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draft cloud interface test
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‎Project.toml

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -13,7 +13,6 @@ JSON2 = "2535ab7d-5cd8-5a07-80ac-9b1792aadce3"
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LightGraphs = "093fc24a-ae57-5d10-9952-331d41423f4d"
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LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
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MetaGraphs = "626554b9-1ddb-594c-aa3c-2596fe9399a5"
16-
Neo4j = "d2adbeaf-5838-5367-8a2f-e46d570981db"
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Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
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Requires = "ae029012-a4dd-5104-9daa-d747884805df"
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SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
@@ -30,6 +29,8 @@ julia = "0.7, 1"
3029
[extras]
3130
Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
3231
GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231"
32+
Neo4j = "d2adbeaf-5838-5367-8a2f-e46d570981db"
33+
IncrementalInference = "904591bb-b899-562f-9e6f-b8df64c7d480"
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3435
[targets]
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test = ["Test", "GraphPlot"]
36+
test = ["Test", "GraphPlot", "Neo4j", "IncrementalInference"]

‎test/iifInterfaceTests.jl

Lines changed: 326 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,326 @@
1+
# using GraphPlot
2+
# using Neo4j
3+
# using DistributedFactorGraphs
4+
# using IncrementalInference
5+
# using Test
6+
7+
8+
if testDFGAPI == CloudGraphsDFG
9+
DistributedFactorGraphs.CloudGraphsDFG{SolverParams}() = CloudGraphsDFG{SolverParams}("localhost", 7474, "neo4j", "test",
10+
"testUser", "testRobot", "testSession",
11+
nothing,
12+
nothing,
13+
IncrementalInference.decodePackedType,
14+
IncrementalInference.rebuildFactorMetadata!,
15+
solverParams=SolverParams())
16+
17+
18+
dfg = testDFGAPI{SolverParams}()
19+
clearRobot!!(dfg)
20+
else
21+
dfg = testDFGAPI{NoSolverParams}()
22+
end
23+
24+
25+
v1 = addVariable!(dfg, :a, ContinuousScalar, labels = [:POSE])
26+
v2 = addVariable!(dfg, :b, ContinuousScalar, labels = [:LANDMARK])
27+
f1 = addFactor!(dfg, [:a; :b], LinearConditional(Normal(50.0,2.0)) )
28+
# f1 = addFactor!(fg,[:x0], Prior( pd ) )
29+
30+
# @testset "Creating Graphs" begin
31+
global dfg,v1,v2,f1
32+
33+
@test_throws Exception addFactor!(dfg, DFGFactor{Int, :Symbol}("f2"), [v1, DFGVariable("Nope")])
34+
# end
35+
36+
#test before anything changes
37+
@testset "Producing Dot Files" begin
38+
39+
@test toDot(dfg) == "graph graphname {\n2 [\"label\"=\"b\",\"shape\"=\"box\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n2 -- 3\n3 [\"label\"=\"abf1\",\"shape\"=\"ellipse\",\"fillcolor\"=\"blue\",\"color\"=\"blue\"]\n1 [\"label\"=\"a\",\"shape\"=\"box\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n1 -- 3\n}\n"
40+
@test toDotFile(dfg, "something.dot") == nothing
41+
Base.rm("something.dot")
42+
43+
end
44+
45+
@testset "Adding Removing Nodes" begin
46+
dfg2 = testDFGAPI{NoSolverParams}()
47+
v1 = DFGVariable(:a)
48+
v2 = DFGVariable(:b)
49+
v3 = DFGVariable(:c)
50+
f1 = DFGFactor{ContinuousScalar, :Symbol}(:abf1)
51+
f2 = DFGFactor{ContinuousScalar, :Symbol}(:f2)
52+
# @testset "Creating Graphs" begin
53+
@test addVariable!(dfg2, v1)
54+
@test addVariable!(dfg2, v2)
55+
@test_throws ErrorException updateVariable!(dfg2, v3)
56+
@test addVariable!(dfg2, v3)
57+
