Tests working, need a decent review

Author: GearsAD

src/GraphsDFG/services/GraphsDFG.jl

@@ -366,83 +366,10 @@ function getSubgraphAroundNode(dfg::GraphsDFG{P}, node::T, distance::Int64=1, in
     return addToDFG
 end
 
-"""
-    $(SIGNATURES)
-Get an adjacency matrix for the DFG, returned as a Matrix{Union{Nothing, Symbol}}.
-Rows are all factors, columns are all variables, and each cell contains either nothing or the symbol of the relating factor.
-The first row and first column are factor and variable headings respectively.
-"""
-function getAdjacencyMatrix(dfg::GraphsDFG)::Matrix{Union{Nothing, Symbol}}
-    varLabels = sort(map(v->v.label, getVariables(dfg)))
-    factLabels = sort(map(f->f.label, getFactors(dfg)))
-    vDict = Dict(varLabels .=> [1:length(varLabels)...].+1)
-
-    adjMat = Matrix{Union{Nothing, Symbol}}(nothing, length(factLabels)+1, length(varLabels)+1)
-    # Set row/col headings
-    adjMat[2:end, 1] = factLabels
-    adjMat[1, 2:end] = varLabels
-    for (fIndex, factLabel) in enumerate(factLabels)
-        factVars = getNeighbors(dfg, getFactor(dfg, factLabel))
-        map(vLabel -> adjMat[fIndex+1,vDict[vLabel]] = factLabel, factVars)
-    end
-    return adjMat
-end
-
-function getAdjacencyMatrixSparse(dfg::GraphsDFG)::Tuple{LightGraphs.SparseMatrixCSC, Vector{Symbol}, Vector{Symbol}}
-	varLabels = map(v->v.label, getVariables(dfg))
-	factLabels = map(f->f.label, getFactors(dfg))
-
-	vDict = Dict(varLabels .=> [1:length(varLabels)...])
-
-	adjMat = spzeros(Int, length(factLabels), length(varLabels))
-
-	for (fIndex, factLabel) in enumerate(factLabels)
-		factVars = getNeighbors(dfg, getFactor(dfg, factLabel))
-	    map(vLabel -> adjMat[fIndex,vDict[vLabel]] = 1, factVars)
-	end
-	return adjMat, varLabels, factLabels
-end
-
 """
     $(SIGNATURES)
 Produces a dot-format of the graph for visualization.
 """
 function toDot(dfg::GraphsDFG)::String
-    m = PipeBuffer()
-    write(m,Graphs.to_dot(dfg.g))
-    data = take!(m)
-    close(m)
-    return String(data)
-end
-
-"""
-    $(SIGNATURES)
-Produces a dot file of the graph for visualization.
-Download XDot to see the data
-
-Note
-- Default location "/tmp/dfg.dot" -- MIGHT BE REMOVED
-- Can be viewed with the `xdot` system application.
-- Based on graphviz.org
-"""
-function toDotFile(dfg::GraphsDFG, fileName::String="/tmp/dfg.dot")::Nothing
-    open(fileName, "w") do fid
-        write(fid,Graphs.to_dot(dfg.g))
-    end
-    return nothing
-end
-
-function getSummary(dfg::GraphsDFG)::AbstractDFGSummary
-	vars = map(v -> convert(DFGVariableSummary, v), getVariables(dfg))
-	facts = map(f -> convert(DFGFactorSummary, f), getFactors(dfg))
-	return AbstractDFGSummary(
-		Dict(map(v->v.label, vars) .=> vars),
-		Dict(map(f->f.label, facts) .=> facts),
-		"userId",
-		"robotId",
-		"sessionId")
-end
-
-function getSummaryGraph(dfg::GraphsDFG)
-	error("getSummaryGraph not implemented for $(typeof(dfg))")
+	return Graphs.to_dot(dfg.g)
 end

src/LightDFG/LightDFG.jl

@@ -3,9 +3,9 @@ module LightDFGs
 using LightGraphs
 using DocStringExtensions
 
-import ...DistributedFactorGraphs: AbstractDFG, DFGNode, AbstractParams, NoSolverParams, DFGVariable, DFGFactor
+import ...DistributedFactorGraphs: AbstractDFG, DFGNode, AbstractDFGVariable, AbstractDFGFactor, AbstractDFGSummary, AbstractParams, NoSolverParams, DFGVariable, DFGFactor
 
-# import DFG functions to exstend
+# import DFG functions to extend
 import ...DistributedFactorGraphs:  setSolverParams,
                                     getInnerGraph,
                                     getFactor,

src/LightDFG/entities/LightDFG.jl

@@ -1,19 +1,30 @@
 
+"""
+    $(SIGNATURES)
+
+An in-memory DistributedFactorGraph based on LightGraphs.jl with parameters:
+- T: Solver parameters (defaults to `NoSolverParams()`)
+- V: Variable type
+- F: Factor type
+"""
 mutable struct LightDFG{T <: AbstractParams, V <: DFGNode, F <:DFGNode} <: AbstractDFG
     g::FactorGraph{Int, V, F}
     description::String
     userId::String
     robotId::String
     sessionId::String
-    #NOTE does not exist
-    # nodeCounter::Int64
-    #NOTE does not exist
-    # labelDict::Dict{Symbol, Int64}
     addHistory::Vector{Symbol} #TODO: Discuss more - is this an audit trail?
     solverParams::T # Solver parameters
 end
 
-#TODO? do we not want props such as userId, robotId, sessionId, etc...
+"""
+    $(SIGNATURES)
+
+Create an in-memory LightDFG with the following parameters:
+- T: Solver parameters (defaults to `NoSolverParams()`)
+- V: Variable type
+- F: Factor type
+"""
 function LightDFG{T,V,F}(g::FactorGraph{Int,V,F}=FactorGraph{Int,V,F}();
                            description::String="LightGraphs.jl implementation",
                            userId::String="User ID",
@@ -25,7 +36,14 @@ function LightDFG{T,V,F}(g::FactorGraph{Int,V,F}=FactorGraph{Int,V,F}();
 end
 
 # LightDFG{T}(; kwargs...) where T <: AbstractParams = LightDFG{T,DFGVariable,DFGFactor}(;kwargs...)
+"""
+    $(SIGNATURES)
 
+Create an in-memory LightDFG with the following parameters:
+- T: Solver parameters (defaults to `NoSolverParams()`)
+- V: Variable type
+- F: Factor type
+"""
 LightDFG{T}(g::FactorGraph{Int,DFGVariable,DFGFactor}=FactorGraph{Int,DFGVariable,DFGFactor}(); kwargs...) where T <: AbstractParams = LightDFG{T,DFGVariable,DFGFactor}(g; kwargs...)
 
 Base.propertynames(x::LightDFG, private::Bool=false) =