Adding testsuite

Author: GearsAD

test/fileDFGTests.jl

@@ -1,35 +1,38 @@
-if typeof(dfg) <: CloudGraphsDFG
-    @warn "TEST: Nuking all data for user '$(dfg.userId)', robot '$(dfg.robotId)'!"
-    clearRobot!!(dfg)
-end
+@testset "FileDFG Tests" begin
 
-# Same graph as iifInterfaceTests.jl
-numNodes = 10
+    if typeof(dfg) <: CloudGraphsDFG
+        @warn "TEST: Nuking all data for user '$(dfg.userId)', robot '$(dfg.robotId)'!"
+        clearRobot!!(dfg)
+    end
 
-#change ready and backendset for x7,x8 for improved tests on x7x8f1
-verts = map(n -> addVariable!(dfg, Symbol("x$n"), ContinuousScalar, labels = [:POSE]), 1:numNodes)
-#TODO fix this to use accessors
-verts[7].ready = 1
-# verts[7].backendset = 0
-verts[8].ready = 0
-verts[8].backendset = 1
-#call update to set it on cloud
-updateVariable!(dfg, verts[7])
-updateVariable!(dfg, verts[8])
+    # Same graph as iifInterfaceTests.jl
+    numNodes = 10
 
-facts = map(n -> addFactor!(dfg, [verts[n], verts[n+1]], LinearConditional(Normal(50.0,2.0))), 1:(numNodes-1))
+    #change ready and backendset for x7,x8 for improved tests on x7x8f1
+    verts = map(n -> addVariable!(dfg, Symbol("x$n"), ContinuousScalar, labels = [:POSE]), 1:numNodes)
+    #TODO fix this to use accessors
+    verts[7].ready = 1
+    # verts[7].backendset = 0
+    verts[8].ready = 0
+    verts[8].backendset = 1
+    #call update to set it on cloud
+    updateVariable!(dfg, verts[7])
+    updateVariable!(dfg, verts[8])
 
-# Save and load the graph to test.
-saveFolder = "/tmp/fileDFG"
-saveDFG(dfg, saveFolder)
+    facts = map(n -> addFactor!(dfg, [verts[n], verts[n+1]], LinearConditional(Normal(50.0,2.0))), 1:(numNodes-1))
 
-copyDfg = DistributedFactorGraphs._getDuplicatedEmptyDFG(dfg)
-retDFG = loadDFG(saveFolder, Main, copyDfg)
-@test symdiff(ls(dfg), ls(retDFG)) == []
-@test symdiff(lsf(dfg), lsf(retDFG)) == []
-for var in ls(dfg)
-    @test getVariable(dfg, var) == getVariable(retDFG, var)
-end
-for fact in lsf(dfg)
-    @test getFactor(dfg, fact) == getFactor(retDFG, fact)
+    # Save and load the graph to test.
+    saveFolder = "/tmp/fileDFG"
+    saveDFG(dfg, saveFolder)
+
+    copyDfg = DistributedFactorGraphs._getDuplicatedEmptyDFG(dfg)
+    retDFG = loadDFG(saveFolder, Main, copyDfg)
+    @test symdiff(ls(dfg), ls(retDFG)) == []
+    @test symdiff(lsf(dfg), lsf(retDFG)) == []
+    for var in ls(dfg)
+        @test getVariable(dfg, var) == getVariable(retDFG, var)
+    end
+    for fact in lsf(dfg)
+        @test getFactor(dfg, fact) == getFactor(retDFG, fact)
+    end
 end