A chunk closer

Author: Affie

src/CommonAccessors.jl

@@ -38,8 +38,20 @@ getTimestamp(v::DataLevel1) = v.timestamp
 $SIGNATURES
 
 Set the timestamp of a DFGFactor object.
+Dev note:
+Since it is not mutable it has to return a new variable with the updated timestamp.
+Use `updateVariable!` to update it in the factor graph.
+TODO either this or we should make the field/variable mutable
 """
-setTimestamp!(v::DataLevel1, ts::DateTime) = v.timestamp = ts
+function setTimestamp(v::DFGVariable, ts::DateTime)
+    return DFGVariable(v.label, ts, v.tags, v.ppeDict, v.solverDataDict, v.smallData, v.bigData, v._dfgNodeParams)
+end
+
+function setTimestamp(v::DFGVariableSummary, ts::DateTime)
+    return DFGVariableSummary(v.label, ts, v.tags, v.estimateDict, v.softtypename, v.bigData, v._internalId)
+end
+
+setTimestamp!(f::FactorDataLevel1, ts::DateTime) = f.timestamp = ts
 
 """
 $SIGNATURES

src/Deprecated.jl

@@ -3,23 +3,44 @@
 ## quick deprecation handle
 import Base: propertynames, getproperty
 
-Base.propertynames(x::VariableDataLevel1, private::Bool=false) = private ? (:estimateDict, :ppeDict) : (:ppeDict,)
+# this hides all the propertynames and makes it hard to work with.
+# Base.propertynames(x::VariableDataLevel1, private::Bool=false) = private ? (:estimateDict, :ppeDict) : (:ppeDict,)
 
-Base.getproperty(x::VariableDataLevel1,f::Symbol) = begin
+Base.getproperty(x::DFGVariable,f::Symbol) = begin
     if f == :estimateDict
-      @warn "estimateDict is deprecated, use ppeDict instead"
-      getfield(x, :ppeDict)
+        @warn "estimateDict is deprecated, use ppeDict instead"
+        getfield(x, :ppeDict)
     elseif f == :solvable
-      getfield(x,:_dfgNodeParams).solvable
+        getfield(x,:_dfgNodeParams).solvable
     elseif f == :_internalId
-      getfield(x,:_dfgNodeParams)._internalId
+        getfield(x,:_dfgNodeParams)._internalId
     else
-      getfield(x,f)
+        getfield(x,f)
+    end
+  end
+
+Base.getproperty(x::DFGVariableSummary,f::Symbol) = begin
+    if f == :estimateDict
+        @warn "estimateDict is deprecated, use ppeDict instead"
+        getfield(x, :ppeDict)
+    else
+        getfield(x,f)
     end
   end
 
 
 
+Base.getproperty(x::DFGFactor,f::Symbol) = begin
+  if f == :solvable
+      getfield(x,:_dfgNodeParams).solvable
+  elseif f == :_internalId
+      getfield(x,:_dfgNodeParams)._internalId
+  else
+      getfield(x,f)
+  end
+end
+
+
 """
 $SIGNATURES
 

src/DistributedFactorGraphs.jl

@@ -34,7 +34,7 @@ export DFGNode, DFGVariable, DFGFactor, AbstractDFGVariable, AbstractDFGFactor
 export DFGNodeParams
 export SkeletonDFGVariable, SkeletonDFGFactor
 export timestamp # DEPRECATED
-export label, getTimestamp, setTimestamp!, tags, setTags!, data, softtype, solverData, getData, solverDataDict, setSolverData, setSolverData!, internalId, smallData, setSmallData!, bigData
+export label, getTimestamp, setTimestamp!, setTimestamp, tags, setTags!, data, softtype, solverData, getData, solverDataDict, setSolverData, setSolverData!, internalId, smallData, setSmallData!, bigData
 export getSolvedCount, isSolved, setSolvedCount!
 export DFGVariableSummary, DFGFactorSummary, AbstractDFGSummary
 export getNeighborhood, getSubgraph, getSubgraphAroundNode

