Merge pull request #447 from JuliaRobotics/maint/20Q2/deprecate_GraphsDFG

Move GraphsDFG to attic and remove tests

Author: Affie

src/GraphsDFG/GraphsDFG.jl renamed to attic/GraphsDFG/GraphsDFG.jl

@@ -38,6 +38,7 @@ function GraphsDFG( g::FGType=Graphs.incdict(GraphsNode,is_directed=false),
                     sessionData::Dict{Symbol, String} = Dict{Symbol, String}(),
                     params::T=NoSolverParams()) where T <: AbstractParams
     # Validate the userId, robotId, and sessionId
+    Base.depwarn("GraphsDFG is voetstoots and will no longer be maintaind, use LightDFG", :GraphsDFG)
     !isValidLabel(userId) && error("'$userId' is not a valid User ID")
     !isValidLabel(robotId) && error("'$robotId' is not a valid Robot ID")
     !isValidLabel(sessionId) && error("'$sessionId' is not a valid Session ID")
@@ -57,6 +58,7 @@ function GraphsDFG{T}(  g::FGType=Graphs.incdict(GraphsNode,is_directed=false),
                         sessionData::Dict{Symbol, String} = Dict{Symbol, String}(),
                         params::T=T()) where T <: AbstractParams
     # Validate the userId, robotId, and sessionId
+    Base.depwarn("GraphsDFG is voetstoots and will no longer be maintaind, use LightDFG", :GraphsDFG)
     !isValidLabel(userId) && error("'$userId' is not a valid User ID")
     !isValidLabel(robotId) && error("'$robotId' is not a valid Robot ID")
     !isValidLabel(sessionId) && error("'$sessionId' is not a valid Session ID")

src/GraphsDFG/entities/GraphsDFG.jl renamed to attic/GraphsDFG/entities/GraphsDFG.jl

@@ -7,8 +7,14 @@
 ## Remove in 0.9
 ##==============================================================================
 
+include("../attic/GraphsDFG/GraphsDFG.jl")
+@reexport using .GraphsDFGs
+
+
 @deprecate buildSubgraphFromLabels!(dfg::AbstractDFG, varList::Vector{Symbol}) buildSubgraph(dfg, varList, 1)
 
+
+## TODO: I think these are handy, so move to Factor and Variable
 Base.getproperty(x::DFGFactor,f::Symbol) = begin
     if f == :solvable
         getfield(x,:_dfgNodeParams).solvable

src/GraphsDFG/services/GraphsDFG.jl renamed to attic/GraphsDFG/services/GraphsDFG.jl

@@ -256,12 +256,13 @@ include("entities/AbstractDFGSummary.jl")
 include("services/AbstractDFG.jl")
 
 # In Memory Types
-include("GraphsDFG/GraphsDFG.jl")
-@reexport using .GraphsDFGs
+# include("GraphsDFG/GraphsDFG.jl")
+# @reexport using .GraphsDFGs
 include("LightDFG/LightDFG.jl")
 @reexport using .LightDFGs
 #supported in Memory fg types
-const InMemoryDFGTypes = Union{GraphsDFG, LightDFG}
+# const InMemoryDFGTypes = Union{GraphsDFG, LightDFG}
+const InMemoryDFGTypes = LightDFG
 
 # Common includes
 include("services/CommonAccessors.jl")

src/Deprecated.jl

@@ -9,7 +9,7 @@ DevNotes:
 # Example
 ```julia
 using DistributedFactorGraphs, IncrementalInference
-# Create a DFG - can make one directly, e.g. GraphsDFG{NoSolverParams}() or use IIF:
+# Create a DFG - can make one directly, e.g. LightDFG{NoSolverParams}() or use IIF:
 dfg = initfg()
 # ... Add stuff to graph using either IIF or DFG:
 v1 = addVariable!(dfg, :a, ContinuousScalar, labels = [:POSE], solvable=0)
@@ -74,7 +74,7 @@ parameter.
 # Example
 ```julia
 using DistributedFactorGraphs, IncrementalInference
-# Create a DFG - can make one directly, e.g. GraphsDFG{NoSolverParams}() or use IIF:
+# Create a DFG - can make one directly, e.g. LightDFG{NoSolverParams}() or use IIF:
 dfg = initfg()
 # Load the graph
 loadDFG("/tmp/savedgraph.tar.gz", IncrementalInference, dfg)

src/DistributedFactorGraphs.jl

@@ -3,7 +3,7 @@ dfg = CloudGraphsDFG{SolverParams}("localhost", 7474, "neo4j", "test",
                             "Description of test session",
                             nothing,
                             nothing,
-                            IncrementalInference.decodePackedType,
+                            nothing,
                             IncrementalInference.rebuildFactorMetadata!,
                             solverParams=SolverParams())
 

src/FileDFG/services/FileDFG.jl

@@ -15,7 +15,7 @@ DistributedFactorGraphs.CloudGraphsDFG{SolverParams}() = CloudGraphsDFG{SolverPa
 
 N=100
 # fg = initfg(CloudGraphsDFG{SolverParams}())
-fg = initfg(GraphsDFG{SolverParams})
+fg = initfg(LightDFG{SolverParams})
 
 doors = reshape(Float64[-100.0;0.0;100.0;300.0],1,4)
 pd = kde!(doors,[3.0])

test/CGStructureTests.jl

@@ -29,7 +29,7 @@ end
     Base.rm("something.dot")
 end
 
-@testset "Testing CRUD, return and Failures from a GraphsDFG" begin
+@testset "Testing CRUD, return and Failures from a LightDFG" begin
     global dfg
     # dfg to copy to
     # creating a whole new graph with the same labels
@@ -40,7 +40,7 @@ end
                                             "Description of test session 2",
                                             nothing,
                                             nothing,
-                                            IncrementalInference.decodePackedType,
+                                            nothing,
                                             IncrementalInference.rebuildFactorMetadata!,
                                             solverParams=SolverParams())
     else
@@ -413,7 +413,6 @@ facts = map(n ->
 
     # solvable checks
     @test getNeighbors(dfg, :x5, solvable=1) == Symbol[]
-    #TODO Confirm: test failed on GraphsDFG, don't know if the order is important for isa variable.
     @test symdiff(getNeighbors(dfg, :x5, solvable=0), [:x4x5f1,:x5x6f1]) == []
     @test symdiff(getNeighbors(dfg, :x5),[:x4x5f1,:x5x6f1]) == []
     @test getNeighbors(dfg, :x7x8f1, solvable=0) == [:x7, :x8]

test/IIF4DoorsTests.jl

@@ -5,7 +5,7 @@ struct TestInferenceVariable1 <: InferenceVariable end
 struct TestInferenceVariable2 <: InferenceVariable end
 
 @testset "Needs-a-home tests" begin
-    dfg = GraphsDFG{NoSolverParams}(params=NoSolverParams())
+    dfg = LightDFG{NoSolverParams}(params=NoSolverParams())
 
     # Build a graph
     v1 = DFGVariable(:a, TestInferenceVariable1())