Merge pull request #393 from JuliaRobotics/maint/20Q2/varfacCRUD

FIX CGDFG addFactor! errors but adds factor

Author: Affie

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -181,17 +181,15 @@ function addVariable!(dfg::CloudGraphsDFG, variable::DFGVariable)::DFGVariable
     return variable
 end
 
-function addFactor!(dfg::CloudGraphsDFG, factor::DFGFactor)
-    addFactor!(dfg, factor._variableOrderSymbols, factor)
-end
 
-function addFactor!(dfg::CloudGraphsDFG, variables::Vector{<:DFGVariable}, factor::DFGFactor)::DFGFactor
+function addFactor!(dfg::CloudGraphsDFG, factor::DFGFactor)::DFGFactor
     if exists(dfg, factor)
         error("Factor '$(factor.label)' already exists in the factor graph")
     end
 
-    # Update the variable ordering
-    factor._variableOrderSymbols = map(v->v.label, variables)
+    variableIds = factor._variableOrderSymbols
+    variables = map(vId -> getVariable(dfg, vId), variableIds)
+
 
     # Construct the properties to save
     props = packFactor(dfg, factor)
@@ -212,11 +210,6 @@ function addFactor!(dfg::CloudGraphsDFG, variables::Vector{<:DFGVariable}, facto
     return factor
 end
 
-function addFactor!(dfg::CloudGraphsDFG, variableIds::Vector{Symbol}, factor::DFGFactor)::DFGFactor
-    variables = map(vId -> getVariable(dfg, vId), variableIds)
-    return addFactor!(dfg, variables, factor)
-end
-
 function getVariable(dfg::CloudGraphsDFG, label::Union{Symbol, String})::DFGVariable
     if typeof(label) == String
         label = Symbol(label)

test/consolInterfaceDev.jl

@@ -5,15 +5,22 @@ using DistributedFactorGraphs
 using Pkg
 using Dates
 
+using IncrementalInference
+
+include("testBlocks.jl")
+
+##
+testDFGAPI = CloudGraphsDFG
+
 # TODO maybe move to cloud graphs permanantly as standard easy to use functions
 function DFG.CloudGraphsDFG(; params=NoSolverParams())
     cgfg = CloudGraphsDFG{typeof(params)}("localhost", 7474, "neo4j", "test",
                                   "testUser", "testRobot", "testSession",
                                   "description",
                                   nothing,
                                   nothing,
-                                  (dfg,f)->f,
-                                  (dfg,f)->f,
+                                  IncrementalInference.decodePackedType,#(dfg,f)->f,
+                                  IncrementalInference.rebuildFactorMetadata!,#(dfg,f)->f,
                                   solverParams=params)
     createDfgSessionIfNotExist(cgfg)
     return cgfg
@@ -42,8 +49,8 @@ function DFG.CloudGraphsDFG(description::String,
                                                 description,
                                                 nothing,
                                                 nothing,
-                                                (dfg,f)->f,
-                                                (dfg,f)->f,
+                                                IncrementalInference.decodePackedType,#(dfg,f)->f,
+                                                IncrementalInference.rebuildFactorMetadata!,#(dfg,f)->f,
                                                 solverParams=solverParams)
 
     createDfgSessionIfNotExist(cdfg)
@@ -75,12 +82,39 @@ end
 end
 
 # DFGVariable structure construction and accessors
-@testset "DFG Variable" begin
-    global var1, var2, var3, v1_tags
-    var1, var2, var3, v1_tags = DFGVariableSCA()
-end
+# @testset "DFG Variable" begin
+#     global var1, var2, var3, v1_tags
+#     var1, var2, var3, v1_tags = DFGVariableSCA()
+# end
+newfg = initfg()
+var1 = addVariable!(newfg, :a, ContinuousScalar, labels=[:POSE])
+var2 = addVariable!(newfg, :b, ContinuousScalar, labels=[:LANDMARK])
+var3 = addVariable!(newfg, :c, ContinuousScalar)
+v1_tags = Set([:VARIABLE, :POSE])
+
 