@test_throws ErrorException addVariable!(dfg2, v3)
58+
@test addFactor!(dfg2, [v1, v2], f1)
59+
@test_throws ErrorException addFactor!(dfg2, [v1, v2], f1)
60+
@test_throws ErrorException updateFactor!(dfg2, f2)
61+
@test addFactor!(dfg2, [:b, :c], f2)
62+
@test deleteVariable!(dfg2, v3) == v3
63+
@test symdiff(ls(dfg2),[:a,:b]) == []
64+
@test deleteFactor!(dfg2, f2) == f2
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@test lsf(dfg2) == [:abf1]
66+
end
67+
68+
@testset "Listing Nodes" begin
69+
global dfg,v1,v2,f1
70+
@test length(ls(dfg)) == 2
71+
@test length(lsf(dfg)) == 1
72+
@test symdiff([:a, :b], getVariableIds(dfg)) == []
73+
@test getFactorIds(dfg) == [:abf1]
74+
#
75+
@test lsf(dfg, :a) == [f1.label]
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# Tags
77+
@test ls(dfg, tags=[:POSE]) == [:a]
78+
@test symdiff(ls(dfg, tags=[:POSE, :LANDMARK]), ls(dfg, tags=[:VARIABLE])) == []
79+
# Regexes
80+
@test ls(dfg, r"a") == [v1.label]
81+
@test lsf(dfg, r"f*") == [f1.label]
82+
# Accessors
83+
@test getAddHistory(dfg) == [:a, :b] #, :abf1
84+
@test getDescription(dfg) != nothing
85+
@test getLabelDict(dfg) != nothing
86+
# Existence
87+
@test exists(dfg, :a) == true
88+
@test exists(dfg, v1) == true
89+
@test exists(dfg, :nope) == false
90+
# Sorting of results
91+
# TODO - this function needs to be cleaned up
92+
unsorted = [:x1_3;:x1_6;:l1;:april1] #this will not work for :x1x2f1
93+
@test sortDFG(unsorted) == sortVarNested(unsorted)
94+
@test_skip sortDFG([:x1x2f1, :x1l1f1]) == [:x1l1f1, :x1x2f1]
95+
end
96+
97+
# Gets
98+
@testset "Gets, Sets, and Accessors" begin
99+
global dfg,v1,v2,f1
100+
@test getVariable(dfg, v1.label) == v1
101+
@test getFactor(dfg, f1.label) == f1
102+
@test_throws Exception getVariable(dfg, :nope)
103+
@test_throws Exception getVariable(dfg, "nope")
104+
@test_throws Exception getFactor(dfg, :nope)
105+
@test_throws Exception getFactor(dfg, "nope")
106+
107+
# Sets
108+
v1Prime = deepcopy(v1)
109+
@test updateVariable!(dfg, v1Prime) != v1
110+
f1Prime = deepcopy(f1)
111+
@test updateFactor!(dfg, f1Prime) != f1
112+
113+
# Accessors
114+
@test label(v1) == v1.label
115+
@test tags(v1) == v1.tags
116+
@test timestamp(v1) == v1.timestamp
117+
@test estimates(v1) == v1.estimateDict
118+
@test estimate(v1, :notfound) == nothing
119+
@test solverData(v1) === v1.solverDataDict[:default]
120+
@test getData(v1) === v1.solverDataDict[:default]
121+
@test solverData(v1, :default) === v1.solverDataDict[:default]
122+
@test solverDataDict(v1) == v1.solverDataDict
123+
@test internalId(v1) == v1._internalId
124+
125+
@test label(f1) == f1.label
126+
@test tags(f1) == f1.tags
127+
@test solverData(f1) == f1.data
128+
# Deprecated functions
129+
@test data(f1) == f1.data
130+
@test getData(f1) == f1.data
131+
# Internal function
132+
@test internalId(f1) == f1._internalId
133+
134+
@test getSolverParams(dfg) != nothing
135+
@test setSolverParams(dfg, getSolverParams(dfg)) == getSolverParams(dfg)
136+
137+
#solver data is initialized
138+
@test !isInitialized(dfg, :a)
139+
@test !isInitialized(v2)
140+
141+
@test !isInitialized(v2, key=:second)
142+
143+
end
144+
145+
@testset "Updating Nodes" begin
146+
global dfg
147+
#get the variable
148+
var = getVariable(dfg, :a)
149+
#make a copy and simulate external changes
150+
newvar = deepcopy(var)
151+
estimates(newvar)[:default] = Dict{Symbol, VariableEstimate}(
152+
:max => VariableEstimate(:default, :max, [100.0]),
153+
:mean => VariableEstimate(:default, :mean, [50.0]),
154+
:ppe => VariableEstimate(:default, :ppe, [75.0]))
155+
#update
156+
updateVariableSolverData!(dfg, newvar)
