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Merge pull request #730 from JuliaRobotics/ci/github
Converted travis to github ci
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‎.github/workflows/ci.yml

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name: CI
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on:
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pull_request:
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push:
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branch:
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- master
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- develop
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- release**
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tags:
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- v**
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jobs:
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test:
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name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }}
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runs-on: ${{ matrix.os }}
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env:
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JULIA_PKG_SERVER: ""
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strategy:
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fail-fast: false
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matrix:
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version:
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- '1.6'
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- 'nightly'
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os:
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- ubuntu-latest
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arch:
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- x64
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steps:
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- name: Checkout
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uses: actions/checkout@v2
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- name: Setup Julia
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uses: julia-actions/setup-julia@v1
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with:
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version: ${{ matrix.version }}
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arch: ${{ matrix.arch }}
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- name: Cache Artifacts
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uses: actions/cache@v1
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env:
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cache-name: cache-artifacts
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with:
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path: ~/.julia/artifacts
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key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
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restore-keys: |
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${{ runner.os }}-test-${{ env.cache-name }}-
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${{ runner.os }}-test-
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${{ runner.os }}-
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- name: Julia Build Pkg
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uses: julia-actions/julia-buildpkg@latest
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- name: Git Test Credentials
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run: |
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git config --global user.name Tester
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git config --global user.email [email protected]
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- name: Run tests
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env:
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IIF_TEST: false
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DO_CGDFG_TESTS: false
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DFG_USE_CGDFG: false
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uses: julia-actions/julia-runtest@latest
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continue-on-error: ${{ matrix.version == 'nightly' }}
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- name: Process Coverage
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uses: julia-actions/julia-processcoverage@v1
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- name: Code Coverage
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uses: codecov/codecov-action@v1
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with:
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file: lcov.info
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test-cfg:
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# if: github.ref == 'refs/heads/master' || github.ref == 'refs/heads/develop' || github.ref == 'refs/heads/release**'
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name: w/ LGPL ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }}
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runs-on: ${{ matrix.os }}
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env:
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JULIA_PKG_SERVER: ""
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strategy:
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fail-fast: false
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matrix:
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version:
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- '1.6'
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os:
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- ubuntu-latest
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arch:
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- x64
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steps:
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- name: Checkout
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uses: actions/checkout@v2
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- name: Setup Julia
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uses: julia-actions/setup-julia@v1
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with:
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version: ${{ matrix.version }}
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arch: ${{ matrix.arch }}
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- name: Install neo4j
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run: |
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sudo add-apt-repository -y ppa:openjdk-r/ppa
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sudo apt-get update
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wget -O - https://debian.neo4j.com/neotechnology.gpg.key | sudo apt-key add -
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echo 'deb https://debian.neo4j.com stable 3.5' | sudo tee /etc/apt/sources.list.d/neo4j.list
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sudo apt-get update
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apt list -a neo4j
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sudo apt-get install neo4j
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sudo service neo4j start
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sleep 10
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curl -v POST http://neo4j:neo4j@localhost:7474/user/neo4j/password -d"password=test"
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# sudo neo4j-admin set-initial-password test
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curl -I http://localhost:7474/
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- name: Cache Artifacts
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uses: actions/cache@v1
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env:
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cache-name: cache-artifacts
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with:
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path: ~/.julia/artifacts
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key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
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restore-keys: |
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${{ runner.os }}-test-${{ env.cache-name }}-
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${{ runner.os }}-test-
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${{ runner.os }}-
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- name: Julia Build Pkg
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uses: julia-actions/julia-buildpkg@latest
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- name: Git Test Credentials
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run: |
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git config --global user.name Tester
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git config --global user.email [email protected]
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- name: Run tests
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env:
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IIF_TEST: false
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DO_CGDFG_TESTS: true
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DFG_USE_CGDFG: true
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uses: julia-actions/julia-runtest@latest
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- name: Process Coverage
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uses: julia-actions/julia-processcoverage@v1
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- name: Code Coverage
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uses: codecov/codecov-action@v1
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with:
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file: lcov.info
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docs:
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needs: test
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name: Documentation
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runs-on: ubuntu-latest
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continue-on-error: true
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steps:
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- name: Checkout
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uses: actions/checkout@v2
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- name: Setup julia
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uses: julia-actions/setup-julia@v1
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with:
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version: 1.6
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arch: x64
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- name: Build Docs
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }}
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run: |
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julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
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julia --project=docs/ docs/make.jl
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‎README.md

