22# # Abstract Types
33# #==============================================================================
44
5- abstract type InferenceType end
6- abstract type PackedInferenceType end
7-
85abstract type FunctorInferenceType <: Function end
6+ abstract type PackedInferenceType end
97
108# NOTE DF, Convolution is IIF idea, but DFG should know about "FactorOperationalMemory"
119# DF, IIF.CommonConvWrapper <: FactorOperationalMemory #
@@ -14,9 +12,9 @@ abstract type FactorOperationalMemory <: Function end
1412# we can add to IIF or have IIF.CommonConvWrapper <: FactorOperationalMemory directly
1513# abstract type ConvolutionObject <: FactorOperationalMemory end
1614
17- abstract type FunctorSingleton <: FunctorInferenceType end
18- abstract type FunctorPairwise <: FunctorInferenceType end
19- abstract type FunctorPairwiseMinimize <: FunctorInferenceType end
15+ abstract type AbstractPrior <: FunctorInferenceType end
16+ abstract type AbstractRelativeFactor <: FunctorInferenceType end
17+ abstract type AbstractRelativeFactorMinimize <: FunctorInferenceType end
2018
2119# #==============================================================================
2220# # GenericFunctionNodeData
@@ -30,32 +28,39 @@ Notes
3028
3129Designing (WIP)
3230- T <: Union{FactorOperationalMemory, PackedInferenceType}
33- - in IIF.CCW{T <: DFG.InferenceType }
34- - in IIF.FunctorPairwiseMinimize <: InferenceType # DFG whatever, something, we'll figure it out
35- - in Main/User, SomeFactor <: FunctorPairwiseMinimize
31+ - in IIF.CCW{T <: DFG.FunctorInferenceType }
32+ - in DFG.AbstractRelativeFactorMinimize <: FunctorInferenceType
33+ - in Main. SomeFactor <: AbstractRelativeFactorMinimize
3634"""
3735mutable struct GenericFunctionNodeData{T<: Union{PackedInferenceType, FunctorInferenceType, FactorOperationalMemory} }
3836 eliminated:: Bool
3937 potentialused:: Bool
4038 edgeIDs:: Vector{Int}
4139 fnc:: T
42- multihypo:: Vector{Float64} # FIXME likely to moved when GenericWrapParam is refactored #477
40+ multihypo:: Vector{Float64} # TODO re-evaluate after refactoring w #477
4341 certainhypo:: Vector{Int}
42+ nullhypo:: Float64
4443 solveInProgress:: Int
44+
45+ # TODO deprecate all these inner constructors at end of DFG v0.9.x (was added for GFND.nullhypo::Float64 breaking change)
46+ GenericFunctionNodeData {T} (el,po,ed,fn,mu:: Vector{<:Real} ,ce:: Vector{Int} ,so:: Int ) where T = new {T} (el,po,ed,fn,mu,ce,0.0 ,so)
47+ GenericFunctionNodeData {T} (el,po,ed,fn,mu:: Vector{<:Real} ,ce:: Vector{Int} ,nu:: Real ,so:: Int ) where T = new {T} (el,po,ed,fn,mu,ce,nu,so)
4548end
4649
4750# # Constructors
4851
4952GenericFunctionNodeData {T} () where T =
50- GenericFunctionNodeData {T} (false , false , Int[], T (), Float64[], Int[], 0 )
51-
52- function GenericFunctionNodeData (eliminated,
53- potentialused,
54- edgeIDs,
55- fnc,
56- multihypo= Float64[],
57- certainhypo= Int[])
58- return GenericFunctionNodeData (eliminated, potentialused, edgeIDs, fnc, multihypo, certainhypo, 0 )
53+ GenericFunctionNodeData {T} (false , false , Int[], T (), Float64[], Int[], 0 , 0 )
54+
55+ function GenericFunctionNodeData (eliminated:: Bool ,
56+ potentialused:: Bool ,
57+ edgeIDs:: Vector{Int} ,
58+ fnc:: T ,
59+ multihypo:: Vector{<:Real} = Float64[],
60+ certainhypo:: Vector{Int} = Int[],
61+ nullhypo:: Real = 0 ,
62+ solveInP:: Int = 0 ) where T
63+ return GenericFunctionNodeData {T} (eliminated, potentialused, edgeIDs, fnc, multihypo, certainhypo, nullhypo, solveInP)
5964end
6065
6166
@@ -100,7 +105,7 @@ struct DFGFactor{T, N} <: AbstractDFGFactor
100105 label:: Symbol
101106 """ Variable timestamp.
102107 Accessors: [`getTimestamp`](@ref), [`setTimestamp`](@ref)"""
103- timestamp:: DateTime
108+ timestamp:: ZonedDateTime
104109 """ Nano second time, for more resolution on timestamp (only subsecond information)"""
105110 nstime:: Nanosecond
106111 """ Factor tags, e.g [:FACTOR].
