GraphsDFG summary function

Author: GearsAD

src/DistributedFactorGraphs.jl

@@ -40,9 +40,13 @@ export getAdjacencyMatrixSparse
 # File import and export
 export saveDFG, loadDFG
 
+# Summary functions
+export getSummary, getSummaryGraph
+
 # Common includes
 include("services/AbstractDFG.jl")
 include("services/DFGVariable.jl")
+include("services/DFGFactor.jl")
 
 # Include the Graphs.jl API.
 include("GraphsDFG/GraphsDFG.jl")

src/GraphsDFG/services/GraphsDFG.jl

@@ -431,3 +431,18 @@ function toDotFile(dfg::GraphsDFG, fileName::String="/tmp/dfg.dot")::Nothing
     end
     return nothing
 end
+
+function getSummary(dfg::GraphsDFG)::AbstractDFGSummary
+	vars = map(v -> convert(DFGVariableSummary, v), getVariables(dfg))
+	facts = map(f -> convert(DFGFactorSummary, f), getFactors(dfg))
+	return AbstractDFGSummary(
+		Dict(map(v->v.label, vars) .=> vars),
+		Dict(map(f->f.label, facts) .=> facts),
+		"userId",
+		"robotId",
+		"sessionId")
+end
+
+function getSummaryGraph(dfg::GraphsDFG)
+	error("getSummaryGraph not implemented for $(typeof(dfg))")
+end

src/services/DFGFactor.jl

@@ -1,4 +1,5 @@
+import Base: convert
 
-function convert(::DFGFactorSummary, v::DFGFactor)
-    return DFGFactorSummary(v.label, deepcopy(v.tags), v._internalId, deepcopy(_variableOrderSymbols))
+function convert(::Type{DFGFactorSummary}, f::DFGFactor)
+    return DFGFactorSummary(f.label, deepcopy(f.tags), f._internalId, deepcopy(f._variableOrderSymbols))
 end

src/services/DFGVariable.jl

@@ -1,5 +1,4 @@
-using Base
-import Base.==
+import Base: ==, convert
 
 function pack(dfg::G, d::VariableNodeData)::PackedVariableNodeData where G <: AbstractDFG
   @debug "Dispatching conversion variable -> packed variable for type $(string(d.softtype))"
@@ -66,6 +65,6 @@ function ==(a::VariableNodeData,b::VariableNodeData, nt::Symbol=:var)
   return DistributedFactorGraphs.compare(a,b)
 end
 
-function convert(::DFGVariableSummary, v::DFGVariable)
+function convert(::Type{DFGVariableSummary}, v::DFGVariable)
     return DFGVariableSummary(v.label, v.timestamp, deepcopy(v.tags), deepcopy(v.estimateDict), v._internalId)
 end

test/interfaceTests.jl

@@ -261,6 +261,13 @@ end
     end
 end
 
+@testset "Summary Graphs" begin
+    summary = getSummary(dfg)
+    @test summary != nothing
+    # summaryGraph = getSummaryGraph(dfg)
+    # @test summaryGraph != nothing
+end
+
 @testset "Producing Dot Files" begin
     if testDFGAPI != GraphsDFG
         @warn "Skipping non Graphs.jl toDot functions"

test/sandbox.jl

@@ -0,0 +1,30 @@
+using Revise
+using DistributedFactorGraphs
+
+dfg = GraphsDFG{NoSolverParams}()
+v1 = DFGVariable(:a)
+v2 = DFGVariable(:b)
+v3 = DFGVariable(:c)
+f1 = DFGFactor{Int, :Symbol}(:f1)
+f2 = DFGFactor{Int, :Symbol}(:f2)
+addVariable!(dfg, v1)
+addVariable!(dfg, v2)
+addVariable!(dfg, v3)
+addFactor!(dfg, [v1, v2], f1)
+addFactor!(dfg, [:b, :c], f2)
+
+getSummary(dfg)
+# getSummaryGraph(dfg)
+
+import Base: convert
+function convert(::Type{DFGVariableSummary}, v::DFGVariable)
+    return DFGVariableSummary(v.label, v.timestamp, deepcopy(v.tags), deepcopy(v.estimateDict), v._internalId)
+end
+
+function convert(::Type{DFGFactorSummary}, f::DFGFactor)
+    return DFGFactorSummary(f.label, deepcopy(f.tags), f._internalId, deepcopy(f._variableOrderSymbols))
+end
+
+
+v = convert(DFGVariableSummary, v1)
+convert(DFGFactorSummary, f1)