Merge pull request #171 from JuliaRobotics/feature/FileDFG_testing

FileDFG testing

Author: GearsAD

src/FileDFG/services/FileDFG.jl

@@ -30,7 +30,7 @@ function saveDFG(dfg::G, folder::String) where G <: AbstractDFG
     end
 end
 
-function loadDFG(folder::String, iifModule, dfgLoadInto::G=GraphsDFG{NoSolverParams}()) where G <: AbstractDFG
+function loadDFG(folder::String, iifModule, dfgLoadInto::G) where G <: AbstractDFG
     variables = DFGVariable[]
     factors = DFGFactor[]
     varFolder = "$folder/variables"
@@ -70,9 +70,8 @@ function loadDFG(folder::String, iifModule, dfgLoadInto::G=GraphsDFG{NoSolverPar
 
     # PATCH - To update the fncargvID for factors, it's being cleared somewhere in rebuildFactorMetadata.
     # TEMPORARY
-    # TODO: Remove
+    # TODO: Remove in future
     map(f->solverData(f).fncargvID = f._variableOrderSymbols, getFactors(dfgLoadInto))
 
-
     return dfgLoadInto
 end

test/fileDFGTests.jl

@@ -0,0 +1,38 @@
+@testset "FileDFG Tests" begin
+
+    if typeof(dfg) <: CloudGraphsDFG
+        @warn "TEST: Nuking all data for user '$(dfg.userId)', robot '$(dfg.robotId)'!"
+        clearRobot!!(dfg)
+    end
+
+    # Same graph as iifInterfaceTests.jl
+    numNodes = 10
+
+    #change ready and backendset for x7,x8 for improved tests on x7x8f1
+    verts = map(n -> addVariable!(dfg, Symbol("x$n"), ContinuousScalar, labels = [:POSE]), 1:numNodes)
+    #TODO fix this to use accessors
+    verts[7].ready = 1
+    # verts[7].backendset = 0
+    verts[8].ready = 0
+    verts[8].backendset = 1
+    #call update to set it on cloud
+    updateVariable!(dfg, verts[7])
+    updateVariable!(dfg, verts[8])
+
+    facts = map(n -> addFactor!(dfg, [verts[n], verts[n+1]], LinearConditional(Normal(50.0,2.0))), 1:(numNodes-1))
+
+    # Save and load the graph to test.
+    saveFolder = "/tmp/fileDFG"
+    saveDFG(dfg, saveFolder)
+
+    copyDfg = DistributedFactorGraphs._getDuplicatedEmptyDFG(dfg)
+    retDFG = loadDFG(saveFolder, Main, copyDfg)
+    @test symdiff(ls(dfg), ls(retDFG)) == []
+    @test symdiff(lsf(dfg), lsf(retDFG)) == []
+    for var in ls(dfg)
+        @test getVariable(dfg, var) == getVariable(retDFG, var)
+    end
+    for fact in lsf(dfg)
+        @test getFactor(dfg, fact) == getFactor(retDFG, fact)
+    end
+end

test/obsolete_nowinRoME/FileDFG.jl

@@ -73,6 +73,12 @@ if get(ENV, "IIF_TEST", "") == "true"
             global dfg = deepcopy(api)
             include("iifInterfaceTests.jl")
         end
+
+        @testset "FileDFG Testing Driver: $(typeof(api))" begin
+            @info "FileDFG Testing Driver: $(typeof(api))"
+            global dfg = deepcopy(api)
+            include("fileDFGTests.jl")
+        end
     end
 else
     @warn "Skipping IncrementalInference driver tests"

test/runtests.jl

@@ -1,23 +1,32 @@
 # using Revise
+# using Neo4j
+
+# Debug logging
+# using DistributedFactorGraphs
+using Test
+using Logging
 using Neo4j
 using DistributedFactorGraphs
 using IncrementalInference
-using Test
-using Logging
-# Debug logging
 logger = SimpleLogger(stdout, Logging.Debug)
 global_logger(logger)
 
 dfg = CloudGraphsDFG{SolverParams}("localhost", 7474, "neo4j", "test",
-                            "testUser", "testRobot", "sandbox",
+                            "testUser", "testRobot", "testSession",
                             nothing,
                             nothing,
                             IncrementalInference.decodePackedType,
                             IncrementalInference.rebuildFactorMetadata!,
                             solverParams=SolverParams())
-clearRobot!!(dfg)
 
+if typeof(dfg) <: CloudGraphsDFG
+    @warn "TEST: Nuking all data for user '$(dfg.userId)', robot '$(dfg.robotId)'!"
+    clearRobot!!(dfg)
+end
+
+# Same graph as iifInterfaceTests.jl
 numNodes = 10
+
 #change ready and backendset for x7,x8 for improved tests on x7x8f1
 verts = map(n -> addVariable!(dfg, Symbol("x$n"), ContinuousScalar, labels = [:POSE]), 1:numNodes)
 #TODO fix this to use accessors
@@ -31,25 +40,16 @@ updateVariable!(dfg, verts[8])
 
 facts = map(n -> addFactor!(dfg, [verts[n], verts[n+1]], LinearConditional(Normal(50.0,2.0))), 1:(numNodes-1))
 
-# Get neighbors tests
-@test getNeighbors(dfg, verts[1]) == [:x1x2f1]
-neighbors = getNeighbors(dfg, getFactor(dfg, :x1x2f1))
-@test neighbors == [:x1, :x2]
-# Testing aliases
-@test getNeighbors(dfg, getFactor(dfg, :x1x2f1)) == ls(dfg, getFactor(dfg, :x1x2f1))
-@test getNeighbors(dfg, :x1x2f1) == ls(dfg, :x1x2f1)
-
-# ready and backendset
-@test getNeighbors(dfg, :x5, ready=1) == Symbol[]
-#TODO Confirm: test failed on GraphsDFG, don't know if the order is important for isa variable.
-@test symdiff(getNeighbors(dfg, :x5, ready=0), [:x4x5f1,:x5x6f1]) == []
-@test getNeighbors(dfg, :x5, backendset=1) == Symbol[]
-@test symdiff(getNeighbors(dfg, :x5, backendset=0),[:x4x5f1,:x5x6f1]) == []
-@test getNeighbors(dfg, :x7x8f1, ready=0) == [:x8]
-@test getNeighbors(dfg, :x7x8f1, backendset=0) == [:x7]
-@test getNeighbors(dfg, :x7x8f1, ready=1) == [:x7]
-@test getNeighbors(dfg, :x7x8f1, backendset=1) == [:x8]
-@test getNeighbors(dfg, verts[1], ready=0) == [:x1x2f1]
-@test getNeighbors(dfg, verts[1], ready=1) == Symbol[]
-@test getNeighbors(dfg, verts[1], backendset=0) == [:x1x2f1]
-@test getNeighbors(dfg, verts[1], backendset=1) == Symbol[]
+# Save and load the graph to test.
+saveFolder = "/tmp/fileDFG"
+saveDFG(dfg, saveFolder)
+
+retDFG = loadDFG(saveFolder, Main)
+@test symdiff(ls(dfg), ls(retDFG)) == []
+@test symdiff(lsf(dfg), lsf(retDFG)) == []
+for var in ls(dfg)
+    @test getVariable(dfg, var) == getVariable(retDFG, var)
+end
+for fact in lsf(dfg)
+    @test getFactor(dfg, fact) == getFactor(retDFG, fact)
+end