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Merge pull request #238 from JuliaRobotics/master
Release 0.5.2 RC1
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‎.gitignore

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docs/build
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Manifest.toml
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dev
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test/sandbox.jl

‎Project.toml

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name = "DistributedFactorGraphs"
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uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
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version = "0.5.1"
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version = "0.5.2"
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[deps]
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Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

‎README.md

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# DistributedFactorGraphs.jl
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[![Build Status](https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl.svg?branch=master)](https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl)
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[![Codecov Status](https://codecov.io/gh/JuliaRobotics/DistributedFactorGraphs.jl/branch/master/graph/badge.svg)](https://codecov.io/gh/JuliaRobotics/DistributedFactorGraphs.jl)
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[![Coverage Status](https://img.shields.io/coveralls/JuliaRobotics/DistributedFactorGraphs.jl.svg)](https://coveralls.io/r/JuliaRobotics/DistributedFactorGraphs.jl?branch=master)
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[![docs](https://img.shields.io/badge/docs-latest-blue.svg)](http://juliarobotics.github.io/DistributedFactorGraphs.jl/latest/)
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Release | Dev | Coverage | Docs
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---------|-----|----------|------
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[![Build Status](https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl.svg?branch=release/v0.5)](https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl) | [![Build Status](https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl.svg?branch=master)](https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl) | [![Codecov Status](https://codecov.io/gh/JuliaRobotics/DistributedFactorGraphs.jl/branch/master/graph/badge.svg)](https://codecov.io/gh/JuliaRobotics/DistributedFactorGraphs.jl) [![Coverage Status](https://img.shields.io/coveralls/JuliaRobotics/DistributedFactorGraphs.jl.svg)](https://coveralls.io/r/JuliaRobotics/DistributedFactorGraphs.jl?branch=master) | [![docs](https://img.shields.io/badge/docs-latest-blue.svg)](http://juliarobotics.github.io/DistributedFactorGraphs.jl/latest/)
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DistributedFactorGraphs.jl provides a flexible factor graph API for use in the [Caesar.jl](https://github.com/JuliaRobotics/Caesar.jl) ecosystem. The package supplies:
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* A standardized API for interacting with factor graphs

‎src/BigData.jl

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‎src/BigData/BigData.jl

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include("entities/AbstractDataStore.jl")
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include("entities/AbstractBigDataEntries.jl")
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include("entities/InMemoryDataStore.jl")
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include("entities/FileDataStore.jl")
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include("services/AbstractDataStore.jl")
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include("services/AbstractBigDataEntries.jl")
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include("services/InMemoryDataStore.jl")
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include("services/FileDataStore.jl")
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export AbstractDataStore
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export GeneralBigDataEntry, MongodbBigDataEntry, FileBigDataEntry
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export InMemoryDataStore, FileDataStore
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export getBigData, addBigData!, updateBigData!, deleteBigData!, listStoreEntries
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export copyStore

‎src/BigData/entities/AbstractBigDataEntries.jl

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"""
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$(TYPEDEF)
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GeneralBigDataEntry is a generic multipurpose data entry that creates a unique
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reproducible key using userId_robotId_sessionId_variableId_key.
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"""
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mutable struct GeneralBigDataEntry <: AbstractBigDataEntry
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key::Symbol
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storeKey::Symbol # Could swap this to string, but using it as an index later, so better as a symbol I believe.
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createdTimestamp::DateTime
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lastUpdatedTimestamp::DateTime
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mimeType::String
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end
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"""
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$(SIGNATURES)
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Internal function to generate a unique key for the entry - userId_robotId_sessionId_variable_key.
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Simple symbol.
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"""
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function _uniqueKey(dfg::G, v::V, key::Symbol)::Symbol where {G <: AbstractDFG, V <: AbstractDFGVariable}
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key = join(String.([dfg.userId, dfg.robotId, dfg.sessionId, label(v), String(key)]), "_")
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return Symbol(key)
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end
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GeneralBigDataEntry(key::Symbol, storeKey::Symbol;
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mimeType::String="application/octet-stream") =
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GeneralBigDataEntry(key, storeKey, now(), now(), mimeType)
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function GeneralBigDataEntry(dfg::G, var::V, key::Symbol;
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mimeType::String="application/octet-stream") where {G <: AbstractDFG, V <: AbstractDFGVariable}
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return GeneralBigDataEntry(key, _uniqueKey(dfg, var, key), mimeType=mimeType)
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end
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"""
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$(TYPEDEF)
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BigDataEntry in MongoDB.
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"""
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struct MongodbBigDataEntry <: AbstractBigDataEntry
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key::Symbol
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oid::NTuple{12, UInt8} #mongodb object id
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#maybe other fields such as:
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#flags::Bool ready, valid, locked, permissions
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#MIMEType::Symbol
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end
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"""
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$(TYPEDEF)
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BigDataEntry in a file.
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"""
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struct FileBigDataEntry <: AbstractBigDataEntry
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key::Symbol
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filename::String
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end

‎src/BigData/entities/AbstractDataStore.jl

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"""
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$(TYPEDEF)
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Superclass of all key-value datastores.
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"""
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abstract type AbstractDataStore{T}
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end

‎src/BigData/entities/FileDataStore.jl

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"""
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$(TYPEDEF)
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Simple file data store with a specified data type and a specified key type.
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"""
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struct FileDataStore <: AbstractDataStore{UInt8}
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folder::String
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FileDataStore(folder::String) = begin
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if !isdir(folder)
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@warn "Folder '$folder' doesn't exist - creating."
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mkpath(folder)
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end
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return new(folder)
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end
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end

‎src/BigData/entities/InMemoryDataStore.jl

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"""
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$(TYPEDEF)
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Simple in-memory data store with a specified data type and a specified key type.
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"""
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struct InMemoryDataStore{T, E <: AbstractBigDataEntry} <: AbstractDataStore{T}
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data::Dict{Symbol, T}
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entries::Dict{Symbol, E}
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end
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"""
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$(SIGNATURES)
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Create an in-memory store using a specific data type.
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"""
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function InMemoryDataStore{T, E}() where {T, E <: AbstractBigDataEntry}
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return InMemoryDataStore{T, E}(Dict{Symbol, T}(), Dict{Symbol, E}())
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end
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"""
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$(SIGNATURES)
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Create an in-memory store using binary data (UInt8) as a type.
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"""
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function InMemoryDataStore()
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return InMemoryDataStore{Vector{UInt8}, GeneralBigDataEntry}()
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end

‎src/BigData/services/AbstractBigDataEntries.jl

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import Base: ==
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function ==(a::GeneralBigDataEntry, b::GeneralBigDataEntry)
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return a.key == b.key &&
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a.storeKey == b.storeKey &&
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a.mimeType == b.mimeType &&
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Dates.value(a.createdTimestamp - b.createdTimestamp) < 1000 &&
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Dates.value(a.lastUpdatedTimestamp - b.lastUpdatedTimestamp) < 1000 #1 second
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end
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function ==(a::MongodbBigDataEntry, b::MongodbBigDataEntry)
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return a.key == b.key && a.oid == b.oid
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end
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function ==(a::FileBigDataEntry, b::FileBigDataEntry)
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return a.key == b.key && a.filename == b.filename
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end

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