Merge pull request #244 from JuliaRobotics/tests/refactor

Small refactor to unblock 0.5.2

Author: GearsAD

test/CGStructureTests.jl

@@ -1,10 +1,10 @@
-dfg = CloudGraphsDFG{NoSolverParams}("localhost", 7474, "neo4j", "test",
+dfg = CloudGraphsDFG{SolverParams}("localhost", 7474, "neo4j", "test",
                             "testUser", "testRobot", "testSession",
                             nothing,
                             nothing,
                             IncrementalInference.decodePackedType,
                             IncrementalInference.rebuildFactorMetadata!,
-                            solverParams=NoSolverParams())
+                            solverParams=SolverParams())
 
 # Nuke the user
 clearUser!!(dfg)
@@ -61,37 +61,15 @@ setSessionData(dfg, session.data)
 v1 = addVariable!(dfg, :a, ContinuousScalar, labels = [:POSE])
 v2 = addVariable!(dfg, :b, ContinuousScalar, labels = [:POSE])
 v3 = addVariable!(dfg, :c, ContinuousScalar, labels = [:LANDMARK])
+addFactor!(dfg, [:a], Prior(Normal(0,1)))
 f1 = addFactor!(dfg, [:a; :b], LinearConditional(Normal(50.0,2.0)) )
 f2 = addFactor!(dfg, [:b; :c], LinearConditional(Normal(50.0,2.0)) )
 
 sessions = lsSessions(dfg)
 @test map(s -> s.id, sessions) == [session.id]
 
-# Pull and solve this graph
 dfgLocal = GraphsDFG{SolverParams}(params=SolverParams())
 DistributedFactorGraphs.getSubgraph(dfg, union(ls(dfg), lsf(dfg)), true, dfgLocal)
-
 # Confirm that with sentinels we still have the same graph (doesn't pull in the sentinels)
 @test symdiff(ls(dfgLocal), ls(dfg)) == []
 @test symdiff(lsf(dfgLocal), lsf(dfg)) == []
-
-# Solve it
-tree, smtasks = solveTree!(dfgLocal)
-
-
-# Make sure we can copy and solve normal orphaned sessions.
-dfgOrphaned = deepcopy(dfg)
-dfgOrphaned.sessionId = "doesntexist"
-# Don't create a session
-# Add some nodes.
-v1 = addVariable!(dfgOrphaned, :a, ContinuousScalar, labels = [:POSE])
-v2 = addVariable!(dfgOrphaned, :b, ContinuousScalar, labels = [:POSE])
-v3 = addVariable!(dfgOrphaned, :c, ContinuousScalar, labels = [:LANDMARK])
-f1 = addFactor!(dfgOrphaned, [:a; :b], LinearConditional(Normal(50.0,2.0)) )
-f2 = addFactor!(dfgOrphaned, [:b; :c], LinearConditional(Normal(50.0,2.0)) )
-# Solve it
-dfgLocal = GraphsDFG{SolverParams}(params=SolverParams())
-DistributedFactorGraphs.getSubgraph(dfgOrphaned, union(ls(dfgOrphaned), lsf(dfgOrphaned)), true, dfgLocal)
-tree, smtasks = solveTree!(dfgLocal)
-
-# If this passes without errors and we solve the graph, then all good.

test/runtests.jl

@@ -58,7 +58,6 @@ end
 
 if get(ENV, "IIF_TEST", "") == "true"
 
-    Pkg.add("IncrementalInference")
     # Switch to our upstream test branch.
     Pkg.add(PackageSpec(name="IncrementalInference", rev="upstream/dfg_integration_test"))
     @info "------------------------------------------------------------------------"
@@ -97,6 +96,19 @@ if get(ENV, "IIF_TEST", "") == "true"
         # Run the CGStructure tests
         include("CGStructureTests.jl")
     end
+
+    # Simple graph solving test
+    @testset "Simple graph solving test" begin
+        # This is just to validate we're not going to blow up downstream.
+        apis = [
+            GraphsDFG{SolverParams}(params=SolverParams()),
+            LightDFG{SolverParams}(params=SolverParams())]
+        for api in apis
+            @info "Running simple solver test: $(typeof(api))"
+            global dfg = deepcopy(api)
+            include("solveTest.jl")
+        end
+    end
 else
     @warn "Skipping IncrementalInference driver tests"
 end

test/solveTest.jl

@@ -0,0 +1,10 @@
+# Add some nodes.
+v1 = addVariable!(dfg, :a, ContinuousScalar, labels = [:POSE])
+addFactor!(dfg, [:a], Prior(Normal(0,1)))
+v2 = addVariable!(dfg, :b, ContinuousScalar, labels = [:POSE])
+v3 = addVariable!(dfg, :c, ContinuousScalar, labels = [:LANDMARK])
+f1 = addFactor!(dfg, [:a; :b], LinearConditional(Normal(50.0,2.0)) )
+f2 = addFactor!(dfg, [:b; :c], LinearConditional(Normal(50.0,2.0)) )
+
+# Solve it
+tree, smtasks = solveTree!(dfg)