Merge pull request #385 from JuliaRobotics/maint/20Q2/graphsmodule

Change GraphsDFG to module

Author: Affie

src/DistributedFactorGraphs.jl

@@ -249,6 +249,7 @@ include("services/AbstractDFG.jl")
 
 # In Memory Types
 include("GraphsDFG/GraphsDFG.jl")
+@reexport using .GraphsDFGs
 include("LightDFG/LightDFG.jl")
 @reexport using .LightDFGs
 #supported in Memory fg types

src/GraphsDFG/GraphsDFG.jl

@@ -1,4 +1,49 @@
+module GraphsDFGs
+
 using Graphs
+using DocStringExtensions
+
+using ...DistributedFactorGraphs
+
+# import DFG functions to extend
+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,
+                                    isFullyConnected,
+                                    hasOrphans,
+                                    getNeighbors,
+                                    buildSubgraph,
+                                    copyGraph!,
+                                    getBiadjacencyMatrix,
+                                    _getDuplicatedEmptyDFG,
+                                    toDot,
+                                    toDotFile
 
 # Imports
 include("entities/GraphsDFG.jl")
@@ -7,4 +52,4 @@ include("services/GraphsDFG.jl")
 # Exports
 export GraphsDFG
 
-export toDot, toDotFile
+end

src/GraphsDFG/services/GraphsDFG.jl

@@ -266,3 +266,10 @@ Produces a dot-format of the graph for visualization.
 function toDot(dfg::GraphsDFG)::String
     return Graphs.to_dot(dfg.g)
 end
+
+function toDotFile(dfg::GraphsDFG, fileName::String="/tmp/dfg.dot")::Nothing
+    open(fileName, "w") do fid
+        write(fid, Graphs.to_dot(dfg.g))
+    end
+    return nothing
+end

src/services/AbstractDFG.jl

@@ -1086,18 +1086,17 @@ end
 
 
 ##==============================================================================
-## DOT Files, falls back to GraphsDFG
+## DOT Files, falls back to LightDFG dot functions
 ##==============================================================================
 """
     $(SIGNATURES)
 Produces a dot-format of the graph for visualization.
 """
 function toDot(dfg::AbstractDFG)::String
-    #TODO implement convert
-    graphsdfg = GraphsDFG{NoSolverParams}()
-    copyGraph!(graphsdfg, dfg, listVariables(dfg), listFactors(dfg))
-    # Calls down to GraphsDFG.toDot
-    return toDot(graphsdfg)
+    #convert to LightDFG
+    ldfg = LightDFG{NoSolverParams}()
+    copyGraph!(ldfg, dfg, listVariables(dfg), listFactors(dfg))
+    return toDot(ldfg)
 end
 
 """
@@ -1111,18 +1110,12 @@ Note
 - Based on graphviz.org
 """
 function toDotFile(dfg::AbstractDFG, fileName::String="/tmp/dfg.dot")::Nothing
-    #TODO implement convert
-    if isa(dfg, GraphsDFG)
-        graphsdfg = dfg
-    else
-        graphsdfg = GraphsDFG{NoSolverParams}()
-        copyGraph!(graphsdfg, dfg, listVariables(dfg), listFactors(dfg))
-    end
 
-    open(fileName, "w") do fid
-        write(fid,Graphs.to_dot(graphsdfg.g))
-    end
-    return nothing
+    #convert to LightDFG
+    ldfg = LightDFG{NoSolverParams}()
+    copyGraph!(ldfg, dfg, listVariables(dfg), listFactors(dfg))
+
+    return toDotFile(ldfg, fileName)
 end
 
 ##==============================================================================

test/iifInterfaceTests.jl

@@ -19,11 +19,12 @@ end
 @testset "Producing Dot Files" begin
     global dfg
     todotstr = toDot(dfg)
-    #TODO consider using a regex, but for now test both orders
+    #TODO consider using a regex, but for now test all orders
     todota = todotstr == "graph graphname {\n2 [\"label\"=\"a\",\"shape\"=\"ellipse\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n2 -- 3\n3 [\"label\"=\"abf1\",\"shape\"=\"box\",\"fillcolor\"=\"blue\",\"color\"=\"blue\"]\n1 [\"label\"=\"b\",\"shape\"=\"ellipse\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n1 -- 3\n}\n"
     todotb = todotstr == "graph graphname {\n2 [\"label\"=\"b\",\"shape\"=\"ellipse\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n2 -- 3\n3 [\"label\"=\"abf1\",\"shape\"=\"box\",\"fillcolor\"=\"blue\",\"color\"=\"blue\"]\n1 [\"label\"=\"a\",\"shape\"=\"ellipse\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n1 -- 3\n}\n"
     todotc = todotstr == "graph G {\na [color=red, shape=ellipse];\nb [color=red, shape=ellipse];\nabf1 [color=blue, shape=box];\na -- abf1\nb -- abf1\n}\n"
-    @test (todota || todotb || todotc)
+    todotd = todotstr == "graph G {\na [color=red, shape=ellipse];\nb [color=red, shape=ellipse];\nabf1 [color=blue, shape=box];\nb -- abf1\na -- abf1\n}\n"
+    @test (todota || todotb || todotc || todotd)
     @test toDotFile(dfg, "something.dot") == nothing
     Base.rm("something.dot")
 end