Merge pull request #484 from JuliaRobotics/maint/20Q2/cgdfgmodule

move cgdfg to a module in dfg

Author: Affie

src/CloudGraphsDFG/CloudGraphsDFG.jl

@@ -1,6 +1,94 @@
+module CloudGraphsDFGs
+
+using ...DistributedFactorGraphs
+
+import ...DistributedFactorGraphs:  setSolverParams!,
+                                    getFactor,
+                                    setDescription!,
+                                    # getLabelDict,
+                                    getUserData,
+                                    setUserData!,
+                                    getRobotData,
+                                    setRobotData!,
+                                    getSessionData,
+                                    setSessionData!,
+                                    addVariable!,
+                                    getVariable,
+                                    getAddHistory,
+                                    addFactor!,
+                                    getSolverParams,
+                                    exists,
+                                    isVariable,
+                                    isFactor,
+                                    getDescription,
+                                    updateVariable!,
+                                    updateFactor!,
+                                    deleteVariable!,
+                                    deleteFactor!,
+                                    getVariables,
+                                    listVariables,
+                                    ls,
+                                    getFactors,
+                                    listFactors,
+                                    lsf,
+                                    isConnected,
+                                    getNeighbors,
+                                    buildSubgraph,
+                                    copyGraph!,
+                                    getBiadjacencyMatrix,
+                                    _getDuplicatedEmptyDFG,
+                                    toDot,
+                                    toDotFile,
+                                    AbstractBigDataEntry,
+                                    isValidLabel,
+                                    _invalidIds,#TODO Export from DFG
+                                    _validLabelRegex, #TODO Export from DFG
+                                    updateUserData!,
+                                    getUserData,
+                                    deleteUserData!,
+                                    emptyUserData!,
+                                    updateRobotData!,
+                                    getRobotData,
+                                    deleteRobotData!,
+                                    emptyRobotData!,
+                                    updateSessionData!,
+                                    getSessionData,
+                                    deleteSessionData!,
+                                    emptySessionData!,
+                                    listTags,
+                                    mergeTags!,
+                                    removeTags!,
+                                    emptyTags!,
+                                    addVariableSolverData!,
+                                    updateVariableSolverData!,
+                                    deleteVariableSolverData!,
+                                    getVariableSolverData,
+                                    mergeVariableData!,
+                                    getPPE,
+                                    addPPE!,
+                                    listPPEs,
+                                    deletePPE!,
+                                    updatePPE!,
+                                    packPPE,
+                                    unpackPPE,
+                                    getSolvable,
+                                    setSolvable!
+
 using Neo4j
 using Base64
 
+using DocStringExtensions
+using Requires
+using Dates
+using Distributions
+using Reexport
+using JSON
+using Unmarshal
+using JSON2 # JSON2 requires all properties to be in correct sequence, can't guarantee that from DB.
+using LinearAlgebra
+using SparseArrays
+using UUIDs
+
 # Entities
 include("entities/CloudGraphsDFG.jl")
 include("entities/CGStructure.jl")
@@ -23,3 +111,5 @@ export existsSession, existsRobot, existsUser
 export getSession, getRobot, getUser
 export updateSession, updateRobot, updateUser
 export lsSessions, lsRobots, lsUsers
+
+end

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -267,10 +267,6 @@ function mergeVariableData!(dfg::CloudGraphsDFG, sourceVariable::DFGVariable)::D
     return sourceVariable
 end
 
-function mergeUpdateVariableSolverData!(dfg::CloudGraphsDFG, sourceVariable::DFGVariable)::DFGVariable
-  @warn "Deprecated CloudGraphsDFG.mergeUpdateVariableSolverData!, use mergeVariableData! instead."
-  mergeVariableData!(dfg, sourceVariable)
-end
 
 function updateFactor!(dfg::CloudGraphsDFG, factor::DFGFactor)::DFGFactor
     if !exists(dfg, factor)

src/CloudGraphsDFG/services/CommonFunctions.jl

@@ -56,7 +56,7 @@ Get a node property - returns nothing if not found
 function _getNodeProperty(neo4jInstance::Neo4jInstance, nodeLabels::Vector{String}, property::String)
     query = "match (n:$(join(nodeLabels, ":"))) return n.$property"
     @debug "[Query] $query"
-    result = DistributedFactorGraphs._queryNeo4j(neo4jInstance, query)
+    result = _queryNeo4j(neo4jInstance, query)
     length(result.results[1]["data"]) != 1 && error("No data returned from the query.")
     length(result.results[1]["data"][1]["row"]) != 1 && error("No data returned from the query.")
     return result.results[1]["data"][1]["row"][1]
@@ -75,7 +75,7 @@ function _setNodeProperty(neo4jInstance::Neo4jInstance, nodeLabels::Vector{Strin
     set n.$property = $value
     return count(n)"""
     @debug "[Query] $query"
-    result = DistributedFactorGraphs._queryNeo4j(neo4jInstance, query)
+    result = _queryNeo4j(neo4jInstance, query)
     length(result.results[1]["data"]) != 1 && return 0
     length(result.results[1]["data"][1]["row"]) != 1 && return 0
     return result.results[1]["data"][1]["row"][1]
@@ -87,14 +87,14 @@ Get a node's tags
 """
 function _getNodeTags(neo4jInstance::Neo4jInstance, nodeLabels::Vector{String})::Union{Nothing, Vector{String}}
     query = "match (n:$(join(nodeLabels, ":"))) return labels(n)"
-    result = DistributedFactorGraphs._queryNeo4j(neo4jInstance, query)
+    result = _queryNeo4j(neo4jInstance, query)
     length(result.results[1]["data"]) != 1 && return nothing
     return result.results[1]["data"][1]["row"][1]
 end
 