src/entities/DFGVariable.jl

@@ -20,8 +20,8 @@ struct DFGVariable{T<:InferenceVariable} <: AbstractDFGVariable
     """Variable tags, e.g [:POSE, :VARIABLE, and :LANDMARK].
     Accessors: `getTags`, `addTags!`, and `deleteTags!`"""
     tags::Set{Symbol}
-    """Dictionary of estimates keyed by solverDataDict keys
-    Accessors: `addEstimate!`, `updateEstimate!`, and `deleteEstimate!`"""
+    """Dictionary of parametric point estimates keyed by solverDataDict keys
+    Accessors: `addPPE!`, `updatePPE!`, and `deletePPE!`"""
     ppeDict::Dict{Symbol, <: AbstractPointParametricEst}
     """Dictionary of solver data. May be a subset of all solutions if a solver key was specified in the get call.
     Accessors: `addVariableSolverData!`, `updateVariableSolverData!`, and `deleteVariableSolverData!`"""

src/entities/DFGVariableSummary.jl

@@ -16,9 +16,9 @@ struct DFGVariableSummary <: AbstractDFGVariable
     """Variable tags, e.g [:POSE, :VARIABLE, and :LANDMARK].
     Accessors: `getTags`, `addTags!`, and `deleteTags!`"""
     tags::Set{Symbol}
-    """Dictionary of estimates keyed by solverDataDict keys
-    Accessors: `addEstimate!`, `updateEstimate!`, and `deleteEstimate!`"""
-    estimateDict::Dict{Symbol, <:AbstractPointParametricEst}
+    """Dictionary of parametric point estimates keyed by solverDataDict keys
+    Accessors: `addPPE!`, `updatePPE!`, and `deletePPE!`"""
+    ppeDict::Dict{Symbol, <:AbstractPointParametricEst}
     """Symbol for the softtype for the underlying variable.
     Accessor: `getSofttype`"""
     softtypename::Symbol

src/services/DFGFactor.jl

@@ -1,7 +1,7 @@
 import Base: convert, ==
 
 function convert(::Type{DFGFactorSummary}, f::DFGFactor)
-    return DFGFactorSummary(f.label, f.timetamp, deepcopy(f.tags), f._internalId, deepcopy(f._variableOrderSymbols))
+    return DFGFactorSummary(f.label, f.timestamp, deepcopy(f.tags), f._dfgNodeParams._internalId, deepcopy(f._variableOrderSymbols))
 end
 
 function packFactor(dfg::G, f::DFGFactor)::Dict{String, Any} where G <: AbstractDFG

src/services/DFGVariable.jl

@@ -156,7 +156,7 @@ end
 Convert a DFGVariable to a DFGVariableSummary.
 """
 function convert(::Type{DFGVariableSummary}, v::DFGVariable)
-    return DFGVariableSummary(v.label, v.timestamp, deepcopy(v.tags), deepcopy(v.ppeDict), Symbol(typeof(getSofttype(v))), v._internalId)
+    return DFGVariableSummary(v.label, v.timestamp, deepcopy(v.tags), deepcopy(v.ppeDict), Symbol(typeof(getSofttype(v))), v.bigData, v._internalId)
 end
 
 """
@@ -328,6 +328,11 @@ function getSolverData(v::DFGVariable, key::Symbol=:default)
     return haskey(v.solverDataDict, key) ? v.solverDataDict[key] : nothing
 end
 
+function solverData(v::DFGVariable, key::Symbol=:default)
+  @warn "Deprecated for 0.6 standardization. Please use getSolverData()"
+  return getSolverData(v, key)
+end
+
 """
     $SIGNATURES
 

test/interfaceTests.jl

@@ -1,5 +1,4 @@
-#
-global testDFGAPI = LightDFG
+# global testDFGAPI = LightDFG
 
 dfg = testDFGAPI{NoSolverParams}()
 
