Make SymbolDFG runnable; Tests - I'll take 29/61 as a win

Author: Affie

src/DistributedFactorGraphs.jl

@@ -47,6 +47,10 @@ include("FileDFG/FileDFG.jl")
 # Include the LightGraphs.jl (MetaGraphs.jl) API.
 include("LightGraphsDFG/LightGraphsDFG.jl")
 
+include("SymbolDFG/SymbolDFG.jl")
+@reexport using .SymbolDFGs
+
+
 export saveDFG, loadDFG
 
 function __init__()

src/SymbolDFG/SymbolDFG.jl

@@ -3,6 +3,20 @@ module SymbolDFGs
 using LightGraphs
 using DocStringExtensions
 
+# import DFG functions to exstend
+import ...DistributedFactorGraphs:  setSolverParams,
+                                    getInnerGraph,
+                                    getFactor,
+                                    setDescription,
+                                    getLabelDict,
+                                    addVariable!,
+                                    getVariable,
+                                    getAddHistory,
+                                    addFactor!,
+                                    getSolverParams,
+                                    exists,
+                                    getDescription
+
 include("SymbolFactorGraphs/SymbolFactorGraphs.jl")
 using .SymbolFactorGraphs
 

src/SymbolDFG/entities/SymbolDFG.jl

@@ -1,5 +1,5 @@
 
-import ...DistributedFactorGraphs: AbstractDFG, DFGNode, AbstractParams, NoSolverParams
+import ...DistributedFactorGraphs: AbstractDFG, DFGNode, AbstractParams, NoSolverParams, DFGVariable, DFGFactor
 
 
 mutable struct SymbolDFG{T <: AbstractParams, V <: DFGNode, F <:DFGNode} <: AbstractDFG
@@ -27,6 +27,8 @@ function SymbolDFG{T,V,F}(g::SymbolFactorGraph{V,F}=SymbolFactorGraph{V,F}();
     SymbolDFG{T,V,F}(g, description, userId, robotId, sessionId, Symbol[], params)
 end
 
+SymbolDFG{T}(g::SymbolFactorGraph{DFGVariable,DFGFactor}=SymbolFactorGraph{DFGVariable,DFGFactor}(); kwargs...) where T <: AbstractParams = SymbolDFG{T,DFGVariable,DFGFactor}(g, kwargs...)
+
 Base.propertynames(x::SymbolDFG, private::Bool=false) =
     (:g, :description, :userId, :robotId, :sessionId, :nodeCounter, :labelDict, :addHistory, :solverParams)
         # (private ? fieldnames(typeof(x)) : ())...)

test/runtests.jl

@@ -3,7 +3,7 @@ using DataFrames
 using DistributedFactorGraphs
 
 # Test each interface
-apis = [GraphsDFG, LightGraphsDFG]
+apis = [GraphsDFG, LightGraphsDFG, SymbolDFG]
 # apis = [graphsDFG, cgDFG]
 for api in apis
     @testset "Testing Driver: $(api)" begin