Merge pull request #459 from JuliaRobotics/bugfix/20Q2/subgraphfix#458

buildSubgraph fix and testing

Author: Affie

src/DistributedFactorGraphs.jl

@@ -54,7 +54,7 @@ export updateUserData!, updateRobotData!, updateSessionData!, deleteUserData!, d
 export emptyUserData!, emptyRobotData!, emptySessionData!
 
 # Graph Types: exported from modules or @reexport
-export InMemoryDFGTypes
+export InMemoryDFGTypes, DefaultDFG
 # LightDFG
 # GraphsDFG
 
@@ -262,6 +262,7 @@ include("LightDFG/LightDFG.jl")
 #supported in Memory fg types
 # const InMemoryDFGTypes = Union{GraphsDFG, LightDFG}
 const InMemoryDFGTypes = LightDFG
+const DefaultDFG = LightDFG
 
 # Common includes
 include("services/CommonAccessors.jl")

src/services/AbstractDFG.jl

@@ -979,13 +979,12 @@ function buildSubgraph(::Type{G},
     return destDFG
 end
 
-# Perhaps IIF.InMemDFGType should perhaps be incorporated as a DFG value, but this has been much debated in the past and hence just left as breadcrum.
-buildSubgraph(dfg::AbstractDFG,
-              variableFactorLabels::Vector{Symbol},
-              distance::Int=1;
-              solvable::Int=0,
-              sessionId::String = "",
-              kwargs...) = buildSubgraph(typeof(LightDFG(params=getSolverParams(dfg))), dfg, variableFactorLabels, distance, solvable=solvable, sessionId=sessionId, kwargs...)
+function buildSubgraph(dfg::AbstractDFG,
+                       variableFactorLabels::Vector{Symbol},
+                       distance::Int=0;
+                       kwargs...)
+    return buildSubgraph(DefaultDFG, dfg, variableFactorLabels, distance; kwargs...)
+end
 
 """
     $(SIGNATURES)

test/testBlocks.jl

@@ -1136,6 +1136,18 @@ function  BuildingSubgraphs(testDFGAPI; VARTYPE=DFGVariable, FACTYPE=DFGFactor)
         end
     end
 
+    #TODO buildSubgraph default constructors for skeleton and summary 
+    if VARTYPE == DFGVariable
+        dfgSubgraph = buildSubgraph(dfg, [:x1, :x2, :x1x2f1])
+        @test issetequal([:x1, :x1x2f1, :x2], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...])
+
+        dfgSubgraph = buildSubgraph(dfg, [:x2, :x3], 2)
+        @test issetequal([:x2, :x3, :x1, :x4, :x3x4f1, :x1x2f1, :x2x3f1], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...])
+
+        dfgSubgraph = buildSubgraph(dfg, [:x1x2f1], 1)
+        @test issetequal([:x1, :x1x2f1, :x2], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...])
+    end
+
 end
 
 #TODO Summaries and Summary Graphs