Explore Packed[Variable/Factor] as a DFGType

Author: Affie

src/DataBlobs/services/HelpersDataWrapEntryBlob.jl

@@ -156,6 +156,7 @@ addData!(
     kwargs...
 )
 
+#FIXME id used wrong
 function addData!(
     dfg::AbstractDFG, 
     blobstore::AbstractBlobStore, 

src/entities/DFGFactor.jl

@@ -83,7 +83,7 @@ FunctionNodeData(args...; kw...) = FunctionNodeData{typeof(args[4])}(args...; kw
 # | DFGFactor         |   X   |   X  |     X     |     X    |      X     |
 
 # Packed Factor
-Base.@kwdef struct PackedFactor
+Base.@kwdef struct PackedFactor <: AbstractDFGFactor
     id::Union{UUID, Nothing} = nothing
     label::Symbol
     tags::Vector{Symbol}
@@ -280,8 +280,8 @@ StructTypes.omitempties(::Type{SkeletonDFGFactor}) = (:id,)
 ##==============================================================================
 ## Define factor levels
 ##==============================================================================
-const FactorDataLevel0 = Union{DFGFactor, DFGFactorSummary, SkeletonDFGFactor}
-const FactorDataLevel1 = Union{DFGFactor, DFGFactorSummary}
+const FactorDataLevel0 = Union{DFGFactor, DFGFactorSummary, PackedFactor, SkeletonDFGFactor}
+const FactorDataLevel1 = Union{DFGFactor, DFGFactorSummary, PackedFactor}
 const FactorDataLevel2 = Union{DFGFactor}
 
 ##==============================================================================

src/entities/DFGVariable.jl

@@ -178,7 +178,7 @@ getEstimateFields(::MeanMaxPPE) = [:suggested, :max, :mean]
 ##==============================================================================
 
 # Packed Variable
-Base.@kwdef struct PackedVariable
+Base.@kwdef struct PackedVariable  <: AbstractDFGVariable
     id::Union{UUID, Nothing} = nothing
     label::Symbol
     tags::Vector{Symbol} = Symbol[]
@@ -397,8 +397,8 @@ StructTypes.omitempties(::Type{SkeletonDFGVariable}) = (:id,)
 ##==============================================================================
 # Define variable levels
 ##==============================================================================
-const VariableDataLevel0 = Union{DFGVariable, DFGVariableSummary, SkeletonDFGVariable}
-const VariableDataLevel1 = Union{DFGVariable, DFGVariableSummary}
+const VariableDataLevel0 = Union{DFGVariable, DFGVariableSummary, PackedVariable, SkeletonDFGVariable}
+const VariableDataLevel1 = Union{DFGVariable, DFGVariableSummary, PackedVariable}
 const VariableDataLevel2 = Union{DFGVariable}
 
 ##==============================================================================

src/services/DFGFactor.jl

@@ -86,6 +86,9 @@ setTimestamp(f::DFGFactor, ts::ZonedDateTime) = DFGFactor(f.label, ts, f.nstime,
 setTimestamp(f::DFGFactorSummary, ts::ZonedDateTime) = DFGFactorSummary(f.id, f.label, f.tags, f._variableOrderSymbols, ts)
 setTimestamp(f::DFGFactorSummary, ts::DateTime) = DFGFactorSummary(f, ZonedDateTime(ts, localzone()))
 
+function setTimestamp(v::PackedFactor, timestamp::ZonedDateTime)
+  return PackedFactor(;(key => getproperty(v, key) for key in fieldnames(PackedFactor))..., timestamp)
+end
 
 ##------------------------------------------------------------------------------
 ## solvable

src/services/DFGVariable.jl

@@ -344,6 +344,9 @@ function setTimestamp(v::DFGVariableSummary, ts::ZonedDateTime; verbose::Bool=tr
     return DFGVariableSummary(v.id, v.label, ts, v.tags, v.ppeDict, v.variableTypeName, v.dataDict)
 end
 
+function setTimestamp(v::PackedVariable, timestamp::ZonedDateTime; verbose::Bool=true)
+    return PackedVariable(;(key => getproperty(v, key) for key in fieldnames(PackedVariable))..., timestamp)
+end
 
 ##------------------------------------------------------------------------------
 ## solvable

test/GraphsDFGSummaryTypes.jl

@@ -24,6 +24,50 @@ union!(v1.tags, [:VARIABLE, :POSE])
 union!(v2.tags, [:VARIABLE, :LANDMARK])
 union!(f1.tags, [:FACTOR])
 
+if false 
+#TODO add to tests
+VARTYPE = PackedVariable
+FACTYPE = PackedFactor
+dfg = GraphsDFG{NoSolverParams, PackedVariable, PackedFactor}()
+v1 = PackedVariable(;label=:a, variableType="Pose2", tags=[:VARIABLE, :POSE])
+v2 = PackedVariable(;label=:b, variableType="Pose2", tags=[:VARIABLE, :LANDMARK])
+v3 = PackedVariable(;label=:c, variableType="Pose2")
+orphan = PackedVariable(;label=:orphan, variableType="Pose2")
+f0 = PackedFactor(;
+    label=:af1,
+    tags = [:FACTOR],
+    _variableOrderSymbols=[:a],
+    timestamp=DFG.Dates.now(DFG.tz"Z"),
+    nstime=0,
+    fnctype="PriorPose2",
+    solvable=1,
+    data = "",
+    metadata = "",
+)
+f1 = PackedFactor(;
+    label=:abf1,
+    tags = [:FACTOR],
+    _variableOrderSymbols=[:a, :b],
+    timestamp=DFG.Dates.now(DFG.tz"Z"),
+    nstime=0,
+    fnctype="Pose2Pose2",
+    solvable=1,
+    data = "",
+    metadata = "",
+)
+f2 = PackedFactor(;
+    label=:bcf1,
+    tags = [:FACTOR],
+    _variableOrderSymbols=[:b, :c],
+    timestamp=DFG.Dates.now(DFG.tz"Z"),
+    nstime=0,
+    fnctype="Pose2Pose2",
+    solvable=1,
+    data = "",
+    metadata = "",
+)
+end
+
 
 @testset "Variables and Factors CRUD and SET" begin
     VariablesandFactorsCRUD_SET!(dfg,v1,v2,v3,f0,f1,f2)