Merge pull request #502 from JuliaRobotics/maint/20Q2/test_maint

Cleaned up tests a bit and printVariable bugfix

Author: dehann

src/services/AbstractDFG.jl

@@ -196,7 +196,11 @@ emptySessionData!(dfg::AbstractDFG) = empty!(dfg.sessionData)
     $(SIGNATURES)
 True if the variable or factor exists in the graph.
 """
-function exists(dfg::G, node::N) where {G <: AbstractDFG, N <: DFGNode}
+function exists(dfg::AbstractDFG, node::DFGNode)
+    error("exists not implemented for $(typeof(dfg))")
+end
+
+function exists(dfg::AbstractDFG, label::Symbol)
     error("exists not implemented for $(typeof(dfg))")
 end
 
@@ -348,23 +352,6 @@ end
 ## CRUD Aliases
 ##------------------------------------------------------------------------------
 
-# TODO: Confirm we can remove this.
-# """
-#     $(SIGNATURES)
-# Get a DFGVariable from a DFG using its underlying integer ID.
-# """
-# function getVariable(dfg::G, variableId::Int64)::AbstractDFGVariable where G <: AbstractDFG
-#     error("getVariable not implemented for $(typeof(dfg))")
-# end
-# TODO: Confirm we can remove this.
-# """
-#     $(SIGNATURES)
-# Get a DFGFactor from a DFG using its underlying integer ID.
-# """
-# function getFactor(dfg::G, factorId::Int64)::AbstractDFGFactor where G <: AbstractDFG
-#     error("getFactor not implemented for $(typeof(dfg))")
-# end
-
 """
     $(SIGNATURES)
 Get a DFGVariable with a specific solver key.

src/services/CustomPrinting.jl

@@ -98,7 +98,7 @@ end
 
 Display and return to console the user factor identified by tag name.
 """
-printFactor(dfg::AbstractDFG, sym::Symbol) = print(getFactor(dfg, sym))
+printFactor(dfg::AbstractDFG, sym::Symbol; kwargs...) = printFactor(getFactor(dfg, sym); kwargs...)
 
 """
    $SIGNATURES
@@ -108,9 +108,9 @@ Display the content of `VariableNodeData` to console for a given factor graph an
 Dev Notes
 - TODO split as two show macros between AMP and DFG
 """
-printVariable(dfg::AbstractDFG, sym::Symbol) = print(getVariable(dfg, sym))
+printVariable(dfg::AbstractDFG, sym::Symbol; kwargs...) = printVariable(getVariable(dfg, sym); kwargs...)
 
-printNode(dfg::AbstractDFG, sym::Symbol) = isVariable(dfg,sym) ? printVariable(dfg, sym) : printFactor(dfg, sym)
+printNode(dfg::AbstractDFG, sym::Symbol; kwargs...) = isVariable(dfg,sym) ? printVariable(dfg, sym; kwargs...) : printFactor(dfg, sym; kwargs...)
 
 
 ##==============================================================================

test/IIF4DoorsTests.jl renamed to test/attic/IIF4DoorsTests.jl

@@ -60,11 +60,6 @@ end
     include("DataStoreTests.jl")
 end
 
-#TODO confirm functionality of this test is covered
-# @testset "Needs-a-Home Tests" begin
-#     include("needsahomeTests.jl")
-# end
-
 @testset "LightDFG subtype tests" begin
     for type in [(var=DFGVariableSummary, fac=DFGFactorSummary), (var=SkeletonDFGVariable,fac=SkeletonDFGFactor)]
         @testset "$(type.var) and $(type.fac) tests" begin
@@ -145,12 +140,10 @@ struct NotImplementedDFG{T} <: AbstractDFG{T} end
 
     @test_throws ErrorException exists(dfg, v1)
     @test_throws ErrorException exists(dfg, f1)
-    #TODO FIXME
-    # @test_throws ErrorException exists(dfg, :s)
+
+    @test_throws ErrorException exists(dfg, :s)
     @test_throws ErrorException addVariable!(dfg, v1)
-    @test_throws ErrorException addFactor!(dfg, [v1, v1], f1)
-    @test_throws ErrorException addFactor!(dfg,[:a, :b], f1)
-    #TODO only implement addFactor!(dfg, f1)
+
     @test_throws ErrorException getVariable(dfg, :a)
     @test_throws ErrorException getFactor(dfg, :a)
     @test_throws ErrorException updateVariable!(dfg, v1)

test/needsahomeTests.jl renamed to test/attic/needsahomeTests.jl

@@ -1,3 +1,4 @@
+#TODO Test with standard generated graphs from IIF
 # Add some nodes.
 v1 = addVariable!(dfg, :a, ContinuousScalar, labels = [:POSE])
 addFactor!(dfg, [:a], Prior(Normal(0,1)))

test/runtests.jl

@@ -5,7 +5,6 @@ using UUIDs
 
 import Base: convert
 
-# TODO, dink meer aan: Trait based softtypes or hard type for VariableNodeData
 # Test InferenceVariable Types
 struct TestSofttype1 <: InferenceVariable
     dims::Int
@@ -103,7 +102,7 @@ end
 # struct TestInferenceVariable2 <: InferenceVariable end
 # struct TestFunctorInferenceType1 <: FunctorInferenceType end
 
-# TODO see note in AbstractDFG.jl setSolverParams!
+# NOTE see note in AbstractDFG.jl setSolverParams!
 struct GeenSolverParams <: AbstractParams
 end
 
@@ -174,7 +173,7 @@ function DFGStructureAndAccessors(::Type{T}, solparams::AbstractParams=NoSolverP
     @test getSessionData(fg) == smallSessionData
 
 
-    # TODO see note in AbstractDFG.jl setSolverParams!
+    # NOTE see note in AbstractDFG.jl setSolverParams!
     @test_throws MethodError setSolverParams!(fg, GeenSolverParams()) == GeenSolverParams()