Merge pull request #583 from JuliaRobotics/feat/20Q3/defSoftypeMacro

Macro to create a new <:InferenceVariable

Author: Affie

src/DistributedFactorGraphs.jl

@@ -123,6 +123,9 @@ export getSolverData
 
 export getVariableType
 
+# Softtype functions
+export getDimension, getManifolds
+
 # Small Data CRUD
 export SmallDataTypes, getSmallData, addSmallData!, updateSmallData!, deleteSmallData!, listSmallData, emptySmallData!
 export getSmallData, setSmallData!

src/entities/DFGVariable.jl

@@ -4,16 +4,6 @@
 
 abstract type InferenceVariable end
 
-"""
-    $SIGNATURES
-Interface function to return the softtype dimention of an InferenceVariable, extend this function for all Types<:InferenceVariable.
-"""
-function getDimension end
-"""
-    $SIGNATURES
-Interface function to return the softtype manifolds of an InferenceVariable, extend this function for all Types<:InferenceVariable.
-"""
-function getManifolds end
 ##==============================================================================
 ## VariableNodeData
 ##==============================================================================

src/services/DFGVariable.jl

@@ -51,6 +51,37 @@ Alias for [`getSofttype`](@ref).
 """
 getVariableType(args...) = getSofttype(args...)
 
+
+##------------------------------------------------------------------------------
+## InferenceVariable
+##------------------------------------------------------------------------------
+"""
+    $SIGNATURES
+Interface function to return the softtype dimention of an InferenceVariable, extend this function for all Types<:InferenceVariable.
+"""
+function getDimension end
+"""
+    $SIGNATURES
+Interface function to return the softtype manifolds of an InferenceVariable, extend this function for all Types<:InferenceVariable.
+"""
+function getManifolds end
+
+"""
+   @defVariable StructName dimension manifolds
+A macro to create a new variable with name `StructName`, dimension and manifolds.
+Example:
+```
+DFG.@defVariable Pose2 3 (:Euclid, :Euclid, :Circular)
+```
+"""
+macro defVariable(structname, dimension::Int, manifolds)#::Vararg{Symbol})#NTuple{dimension, Symbol})
+    # :(struct $structname <: InferenceVariable end)
+    return esc(quote
+        struct $structname <: InferenceVariable end
+        DistributedFactorGraphs.getDimension(::$structname) = $dimension
+        DistributedFactorGraphs.getManifolds(::$structname) = $manifolds
+    end)
+end
 ##------------------------------------------------------------------------------
 ## solvedCount
 ##------------------------------------------------------------------------------

test/consol_DataEntryBlobTests.jl

@@ -90,6 +90,13 @@ ade2,adb2 = addData!(dfg, :x2, deepcopy(ade), dataset1)
 @test adb == adb2# == adb3
 
 deleteData!(dfg, :x2, :random)
+
+#test default folder store
+dfs = FolderStore("/tmp/defaultfolderstore")
+@test dfs.folder == "/tmp/defaultfolderstore"
+@test dfs.key == :default_folder_store
+@test dfs isa FolderStore{Vector{UInt8}}
+
 ##==============================================================================
 ## Unimplemented store
 ##==============================================================================

test/testBlocks.jl

@@ -6,11 +6,13 @@ using UUIDs
 import Base: convert
 
 # Test InferenceVariable Types
-struct TestSofttype1 <: InferenceVariable
-    dims::Int
-    manifolds::Tuple{Symbol}
-    TestSofttype1() = new(1,(:Euclid,))
-end
+# struct TestSofttype1 <: InferenceVariable
+#     dims::Int
+#     manifolds::Tuple{Symbol}
+#     TestSofttype1() = new(1,(:Euclid,))
+# end
+
+DFG.@defVariable TestSofttype1 1 (:Euclid,)
 
 struct TestSofttype2 <: InferenceVariable
     dims::Int
@@ -288,9 +290,10 @@ function DFGVariableSCA()
 
     #no accessors on dataDict, only CRUD
 
-    #deprecated
-    # @test @test_deprecated solverData(v1, :default) === v1.solverDataDict[:default]
-
+    #softtype functions
+    testvar = TestSofttype1()
+    @test getDimension(testvar) == 1
+    @test getManifolds(testvar) == (:Euclid,)
 
     # #TODO sort out
     # getPPEs