Renaming id(...) to internalId(...) so it's not used. Cleaning up estimateDict.

Author: GearsAD

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -255,7 +255,7 @@ function getVariable(dfg::CloudGraphsDFG, variableId::Int64)::DFGVariable
     # props["label"] = Symbol(variable.label)
     timestamp = DateTime(props["timestamp"])
     tags =  JSON2.read(props["tags"], Vector{Symbol})
-    estimateDict = JSON2.read(props["estimateDict"], Dict{Symbol, VariableEstimate})
+    estimateDict = JSON2.read(props["estimateDict"], Dict{Symbol, Dict{Symbol, VariableEstimate}})
     smallData = nothing
     smallData = JSON2.read(props["smallData"], Dict{String, String})
 

src/DistributedFactorGraphs.jl

@@ -25,7 +25,7 @@ export InferenceType, PackedInferenceType, FunctorInferenceType, InferenceVariab
 export FunctorSingleton, FunctorPairwise, FunctorPairwiseMinimize
 
 export DFGVariable
-export label, timestamp, tags, estimates, estimate, solverData, getData, solverDataDict, id, smallData, bigData
+export label, timestamp, tags, estimates, estimate, solverData, getData, solverDataDict, internalId, smallData, bigData
 export setSolverData
 export label, data, id
 

src/FileDFG/services/FileDFG.jl

@@ -16,7 +16,7 @@ function _unpackVariable(dfg::G, packedProps::Dict{String, Any})::DFGVariable wh
     label = Symbol(packedProps["label"])
     timestamp = DateTime(packedProps["timestamp"])
     tags =  JSON2.read(packedProps["tags"], Vector{Symbol})
-    estimateDict = JSON2.read(packedProps["estimateDict"], Dict{Symbol, VariableEstimate})
+    estimateDict = JSON2.read(packedProps["estimateDict"], Dict{Symbol, Dict{Symbol, VariableEstimate}})
     smallData = nothing
     smallData = JSON2.read(packedProps["smallData"], Dict{String, String})
 
@@ -137,10 +137,7 @@ function saveDFG(dfg::G, folder::String) where G <: AbstractDFG
     end
 end
 
-function loadDFG(folder::String,
-                 iifModule,
-                 dfgLoadInto::G=GraphsDFG{NoSolverParams}()) where G <: AbstractDFG
-    #
+function loadDFG(folder::String, iifModule, dfgLoadInto::G=GraphsDFG{NoSolverParams}()) where G <: AbstractDFG
     variables = DFGVariable[]
     factors = DFGFactor[]
     varFolder = "$folder/variables"

src/entities/DFGFactor.jl

@@ -49,7 +49,7 @@ end
 
 label(f::F) where F <: DFGFactor = f.label
 data(f::F) where F <: DFGFactor = f.data
-id(f::F) where F <: DFGFactor = f._internalId
+internalId(f::F) where F <: DFGFactor = f._internalId
 
 # Simply for convenience - don't export
 const PackedFunctionNodeData{T} = GenericFunctionNodeData{T, <: AbstractString}

src/entities/DFGVariable.jl

@@ -72,10 +72,11 @@ mutable struct PackedVariableNodeData
 end
 
 struct VariableEstimate
-  estimate::Vector{Float64}
+  solverKey::Symbol
   type::Symbol
-  key::Symbol
+  estimate::Vector{Float64}
   lastUpdatedTimestamp::DateTime
+  VariableEstimate(solverKey::Symbol, type::Symbol, estimate::Vector{Float64}, lastUpdatedTimestamp::DateTime=now()) = new(solverKey, type, estimate, lastUpdatedTimestamp)
 end
 
 """
@@ -86,14 +87,14 @@ mutable struct DFGVariable <: DFGNode
     label::Symbol
     timestamp::DateTime
     tags::Vector{Symbol}
-    estimateDict::Dict{Symbol, VariableEstimate}
+    estimateDict::Dict{Symbol, Dict{Symbol, VariableEstimate}}
     solverDataDict::Dict{Symbol, VariableNodeData}
     smallData::Dict{String, String}
     bigData::Any
     ready::Int
     backendset::Int
     _internalId::Int64
-    DFGVariable(label::Symbol, _internalId::Int64) = new(label, now(), Symbol[], Dict{Symbol, VariableEstimate}(), Dict{Symbol, VariableNodeData}(:default => VariableNodeData()), Dict{String, String}(), nothing, 0, 0, _internalId)
+    DFGVariable(label::Symbol, _internalId::Int64) = new(label, now(), Symbol[], Dict{Symbol, Dict{Symbol, VariableEstimate}}(), Dict{Symbol, VariableNodeData}(:default => VariableNodeData()), Dict{String, String}(), nothing, 0, 0, _internalId)
     DFGVariable(label::Symbol) = new(label, now(), Symbol[], Dict{Symbol, VariableEstimate}(), Dict{Symbol, VariableNodeData}(:default => VariableNodeData()), Dict{String, String}(), nothing, 0, 0, 0)
 end
 
