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Towards removing the UserRobotSession structure (BlobEntry and Data(Metadata)) (#1093)
* Move Factor constructor from SDK * depr BlobEntries _type and move InferenceType from SDK * rename/deprecate node blob entries * Start Agent and Fg Metadata * BE.originId optional + start Agent type * move assembleFactorName and getFncTypeName from SDK * Deprecate [Session/Robot/User] BlobEntry -> [Agent/Graph] BlobEntry * Deprecate [Session/Robot/User] Data -> [Agent/Graph] Metadata
1 parent 35d66bc commit 250abad

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-295
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‎NEWS.md

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@@ -1,5 +1,13 @@
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Listing news on any major breaking changes in DFG. For regular changes, see integrated Github.com project milestones for DFG.
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# v0.24
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- Deprecated nouns:
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SessionBlobEntry -> GraphBlobEntry
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RobotBlobEntry -> AgentBlobEntry
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UserBlobEntry -> AgentBlobEntry
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RobotData -> AgentMetadata
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SessionData -> GraphMetadata
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# v0.24
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- Remove `FolderStore` `.dat` legacy extension. To upgrade a legacy FolderStore remove extention with something like: `foreach(f->mv(f,split(f,".")[1]), files)`

‎docs/src/GraphData.md

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@@ -190,21 +190,19 @@ Graphs reside inside a hierarchy made up in the following way:
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This data can be retrieved with the follow functions:
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- [`getUserData`](@ref)
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- [`getRobotData`](@ref)
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- [`getSessionData`](@ref)
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- [`getAgentMetadata`](@ref)
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- [`getGraphMetadata`](@ref)
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It can be set using the following functions:
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- [`setUserData!`](@ref)
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- [`setRobotData!`](@ref)
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- [`setSessionData!`](@ref)
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- [`setAgentMetadata!`](@ref)
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- [`setGraphMetadata!`](@ref)
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Example of using graph-level data:
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```julia
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setUserData!(dfg, Dict(:a => "Hello"))
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getUserData(dfg)
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setAgentMetadata!(dfg, Dict(:a => "Hello"))
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getAgentMetadata(dfg)
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```

‎src/Common.jl

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@@ -70,21 +70,21 @@ end
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sortDFG(vars::Vector{Symbol}; lt = natural_lt, kwargs...) = sort(vars; lt = lt, kwargs...)
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##==============================================================================
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## Validation of session, robot, and user IDs.
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## Validation of session, robot, and user labels.
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##==============================================================================
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global _invalidIds = [
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"USER",
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"ROBOT",
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"SESSION",
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"AGENT",
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"VARIABLE",
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"FACTOR",
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"ENVIRONMENT",
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"PPE",
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"DATA_ENTRY",
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"BLOB_ENTRY",
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"FACTORGRAPH",
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]
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global _validLabelRegex = r"^[a-zA-Z][-\w\.\@]*$"
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const global _validLabelRegex::Regex = r"^[a-zA-Z][-\w\.\@]*$"
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"""
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$(SIGNATURES)
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if typeof(id) == Symbol
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id = String(id)
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end
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return all(t -> t != uppercase(id), _invalidIds) &&
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match(_validLabelRegex, id) !== nothing
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return !in(uppercase(id), _invalidIds) && !isnothing(match(_validLabelRegex, id))
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end
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"""

‎src/DataBlobs/entities/BlobEntry.jl

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@@ -19,7 +19,7 @@ Base.@kwdef struct BlobEntry
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""" Machine friendly and globally unique identifier of the 'Blob', usually assigned from a common point in the system. This can be used to guarantee unique retrieval of the large data blob. """
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blobId::Union{UUID, Nothing} = nothing
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""" Machine friendly and locally assigned identifier of the 'Blob'. `.originId`s are mandatory upon first creation at the origin regardless of network access. Separate from `.blobId` since some architectures do not allow edge processes to assign a uuid4 to data store elements. """
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originId::UUID = uuid4()
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originId::Union{UUID, Nothing} = nothing
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""" Human friendly label of the `Blob` and also used as unique identifier per node on which a `BlobEntry` is added. E.g. do "LEFTCAM_1", "LEFTCAM_2", ... of you need to repeat a label on the same variable. """
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label::Symbol
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""" A hint about where the `Blob` itself might be stored. Remember that a Blob may be duplicated over multiple blobstores. """
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""" MIME description describing the format of binary data in the `Blob`, e.g. 'image/png' or 'application/json; _type=CameraModel'. """
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mimeType::String = "application/octet-stream"
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""" Additional storage for functional metadata used in some scenarios, e.g. to support advanced features such as `parsejson(base64decode(entry.metadata))['time_sync']`. """
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metadata::String = ""
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metadata::String = "e30="
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""" When the Blob itself was first created. """
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timestamp::ZonedDateTime = now(localzone())
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""" When the BlobEntry was created. """
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createdTimestamp::Union{ZonedDateTime, Nothing} = nothing
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""" Use carefully, but necessary to support advanced usage such as time synchronization over Blob data. """
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lastUpdatedTimestamp::Union{ZonedDateTime, Nothing} = nothing
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""" Self type declaration for when duck-typing happens. """
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_type::String = "DistributedFactorGraph.BlobEntry"
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""" Type version of this BlobEntry. TBD.jl consider upgrading to `::VersionNumber`. """
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_version::String = string(_getDFGVersion())
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end

