Fix tests

Author: Affie

src/services/CompareUtils.jl

@@ -30,10 +30,11 @@ const GeneratedCompareUnion = Union{
     FactorDFG,
     FactorSummary,
     FactorSkeleton,
+    FactorState,
 }
 
 @generated function ==(x::T, y::T) where {T <: GeneratedCompareUnion}
-    ignored = []
+    ignored = [:computeMem]
     return mapreduce(
         n -> :(x.$n == y.$n),
         (a, b) -> :($a && $b),
@@ -315,7 +316,17 @@ function compareFactor(
     skipcompute::Bool = true,
 )
     #
-    skip_ = union([:attributes; :solverData; :_variableOrderSymbols; :_gradients], skip)
+    skip_ = union(
+        [
+            :attributes,
+            :solverData,
+            :observation,
+            :computeMem,
+            :_variableOrderSymbols,
+            :_gradients,
+        ],
+        skip,
+    )
     TP = compareAll(A, B; skip = skip_, show = show)
     @debug "compareFactor 1/5" TP
     TP =

src/services/DFGFactor.jl

@@ -32,7 +32,8 @@ Return user factor type from factor graph identified by label `::Symbol`.
 Notes
 - Replaces older `getfnctype`.
 """
-getFactorType(data::GenericFunctionNodeData) = data.fnc.usrfnc!
+getFactorType(data::GenericFunctionNodeData{<:FactorOperationalMemory}) = data.fnc.usrfnc!
+getFactorType(data::GenericFunctionNodeData{<:AbstractFactor}) = data.fnc
 getFactorType(fct::FactorCompute) = getFactorType(getSolverData(fct))
 getFactorType(f::FactorDFG) = getTypeFromSerializationModule(f.fnctype)() # TODO find a better way to do this that does not rely on empty constructor
 getFactorType(dfg::AbstractDFG, lbl::Symbol) = getFactorType(getFactor(dfg, lbl))

test/plottingTest.jl

@@ -17,9 +17,10 @@ map(v -> addVariable!(dfg, v), verts)
 map(
     n -> addFactor!(
         dfg,
-        FactorCompute{TestFunctorInferenceType1}(
+        FactorCompute(
             Symbol("x$(n)x$(n+1)f1"),
             [verts[n].label, verts[n + 1].label],
+            GenericFunctionNodeData(; fnc=TestFunctorInferenceType1())
         ),
     ),
     1:(numNodes - 1),

test/testBlocks.jl

@@ -395,13 +395,13 @@ function DFGFactorSCA()
 
     gfnd = GenericFunctionNodeData(; fnc = TestCCW(TestFunctorInferenceType1()))
 
-    f1 = FactorCompute{TestCCW{TestFunctorInferenceType1}}(f1_lbl, [:a, :b])
     f1 = FactorCompute(f1_lbl, [:a, :b], gfnd; tags = f1_tags, solvable = 0)
 
-    f2 = FactorCompute{TestCCW{TestFunctorInferenceType1}}(
+    f2 = FactorCompute(
         :bcf1,
         [:b, :c],
-        ZonedDateTime("2020-08-11T00:12:03.000-05:00"),
+        GenericFunctionNodeData(; fnc=TestCCW{TestFunctorInferenceType1}());
+        timestamp = ZonedDateTime("2020-08-11T00:12:03.000-05:00"),
     )
     #TODO add tests for mutating vos in updateFactor and orphan related checks.
     # we should perhaps prevent an empty vos
@@ -473,7 +473,7 @@ function VariablesandFactorsCRUD_SET!(fg, v1, v2, v3, f0, f1, f2)
     @test getLabel(fg[getLabel(v1)]) == getLabel(v1)
 
     #TODO standardize this error and res also for that matter
-    fnope = FactorCompute{TestCCW{TestFunctorInferenceType1}}(:broken, [:a, :nope])
+    fnope = FactorCompute(:broken, [:a, :nope], GenericFunctionNodeData(; fnc=TestCCW{TestFunctorInferenceType1}()))
     @test_throws KeyError addFactor!(fg, fnope)
 
     @test addFactor!(fg, f1) == f1
@@ -1683,7 +1683,7 @@ function ProducingDotFiles(
     end
     if f1 === nothing
         if (FACTYPE == FactorCompute)
-            f1 = FactorCompute{TestFunctorInferenceType1}(:abf1, [:a, :b])
+            f1 = FactorCompute(:abf1, [:a, :b], GenericFunctionNodeData(;fnc = TestFunctorInferenceType1()))
         else
             f1 = FACTYPE(:abf1, [:a, :b])
         end