Merge pull request #498 from JuliaRobotics/testing/2Q20/loadassert

assert loadDFG, listSupersolve

Author: dehann

src/DistributedFactorGraphs.jl

@@ -68,6 +68,7 @@ export exists,
        updateVariable!, updateFactor!,
        deleteVariable!, deleteFactor!,
        listVariables, listFactors,
+       listSolvekeys, listSupersolves,
        getVariables, getFactors,
        isVariable, isFactor
 

src/services/AbstractDFG.jl

@@ -493,6 +493,24 @@ function listFactors(dfg::G, regexFilter::Union{Nothing, Regex}=nothing; tags::V
     return map(f -> f.label, getFactors(dfg, regexFilter, tags=tags, solvable=solvable))
 end
 
+"""
+    $SIGNATURES
+List all the solvekeys used amongst all variables in the distributed factor graph object.
+
+Related
+
+listSupersolves, getSolverDataDict, listVariables
+"""
+function listSolvekeys(dfg::AbstractDFG)
+  skeys = Set{Symbol}()
+  for vs in listVariables(dfg), ky in keys(getSolverDataDict(getVariable(dfg, vs)))
+    push!(skeys, ky)
+  end
+  return skeys
+end
+const listSupersolves = listSolvekeys
+
+
 ##------------------------------------------------------------------------------
 ## Aliases and Other filtered lists
 ##------------------------------------------------------------------------------

test/fileDFGTests.jl

@@ -45,10 +45,14 @@ using Test
         saveDFG(dfg, filename)
 
         copyDfg = DistributedFactorGraphs._getDuplicatedEmptyDFG(dfg)
+        copyDf2 = DistributedFactorGraphs._getDuplicatedEmptyDFG(dfg)
         @info "Going to load $filename"
 
-        #FIXME loadDFG!(copyDfg, filename), but use this to test deprecation
-        retDFG = loadDFG(filename, Main, copyDfg) #, loaddir="/tmp")
+        @test_throws AssertionError loadDFG!(copyDf2,"badfilename")
+
+        retDFG = loadDFG!(copyDfg, filename)
+        # TODO REMOVE test deprecation
+        retDFG_ = loadDFG(filename, Main, copyDfg2) #, loaddir="/tmp")
 
         @test issetequal(ls(dfg), ls(retDFG))
         @test issetequal(lsf(dfg), lsf(retDFG))

test/testBlocks.jl

@@ -507,6 +507,11 @@ end
 @test ls(fg) == listVariables(fg)
 @test lsf(fg) == listFactors(fg)
 
+if getVariable(fg, ls(fg)[1]) isa DFGVariable
+  @test :default in listSolvekeys(fg)
+  @test :default in listSupersolves(fg)
+end
+
 # simple broadcast test
 if f0 isa DFGFactor
     @test issetequal(getFactorType.(fg, lsf(fg)),  [TestFunctorInferenceType1(), TestFunctorSingleton()])