), :store, "", "", "", "", now(localzone()))), verts)
+        map(v -> addDataEntry!(v, BlobStoreEntry(:testing2, uuid4(), :store, "", "", "", "", ZonedDateTime(2014, 5, 30, 21, tz"UTC-4"))), verts)
 
-        #FIXME part of broken test at the bottom
-        # addDataEntry!(verts[1], BlobStoreEntry(:testing, uuid4(), :store, "", "", "", "", now(localzone())))
-        # addDataEntry!(verts[2], BlobStoreEntry(:testing2, uuid4(), :store, "", "", "", "", now(localzone())))
+        # Add some PPEs
+        ppe1 = MeanMaxPPE(:default, [1.0], [0.2], [3.456])
+        ppe2 = MeanMaxPPE(:other, [1.0], [0.2], [3.456], ZonedDateTime(2014, 5, 30, 21, tz"UTC-4"))
+        map(v -> addPPE!(dfg, getLabel(v), deepcopy(ppe1)), verts)
+        map(v -> addPPE!(dfg, getLabel(v), deepcopy(ppe2)), verts)
 
         #call update to set it on cloud
-        updateVariable!(dfg, verts[1])
-        updateVariable!(dfg, verts[2])
+        updateVariable!.(dfg, verts)
 
-        facts = map(n -> addFactor!(dfg, [verts[n], verts[n+1]], LinearConditional(Normal(50.0,2.0))), 1:(numNodes-1))
 
-        #FIXME a lot of these makes test fail
-        # facts[4].solverData.solveInProgress = 1
-        # facts[4].solverData.multihypo = [1, 0.1, 0.9]
-        # facts[4].solverData.eliminated = true
-        # facts[4].solverData.potentialused = true
-        # updateFactor!(dfg, facts[4])
+        facts = map(n -> addFactor!(dfg, [verts[n], verts[n+1]], LinearConditional(Normal(50.0,2.0))), 1:(numNodes-1))
+        map(f -> setSolvable!(f, Int(round(rand()))), facts)
+        map(f -> f.solverData.multihypo = [1, 0.1, 0.9], facts)
+        map(f -> f.solverData.eliminated = rand() > 0.5, facts)
+        map(f -> f.solverData.potentialused = rand() > 0.5, facts)
+        updateFactor!.(dfg, facts)
+        
         # Save and load the graph to test.
         saveDFG(filename, dfg)
 
-        copyDfg = DistributedFactorGraphs._getDuplicatedEmptyDFG(dfg)
-        copyDf2 = DistributedFactorGraphs._getDuplicatedEmptyDFG(dfg)
         @info "Going to load $filename"
-
-        @test_throws AssertionError loadDFG!(copyDf2,"badfilename")
+        copyDfg = DistributedFactorGraphs._getDuplicatedEmptyDFG(dfg)
+        @test_throws AssertionError loadDFG!(DistributedFactorGraphs._getDuplicatedEmptyDFG(dfg),"badfilename")
 
         retDFG = loadDFG!(copyDfg, filename)
 
@@ -63,19 +59,39 @@ using Test
             @test getVariable(dfg, var) == getVariable(retDFG, var)
         end
         for fact in lsf(dfg)
-            @test getFactor(dfg, fact) == getFactor(retDFG, fact)
+            @test compareFactor(getFactor(dfg, fact), 
+                getFactor(retDFG, fact),
+                skip=[
+                    :hypotheses, :certainhypo, :multihypo, # Multihypo
+                    :eliminated, 
+                    :timezone, :zone, # Timezones
+                    :potentialused])
         end
-
-        if typeof(dfg) <: CloudGraphsDFG
-            @warn "TODO: BigData still is being setup in CloudGraphs. Fix here!"
-        else
-            @test_broken length(getDataEntries(getVariable(retDFG, :x1))) == 1
-            @test_broken typeof(getDataEntry(getVariable(retDFG, :x1),:testing)) == BlobStoreEntry
-            @test_broken length(getDataEntries(getVariable(retDFG, :x2))) == 1
-            @test_broken typeof(getDataEntry(getVariable(retDFG, :x2),:testing2)) == BlobStoreEntry
+        
+        # Check data entries
+        for v in ls(dfg)
+            @test getDataEntries(getVariable(dfg, v)) == getDataEntries(getVariable(retDFG, v))
+            @test issetequal(listPPEs(dfg, v), listPPEs(retDFG, v))
+            for ppe in listPPEs(dfg, v)
+                @test getPPE(dfg, v, ppe) == getPPE(retDFG, v, ppe)
+            end
         end
-
+        
         # test the duplicate order #581
         saveDFG(dfg, filename)
     end
 end
+
+@testset "FileDFG Regression Tests" begin
+    @info "If any of these tests fail, we have breaking changes"
+    for file in readdir(joinpath(@__DIR__, "data"))
+        loadFile = joinpath(@__DIR__, "data", file)
+        global dfg
+        dfgCopy = DistributedFactorGraphs._getDuplicatedEmptyDFG(dfg)
+        retDFG = loadDFG!(dfgCopy, loadFile)        
+        # It should have failed if there were any issues.
+        # Trivial check as well
+        @test issetequal(ls(retDFG), [:x1, :x2, :x3, :x4, :x5])
+        @test issetequal(lsf(retDFG), [:x3x4f1, :x4x5f1, :x1x2f1, :x2x3f1])
+    end
+end

test/fileDFGTests.jl

@@ -78,16 +78,15 @@ if get(ENV, "IIF_TEST", "") == "true"
 
     # Switch to our upstream test branch.
     Pkg.add(PackageSpec(name="IncrementalInference", rev="upstream/dfg_integration_test"))
-    # Pkg.add(PackageSpec(name="IncrementalInference", rev="develop"))
     @info "------------------------------------------------------------------------"
     @info "These tests are using IncrementalInference to do additional driver tests"
     @info "------------------------------------------------------------------------"
 
     using IncrementalInference
 
-    apis = [LightDFG(solverParams=SolverParams(), userId="testUserId")]
-    haskey(ENV, "SKIP_CGDFG_TESTS") && ENV["SKIP_CGDFG_TESTS"] != "true" ? push!(apis, CloudGraphsDFG(solverParams=SolverParams(), userId="testUserId") ) : nothing
-    # GraphsDFG{SolverParams}()
+    apis = Vector{AbstractDFG}()
+    push!(apis, LightDFG(solverParams=SolverParams(), userId="testUserId"))
+    get(ENV, "SKIP_CGDFG_TESTS", "false") != "true" && push!(apis, CloudGraphsDFG(solverParams=SolverParams(), userId="testUserId")) 
 
     for api in apis
         @testset "Testing Driver: $(typeof(api))" begin