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@@ -3,17 +3,17 @@
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Click on badges to follow links:
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Release v0.13 | Release v0.14 | Dev | Coverage | Documentation |
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---------|---------|-----|------------|------------|
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[![Build Status][dfg-build-v0.13]][dfg-build-url] | [![Build Status][dfg-build-v0.14]][dfg-build-url] | [![Build Status][dfg-build-img]][dfg-build-url] <br> [![Average time to resolve an issue](https://isitmaintained.com/badge/resolution/JuliaRobotics/DistributedFactorGraphs.jl.svg)](https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues) | [![codecov.io][dfg-cov-img]][dfg-cov-url] <br> [![Percentage of issues still open](https://isitmaintained.com/badge/open/JuliaRobotics/DistributedFactorGraphs.jl.svg)](https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues) | [![docs](https://img.shields.io/badge/DFGDocs-latest-blue.svg)](http://juliarobotics.github.io/DistributedFactorGraphs.jl/latest/) <br> [![docs](https://img.shields.io/badge/CaesarDocs-latest-blue.svg)](http://juliarobotics.github.io/Caesar.jl/latest/)
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--------------|---------------|-----|----------|---------------|
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[![Build Status][dfg-build-v0.13]][dfg-build-url] | [![Build Status][dfg-build-v0.14]][dfg-build-url] | [![CI][dfg-build-img]][dfg-build-url] <br> [![Average time to resolve an issue](https://isitmaintained.com/badge/resolution/JuliaRobotics/DistributedFactorGraphs.jl.svg)](https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues) | [![codecov.io][dfg-cov-img]][dfg-cov-url] <br> [![Percentage of issues still open](https://isitmaintained.com/badge/open/JuliaRobotics/DistributedFactorGraphs.jl.svg)](https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues) | [![docs](https://img.shields.io/badge/DFGDocs-latest-blue.svg)](http://juliarobotics.github.io/DistributedFactorGraphs.jl/latest/) <br> [![docs](https://img.shields.io/badge/CaesarDocs-latest-blue.svg)](http://juliarobotics.github.io/Caesar.jl/latest/)
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[dfg-build-v0.13]: https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl.svg?branch=release/v0.13
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[dfg-build-v0.14]: https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl.svg?branch=release/v0.14
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[dfg-cov-img]: https://codecov.io/github/JuliaRobotics/DistributedFactorGraphs.jl/coverage.svg?branch=master
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[dfg-cov-url]: https://codecov.io/github/JuliaRobotics/DistributedFactorGraphs.jl?branch=master
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[dfg-build-img]: https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl.svg?branch=master
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[dfg-build-url]: https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl
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[dfg-build-img]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/actions/workflows/ci.yml/badge.svg
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[dfg-build-url]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/actions/workflows/ci.yml
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DistributedFactorGraphs.jl provides a flexible factor graph API for use in the [Caesar.jl](https://github.com/JuliaRobotics/Caesar.jl) ecosystem. The package supplies:
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* A standardized API for interacting with factor graphs