@@ -19,14 +18,14 @@ union!(f1.tags, [:FACTOR])
 st1 = TestInferenceVariable1()
 st2 = TestInferenceVariable2()
 
-solverData(v1).softtype = deepcopy(st1)
-solverData(v2).softtype = deepcopy(st2)
+getSolverData(v1).softtype = deepcopy(st1)
+getSolverData(v2).softtype = deepcopy(st2)
 
 # set v1 to solvable=0
 setSolvable!(v1, 0)
 # set v1 and f1 solveInProgress
-solverData(v1).solveInProgress = 1
-solverData(f1).solveInProgress = 1
+getSolverData(v1).solveInProgress = 1
+getSolverData(f1).solveInProgress = 1
 
 
 # NOTE: Just for testing
@@ -122,7 +121,9 @@ end
     f2 = deepcopy(f1)
     f2.label = :something
     @test f2 != f1
-    @test getVariable(dfg, :nope) == nothing
+    #TODO we should really finish defining error behaviour
+    @test_throws Exception getVariable(dfg, :nope)
+    # @test getVariable(dfg, :nope) == nothing
     @test_throws Exception getVariable(dfg, "nope")
     @test_throws Exception getFactor(dfg, :nope)
     @test_throws Exception getFactor(dfg, "nope")
@@ -147,8 +148,12 @@ end
 
     @test getTimestamp(v1) == v1.timestamp
     testTimestamp = now()
-    #TODO set timestamp immutable
-    @test setTimestamp!(v1, testTimestamp) == testTimestamp
+    #TODO set timestamp immutable, confirm behaviour
+    v1ts = setTimestamp(v1, testTimestamp)
+    updateVariable!(dfg, v1ts)
+    @test getVariable(dfg, v1ts.label) == v1ts
+    @test v1ts != v1
+    v1 = getVariable(dfg, v1ts.label)
     @test getTimestamp(v1) == testTimestamp
 
     @test getTimestamp(f1) == f1.timestamp
@@ -167,13 +172,14 @@ end
     #TODO: Finish
     # Add new VND of type ContinuousScalar to :x0
     # Could also do VariableNodeData(ContinuousScalar())
-    vnd = VariableNodeData{ContinuousScalar}()
+    vnd = VariableNodeData{TestInferenceVariable1}()
     addVariableSolverData!(dfg, :a, vnd, :parametric)
-    @show listVariableSolverData(dfg, :a)
+    @test setdiff(listVariableSolverData(dfg, :a), [:default, :parametric]) == []
     # Get the data back - note that this is a reference to above.
     vndBack = getVariableSolverData(dfg, :a, :parametric)
+    @test vndBack == vnd
     # Delete it
-    deleteVariableSolverData!(dfg, :a, :parametric)
+    @test deleteVariableSolverData!(dfg, :a, :parametric) == vndBack
     # Update add it
     updateVariableSolverData!(dfg, :a, vnd, :parametric)
     # Update update it
@@ -186,20 +192,21 @@ end
     #TODO: Finish
     # Add a new PPE of type MeanMaxPPE to :x0
     ppe = MeanMaxPPE(:default, [0.0], [0.0], [0.0])
-    addPPE!(dfg, :x0, ppe)
-    @show listPPE(dfg, :x0)
+    addPPE!(dfg, :a, ppe)
+    @test listPPE(dfg, :a) == [:default]
     # Get the data back - note that this is a reference to above.
-    v = getPPE(dfg, :x0, :default)
+    @test getPPE(dfg, :a, :default) == ppe
+
     # Delete it
-    deletePPE!(dfg, :x0, :default)
+    @test deletePPE!(dfg, :a, :default) == ppe
     # Update add it
-    updatePPE!(dfg, :x0, ppe, :default)
+    updatePPE!(dfg, :a, ppe, :default)
     # Update update it
-    updatePPE!(dfg, :x0, ppe, :default)
+    updatePPE!(dfg, :a, ppe, :default)
     # Bulk copy PPE's for x0 and x1
-    updatePPE!(dfg, [x0], :default)
+    updatePPE!(dfg, [v1], :default)
     # Delete it
-    deletePPE!(dfg, :x0, :default)
+    @test deletePPE!(dfg, :a, :default) == ppe
 