157+
#TODO maybe implement ==; @test newvar==var
158+
Base.:(==)(varest1::VariableEstimate, varest2::VariableEstimate) = begin
159+
varest1.lastUpdatedTimestamp == varest2.lastUpdatedTimestamp || return false
160+
varest1.type == varest2.type || return false
161+
varest1.solverKey == varest2.solverKey || return false
162+
varest1.estimate == varest2.estimate || return false
163+
return true
164+
end
165+
#For now spot check
166+
@test_skip solverDataDict(newvar) == solverDataDict(var)
167+
@test estimates(newvar) == estimates(var)
168+
169+
# Delete :default and replace to see if new ones can be added
170+
delete!(estimates(newvar), :default)
171+
estimates(newvar)[:second] = Dict{Symbol, VariableEstimate}(
172+
:max => VariableEstimate(:default, :max, [10.0]),
173+
:mean => VariableEstimate(:default, :mean, [5.0]),
174+
:ppe => VariableEstimate(:default, :ppe, [7.0]))
175+
176+
# Persist to the original variable.
177+
updateVariableSolverData!(dfg, newvar)
178+
# At this point newvar will have only :second, and var should have both (it is the reference)
179+
@test symdiff(collect(keys(estimates(var))), [:default, :second]) == Symbol[]
180+
@test symdiff(collect(keys(estimates(newvar))), [:second]) == Symbol[]
181+
# Get the source too.
182+
@test symdiff(collect(keys(estimates(getVariable(dfg, :a)))), [:default, :second]) == Symbol[]
183+
end
184+
185+
# Connectivity test
186+
@testset "Connectivity Test" begin
187+
global dfg,v1,v2,f1
188+
@test isFullyConnected(dfg) == true
189+
@test hasOrphans(dfg) == false
190+
addVariable!(dfg, DFGVariable(:orphan))
191+
@test isFullyConnected(dfg) == false
192+
@test hasOrphans(dfg) == true
193+
end
194+
195+
# Adjacency matrices
196+
@testset "Adjacency Matrices" begin
197+
global dfg,v1,v2,f1
198+
# Normal
199+
adjMat = getAdjacencyMatrix(dfg)
200+
@test size(adjMat) == (2,4)
201+
@test symdiff(adjMat[1, :], [nothing, :a, :b, :orphan]) == Symbol[]
202+
@test symdiff(adjMat[2, :], [:abf1, :abf1, :abf1, nothing]) == Symbol[]
203+
#sparse
204+
adjMat, v_ll, f_ll = getAdjacencyMatrixSparse(dfg)
205+
@test size(adjMat) == (1,3)
206+
207+
# Checking the elements of adjacency, its not sorted so need indexing function
208+
indexOf = (arr, el1) -> findfirst(el2->el2==el1, arr)
209+
@test adjMat[1, indexOf(v_ll, :orphan)] == 0
210+
@test adjMat[1, indexOf(v_ll, :a)] == 1
211+
@test adjMat[1, indexOf(v_ll, :b)] == 1
212+
@test symdiff(v_ll, [:a, :b, :orphan]) == Symbol[]
213+
@test symdiff(f_ll, [:abf1, :abf1, :abf1]) == Symbol[]
214+
end
215+
216+
# Deletions
217+
@testset "Deletions" begin
218+
deleteFactor!(dfg, :abf1)
219+
@test getFactorIds(dfg) == []
220+
deleteVariable!(dfg, :b)
221+
@test symdiff([:a, :orphan], getVariableIds(dfg)) == []
222+
#delete last also for the LightGraphs implementation coverage
223+
deleteVariable!(dfg, :orphan)
224+
@test symdiff([:a], getVariableIds(dfg)) == []
225+
deleteVariable!(dfg, :a)
226+
@test getVariableIds(dfg) == []
227+
end
228+
229+
230+
# Now make a complex graph for connectivity tests
231+
numNodes = 10
232+
dfg = testDFGAPI{NoSolverParams}()
233+
234+
testDFGAPI == CloudGraphsDFG && clearRobot!!(fg)
235+
236+
237+
#change ready and backendset for x7,x8 for improved tests on x7x8f1
238+
verts = map(n -> addVariable!(dfg, Symbol("x$n"), ContinuousScalar, labels = [:POSE]), 1:numNodes)
239+
verts[7].ready = 1
240+
# verts[7].backendset = 0
241+
verts[8].ready = 0
242+
verts[8].backendset = 1
243+
244+
facts = map(n -> addFactor!(dfg, [verts[n], verts[n+1]], LinearConditional(Normal(50.0,2.0))), 1:(numNodes-1))
245+
246+
247+
248+
@testset "Getting Neighbors" begin
