Merge pull request #19 from JuliaRobotics/dev/df/dfgintegration

few updates to Symbol

Author: GearsAD

Project.toml

@@ -8,6 +8,7 @@ Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
 Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
+Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 
 [compat]

src/DistributedFactorGraphs.jl

@@ -5,6 +5,7 @@ using DocStringExtensions
 using Requires
 using Dates
 using Distributions
+using Reexport
 
 # Entities
 include("entities/AbstractTypes.jl")

src/entities/DFGFactor.jl

@@ -2,7 +2,7 @@
 $(TYPEDEF)
 """
 mutable struct GenericFunctionNodeData{T, S}
-  fncargvID::Array{Int,1}
+  fncargvID::Vector{Symbol}
   eliminated::Bool
   potentialused::Bool
   edgeIDs::Array{Int,1}
@@ -27,8 +27,9 @@ mutable struct DFGFactor{T, S} <: DFGNode
     ready::Int
     backendset::Int
     _internalId::Int64
-    DFGFactor{T, S}(label::Symbol) where {T, S} = new{T, S}(label, Symbol[], GenericFunctionNodeData{T, S}(), 0, 0, 0)
-    DFGFactor{T, S}(label::Symbol, _internalId::Int64) where {T, S} = new{T, S}(label, Symbol[], GenericFunctionNodeData{T, S}(), 0, 0, _internalId)
+    _variableOrderSymbols::Vector{Symbol}
+    DFGFactor{T, S}(label::Symbol) where {T, S} = new{T, S}(label, Symbol[], GenericFunctionNodeData{T, S}(), 0, 0, 0, Symbol[])
+    DFGFactor{T, S}(label::Symbol, _internalId::Int64) where {T, S} = new{T, S}(label, Symbol[], GenericFunctionNodeData{T, S}(), 0, 0, _internalId, Symbol[])
 end
 
 # const FunctionNodeData{T} = GenericFunctionNodeData{T, Symbol}

src/entities/DFGVariable.jl

@@ -8,7 +8,7 @@ mutable struct VariableNodeData
   dimIDs::Array{Int,1} # Likely deprecate
   dims::Int
   eliminated::Bool
-  BayesNetVertID::Union{Nothing, Symbol}
+  BayesNetVertID::Union{Nothing, Symbol} # TODO Drop union type from here
   separator::Array{Symbol,1}
   groundtruth::Union{Nothing, Dict{ Tuple{Symbol, Vector{Float64}} } } # not packed yet
   softtype

src/services/GraphsDFG.jl

@@ -1,9 +1,4 @@
-module GraphsJl
-
 using Graphs
-using Requires
-using DocStringExtensions
-using DistributedFactorGraphs
 
 """
 $(SIGNATURES)
@@ -118,6 +113,7 @@ function addFactor!(dfg::GraphsDFG, variables::Vector{DFGVariable}, factor::DFGF
     end
     dfg.nodeCounter += 1
     factor._internalId = dfg.nodeCounter
+    factor._variableOrderSymbols = map(v->v.label, variables)
     fNode = GraphsNode(dfg.nodeCounter, factor)
     f = Graphs.add_vertex!(dfg.g, fNode)
     # Add index
@@ -296,6 +292,9 @@ function lsf(dfg::GraphsDFG, regexFilter::Union{Nothing, Regex}=nothing)::Vector
     end
     return factors
 end
+function lsf(dfg::GraphsDFG, label::Symbol)::Vector{Symbol}
+  return GraphsJl.getNeighbors(dfg, label)
+end
 
 # Alias
 """
@@ -340,6 +339,11 @@ function getNeighbors(dfg::GraphsDFG, node::T; ready::Union{Nothing, Int}=nothin
     # Additional filtering
     neighbors = ready != nothing ? filter(v -> v.ready == ready, neighbors) : neighbors
     neighbors = backendset != nothing ? filter(v -> v.backendset == backendset, neighbors) : neighbors
+    # Variable sorting (order is important)
+    if node isa DFGFactor
+        order = intersect(node._variableOrderSymbols, map(v->v.dfgNode.label, neighbors))
+        return order
+    end
 
     return map(n -> n.dfgNode.label, neighbors)
 end
@@ -356,6 +360,12 @@ function getNeighbors(dfg::GraphsDFG, label::Symbol; ready::Union{Nothing, Int}=
     # Additional filtering
     neighbors = ready != nothing ? filter(v -> v.ready == ready, neighbors) : neighbors
     neighbors = backendset != nothing ? filter(v -> v.backendset == backendset, neighbors) : neighbors
+    # Variable sorting when using a factor (function order is important)
+    if vert.dfgNode isa DFGFactor
+        vert.dfgNode._variableOrderSymbols
+        order = intersect(vert.dfgNode._variableOrderSymbols, map(v->v.dfgNode.label, neighbors))
+        return order
+    end
 
     return map(n -> n.dfgNode.label, neighbors)
 end
@@ -501,8 +511,13 @@ end
     $(SIGNATURES)
 Produces a dot file of the graph for visualization.
 Download XDot to see the data
+
+Note
+- Default location "/tmp/dfg.dot" -- MIGHT BE REMOVED
+- Can be viewed with the `xdot` system application.
+- Based on graphviz.org
 """
-function toDotFile(dfg::GraphsDFG, fileName::String)::Nothing
+function toDotFile(dfg::GraphsDFG, fileName::String="/tmp/dfg.dot")::Nothing
     open(fileName, "w") do fid
         write(fid,Graphs.to_dot(dfg.g))
     end
@@ -535,5 +550,3 @@ function __init__()
         end
     end
 end
-
-end

test/interfaceTests.jl

@@ -104,10 +104,12 @@ map(n -> addFactor!(dfg, [verts[n], verts[n+1]], DFGFactor{Int, :Symbol}(Symbol(
 
 @testset "Getting Neighbors" begin
     global dfg,verts
+    # Trivial test to validate that intersect([], []) returns order of first parameter
+    @test intersect([:x3, :x2, :x1], [:x1, :x2]) == [:x2, :x1]
     # Get neighbors tests
     @test getNeighbors(dfg, verts[1]) == [:x1x2f1]
     neighbors = getNeighbors(dfg, getFactor(dfg, :x1x2f1))
-    @test all([v in [:x1, :x2] for v in neighbors])
+    @test neighbors == [:x1, :x2]
     # Testing aliases
     @test getNeighbors(dfg, getFactor(dfg, :x1x2f1)) == ls(dfg, getFactor(dfg, :x1x2f1))
     @test getNeighbors(dfg, :x1x2f1) == ls(dfg, :x1x2f1)