     #TODO I don't know what is supposed to happen to softtype
     @test getSofttype(v1) == st1
@@ -208,8 +215,8 @@ end
 
     @test getLabel(f1) == f1.label
     @test getTags(f1) == f1.tags
-    @test setTags!(v1, testTags) == testTags
-    @test getTags(v1) == testTags
+    @test setTags!(v1, testTags) == Set(testTags)
+    @test getTags(v1) == Set(testTags)
 
     @test solverData(f1) == f1.solverData
     # Deprecated functions
@@ -226,9 +233,10 @@ end
     @test !isInitialized(v2)
     @test !isInitialized(v2, key=:second)
     # isSolvable and isSolveInProgress
-    @test isSolvable(v1) == 0
-    @test isSolvable(v2) == 1
-    @test isSolvable(f1) == 0
+    #TODO implement or deprecate isSolvable
+    @test getSolvable(v1) == 0
+    @test getSolvable(v2) == 1
+    @test getSolvable(f1) == 0
     @test getSolvable(v1) == 0
 
     #TODO isSolveInProgress was not deprecated
@@ -238,9 +246,9 @@ end
     v1 = getVariable(dfg, v1.label)
     f1 = getFactor(dfg, f1.label)
     @test setSolvable!(v1, 1) == 1
-    @test isSolvable(v1) == 1
+    @test getSolvable(v1) == 1
     @test setSolvable!(dfg, v1.label, 0) == 0
-    @test isSolvable(v1) == 0
+    @test getSolvable(v1) == 0
     @test setSolvable!(f1, 1) == 1
     @test getSolvable(dfg, f1.label) == 1
     @test setSolvable!(dfg, f1.label, 0) == 0
@@ -268,9 +276,9 @@ end
     smallUserData = Dict{Symbol, String}(:a => "42", :b => "Hello")
     smallRobotData = Dict{Symbol, String}(:a => "43", :b => "Hello")
     smallSessionData = Dict{Symbol, String}(:a => "44", :b => "Hello")
-    setUserData(dfg, deepcopy(smallUserData))
-    setRobotData(dfg, deepcopy(smallRobotData))
-    setSessionData(dfg, deepcopy(smallSessionData))
+    setUserData!(dfg, deepcopy(smallUserData))
+    setRobotData!(dfg, deepcopy(smallRobotData))
+    setSessionData!(dfg, deepcopy(smallSessionData))
     @test getUserData(dfg) == smallUserData
     @test getRobotData(dfg) == smallRobotData
     @test getSessionData(dfg) == smallSessionData
@@ -507,7 +515,7 @@ end
     for v in ls(summaryGraph)
         for field in variableFields
             if field != :softtypename
-                @test getfield(getVariable(dfg, v), field) == getfield(getVariable(summaryGraph, v), field)
+                @test getproperty(getVariable(dfg, v), field) == getproperty(getVariable(summaryGraph, v), field)
             else
                 # Special case to check the symbol softtype is equal to the full softtype.
                 @test Symbol(typeof(getSofttype(getVariable(dfg, v)))) == getSofttype(getVariable(summaryGraph, v))
@@ -516,7 +524,7 @@ end
     end
     for f in lsf(summaryGraph)
         for field in factorFields
-            @test getfield(getFactor(dfg, f), field) == getfield(getFactor(summaryGraph, f), field)
+            @test getproperty(getFactor(dfg, f), field) == getproperty(getFactor(summaryGraph, f), field)
         end
     end
 end