249+
global dfg,verts
250+
# Trivial test to validate that intersect([], []) returns order of first parameter
251+
@test intersect([:x3, :x2, :x1], [:x1, :x2]) == [:x2, :x1]
252+
# Get neighbors tests
253+
@test getNeighbors(dfg, verts[1]) == [:x1x2f1]
254+
neighbors = getNeighbors(dfg, getFactor(dfg, :x1x2f1))
255+
@test neighbors == [:x1, :x2]
256+
# Testing aliases
257+
@test getNeighbors(dfg, getFactor(dfg, :x1x2f1)) == ls(dfg, getFactor(dfg, :x1x2f1))
258+
@test getNeighbors(dfg, :x1x2f1) == ls(dfg, :x1x2f1)
259+
260+
# ready and backendset
261+
@test getNeighbors(dfg, :x5, ready=1) == Symbol[]
262+
@test getNeighbors(dfg, :x5, ready=0) == [:x4x5f1,:x5x6f1]
263+
@test getNeighbors(dfg, :x5, backendset=1) == Symbol[]
264+
@test getNeighbors(dfg, :x5, backendset=0) == [:x4x5f1,:x5x6f1]
265+
@test getNeighbors(dfg, :x7x8f1, ready=0) == [:x8]
266+
@test getNeighbors(dfg, :x7x8f1, backendset=0) == [:x7]
267+
@test getNeighbors(dfg, :x7x8f1, ready=1) == [:x7]
268+
@test getNeighbors(dfg, :x7x8f1, backendset=1) == [:x8]
269+
@test getNeighbors(dfg, verts[1], ready=0) == [:x1x2f1]
270+
@test getNeighbors(dfg, verts[1], ready=1) == Symbol[]
271+
@test getNeighbors(dfg, verts[1], backendset=0) == [:x1x2f1]
272+
@test getNeighbors(dfg, verts[1], backendset=1) == Symbol[]
273+
274+
end
275+
276+
@testset "Getting Subgraphs" begin
277+
# Subgraphs
278+
dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 2)
279+
# Only returns x1 and x2
280+
@test symdiff([:x1, :x1x2f1, :x2], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
281+
# Test include orphan factorsVoid
282+
dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 1, true)
283+
@test symdiff([:x1, :x1x2f1], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
284+
# Test adding to the dfg
285+
dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 2, true, dfgSubgraph)
286+
@test symdiff([:x1, :x1x2f1, :x2], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
287+
#
288+
dfgSubgraph = getSubgraph(dfg,[:x1, :x2, :x1x2f1])
289+
# Only returns x1 and x2
290+
@test symdiff([:x1, :x1x2f1, :x2], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
291+
292+
# DFG issue #95 - confirming that getSubgraphAroundNode retains order
293+
# REF: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/95
294+
for fId in getVariableIds(dfg)
295+
# Get a subgraph of this and it's related factors+variables
296+
dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 2)
297+
# For each factor check that the order the copied graph == original
298+
for fact in getFactors(dfgSubgraph)
299+
@test fact._variableOrderSymbols == getFactor(dfg, fact.label)._variableOrderSymbols
300+
end
301+
end
302+
end
303+
304+
@testset "Summaries and Summary Graphs" begin
305+
factorFields = fieldnames(DFGFactorSummary)
306+
variableFields = fieldnames(DFGVariableSummary)
307+
308+
summary = getSummary(dfg)
309+
@test symdiff(collect(keys(summary.variables)), ls(dfg)) == Symbol[]
310+
@test symdiff(collect(keys(summary.factors)), lsf(dfg)) == Symbol[]
311+
312+
summaryGraph = getSummaryGraph(dfg)
313+
@test symdiff(ls(summaryGraph), ls(dfg)) == Symbol[]
314+
@test symdiff(lsf(summaryGraph), lsf(dfg)) == Symbol[]
315+
# Check all fields are equal for all variables
316+
for v in ls(summaryGraph)
317+
for field in variableFields
318+
@test getfield(getVariable(dfg, v), field) == getfield(getVariable(summaryGraph, v), field)
319+
end
320+
end
321+
for f in lsf(summaryGraph)
322+
for field in factorFields
323+
@test getfield(getFactor(dfg, f), field) == getfield(getFactor(summaryGraph, f), field)
324+
end
325+
end
326+
end

