Fixing isFullyConnected

Author: GearsAD

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -632,15 +632,19 @@ function isFullyConnected(dfg::CloudGraphsDFG)::Bool
     # Total nodes
     varIds = getVariableIds(dfg)
     factIds = getFactorIds(dfg)
-    totalNodes = length(varIds) + length(factIds)
-    if length(varIds) == 0
-        return false
-    end
+    length(varIds) + length(factIds) == 0 && return false
 
     # Total connected nodes - thank you Neo4j for 0..* awesomeness!!
-    connectedList = _getLabelsFromCyphonQuery(dfg.neo4jInstance, "(n:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId):$(varIds[1]))-[FACTORGRAPH*]-(node:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId))")
-
-    return length(connectedList) == totalNodes
+    query = """
+        match (n:testUser:testRobot:sandbox:a)-[FACTORGRAPH*]-(node:testUser:testRobot:sandbox)
+        WHERE n:VARIABLE OR n:FACTOR OR node:VARIABLE OR node:FACTOR
+        WITH collect(n)+collect(node) as nodelist
+        unwind nodelist as nodes
+        return count(distinct nodes)"""
+    @debug "[Querying] $query"
+    result = _queryNeo4j(dfg.neo4jInstance, query)
+    # Neo4j.jl data structure sometimes feels brittle... like below
+    return result.results[1]["data"][1]["row"][1] == length(varIds) + length(factIds)
 end
 
 #Alias

src/CloudGraphsDFG/services/CommonFunctions.jl

@@ -1,5 +1,21 @@
 alphaOnlyMatchRegex = r"^[a-zA-Z0-9_]*$"
 
+"""
+$(SIGNATURES)
+Returns the transaction for a given query.
+NOTE: Must commit(transaction) after you're done.
+"""
+function _queryNeo4j(neo4jInstance::Neo4jInstance, query::String)
+    loadtx = transaction(neo4jInstance.connection)
+    result = loadtx(query; submit=true)
+    if length(result.errors) > 0
+        error(string(result.errors))
+    end
+    # Have to finish the transaction
+    commit(loadtx)
+    return result
+end
+
 """
 $(SIGNATURES)
 Returns the list of CloudGraph nodes that matches the Cyphon query.
@@ -11,16 +27,9 @@ If orderProperty is not ==, then 'order by n.{orderProperty} will be appended to
 So can make orderProperty = label or id.
 """
 function _getLabelsFromCyphonQuery(neo4jInstance::Neo4jInstance, matchCondition::String, orderProperty::String="")::Vector{Symbol}
-    # 2. Perform the transaction
-    loadtx = transaction(neo4jInstance.connection)
     query = "match $matchCondition return distinct(node.label) $(orderProperty != "" ? "order by node.$orderProperty" : "")";
-    nodes = loadtx(query; submit=true)
-    if length(nodes.errors) > 0
-        error(string(nodes.errors))
-    end
-    nodeIds = map(node -> node["row"][1], nodes.results[1]["data"])
-    # Have to finish the transaction
-    commit(loadtx)
+    result = _queryNeo4j(neo4jInstance, query)
+    nodeIds = map(node -> node["row"][1], result.results[1]["data"])
     return Symbol.(nodeIds)
 end
 

test/sandbox.jl

@@ -3,9 +3,13 @@ using Neo4j
 using DistributedFactorGraphs
 using IncrementalInference
 using Test
+using Logging
+# Debug logging
+logger = SimpleLogger(stdout, Logging.Debug)
+global_logger(logger)
 
 dfg = CloudGraphsDFG{SolverParams}("localhost", 7474, "neo4j", "test",
-                            "testUser", "testRobot", "testSession",
+                            "testUser", "testRobot", "sandbox",
                             nothing,
                             nothing,
                             IncrementalInference.decodePackedType,
@@ -16,30 +20,9 @@ v1 = addVariable!(dfg, :a, ContinuousScalar, labels = [:POSE])
 v2 = addVariable!(dfg, :b, ContinuousScalar, labels = [:LANDMARK])
 f1 = addFactor!(dfg, [:a; :b], LinearConditional(Normal(50.0,2.0)) )
 v1 == deepcopy(v1)
+v1 == getVariable(dfg, :a)
 
-function al(a, b)
-  a.label != b.label && return false
-  a.timestamp != b.timestamp && return false
-  a.tags != b.tags && return false
-  symdiff(keys(a.estimateDict), keys(b.estimateDict)) != Set(Symbol[]) && return false
-  for k in keys(a.estimateDict)
-    a.estimateDict[k] != b.estimateDict[k] && return false
-  end
-  symdiff(keys(a.solverDataDict), keys(b.solverDataDict)) != Set(Symbol[]) && return false
-  for k in keys(a.solverDataDict)
-    a.solverDataDict[k] != b.solverDataDict[k] && return false
-  end
-  return true
-end
-al(a, b)
-a = v1
-b = deepcopy(v1)
-
-a.smallData != b.smallData && return false
-a.bigData != b.bigData && return false
-a.ready != b.ready && return false
-a.backendset != b.backendset && return false
-a._internalId != b._internalId && return false
+isFullyConnected(dfg)
 
 T = typeof(dfg)
 if T <: CloudGraphsDFG