‎src/entities/DFGVariable.jl

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$SIGNATURES
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The default DFGVariable constructor.
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"""
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function DFGVariable(label::Symbol, variableType::T;
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function DFGVariable(label::Symbol, variableType::Type{T};
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timestamp::Union{DateTime,ZonedDateTime}=now(localzone()),
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nstime::Nanosecond = Nanosecond(0),
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tags::Set{Symbol}=Set{Symbol}(),
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smallData::Dict{Symbol, SmallDataTypes}=Dict{Symbol, SmallDataTypes}(),
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dataDict::Dict{Symbol, AbstractDataEntry}=Dict{Symbol,AbstractDataEntry}(),
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solvable::Int=1) where {T <: InferenceVariable, P}
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#
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if timestamp isa DateTime
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DFGVariable{T}(label, ZonedDateTime(timestamp, localzone()), nstime, tags, estimateDict, solverDataDict, smallData, dataDict, Ref(solvable))
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else
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DFGVariable{T}(label, timestamp, nstime, tags, estimateDict, solverDataDict, smallData, dataDict, Ref(solvable))
317317
end
318318
end
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DFGVariable(label::Symbol,
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variableType::T;
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solverDataDict::Dict{Symbol, VariableNodeData{T,P}}=Dict{Symbol, VariableNodeData{T,getPointType(T)}}(),
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kw...) where {T <: InferenceVariable, P} = DFGVariable(label, T; solverDataDict=solverDataDict, kw...)
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#
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function DFGVariable(label::Symbol,
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solverData::VariableNodeData{T};
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timestamp::Union{DateTime,ZonedDateTime}=now(localzone()),

‎src/services/CustomPrinting.jl

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println(ioc)
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end
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end
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nothing
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end
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printFactor(vert::DFGFactor; kwargs...) = printFactor(stdout::IO, vert; kwargs...)
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println(ioc)
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end
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end
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nothing
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end
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‎src/services/Serialization.jl

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variableType = getTypeFromSerializationModule(variableTypeString)
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isnothing(variableType) && error("Cannot deserialize variableType '$variableTypeString' in variable '$label'")
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pointType = getPointType(variableType)
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164165
if unpackSolverData
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packed = JSON2.read(packedProps["solverDataDict"], Dict{String, PackedVariableNodeData})
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solverData = Dict(Symbol.(keys(packed)) .=> map(p -> unpackVariableNodeData(dfg, p), values(packed)))
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solverData = Dict{Symbol, VariableNodeData{variableType, pointType}}(Symbol.(keys(packed)) .=> map(p -> unpackVariableNodeData(dfg, p), values(packed)))
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else
168-
solverData = Dict{Symbol, VariableNodeData}()
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solverData = Dict{Symbol, VariableNodeData{variableType, pointType}}()
169170
end
170171
# Rebuild DFGVariable using the first solver variableType in solverData
171-
variable = DFGVariable{variableType}(Symbol(packedProps["label"]), timestamp, nstime, Set(tags), ppeDict, solverData, smallData, Dict{Symbol,AbstractDataEntry}(), Ref(packedProps["solvable"]))
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# @info "dbg Serialization 171" variableType Symbol(packedProps["label"]) timestamp nstime ppeDict solverData smallData Dict{Symbol,AbstractDataEntry}() Ref(packedProps["solvable"])
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# variable = DFGVariable{variableType}(Symbol(packedProps["label"]), timestamp, nstime, Set(tags), ppeDict, solverData, smallData, Dict{Symbol,AbstractDataEntry}(), Ref(packedProps["solvable"]))
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variable = DFGVariable( Symbol(packedProps["label"]),
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variableType,
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timestamp=timestamp,
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nstime=nstime,
178+
tags=Set{Symbol}(tags),
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estimateDict=ppeDict,
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solverDataDict=solverData,
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smallData=smallData,
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dataDict=Dict{Symbol,AbstractDataEntry}(),
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solvable=packedProps["solvable"] )
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#
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# Now rehydrate complete DataEntry type.
174187
if unpackBigData

‎test/fileDFGTests.jl

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

‎test/iifInterfaceTests.jl

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

‎test/runtests.jl

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LightDFG,
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CloudGraphsDFG,
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]
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@warn "TEST: Nuking all data for user 'testUserId'!"
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@warn "TEST: Removing all data for user 'testUserId'!"
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clearUser!!(CloudGraphsDFG(userId="testUserId"))
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else

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