More tests and exports

src/NavAbilitySDK.jl

@@ -121,7 +121,11 @@ export
     deleteFactor!,
     listFactors,
     getVariable,
+    getVariableSummary,
+    getVariableSkeleton,
     getVariables,
+    getVariablesSummary,
+    getVariablesSkeleton,
     addVariable!,
     updateVariable!,
     deleteVariable!,
@@ -146,9 +150,10 @@ export
     addBlob!,
     deleteBlob!,
     exists,
-    getNeighbors
+    getNeighbors,
+    listNeighbors
 
-export Variable, Factor
+export Variable, Factor, MeanMaxPPE, BlobEntry
 
 #exports
 # export NavAbilityClient, NavAbilityWebsocketClient, NavAbilityHttpsClient, QueryOptions, MutationOptions

src/services/BlobEntry.jl

@@ -116,6 +116,8 @@ function listBlobEntries(fgclient::DFGClient, variableLabel::Symbol)
     )
 end
 
+#TODO delete and update
+
 # =========================================================================================
 # BlobEntry CRUD on other nodes
 # =========================================================================================

test/integration/InterfaceTests.jl

@@ -0,0 +1,287 @@
+#Test adapted from DFG's iifInterfaceTests
+using NavAbilitySDK
+using Test
+using JSON3
+using LinearAlgebra
+using Random
+using UUIDs
+
+apiUrl = get(ENV, "API_URL", "https://api.d1.navability.io")
+userLabel = get(ENV, "USER_ID", "[email protected]")
+robotLabel = get(ENV, "ROBOT_ID", "TestRobot")
+sessionLabel = get(ENV, "SESSION_ID", "TestSession_$(randstring(4))")
+# sessionLabel = "TestSession_RG94"
+
+@testset "Create fg client" begin
+    client = NvaSDK.NavAbilityClient(apiUrl)
+    global fgclient = NvaSDK.DFGClient(
+        client,
+        userLabel,
+        robotLabel,
+        sessionLabel;
+        addRobotIfNotExists = true,
+        addSessionIfNotExists = true,
+    )
+end
+
+# Building simple graph...
+@testset "Building a simple Graph" begin
+    global fgclient,v1,v2,f1
+    # Use IIF to add the variables and factors
+    v1 = addVariable!(fgclient, :a, "Position{1}", tags = [:POSE], solvable=0)
+    v2 = addVariable!(fgclient, :b, "Position{1}", tags = [:LANDMARK], solvable=1)
+    f1 = addFactor!(fgclient, [:a; :b], NvaSDK.LinearRelative(NvaSDK.Normal(50.0,2.0)), solvable=0)
+end
+
+@testset "Listing Nodes" begin
+    global fgclient,v1,v2,f1
+    @test length(listVariables(fgclient)) == 2
+    @test length(listFactors(fgclient)) == 1 # Unless we add the prior!
+    @test issetequal([:a, :b], listVariables(fgclient))
+    @test listFactors(fgclient) == [f1.label] # Unless we add the prior!
+    # Additional testing for https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/201
+    @test_broken issetequal([:a, :b], listVariables(fgclient, solvable=0))
+    @test_broken listVariables(fgclient, solvable=1) == [:b]
+    @test_broken map(v->v.label, getVariables(fgclient, solvable=1)) == [:b]
+    @test_broken listFactors(fgclient, solvable=1) == []
+    @test_broken listFactors(fgclient, solvable=0) == [:abf1]
+    @test_broken map(f->f.label, getFactors(fgclient, solvable=0)) == [:abf1]
+    @test_broken map(f->f.label, getFactors(fgclient, solvable=1)) == []
+    #
+    # @test lsf(fgclient, :a) == [f1.label]
+    # Tags
+    # @test ls(fgclient, tags=[:POSE]) == [:a]
+    # @test symdiff(ls(fgclient, tags=[:POSE, :LANDMARK]), ls(fgclient, tags=[:VARIABLE])) == []
+    # Regexes
+    # @test ls(fgclient, r"a") == [v1.label]
+    # TODO: Check that this regular expression works on everything else!
+    # it works with the .
+    # @test lsf(fgclient, r"abf.*") == [f1.label]
+
+    # Existence
+    @test exists(fgclient, :a)
+    # @test exists(fgclient, v1)
+    @test exists(fgclient, :nope) == false
+    # isFactor and isVariable
+    # @test isFactor(fgclient, f1.label)
+    # @test !isFactor(fgclient, v1.label)
+    # @test isVariable(fgclient, v1.label)
+    # @test !isVariable(fgclient, f1.label)
+    # @test !isVariable(fgclient, :doesntexist)
+    # @test !isFactor(fgclient, :doesntexist)
+
+    # @test getFactorType(f1.solverData) === f1.solverData.fnc.usrfnc!
