From ecde4cb35790aafb581f209c6f06ab5d14bcf0cb Mon Sep 17 00:00:00 2001
From: Sam Claassens <sclaassens.ad@gmail.com>
Date: Mon, 28 Mar 2022 07:31:43 -0500
Subject: [PATCH] Refactored tests

---
 test/integration/runtests.jl   |  2 +-
 test/integration/testFactor.jl | 13 ++++++-------
 test/integration/testSolve.jl  | 19 ++++++++++++-------
 3 files changed, 19 insertions(+), 15 deletions(-)

diff --git a/test/integration/runtests.jl b/test/integration/runtests.jl
index 22cd642..b67134a 100644
--- a/test/integration/runtests.jl
+++ b/test/integration/runtests.jl
@@ -24,5 +24,5 @@ sessionId2d = get(ENV,"SESSION_ID","TestSession2D"*randstring(7))
     # integration test.
     runVariableTests(client, navabilityClient2D)
     runFactorTests(client, navabilityClient2D)
-    # runSolverTests(client, navabilityClient2D)
+    runSolveTests(client, navabilityClient2D)
 end
diff --git a/test/integration/testFactor.jl b/test/integration/testFactor.jl
index d6bd020..8697648 100644
--- a/test/integration/testFactor.jl
+++ b/test/integration/testFactor.jl
@@ -6,13 +6,12 @@ function testAddFactor(client, context, factorLabels, factorTypes, factorVariabl
         @test resultId != "Error"
         push!(resultIds, resultId)
     end
-    
+
     waitForCompletion(client, resultIds, expectedStatuses=["Complete"])
     return resultIds
 end
 
 function testLsf(client, context, factorLabels, factorTypes)
-    @show setdiff(factorLabels, lsf(client, context))
     @test setdiff(factorLabels, lsf(client, context)) == []
 end
 
@@ -28,7 +27,7 @@ function testGetFactors(client, context, factorLabels, factorTypes)
     # Make a quick dictionary of the expected variable Types
     factorIdType = Dict(factorLabels .=> factorTypes)
 
-    factors = getFactors(client, context; detail=SUMMARY)
+    factors = getFactors(client, context, detail=FULL)
     for f in factors
         @test f["fnctype"] == factorIdType[f["label"]]
     end
@@ -44,9 +43,9 @@ function runFactorTests(client, context)
         factorVariables = [["x0", "x1"], ["x0"]]
         factorData = [Pose2Pose2Data(), PriorPose2Data()]
 
-        @test testAddFactor(client, context, factorLabels, factorTypes, factorVariables, factorData)
-        @test testLsf(client, context, factorLabels, factorTypes)
-        @test testGetFactor(client, context, factorLabels, factorTypes)
-        @test testGetFactors(client, context, factorLabels, factorTypes)
+        @testset "Adding" begin testAddFactor(client, context, factorLabels, factorTypes, factorVariables, factorData) end
+        @testset "Listing" begin testLsf(client, context, factorLabels, factorTypes) end
+        @testset "Getting" begin testGetFactor(client, context, factorLabels, factorTypes) end
+        @testset "Getting Lists" begin testGetFactors(client, context, factorLabels, factorTypes) end
     end
 end
\ No newline at end of file
diff --git a/test/integration/testSolve.jl b/test/integration/testSolve.jl
index 6318de2..50582d8 100644
--- a/test/integration/testSolve.jl
+++ b/test/integration/testSolve.jl
@@ -1,22 +1,27 @@
-MAX_POLLING_TRIES = 150
 
-function testSolveSession(client, context)
-    testVariableLabels = ls(client, context)
+function testSolveSession(client, context, variableLabels)
+    # allVariableLabels = ls(client, context, variableLabels)
 
     resultId = solveSession(client,context)
 
     # Wait for them to be done before proceeding.
     waitForCompletion(client, [resultId], expectedStatuses=["Complete"])
 
-    # Get PPE's to confirm all is there.
-    # This'll blow up if not.
-    Dict((vId=>getVariable(client, context, vId; detail=SUMMARY)["ppes"]["default"]) for vId in testVariableLabels)
+    # Get PPE's are there for the connected variables.
+    # TODO - complete the factor graph.
+    for v in variableLabels # getVariables(client, context, detail=SUMMARY)
+        # First solve key (only) is the default result
+        @test getVariable(client, context, v)["ppes"][1]["solveKey"] == "default"
+    end
 end
 
 function runSolveTests(client, context)
     @testset "solve-testset" begin
         @info "Running solve-testset"
 
-        @test testSolveSession(client, context)
+        # TODO: Test the rest of the variables.
+        variableLabels = ["x0", "x1"]
+
+        testSolveSession(client, context, variableLabels)
     end
 end