‎src/DataBlobs/services/BlobEntry.jl

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@@ -43,7 +43,7 @@ function assertHash(de::BlobEntry, db; hashfunction::Function = sha256)
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end
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function Base.show(io::IO, ::MIME"text/plain", entry::BlobEntry)
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println(io, "_type=BlobEntry {")
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println(io, "BlobEntry {")
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println(io, " id: ", entry.id)
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println(io, " blobId: ", entry.blobId)
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println(io, " originId: ", entry.originId)

‎src/DataBlobs/services/HelpersDataWrapEntryBlob.jl

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timestamp::ZonedDateTime = entry.timestamp,
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createdTimestamp = entry.createdTimestamp,
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lastUpdatedTimestamp = entry.lastUpdatedTimestamp,
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_type::String = entry._type,
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_version::String = entry._version,
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)
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return BlobEntry(;
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timestamp,
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createdTimestamp,
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lastUpdatedTimestamp,
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_type,
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_version,
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)
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end

‎src/Deprecated.jl

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## ================================================================================
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## Deprecated in v0.25
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##=================================================================================
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@deprecate getSessionBlobEntry(args...) getGraphBlobEntry(args...)
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@deprecate getSessionBlobEntries(args...) getGraphBlobEntries(args...)
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@deprecate addSessionBlobEntry!(args...) addGraphBlobEntry!(args...)
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@deprecate addSessionBlobEntries!(args...) addGraphBlobEntries!(args...)
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@deprecate updateSessionBlobEntry!(args...) updateGraphBlobEntry!(args...)
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@deprecate deleteSessionBlobEntry!(args...) deleteGraphBlobEntry!(args...)
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@deprecate getRobotBlobEntry(args...) getAgentBlobEntry(args...)
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@deprecate getRobotBlobEntries(args...) getAgentBlobEntries(args...)
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@deprecate addRobotBlobEntry!(args...) addAgentBlobEntry!(args...)
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@deprecate addRobotBlobEntries!(args...) addAgentBlobEntries!(args...)
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@deprecate updateRobotBlobEntry!(args...) updateAgentBlobEntry!(args...)
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@deprecate deleteRobotBlobEntry!(args...) deleteAgentBlobEntry!(args...)
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@deprecate getUserBlobEntry(args...) getAgentBlobEntry(args...)
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@deprecate getUserBlobEntries(args...) getAgentBlobEntries(args...)
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@deprecate addUserBlobEntry!(args...) addAgentBlobEntry!(args...)
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@deprecate addUserBlobEntries!(args...) addAgentBlobEntries!(args...)
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@deprecate updateUserBlobEntry!(args...) updateAgentBlobEntry!(args...)
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@deprecate deleteUserBlobEntry!(args...) deleteAgentBlobEntry!(args...)
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@deprecate listSessionBlobEntries(args...) listGraphBlobEntries(args...)
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@deprecate listRobotBlobEntries(args...) listAgentBlobEntries(args...)
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@deprecate listUserBlobEntries(args...) listAgentBlobEntries(args...)
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@deprecate getUserData(args...) getAgentMetadata(args...)
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@deprecate getRobotData(args...) getAgentMetadata(args...)
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@deprecate getSessionData(args...) getGraphMetadata(args...)
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@deprecate setUserData!(args...) setAgentMetadata!(args...)
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@deprecate setRobotData!(args...) setAgentMetadata!(args...)
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@deprecate setSessionData!(args...) setGraphMetadata!(args...)
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#TODO
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# @deprecate getUserLabel(dfg) getAgentLabel(dfg)
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# @deprecate getRobotLabel(dfg) getAgentLabel(dfg)
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# @deprecate getSessionLabel(dfg) getGraphLabel(dfg)
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## ================================================================================
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## Deprecated in v0.24
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##=================================================================================
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#NOTE free up getNeighbors to return the variables or factors
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@deprecate getNeighbors(args...; kwargs...) listNeighbors(args...; kwargs...)
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## ================================================================================
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## Deprecated in v0.22
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##=================================================================================
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@deprecate BlobEntry(
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id,
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blobId,
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originId::UUID,
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label::Symbol,
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blobstore::Symbol,
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hash::String,
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origin::String,
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description::String,
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mimeType::String,
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metadata::String,
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timestamp::ZonedDateTime,
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_type::String,
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_version::String,
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) BlobEntry(
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id,
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blobId,
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originId,
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label,
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blobstore,
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hash,
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origin,
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-1,
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description,
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mimeType,
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metadata,
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timestamp,
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nothing,
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nothing,
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_type,
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_version,
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)