+    # @test getFactorType(f1) === f1.solverData.fnc.usrfnc!
+    # @test getFactorType(fgclient, :abf1) === f1.solverData.fnc.usrfnc!
+
+    # @test !isPrior(fgclient, :abf1) # f1 is not a prior
+    # @test lsfPriors(fgclient) == []
+    # #FIXME don't know what it is supposed to do
+    # @test_broken lsfTypes(fgclient)
+
+    # varNearTs = findVariableNearTimestamp(fgclient, now())
+    # @test_skip varNearTs[1][1]  == [:b]
+
+end
+
+# Gets
+@testset "Gets, Sets, and Accessors" begin
+    global fgclient,v1,v2,f1
+    @test getVariable(fgclient, v1.label) == v1
+    @test getFactor(fgclient, f1.label) == f1
+    @test_throws Exception getVariable(fgclient, :nope)
+    @test_throws Exception getVariable(fgclient, "nope")
+    @test_throws Exception getFactor(fgclient, :nope)
+    @test_throws Exception getFactor(fgclient, "nope")
+
+    #spot check summaries and skeleton
+    @test getVariableSummary(fgclient, :a).label == v1.label
+    @test getVariableSkeleton(fgclient, :a).label == v1.label
+
+    @test length(getVariablesSkeleton(fgclient)) == 2
+    @test length(getVariablesSummary(fgclient)) == 2
+
+    # Sets
+    # v1Prime = deepcopy(v1)
+    # @test updateVariable!(fgclient, v1Prime) == v1 #Maybe move to crud
+    # @test updateVariable!(fgclient, v1Prime) == getVariable(fgclient, v1.label)
+    # f1Prime = deepcopy(f1)
+    # @test updateFactor!(fgclient, f1Prime) == f1 #Maybe move to crud
+    # @test updateFactor!(fgclient, f1Prime) == getFactor(fgclient, f1.label)
+
+    # Solver Data
+    vnd = NvaSDK.PackedVariableNodeData(nothing, [0.0], 1, [0.0], 1, Symbol[], Int64[], 1, false, :NOTHING, Symbol[], "IncrementalInference.Position{1}", false, [0.0], false, false, 0, 0, :parametric, Float64[], "0.21.0")
+    par_vnd = addVariableSolverData!(fgclient, :a, vnd)
+
+    vnd = NvaSDK.PackedVariableNodeData(nothing, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 1, [0.0], 1, Symbol[], Int64[], 1, false, :NOTHING, Symbol[], "IncrementalInference.Position{1}", false, [0.0], false, false, 0, 0, :default, Float64[], "0.21.0")
+    def_vnd = addVariableSolverData!(fgclient, :a, vnd)
+
+    @test getVariableSolverData(fgclient, :a) ==  def_vnd
+    @test getVariableSolverData(fgclient, :a, :parametric) ==  par_vnd
+
+end
+
+@testset "Data Entries" begin
+
+    de1 = BlobEntry(
+        originId = uuid4(),
+        blobId = uuid4(),
+        label = :key1,
+        blobstore = :test,
+        hash = "",
+        origin = "",
+        description = "",
+        mimeType = ""
+    )
+
+    de2 = BlobEntry(
+        originId = uuid4(),
+        blobId = uuid4(),
+        label = :key2,
+        blobstore = :test,
+        hash = "",
+        origin = "",
+        description = "",
+        mimeType = ""
+    )
+
+    de2_update = BlobEntry(
+        originId = uuid4(),
+        blobId = uuid4(),
+        label = :key2,
+        blobstore = :test,
+        hash = "",
+        origin = "",
+        description = "",
+        mimeType = "image/jpg"
+    )
+
+    #add
+    a_de1 = addBlobEntry!(fgclient, :a, de1)
+    a_de2 = addBlobEntry!(fgclient, :a, de2)
+
+    #get
+    @test a_de1 == getBlobEntry(fgclient, :a, :key1)
+    @test a_de2 == getBlobEntry(fgclient, :a, :key2)
+    @test a_de2 in getBlobEntries(fgclient, :a)
+
+    # FIXME should not throw bounds error but KeyError
+    @test_throws Exception getBlobEntry(fgclient, :b, :key1)
+
+    #update
+    @test_broken updateBlobEntry!(fgclient, :a, de2_update) == de2_update
+
+    #list
+    entries = getBlobEntries(fgclient, :a)
+    @test length(entries) == 2
+    @test issetequal(map(e->e.label, entries), [:key1, :key2])
+
+    @test issetequal(listBlobEntries(fgclient, :a), [:key1, :key2])
+
+    #delete
+    # @test deleteBlobEntry!(fgclient, :a, :key1) == a_de1
+    @test_broken deleteBlobEntry!(fgclient, :a, :key1)
+    @test_broken listBlobEntries(fgclient, :a) == Symbol[:key2]
+    #delete from ddfg
