Add _getDuplicatedEmptyDFG to all drivers, instantiating drivers in runTests.jl to simply things

Author: GearsAD

src/LightDFG/LightDFG.jl

@@ -34,7 +34,8 @@ import ...DistributedFactorGraphs:  setSolverParams,
                                     getSubgraphAroundNode,
                                     getSubgraph,
                                     getAdjacencyMatrix,
-                                    getAdjacencyMatrixSparse
+                                    getAdjacencyMatrixSparse,
+                                    _getDuplicatedEmptyDFG
 
 include("FactorGraphs/FactorGraphs.jl")
 using .FactorGraphs

src/LightDFG/services/LightDFG.jl

@@ -426,3 +426,15 @@ function getAdjacencyMatrixSparse(dfg::LightDFG)::Tuple{LightGraphs.SparseMatrix
 	adjvf = adj[factIndex, varIndex]
 	return adjvf, varLabels, factLabels
 end
+
+"""
+    $(SIGNATURES)
+Gets an empty and unique CloudGraphsDFG derived from an existing DFG.
+"""
+function _getDuplicatedEmptyDFG(dfg::LightDFG{P,V,F})::LightDFG where {P <: AbstractParams, V <: AbstractDFGVariable, F <: AbstractDFGFactor}
+    newDfg = LightDFG{P,V,F}(;
+		userId=dfg.userId, robotId=dfg.robotId, sessionId=dfg.sessionId,
+		params=deepcopy(dfg.solverParams))
+	newDfg.description ="(Copy of) $(dfg.description)"
+	return newDfg
+end

src/MetaGraphsDFG/services/MetaGraphsDFG.jl

@@ -564,3 +564,15 @@ function _toDotFile(dfg::MetaGraphsDFG, fileName::String="/tmp/dfg.dot")::Nothin
     end
     return nothing
 end
+
+"""
+    $(SIGNATURES)
+Gets an empty and unique CloudGraphsDFG derived from an existing DFG.
+"""
+function _getDuplicatedEmptyDFG(dfg::MetaGraphsDFG{P})::MetaGraphsDFG where {P <: AbstractParams}
+    newDfg = MetaGraphsDFG{P}(;
+		userId=dfg.userId, robotId=dfg.robotId, sessionId=dfg.sessionId,
+		params=deepcopy(dfg.solverParams))
+	newDfg.description ="(Copy of) $(dfg.description)"
+	return newDfg
+end

src/SymbolDFG/SymbolDFG.jl

@@ -34,7 +34,8 @@ import ...DistributedFactorGraphs:  setSolverParams,
                                     getSubgraphAroundNode,
                                     getSubgraph,
                                     getAdjacencyMatrix,
-                                    getAdjacencyMatrixSparse
+                                    getAdjacencyMatrixSparse,
+                                    _getDuplicatedEmptyDFG
 
 include("SymbolFactorGraphs/SymbolFactorGraphs.jl")
 using .SymbolFactorGraphs

src/SymbolDFG/services/SymbolDFG.jl

@@ -518,3 +518,15 @@ function toDotFile(dfg::SymbolDFG, fileName::String="/tmp/dfg.dot")::Nothing
     return nothing
 end
 =#
+
+"""
+    $(SIGNATURES)
+Gets an empty and unique CloudGraphsDFG derived from an existing DFG.
+"""
+function _getDuplicatedEmptyDFG(dfg::SymbolDFG{T,V,F})::SymbolDFG where {T <: AbstractParams, V <: DFGNode, F <:DFGNode}
+    newDfg = SymbolDFG{T, V, F}(;
+		userId=dfg.userId, robotId=dfg.robotId, sessionId=dfg.sessionId,
+		params=deepcopy(dfg.solverParams))
+	newDfg.description ="(Copy of) $(dfg.description)"
+	return newDfg
+end

test/iifInterfaceTests.jl

@@ -5,20 +5,8 @@
 # using Test
 # testDFGAPI = CloudGraphsDFG
 
-if testDFGAPI == CloudGraphsDFG
-    DistributedFactorGraphs.CloudGraphsDFG{SolverParams}() = CloudGraphsDFG{SolverParams}("localhost", 7474, "neo4j", "test",
-                                                                    "testUser", "testRobot", "testSession",
-                                                                    nothing,
-                                                                    nothing,
-                                                                    IncrementalInference.decodePackedType,
-                                                                    IncrementalInference.rebuildFactorMetadata!,
-                                                                    solverParams=SolverParams())
-
-
-    dfg = testDFGAPI{SolverParams}()
+if typeof(dfg) == CloudGraphsDFG
     clearRobot!!(dfg)
-else
-    dfg = testDFGAPI{NoSolverParams}()
 end
 
 
@@ -44,8 +32,8 @@ end
 
 @testset "Adding Removing Nodes" begin
     #TODO should errors vs updates be consistant between DFG types
-    if testDFGAPI != CloudGraphsDFG
-        dfg2 = testDFGAPI{NoSolverParams}()
+    if typeof(dfg) != CloudGraphsDFG
+        dfg2 = DistributedFactorGraphs._getDuplicatedEmptyDFG(dfg)
         v1 = DFGVariable(:a)
         v2 = DFGVariable(:b)
         v3 = DFGVariable(:c)
@@ -66,7 +54,7 @@ end
         @test deleteFactor!(dfg2, f2) == f2
         @test lsf(dfg2) == [:abf1]
     else
-        dfg2 = testDFGAPI{SolverParams}()
+        dfg2 = DistributedFactorGraphs._getDuplicatedEmptyDFG(dfg)
         v1 = DFGVariable(:a)
         v2 = DFGVariable(:b)
         v3 = DFGVariable(:c)
@@ -254,11 +242,9 @@ end
 # Now make a complex graph for connectivity tests
 numNodes = 10
 
-if testDFGAPI == CloudGraphsDFG
-    dfg = testDFGAPI{SolverParams}()
-    clearRobot!!(dfg)
-else
-    dfg = testDFGAPI{NoSolverParams}()
+dfg = DistributedFactorGraphs._getDuplicatedEmptyDFG(dfg)
+if typeof(dfg) == CloudGraphsDFG
+    clearSession!!(dfg)
 end
 
 #change ready and backendset for x7,x8 for improved tests on x7x8f1

test/runtests.jl

@@ -4,11 +4,23 @@ using Neo4j
 using DistributedFactorGraphs
 using IncrementalInference
 
-apis = [GraphsDFG, MetaGraphsDFG, SymbolDFG, LightDFG, CloudGraphsDFG]
+apis = [
+    GraphsDFG{NoSolverParams}(),
+    LightDFG{NoSolverParams}(),
+    MetaGraphsDFG{NoSolverParams}(),
+    SymbolDFG{NoSolverParams}(),
+    # CloudGraphsDFG{SolverParams}("localhost", 7474, "neo4j", "test",
+    #                             "testUser", "testRobot", "testSession",
+    #                             nothing,
+    #                             nothing,
+    #                             IncrementalInference.decodePackedType,
+    #                             IncrementalInference.rebuildFactorMetadata!,
+    #                             solverParams=SolverParams())
+        ]
 for api in apis
     @testset "Testing Driver: $(api)" begin
         @info "Testing Driver: $(api)"
-        global testDFGAPI = api
+        global dfg = api
         include("iifInterfaceTests.jl")
     end
 end