Merge pull request #610 from JuliaRobotics/hotfix/3Q20/608

add filters for listSolveKeys

Author: dehann

src/services/AbstractDFG.jl

@@ -484,9 +484,23 @@ listVariables(dfg, r"l", tags=[:APRILTAG;])
 Related:
 - ls
 """
-function listVariables(dfg::G, regexFilter::Union{Nothing, Regex}=nothing; tags::Vector{Symbol}=Symbol[], solvable::Int=0) where G <: AbstractDFG
+function listVariables(dfg::AbstractDFG, 
+                       regexFilter::Union{Nothing, Regex}=nothing; 
+                       tags::Vector{Symbol}=Symbol[], 
+                       solvable::Int=0 )
+  #
   vars = getVariables(dfg, regexFilter, tags=tags, solvable=solvable)
-  return map(v -> v.label, vars)
+  return map(v -> v.label, vars)::Vector{Symbol}
+end
+
+# to be consolidated, see #612
+function listVariables(dfg::AbstractDFG, 
+                       typeFilter::Type{<:InferenceVariable}; 
+                       tags::Vector{Symbol}=Symbol[], 
+                       solvable::Int=0 )
+  #
+  retlist::Vector{Symbol} = ls(dfg, typeFilter)
+  0 < length(tags) || solvable != 0 ? intersect(retlist, ls(dfg, tags=tags, solvable=solvable)) : retlist
 end
 
 """
@@ -495,7 +509,7 @@ Get a list of the IDs (labels) of the DFGFactors in the DFG.
 Optionally specify a label regular expression to retrieves a subset of the factors.
 """
 function listFactors(dfg::G, regexFilter::Union{Nothing, Regex}=nothing; tags::Vector{Symbol}=Symbol[], solvable::Int=0)::Vector{Symbol} where G <: AbstractDFG
-    return map(f -> f.label, getFactors(dfg, regexFilter, tags=tags, solvable=solvable))
+  return map(f -> f.label, getFactors(dfg, regexFilter, tags=tags, solvable=solvable))
 end
 
 """
@@ -506,9 +520,14 @@ Related
 
 listSupersolves, getSolverDataDict, listVariables
 """
-function listSolveKeys(dfg::AbstractDFG)
+function listSolveKeys(dfg::AbstractDFG, 
+                       fltr::Union{Type{<:InferenceVariable},Regex, Nothing}=nothing; 
+                       tags::Vector{Symbol}=Symbol[], 
+                       solvable::Int=0 )
+                       #
   skeys = Set{Symbol}()
-  for vs in listVariables(dfg), ky in keys(getSolverDataDict(getVariable(dfg, vs)))
+  varList = listVariables(dfg, fltr, tags=tags, solvable=solvable)
+  for vs in varList, ky in keys(getSolverDataDict(getVariable(dfg, vs)))
     push!(skeys, ky)
   end
   return skeys

test/runtests.jl

@@ -85,11 +85,10 @@ if get(ENV, "IIF_TEST", "") == "true"
 
     using IncrementalInference
 
-    apis = [
-        # GraphsDFG{SolverParams}(),
-        LightDFG(solverParams=SolverParams(), userId="testUserId"),
-        CloudGraphsDFG(solverParams=SolverParams(), userId="testUserId")
-        ]
+    apis = [LightDFG(solverParams=SolverParams(), userId="testUserId")]
+    haskey(ENV, "SKIP_CGDFG_TESTS") && ENV["SKIP_CGDFG_TESTS"] != "true" ? push!(apis, CloudGraphsDFG(solverParams=SolverParams(), userId="testUserId") ) : nothing
+    # GraphsDFG{SolverParams}()
+
     for api in apis
         @testset "Testing Driver: $(typeof(api))" begin
             @info "Testing Driver: $(api)"