+    @test_broken deleteBlobEntry!(fgclient, :a, :key2)
+    @test_broken listBlobEntries(fgclient, :a) == Symbol[]
+end
+
+@testset "PPEs" begin
+    global fgclient
+    #get the variable
+    var1 = getVariable(fgclient, :a)
+    #make a copy and simulate external changes
+    ppe = addPPE!(fgclient, :a, MeanMaxPPE(:default, [150.0], [100.0], [50.0]))
+
+    #Check if variable is updated
+    @test ppe == getPPE(fgclient, :a)
+
+    # Add a new estimate.
+    ppe2 = addPPE!(fgclient, :a, MeanMaxPPE(:second, [15.0], [10.0], [5.0]))
+
+    @test ppe2 == getPPE(fgclient, :a, :second)
+
+    @test issetequal(listPPEs(fgclient, :a), [:default, :second])
+
+    # Delete :default and replace to see if new ones can be added
+    deletePPE!(fgclient, :a, :default)
+
+    #confirm delete
+    @test listPPEs(fgclient, :a) == [:second]
+
+    #if its added agian the id should be ignored and a new one generated
+    a_ppe = addPPE!(fgclient, :a, ppe)
+    @test a_ppe != ppe
+
+    # modify ppe2 
+    ppe2.mean[] = 5.5
+    # they are no longer the same because of updated timestamp
+    @test ppe2 != updatePPE!(fgclient, ppe2)
+
+end
+
+# Deletions
+@testset "Deletions" begin
+    global fgclient, v1, v2, f1
+    deleteFactor!(fgclient, f1)
+    @test listFactors(fgclient) == []
+    deleteVariable!(fgclient, v1)
+    @test listVariables(fgclient) == [:b]
+    deleteVariable!(fgclient, v2)
+    @test listVariables(fgclient) == []    
+end
+
+
+# Now make a complex graph for connectivity tests
+numNodes = 10
+#change solvable and solveInProgress for x7,x8 for improved tests on x7x8f1
+vars = map(n -> Variable(Symbol("x$n"), "Position{1}", tags = [:POSE]), 1:numNodes)
+#add vars in batch 
+addVariables!(fgclient, vars)
+
+# TODO this will need update variable
+# setSolvable!(verts[7], 1)
+# setSolvable!(verts[8], 0)
+# getSolverData(verts[8]).solveInProgress = 1
+# #call update to set it on cloud
+# updateVariable!(fgclient, verts[7])
+# updateVariable!(fgclient, verts[8])
+
+#TODO add factors in batch
+facts = map(
+    n -> addFactor!(
+        fgclient, 
+        [vars[n].label, vars[n+1].label],
+        NvaSDK.LinearRelative(NvaSDK.Normal(50.0,2.0));
+        solvable=0
+    ), 
+    1:(numNodes-1)
+)
+
+
+@testset "Getting Neighbors" begin
+    global fgclient,vars,facts
+    # Get neighbors tests
+    @test listNeighbors(fgclient, :x1) == [facts[1].label]
+    neighbors = listNeighbors(fgclient, facts[1].label)
+    @test issetequal(neighbors, [:x1, :x2])
+    # Testing aliases
+    # @test getNeighbors(fgclient, getFactor(fgclient, :x1x2f1)) == ls(fgclient, getFactor(fgclient, :x1x2f1))
+    # @test getNeighbors(fgclient, :x1x2f1) == ls(fgclient, :x1x2f1)
+
+    # # solvable checks
+    # @test getNeighbors(fgclient, :x5, solvable=1) == Symbol[]
+    # @test symdiff(getNeighbors(fgclient, :x5, solvable=0), [:x4x5f1,:x5x6f1]) == []
+    # @test symdiff(getNeighbors(fgclient, :x5),[:x4x5f1,:x5x6f1]) == []
+    # @test getNeighbors(fgclient, :x7x8f1, solvable=0) == [:x7, :x8]
+    # @test getNeighbors(fgclient, :x7x8f1, solvable=1) == [:x7]
+    # @test getNeighbors(fgclient, verts[1], solvable=0) == [:x1x2f1]
+    # @test getNeighbors(fgclient, verts[1], solvable=1) == Symbol[]
+    # @test getNeighbors(fgclient, verts[1]) == [:x1x2f1]
+
+end
+
+# batch delete
+#TODO deleteVariables
+#TODO deleteFactors

test/integration/testStandardAPI.jl

@@ -21,7 +21,12 @@ sessionLabel = get(ENV, "SESSION_ID", "TestSession_$(randstring(4))")
         addSessionIfNotExists = true,
     )
 
-    NvaSDK.addVariable!(fgclient, :x0, "Pose2")
+    a_var = NvaSDK.addVariable!(fgclient, :x0, "Pose2")
+
+    g_var = getVariable(fgclient, :x0)
+
+    @test a_var == g_var
+
     NvaSDK.addFactor!(
         fgclient,
         [:x0],

test/runtests.jl

@@ -3,3 +3,4 @@ include("./unit/runtests.jl")
 
 #TODO I'm not familiar with the tests yet, so just dumping it here to get us started.
 include("./integration/testStandardAPI.jl")
+include("./integration/InterfaceTests.jl")