 # DFGFactor structure construction and accessors
-@testset "DFG Factor" begin
-    global fac0, fac1, fac2 = DFGFactorSCA()
+# @testset "DFG Factor" begin
+#     global fac0, fac1, fac2 = DFGFactorSCA()
+# end
+
+fac0 = addFactor!(newfg, [:a], Prior(Normal()))
+fac1 = addFactor!(newfg, [:a, :b], LinearConditional(Normal()))
+fac2 = addFactor!(newfg, [:b, :c], LinearConditional(Normal()))
+
+@testset "Variables and Factors CRUD and SET" begin
+    VariablesandFactorsCRUD_SET!(fg1, var1, var2, var3, fac0, fac1, fac2)
 end
+
+# @testset "tags" begin
+#     tagsTestBlock!(fg1, var1, v1_tags)
+# end
+#
+#
+# fg = fg1
+# v1 = var1
+# v2 = var2
+# v3 = var3
+# f0 = fac0
+# f1 = fac1
+# f2 = fac2

test/runtests.jl

@@ -39,13 +39,6 @@ for api in apis
     end
 end
 
-if get(ENV, "IIF_TEST", "") == "true"
-    @testset "Testing Driver: CloudGraphsDFG" begin
-        @info "Testing Driver: CloudGraphsDFG"
-        global testDFGAPI = CloudGraphsDFG
-        include("consolInterfaceDev.jl")
-    end
-end
 
 # Test special cases
 @testset "Plotting Tests" begin
@@ -82,6 +75,12 @@ if get(ENV, "IIF_TEST", "") == "true"
 
     using IncrementalInference
 
+    @testset "Consolidation WIP Testing Driver: CloudGraphsDFG" begin
+        @info "Testing Driver: CloudGraphsDFG"
+        global testDFGAPI = CloudGraphsDFG
+        include("consolInterfaceDev.jl")
+    end
+
     apis = [
         GraphsDFG{SolverParams}(),
         LightDFG{SolverParams}(),

test/testBlocks.jl

@@ -296,6 +296,13 @@ function  DFGFactorSCA()
     # create f0 here for a later timestamp
     f0 = DFGFactor(:af1, [:a], gfnd_prior, tags = Set([:PRIOR]))
 
+    #fill in undefined fields
+    f2.solverData.certainhypo = Int[]
+    f2.solverData.fncargvID = Symbol[]
+    f2.solverData.frommodule = :DistributedFactorGraphs
+    f2.solverData.multihypo = Float64[]
+    f2.solverData.edgeIDs = Int64[]
+
     return  (f0=f0, f1=f1, f2=f2)
 end
 
@@ -339,14 +346,14 @@ function  VariablesandFactorsCRUD_SET!(fg, v1, v2, v3, f0, f1, f2)
         @test getFactor(fg, :bcf1) |> getTimestamp == newtimestamp
     end
     #deletions
-    @test getVariable(fg, :c) === deleteVariable!(fg, v3)
+    @test getVariable(fg, :c) == deleteVariable!(fg, v3)
     @test_throws ErrorException deleteVariable!(fg, v3)
     @test issetequal(ls(fg),[:a,:b])
-    @test getFactor(fg, :bcf1) === deleteFactor!(fg, f2)
+
+    @test getFactor(fg, :bcf1) == deleteFactor!(fg, f2)
     @test_throws ErrorException deleteFactor!(fg, f2)
     @test lsf(fg) == [:abf1]
 
-
     @test getVariable(fg, :a) == v1
     @test getVariable(fg, :a, :default) == v1
 

test/testFurther.jl

@@ -3,6 +3,7 @@ using IncrementalInference
 
 dfg = CloudGraphsDFG{SolverParams}("localhost", 7474, "neo4j", "test",
                             "testUser", "testRobot", "testSession",
+                            "description of test session",
                             nothing,
                             nothing,
                             IncrementalInference.decodePackedType,