merged iifinterfaceTests.jl

Author: Affie

test/iifInterfaceTests.jl

@@ -8,7 +8,7 @@
 global dfg,v1,v2,f1
 
 if typeof(dfg) <: CloudGraphsDFG
-    @warn "TEST: Nuking all data for robot $(dfg.robotId)!"
+    @warn "TEST: Nuking all data for user '$(dfg.userId)', robot '$(dfg.robotId)'!"
     clearRobot!!(dfg)
 end
 
@@ -52,14 +52,15 @@ end
         dfg2 = T()
     end
 
+    # Build a new in-memory IIF graph to transfer into the new graph.
     iiffg = initfg()
     v1 = deepcopy(addVariable!(iiffg, :a, ContinuousScalar))
     v2 = deepcopy(addVariable!(iiffg, :b, ContinuousScalar))
     v3 = deepcopy(addVariable!(iiffg, :c, ContinuousScalar))
     f1 = deepcopy(addFactor!(iiffg, [:a; :b], LinearConditional(Normal(50.0,2.0)) ))
     f2 = deepcopy(addFactor!(iiffg, [:b; :c], LinearConditional(Normal(10.0,1.0)) ))
 
-    # @testset "Creating Graphs" begin
+    # Add it to the new graph.
     @test addVariable!(dfg2, v1)
     @test addVariable!(dfg2, v2)
     @test_throws ErrorException updateVariable!(dfg2, v3)
@@ -123,7 +124,6 @@ end
 # Gets
 @testset "Gets, Sets, and Accessors" begin
     global dfg,v1,v2,f1
-    #TODO write compare for variable and factor it looks to be the same
     @test getVariable(dfg, v1.label) == v1
     @test getFactor(dfg, f1.label) == f1
     @test_throws Exception getVariable(dfg, :nope)
@@ -134,8 +134,10 @@ end
     # Sets
     v1Prime = deepcopy(v1)
     @test updateVariable!(dfg, v1Prime) != v1
+    @test updateVariable!(dfg, v1Prime) == getVariable(dfg, v1.label)
     f1Prime = deepcopy(f1)
     @test updateFactor!(dfg, f1Prime) != f1
+    #@test updateFactor!(dfg, f1Prime) == getFactor(dfg, f1.label)
 
     # Accessors
     @test label(v1) == v1.label
@@ -228,7 +230,7 @@ end
     @test getBigDataKeys(v1) == Symbol[]
 end
 
-@testset "Updating Nodes" begin
+@testset "Updating Nodes and Estimates" begin
     global dfg
     #get the variable
     var = getVariable(dfg, :a)
@@ -240,40 +242,43 @@ end
         :modefit => VariableEstimate(:default, :modefit, [75.0]))
     #update
     updateVariableSolverData!(dfg, newvar)
-    #TODO maybe implement ==; @test newvar==var
-    Base.:(==)(varest1::VariableEstimate, varest2::VariableEstimate) = begin
-        varest1.lastUpdatedTimestamp == varest2.lastUpdatedTimestamp || return false
-        varest1.ppeType == varest2.ppeType || return false
-        varest1.solverKey == varest2.solverKey || return false
-        varest1.estimate == varest2.estimate || return false
-        return true
-    end
+
     #For now spot check
     @test_skip solverDataDict(newvar) == solverDataDict(var)
+    var = getVariable(dfg, :a)
     @test estimates(newvar) == estimates(var)
 
-    # Delete :default and replace to see if new ones can be added
-    delete!(estimates(newvar), :default)
+    # Add a new estimate.
     estimates(newvar)[:second] = Dict{Symbol, VariableEstimate}(
         :max => VariableEstimate(:default, :max, [10.0]),
         :mean => VariableEstimate(:default, :mean, [5.0]),
         :modefit => VariableEstimate(:default, :modefit, [7.0]))
 
-    # Persist to the original variable.
+    # Confirm they're different
+    @test estimates(newvar) != estimates(var)
+    # Persist it.
     updateVariableSolverData!(dfg, newvar)
+    # Get the latest
+    var = getVariable(dfg, :a)
     # At this point newvar will have only :second, and var should have both (it is the reference)
     @test symdiff(collect(keys(estimates(var))), [:default, :second]) == Symbol[]
+    # Delete :default and replace to see if new ones can be added
+    delete!(estimates(newvar), :default)
     @test symdiff(collect(keys(estimates(newvar))), [:second]) == Symbol[]
-    # Get the source too.
-    @test symdiff(collect(keys(estimates(getVariable(dfg, :a)))), [:default, :second]) == Symbol[]
+    # Persist it.
+    updateVariableSolverData!(dfg, newvar)
+    # Get the latest and confirm they're the same, :second
+    var = getVariable(dfg, :a)
+    @test estimates(newvar) == estimates(var)
+    @test collect(keys(estimates(var))) == [:second]
 end
 
 # Connectivity test
 @testset "Connectivity Test" begin
     global dfg,v1,v2,f1
     @test isFullyConnected(dfg) == true
     @test hasOrphans(dfg) == false
-    addVariable!(dfg, DFGVariable(:orphan))
+    addVariable!(dfg, :orphan, ContinuousScalar, labels = [:POSE])
     @test isFullyConnected(dfg) == false
     @test hasOrphans(dfg) == true
 end