@@ -116,14 +121,21 @@ struct DFGFactor{T, N} <: AbstractDFGFactor
116121 Accessors: [`getVariableOrder`](@ref)"""
117122 _variableOrderSymbols:: NTuple{N,Symbol}
118123 # Inner constructor
119- DFGFactor {T} (label:: Symbol ,
120- timestamp:: DateTime ,
124+ function DFGFactor {T} (label:: Symbol ,
125+ timestamp:: Union{ DateTime,ZonedDateTime}
121126 nstime:: Nanosecond ,
122127 tags:: Set{Symbol} ,
123128 solverData:: GenericFunctionNodeData{T} ,
124129 solvable:: Int ,
125- _variableOrderSymbols:: NTuple{N,Symbol} ) where {T,N} =
126- new {T,N} (label, timestamp, nstime, tags, Ref (solverData), Ref (solvable), _variableOrderSymbols)
130+ _variableOrderSymbols:: NTuple{N,Symbol} ) where {T,N}
131+
132+ # TODO Deprecate remove in v0.10.
133+ if timestamp isa DateTime
134+ Base. depwarn (" DFGFactor timestamp field is now a ZonedTimestamp" :DFGFactor )
135+ return new {T,N} (label, ZonedDateTime (timestamp, localzone ()), nstime, tags, Ref (solverData), Ref (solvable), _variableOrderSymbols)
136+ end
137+ return new {T,N} (label, timestamp, nstime, tags, Ref (solverData), Ref (solvable), _variableOrderSymbols)
138+ end
127139
128140end
129141
@@ -136,7 +148,7 @@ $(SIGNATURES)
136148Construct a DFG factor given a label.
137149"""
138150DFGFactor (label:: Symbol ,
139- timestamp:: DateTime ,
151+ timestamp:: Union{ DateTime,ZonedDateTime}
140152 nstime:: Nanosecond ,
141153 tags:: Set{Symbol} ,
142154 solverData:: GenericFunctionNodeData{T} ,
@@ -145,15 +157,15 @@ DFGFactor(label::Symbol,
145157 DFGFactor {T} (label, timestamp, nstime, tags, solverData, solvable, _variableOrderSymbols)
146158
147159
148- DFGFactor {T} (label:: Symbol , variableOrderSymbols:: Vector{Symbol} , timestamp:: DateTime = now (), data:: GenericFunctionNodeData{T} = GenericFunctionNodeData {T} ()) where {T} =
160+ DFGFactor {T} (label:: Symbol , variableOrderSymbols:: Vector{Symbol} , timestamp:: Union{ DateTime,ZonedDateTime} = now (localzone () ), data:: GenericFunctionNodeData{T} = GenericFunctionNodeData {T} ()) where {T} =
149161 DFGFactor (label, timestamp, Nanosecond (0 ), Set {Symbol} (), data, 1 , Tuple (variableOrderSymbols))
150162
151163
152164DFGFactor (label:: Symbol ,
153165 variableOrderSymbols:: Vector{Symbol} ,
154166 data:: GenericFunctionNodeData{T} ;
155167 tags:: Set{Symbol} = Set {Symbol} (),
156- timestamp:: DateTime = now (),
168+ timestamp:: Union{ DateTime,ZonedDateTime} = now (localzone () ),
157169 solvable:: Int = 1 ,
158170 nstime:: Nanosecond = Nanosecond (0 )) where {T} =
159171 DFGFactor {T} (label, timestamp, nstime, tags, data, solvable, Tuple (variableOrderSymbols))
173185Base. setproperty! (x:: DFGFactor ,f:: Symbol , val) = begin
174186 if f == :solvable || f == :solverData
175187 getfield (x,f)[] = val
188+ elseif f == :timestamp && val isa DateTime
189+ # #TODO Deprecation - Remove in v0.10
190+ Base. depwarn (" DFGFactor timestamp field is now a ZonedTimestamp" :setproperty! )
191+ setfield! (x,:timestamp , ZonedDateTime (val, localzone ()))
176192 else
177193 setfield! (x,f,val)
178194 end
@@ -195,7 +211,7 @@ struct DFGFactorSummary <: AbstractDFGFactor
195211 label:: Symbol
196212 """ Variable timestamp.
197213 Accessors: [`getTimestamp`](@ref)"""
198- timestamp:: DateTime
214+ timestamp:: ZonedDateTime
199215 """ Factor tags, e.g [:FACTOR].
200216 Accessors: [`getTags`](@ref), [`mergeTags!`](@ref), and [`removeTags!`](@ref)"""
201217 tags:: Set{Symbol}
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