Merge pull request #81 from JuliaRobotics/feature/symbolfg

Feature/symbolfg

Author: Affie

src/DistributedFactorGraphs.jl

@@ -47,6 +47,10 @@ include("FileDFG/FileDFG.jl")
 # Include the LightGraphs.jl (MetaGraphs.jl) API.
 include("LightGraphsDFG/LightGraphsDFG.jl")
 
+include("SymbolDFG/SymbolDFG.jl")
+@reexport using .SymbolDFGs
+
+
 export saveDFG, loadDFG
 
 function __init__()
@@ -58,7 +62,7 @@ function __init__()
             Rows are all factors, columns are all variables, and each cell contains either nothing or the symbol of the relating factor.
             The first column is the factor headings.
             """
-            function getAdjacencyMatrixDataFrame(dfg::Union{GraphsDFG, LightGraphsDFG})::Main.DataFrames.DataFrame
+            function getAdjacencyMatrixDataFrame(dfg::Union{GraphsDFG, LightGraphsDFG, SymbolDFG})::Main.DataFrames.DataFrame
                 varLabels = sort(map(v->v.label, getVariables(dfg)))
                 factLabels = sort(map(f->f.label, getFactors(dfg)))
                 adjDf = DataFrames.DataFrame(:Factor => Union{Missing, Symbol}[])

src/LightGraphsDFG/services/LightGraphsDFG.jl

@@ -331,8 +331,8 @@ end
 
 function _isbackendset(dfg::LightGraphsDFG, idx::Int, backendset::Int)::Bool
 	p = props(dfg.g, idx)
-	haskey(p, :variable) && (return p[:variable].ready == backendset)
-	haskey(p, :factor) && (return p[:factor].ready == backendset)
+	haskey(p, :variable) && (return p[:variable].backendset == backendset)
+	haskey(p, :factor) && (return p[:factor].backendset == backendset)
 
 	#TODO should this be an error?
 	@warn "Node not a factor or variable"

src/SymbolDFG/SymbolDFG.jl

@@ -0,0 +1,64 @@
+module SymbolDFGs
+
+using LightGraphs
+using DocStringExtensions
+
+# import DFG functions to exstend
+import ...DistributedFactorGraphs:  setSolverParams,
+                                    getInnerGraph,
+                                    getFactor,
+                                    setDescription,
+                                    getLabelDict,
+                                    addVariable!,
+                                    getVariable,
+                                    getAddHistory,
+                                    addFactor!,
+                                    getSolverParams,
+                                    exists,
+                                    getDescription,
+                                    updateVariable!,
+                                    updateFactor!,
+                                    deleteVariable!,
+                                    deleteFactor!,
+                                    getVariables,
+                                    getVariableIds,
+                                    ls,
+                                    getFactors,
+                                    getFactorIds,
+                                    lsf,
+                                    isFullyConnected,
+                                    hasOrphans,
+                                    getNeighbors,
+                                    getSubgraphAroundNode,
+                                    getSubgraph,
+                                    getAdjacencyMatrix
+
+include("SymbolFactorGraphs/SymbolFactorGraphs.jl")
+using .SymbolFactorGraphs
+
+# export SymbolEdge, is_directed, has_edge
+# Imports
+include("entities/SymbolDFG.jl")
+include("services/SymbolDFG.jl")
+
+# Exports
+export SymbolDFG
+
+export exists
+export getLabelDict, getDescription, setDescription, getInnerGraph, getAddHistory, getSolverParams, setSolverParams
+#
+export getAddHistory, getDescription, getLabelDict
+export addVariable!, addFactor!
+export ls, lsf, getVariables, getFactors, getVariableIds, getFactorIds
+export getVariable, getFactor
+export updateVariable!, updateFactor!
+export deleteVariable!, deleteFactor!
+export getAdjacencyMatrix
+export getAdjacencyMatrixDataFrame
+export getNeighbors
+export getSubgraphAroundNode
+export getSubgraph
+export isFullyConnected, hasOrphans
+export toDot, toDotFile
+
+end