‎src/DistributedFactorGraphs.jl

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setDescription!,
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getSolverParams,
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setSolverParams!,
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getUserData,
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setUserData!,
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getRobotData,
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setRobotData!,
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getSessionData,
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setSessionData!,
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getAgentMetadata,
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setAgentMetadata!,
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getGraphMetadata,
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setGraphMetadata!,
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getAddHistory
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export getSessionBlobEntry,
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getSessionBlobEntries,
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addSessionBlobEntry!,
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addSessionBlobEntries!,
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updateSessionBlobEntry!,
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deleteSessionBlobEntry!,
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getRobotBlobEntry,
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getRobotBlobEntries,
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addRobotBlobEntry!,
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addRobotBlobEntries!,
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updateRobotBlobEntry!,
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deleteRobotBlobEntry!,
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getUserBlobEntry,
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getUserBlobEntries,
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addUserBlobEntry!,
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addUserBlobEntries!,
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updateUserBlobEntry!,
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deleteUserBlobEntry!,
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listSessionBlobEntries,
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listRobotBlobEntries,
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listUserBlobEntries
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export getGraphBlobEntry,
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getGraphBlobEntries,
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addGraphBlobEntry!,
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addGraphBlobEntries!,
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updateGraphBlobEntry!,
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deleteGraphBlobEntry!,
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getAgentBlobEntry,
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getAgentBlobEntries,
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addAgentBlobEntry!,
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addAgentBlobEntries!,
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updateAgentBlobEntry!,
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deleteAgentBlobEntry!,
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listGraphBlobEntries,
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listAgentBlobEntries
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export getBlobStore,
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addBlobStore!, updateBlobStore!, deleteBlobStore!, emptyBlobStore!, listBlobStores
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# TODO Not sure these are needed or should work everywhere, implement in cloud?
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export updateUserData!,
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updateRobotData!,
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updateSessionData!,
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deleteUserData!,
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deleteRobotData!,
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deleteSessionData!
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export emptyUserData!, emptyRobotData!, emptySessionData!
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export updateAgentMetadata!,
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updateGraphMetadata!, deleteAgentMetadata!, deleteGraphMetadata!
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export emptyAgentMetadata!, emptyGraphMetadata!
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# Graph Types: exported from modules or @reexport
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export InMemoryDFGTypes, LocalDFG
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include("entities/AbstractDFGSummary.jl")
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include("entities/Agent.jl")
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include("services/AbstractDFG.jl")
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#Blobs

‎src/GraphsDFG/GraphsDFG.jl

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@@ -16,12 +16,10 @@ import ...DistributedFactorGraphs:
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setSolverParams!,
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getFactor,
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# getLabelDict,
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getUserData,
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setUserData!,
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getRobotData,
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setRobotData!,
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getSessionData,
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setSessionData!,
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getAgentMetadata,
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setAgentMetadata!,
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getGraphMetadata,
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setGraphMetadata!,
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addVariable!,
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getVariable,
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getAddHistory,
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toDot,
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toDotFile,
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findShortestPathDijkstra,
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getSessionBlobEntry,
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getSessionBlobEntries,
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addSessionBlobEntry!,
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addSessionBlobEntries!,
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listSessionBlobEntries,
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listRobotBlobEntries,
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listUserBlobEntries,
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getGraphBlobEntry,
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getGraphBlobEntries,
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addGraphBlobEntry!,
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addGraphBlobEntries!,
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listGraphBlobEntries,
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listAgentBlobEntries,
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getTypeDFGVariables,
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getTypeDFGFactors
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