‎test/interfaceTests.jl

Lines changed: 2 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -112,10 +112,8 @@ end
112112
@test !isInitialized(dfg, :a)
113113
@test !isInitialized(v2)
114114

115-
#TODO Should the next test work?
116-
@test_broken !isInitialized(dfg, :f1)
117-
@test_broken !isInitialized(f1)
118-
115+
@test !isInitialized(v2, key=:second)
116+
119117
end
120118

121119
@testset "Updating Nodes" begin

‎test/runtests.jl

Lines changed: 14 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,17 +1,28 @@
11
using Test
22
using GraphPlot # For plotting tests
3+
using Neo4j
34
using DistributedFactorGraphs
5+
using IncrementalInference
46

5-
# Test each interface
6-
apis = [GraphsDFG, MetaGraphsDFG, SymbolDFG, LightDFG]
7+
apis = [GraphsDFG, MetaGraphsDFG, SymbolDFG, LightDFG, CloudGraphsDFG]
78
for api in apis
89
@testset "Testing Driver: $(api)" begin
910
@info "Testing Driver: $(api)"
1011
global testDFGAPI = api
11-
include("interfaceTests.jl")
12+
include("iifInterfaceTests.jl")
1213
end
1314
end
1415

16+
# Test each interface
17+
# apis = [GraphsDFG, MetaGraphsDFG, SymbolDFG, LightDFG]
18+
# for api in apis
19+
# @testset "Testing Driver: $(api)" begin
20+
# @info "Testing Driver: $(api)"
21+
# global testDFGAPI = api
22+
# include("interfaceTests.jl")
23+
# end
24+
# end
25+
1526
# Test special cases
1627

1728
@testset "Plotting Tests" begin

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