@@ -103,12 +104,11 @@ timestamp(v::DFGVariable) = v.timestamp
 tags(v::DFGVariable) = v.tags
 estimates(v::DFGVariable) = v.estimateDict
 estimate(v::DFGVariable, key::Symbol=:default) = haskey(v.estimateDict, key) ? v.estimateDict[key] : nothing
-#solverData(v::DFGVariable) = haskey(v.solverDataDict, :default) ? v.solverDataDict[:default] : nothing
 solverData(v::DFGVariable, key::Symbol=:default) = haskey(v.solverDataDict, key) ? v.solverDataDict[key] : nothing
 getData(v::DFGVariable; solveKey::Symbol=:default)::VariableNodeData = v.solverDataDict[solveKey]
 setSolverData(v::DFGVariable, data::VariableNodeData, key::Symbol=:default) = v.solverDataDict[key] = data
 solverDataDict(v::DFGVariable) = v.solverDataDict
-id(v::DFGVariable) = v._internalId
+internalId(v::DFGVariable) = v._internalId
 # Todo: Complete this.
 smallData(v::DFGVariable) = v.smallData
 bigData(v::DFGVariable) = v.bigData

test/FileDFG.jl

@@ -1,6 +1,7 @@
 using Test
 using DistributedFactorGraphs
 using IncrementalInference, RoME
+using Dates
 
 # Make a simple graph
 dfg = GraphsDFG{SolverParams}(params=SolverParams())
@@ -17,7 +18,7 @@ for i in 0:5
     addFactor!(dfg, [psym;nsym], pp )
 end
 
-# Save it
+# Save with no solution
 saveFolder = "/tmp/fileDFG"
 saveDFG(dfg, saveFolder)
 @test readdir("$saveFolder/variables") == ["x0.json", "x1.json", "x2.json", "x3.json", "x4.json", "x5.json", "x6.json"]
@@ -27,4 +28,27 @@ retDFG = loadDFG(saveFolder, IncrementalInference)
 @test symdiff(ls(dfg), ls(dfg)) == []
 @test symdiff(lsf(dfg), lsf(retDFG)) == []
 
+# Now solve the graph and update the solver results
+# TODO: When PPE estimates are available, make the update happen here
+for variable in getVariables(dfg)
+    variable.estimateDict[:default] = Dict{Symbol, VariableEstimate}(:MAP => VariableEstimate(:default, :MAP, round.(rand(3)*1000), now()))
+end
+saveDFG(dfg, saveFolder)
+retDFG = loadDFG(saveFolder, IncrementalInference)
+for retVar in getVariables(retDFG)
+    origVar = getVariable(dfg, retVar.label).estimateDict[:default][:MAP]
+    @test retVar.estimateDict[:default][:MAP].estimate == origVar.estimate
+    @test retVar.estimateDict[:default][:MAP].type == origVar.type
+    @test retVar.estimateDict[:default][:MAP].solverKey == origVar.solverKey
+end
+
+# Now saving solverDataDict
+tree, smtasks = batchSolve!(dfg, treeinit=true, drawpdf=false, show=false,
+                            returntasks=true, limititers=50,
+                            upsolve=true, downsolve=true  )
+saveDFG(dfg, saveFolder)
+retDFG = loadDFG(saveFolder, IncrementalInference)
+x0 = getVariable(dfg, :x0)
+x0ret = getVariable(retDFG, :x0)
+solverData(x0) == solverData(x0ret)
 # Success!

test/interfaceTests.jl

@@ -87,11 +87,11 @@ end
     @test solverData(v1) === v1.solverDataDict[:default]
     @test solverData(v1, :default) === v1.solverDataDict[:default]
     @test solverDataDict(v1) == v1.solverDataDict
-    @test id(v1) == v1._internalId
+    @test internalId(v1) == v1._internalId
 
     @test label(f1) == f1.label
     @test data(f1) == f1.data
-    @test id(f1) == f1._internalId
+    @test internalId(f1) == f1._internalId
 end
 
 # Connectivity test