Merge pull request #143 from JuliaRobotics/feature/IIFTest2

Some fixes and running tests

Author: GearsAD

Project.toml

@@ -25,6 +25,7 @@ MetaGraphs = "≥ 0.6.4"
 Reexport = "≥ 0.2"
 Requires = "≥ 0.5"
 julia = "0.7, 1"
+IncrementalInference = "0.7.7"
 
 [extras]
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -190,7 +190,7 @@ Add a DFGFactor to a DFG.
 """
 function addFactor!(dfg::CloudGraphsDFG, variables::Vector{DFGVariable}, factor::DFGFactor)::Bool
     if exists(dfg, factor)
-        error("Factor '$(variable.label)' already exists in the factor graph")
+        error("Factor '$(factor.label)' already exists in the factor graph")
     end
 
     # Update the variable ordering
@@ -653,10 +653,10 @@ function getNeighbors(dfg::CloudGraphsDFG, node::T; ready::Union{Nothing, Int}=n
     query = "(n:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId):$(node.label))--(node) where node:VARIABLE or node:FACTOR "
     if ready != nothing || backendset != nothing
         if ready != nothing
-            query = query + "and node.ready = $(ready)"
+            query = query * "and node.ready = $(ready)"
         end
         if backendset != nothing
-            query = query + "and node.backendset = $(backendset)"
+            query = query * "and node.backendset = $(backendset)"
         end
     end
     neighbors = _getLabelsFromCyphonQuery(dfg.neo4jInstance, query)
@@ -675,10 +675,10 @@ function getNeighbors(dfg::CloudGraphsDFG, label::Symbol; ready::Union{Nothing,
     query = "(n:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId):$(label))--(node) where node:VARIABLE or node:FACTOR "
     if ready != nothing || backendset != nothing
         if ready != nothing
-            query = query + "and node.ready = $(ready)"
+            query = query * "and node.ready = $(ready)"
         end
         if backendset != nothing
-            query = query + "and node.backendset = $(backendset)"
+            query = query * "and node.backendset = $(backendset)"
         end
     end
     neighbors = _getLabelsFromCyphonQuery(dfg.neo4jInstance, query)