Expanding the test

Author: GearsAD

test/CGStructureTests.jl

@@ -2,18 +2,21 @@ using DistributedFactorGraphs
 using IncrementalInference
 using Test
 
-blank() = return nothing
 dfg = CloudGraphsDFG{NoSolverParams}("localhost", 7474, "neo4j", "test",
                             "Bob", "testRobot", "testSession",
                             nothing,
                             nothing,
-                            blank,
-                            blank,
+                            IncrementalInference.decodePackedType,
+                            IncrementalInference.rebuildFactorMetadata!,
                             solverParams=NoSolverParams())
+
 # Nuke the user
 clearUser!!(dfg)
+@test listSessions(dfg) == []
 
 # User, robot, and session
+# TODO: Make easier ways to initialize these.
+# NOTE: Wouldn't try the data parameter yet, maybe just leave blank..
 user = User(:Bob, "Bob Zack", "Description", Dict{String, String}())
 robot = Robot(:testRobot, user.id, "Test robot", "Description", Dict{String, String}())
 session = Session(:testSession, robot.id, user.id, "Test Session", "Description", Dict{String, String}())
@@ -30,6 +33,34 @@ v1 = addVariable!(dfg, :a, ContinuousScalar, labels = [:POSE])
 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)) )
-f1 = addFactor!(dfg, [:a; :b; :c], LinearConditional(Normal(50.0,2.0)) )
+f2 = addFactor!(dfg, [:b; :c], LinearConditional(Normal(50.0,2.0)) )
+
+sessions = listSessions(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)) == []
 
-listSessions(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)