Cherrypick: _getDuplicatedEmptyDFG

Author: Affie

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -54,7 +54,7 @@ function _getDuplicatedEmptyDFG(dfg::CloudGraphsDFG)::CloudGraphsDFG
         length(_getLabelsFromCyphonQuery(dfg.neo4jInstance, "(node:$(dfg.userId):$(dfg.robotId):$(sessionId))")) == 0 && break
     end
     @debug "Unique+empty copy session name: $sessionId"
-    return CloudGraphsDFG{typeof(dfg.solverParams)}(dfg.neo4jInstance.connection, dfg.userId, dfg.robotId, sessionId, dfg.encodePackedTypeFunc, dfg.getPackedTypeFunc, dfg.decodePackedTypeFunc, solverParams=deepcopy(dfg.solverParams), description="(Copy of) $(dfg.description)", useCache=dfg.useCache)
+    return CloudGraphsDFG{typeof(dfg.solverParams)}(dfg.neo4jInstance.connection, dfg.userId, dfg.robotId, sessionId, dfg.encodePackedTypeFunc, dfg.getPackedTypeFunc, dfg.decodePackedTypeFunc, dfg.rebuildFactorMetadata!, solverParams=deepcopy(dfg.solverParams), description="(Copy of) $(dfg.description)", useCache=dfg.useCache)
 end
 
 # Accessors

src/LightDFG/LightDFG.jl

@@ -34,7 +34,8 @@ import ...DistributedFactorGraphs:  setSolverParams,
                                     getSubgraphAroundNode,
                                     getSubgraph,
                                     getAdjacencyMatrix,
-                                    getAdjacencyMatrixSparse
+                                    getAdjacencyMatrixSparse,
+                                    _getDuplicatedEmptyDFG
 
 include("FactorGraphs/FactorGraphs.jl")
 using .FactorGraphs

src/LightDFG/services/LightDFG.jl

@@ -426,3 +426,15 @@ function getAdjacencyMatrixSparse(dfg::LightDFG)::Tuple{LightGraphs.SparseMatrix
 	adjvf = adj[factIndex, varIndex]
 	return adjvf, varLabels, factLabels
 end
+
+"""
+    $(SIGNATURES)
+Gets an empty and unique CloudGraphsDFG derived from an existing DFG.
+"""
+function _getDuplicatedEmptyDFG(dfg::LightDFG{P,V,F})::LightDFG where {P <: AbstractParams, V <: AbstractDFGVariable, F <: AbstractDFGFactor}
+    newDfg = LightDFG{P,V,F}(;
+		userId=dfg.userId, robotId=dfg.robotId, sessionId=dfg.sessionId,
+		params=deepcopy(dfg.solverParams))
+	newDfg.description ="(Copy of) $(dfg.description)"
+	return newDfg
+end

src/MetaGraphsDFG/services/MetaGraphsDFG.jl

@@ -564,3 +564,15 @@ function _toDotFile(dfg::MetaGraphsDFG, fileName::String="/tmp/dfg.dot")::Nothin
     end
     return nothing
 end
+
+"""
+    $(SIGNATURES)
+Gets an empty and unique CloudGraphsDFG derived from an existing DFG.
+"""
+function _getDuplicatedEmptyDFG(dfg::MetaGraphsDFG{P})::MetaGraphsDFG where {P <: AbstractParams}
+    newDfg = MetaGraphsDFG{P}(;
+		userId=dfg.userId, robotId=dfg.robotId, sessionId=dfg.sessionId,
+		params=deepcopy(dfg.solverParams))
+	newDfg.description ="(Copy of) $(dfg.description)"
+	return newDfg
+end

src/SymbolDFG/SymbolDFG.jl

@@ -34,7 +34,8 @@ import ...DistributedFactorGraphs:  setSolverParams,
                                     getSubgraphAroundNode,
                                     getSubgraph,
                                     getAdjacencyMatrix,
-                                    getAdjacencyMatrixSparse
+                                    getAdjacencyMatrixSparse,
+                                    _getDuplicatedEmptyDFG
 
 include("SymbolFactorGraphs/SymbolFactorGraphs.jl")
 using .SymbolFactorGraphs

src/SymbolDFG/services/SymbolDFG.jl

@@ -518,3 +518,15 @@ function toDotFile(dfg::SymbolDFG, fileName::String="/tmp/dfg.dot")::Nothing
     return nothing
 end
 =#
+
+"""
+    $(SIGNATURES)
+Gets an empty and unique CloudGraphsDFG derived from an existing DFG.
+"""
+function _getDuplicatedEmptyDFG(dfg::SymbolDFG{T,V,F})::SymbolDFG where {T <: AbstractParams, V <: DFGNode, F <:DFGNode}
+    newDfg = SymbolDFG{T, V, F}(;
+		userId=dfg.userId, robotId=dfg.robotId, sessionId=dfg.sessionId,
+		params=deepcopy(dfg.solverParams))
+	newDfg.description ="(Copy of) $(dfg.description)"
+	return newDfg
+end