fix tests for val::Vector{P}

Author: dehann

src/entities/DFGVariable.jl

@@ -300,7 +300,7 @@ end
     $SIGNATURES
 The default DFGVariable constructor.
 """
-function DFGVariable(label::Symbol, variableType::T;
+function DFGVariable(label::Symbol, variableType::Type{T};
             timestamp::Union{DateTime,ZonedDateTime}=now(localzone()),
             nstime::Nanosecond = Nanosecond(0),
             tags::Set{Symbol}=Set{Symbol}(),
@@ -309,14 +309,20 @@ function DFGVariable(label::Symbol, variableType::T;
             smallData::Dict{Symbol, SmallDataTypes}=Dict{Symbol, SmallDataTypes}(),
             dataDict::Dict{Symbol, AbstractDataEntry}=Dict{Symbol,AbstractDataEntry}(),
             solvable::Int=1) where {T <: InferenceVariable, P}
-
+    #
     if timestamp isa DateTime
         DFGVariable{T}(label, ZonedDateTime(timestamp, localzone()), nstime, tags, estimateDict, solverDataDict, smallData, dataDict, Ref(solvable))
     else
         DFGVariable{T}(label, timestamp, nstime, tags, estimateDict, solverDataDict, smallData, dataDict, Ref(solvable))
     end
 end
 
+DFGVariable(label::Symbol, 
+            variableType::T; 
+            solverDataDict::Dict{Symbol, VariableNodeData{T,P}}=Dict{Symbol, VariableNodeData{T,getPointType(T)}}(),
+            kw...) where {T <: InferenceVariable, P} = DFGVariable(label, T; solverDataDict=solverDataDict, kw...)
+#
+
 function DFGVariable(label::Symbol,
             solverData::VariableNodeData{T};
             timestamp::Union{DateTime,ZonedDateTime}=now(localzone()),

src/services/CustomPrinting.jl

@@ -94,6 +94,7 @@ function printVariable( io::IO, vert::DFGVariable;
             println(ioc)
         end
     end
+    nothing
 end
 
 printFactor(vert::DFGFactor; kwargs...) = printFactor(stdout::IO, vert; kwargs...)
@@ -150,6 +151,7 @@ function printFactor(   io::IO, vert::DFGFactor;
             println(ioc)
         end
     end
+    nothing
 end
 
 

src/services/Serialization.jl

@@ -160,15 +160,28 @@ function unpackVariable(dfg::G,
 
     variableType = getTypeFromSerializationModule(variableTypeString)
     isnothing(variableType) && error("Cannot deserialize variableType '$variableTypeString' in variable '$label'")
+    pointType = getPointType(variableType)
 
     if unpackSolverData
         packed = JSON2.read(packedProps["solverDataDict"], Dict{String, PackedVariableNodeData})
-        solverData = Dict(Symbol.(keys(packed)) .=> map(p -> unpackVariableNodeData(dfg, p), values(packed)))
+        solverData = Dict{Symbol, VariableNodeData{variableType, pointType}}(Symbol.(keys(packed)) .=> map(p -> unpackVariableNodeData(dfg, p), values(packed)))
     else
-        solverData = Dict{Symbol, VariableNodeData}()
+        solverData = Dict{Symbol, VariableNodeData{variableType, pointType}}()
     end
     # Rebuild DFGVariable using the first solver variableType in solverData
-    variable = DFGVariable{variableType}(Symbol(packedProps["label"]), timestamp, nstime, Set(tags), ppeDict, solverData,  smallData, Dict{Symbol,AbstractDataEntry}(), Ref(packedProps["solvable"]))
+    # @info "dbg Serialization 171" variableType Symbol(packedProps["label"]) timestamp nstime ppeDict solverData smallData Dict{Symbol,AbstractDataEntry}() Ref(packedProps["solvable"])
+    # variable = DFGVariable{variableType}(Symbol(packedProps["label"]), timestamp, nstime, Set(tags), ppeDict, solverData,  smallData, Dict{Symbol,AbstractDataEntry}(), Ref(packedProps["solvable"]))
+    variable = DFGVariable( Symbol(packedProps["label"]), 
+                            variableType, 
+                            timestamp=timestamp, 
+                            nstime=nstime, 
+                            tags=Set{Symbol}(tags), 
+                            estimateDict=ppeDict, 
+                            solverDataDict=solverData,  
+                            smallData=smallData, 
+                            dataDict=Dict{Symbol,AbstractDataEntry}(), 
+                            solvable=packedProps["solvable"] )
+    #
 
     # Now rehydrate complete DataEntry type.
     if unpackBigData

test/fileDFGTests.jl

@@ -11,7 +11,7 @@ using TimeZones
         dfg = DistributedFactorGraphs._getDuplicatedEmptyDFG(dfg)
 
         if typeof(dfg) <: CloudGraphsDFG
-            @warn "TEST: Nuking all data for user '$(dfg.userId)', robot '$(dfg.robotId)'!"
+            @warn "TEST: Removing all data for user '$(dfg.userId)', robot '$(dfg.robotId)'!"
             clearRobot!!(dfg)
             # Need to recreate this, otherwise there is going to be an issue when creating the nodes.
             createDfgSessionIfNotExist(dfg)

test/iifInterfaceTests.jl

@@ -1,7 +1,7 @@
 global dfg,v1,v2,f1
 
 if typeof(dfg) <: CloudGraphsDFG
-    @warn "TEST: Nuking all data for user '$(dfg.userId)'!"
+    @warn "TEST: Removing all data for user '$(dfg.userId)'!"
     clearUser!!(dfg)
     createDfgSessionIfNotExist(dfg)
 end

test/runtests.jl

@@ -39,7 +39,7 @@ if get(ENV, "DO_CGDFG_TESTS", "") == "true"
         LightDFG,
         CloudGraphsDFG,
         ]
-    @warn "TEST: Nuking all data for user 'testUserId'!"
+    @warn "TEST: Removing all data for user 'testUserId'!"
     clearUser!!(CloudGraphsDFG(userId="testUserId"))
 
 else