 function _getNodeCount(neo4jInstance::Neo4jInstance, nodeLabels::Vector{String})::Int
     query = "match (n:$(join(nodeLabels, ":"))) return count(n)"
-    result = DistributedFactorGraphs._queryNeo4j(neo4jInstance, query)
+    result = _queryNeo4j(neo4jInstance, query)
     length(result.results[1]["data"]) != 1 && return 0
     length(result.results[1]["data"][1]["row"]) != 1 && return 0
     return result.results[1]["data"][1]["row"][1]

src/Common.jl

@@ -62,8 +62,8 @@ sortDFG(vars::Vector{Symbol}; lt=natural_lt, kwargs...)::Vector{Symbol} = sort(v
 ##==============================================================================
 ## Validation of session, robot, and user IDs.
 ##==============================================================================
-
 global _invalidIds = ["USER", "ROBOT", "SESSION", "VARIABLE", "FACTOR", "ENVIRONMENT", "PPE", "BIGDATA", "FACTORGRAPH"]
+
 global _validLabelRegex = r"^[a-zA-Z]\w*$"
 
 """

src/DistributedFactorGraphs.jl

@@ -208,6 +208,7 @@ export findClosestTimestamp, findVariableNearTimestamp
 
 # Serialization
 export packVariable, unpackVariable, packFactor, unpackFactor
+export rebuildFactorMetadata!
 
 # File import and export
 export saveDFG, loadDFG!
@@ -273,24 +274,28 @@ include("services/CompareUtils.jl")
 # Include the FilesDFG API.
 include("FileDFG/FileDFG.jl")
 
-include("CloudGraphsDFG/CloudGraphsDFG.jl")
-
 # Custom show and printing for variable factor etc.
 include("services/CustomPrinting.jl")
 
+# To be moved as necessary.
+include("Common.jl")
+
+# Big data extensions
+include("BigData/BigData.jl")
+
 function __init__()
     @require GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231" begin
         @info "Including Plots"
         include("DFGPlots/DFGPlots.jl")
         @reexport using .DFGPlots
     end
 
+    if get(ENV, "DFG_USE_CGDFG", "") == "true"
+        @info "Including CloudGraphsDFG"
+        @eval Base.include(DistributedFactorGraphs, joinpath(@__DIR__, "CloudGraphsDFG/CloudGraphsDFG.jl"))
+        @eval DistributedFactorGraphs @reexport using .CloudGraphsDFGs
+    end
 end
 
-# To be moved as necessary.
-include("Common.jl")
-
-# Big data extensions
-include("BigData/BigData.jl")
 
 end

test/interfaceTests.jl

@@ -98,18 +98,18 @@ end
 end
 
 @testset "BigData Entries" begin
-    if fg1 isa CloudGraphsDFG
-        @test_skip BigDataEntriesTestBlock!(fg1, var2)
-    else
+    if typeof(fg1) <: InMemoryDFGTypes
         BigDataEntriesTestBlock!(fg1, var2)
+    else
+        @test_skip BigDataEntriesTestBlock!(fg1, var2)
     end
 end
 
 @testset "TODO Sorteer groep" begin
-    if fg1 isa CloudGraphsDFG
-        @test_skip testGroup!(fg1, var1, var2, fac0, fac1)
-    else
+    if typeof(fg1)  <: InMemoryDFGTypes
         testGroup!(fg1, var1, var2, fac0, fac1)
+    else
+        @test_skip testGroup!(fg1, var1, var2, fac0, fac1)
     end
 end
 
@@ -146,10 +146,10 @@ end
 
 @testset "Producing Dot Files" begin
     rand(4)
-    if testDFGAPI == CloudGraphsDFG
-        ProducingDotFiles(testDFGAPI, var1, var2, fac1)
-    else
+    if testDFGAPI <: InMemoryDFGTypes
         ProducingDotFiles(testDFGAPI)
+    else
+        ProducingDotFiles(testDFGAPI, var1, var2, fac1)
     end
 end
 

test/runtests.jl

@@ -1,6 +1,7 @@
 using Test
 using GraphPlot # For plotting tests
 using Neo4j
+push!(ENV,"DFG_USE_CGDFG"=>"true")
 using DistributedFactorGraphs
 using Pkg
 using Dates

test/testBlocks.jl

@@ -1,6 +1,7 @@
 using DistributedFactorGraphs
 using Test
 using Dates
+using UUIDs
 
 import Base: convert
 
@@ -93,8 +94,9 @@ end
 
 
 ##
-global testDFGAPI = CloudGraphsDFG
-global testDFGAPI = LightDFG
+# global testDFGAPI = CloudGraphsDFG
+# global testDFGAPI = LightDFG
+# T = testDFGAPI
 
 #test Specific definitions
 # struct TestInferenceVariable1 <: InferenceVariable end
@@ -105,7 +107,6 @@ global testDFGAPI = LightDFG
 struct GeenSolverParams <: AbstractParams
 end
 
-T = testDFGAPI
 solparams=NoSolverParams()
 # DFG Accessors
 function DFGStructureAndAccessors(::Type{T}, solparams::AbstractParams=NoSolverParams()) where T <: AbstractDFG
@@ -217,7 +218,7 @@ function  UserRobotSessionData!(fg::AbstractDFG)
     @test getSessionData(fg, :a) == "44"
     #TODO
     @test_broken addSessionData!
-    updateSessionData!(fg, :b=>"3") == getSessionData(fg)
+    @test updateSessionData!(fg, :b=>"3") == getSessionData(fg)
     @test getSessionData(fg, :b) == deleteSessionData!(fg, :b)
     @test emptySessionData!(fg) == Dict{Symbol,String}()