GraphsDFG and LightGraphsDFG implementation of user/robot/session data

Author: GearsAD

src/GraphsDFG/entities/GraphsDFG.jl

@@ -14,6 +14,9 @@ mutable struct GraphsDFG{T <: AbstractParams} <: AbstractDFG
     userId::String
     robotId::String
     sessionId::String
+    userData::Dict{Symbol, String}
+    robotData::Dict{Symbol, String}
+    sessionData::Dict{Symbol, String}
     nodeCounter::Int64
     labelDict::Dict{Symbol, Int64}
     addHistory::Vector{Symbol} #TODO: Discuss more - is this an audit trail?
@@ -28,4 +31,7 @@ GraphsDFG{T}(   g::FGType=Graphs.incdict(GraphsNode,is_directed=false),
                 userId::String = "UserID",
                 robotId::String = "robotID",
                 sessionId::String = "sessionID",
-                params::T=NoSolverParams()) where T <: AbstractParams = GraphsDFG{T}(g, d, userId, robotId, sessionId, n, l, a, params)
+                userData::Dict{Symbol, String} = Dict{Symbol, String}(),
+                robotData::Dict{Symbol, String} = Dict{Symbol, String}(),
+                sessionData::Dict{Symbol, String} = Dict{Symbol, String}(),
+                params::T=NoSolverParams()) where T <: AbstractParams = GraphsDFG{T}(g, d, userId, robotId, sessionId, userData, robotData, sessionData, n, l, a, params)

src/GraphsDFG/services/GraphsDFG.jl

@@ -26,6 +26,23 @@ function setSolverParams(dfg::GraphsDFG, solverParams::T) where T <: AbstractPar
     dfg.solverParams = solverParams
 end
 
+# Get user, robot, and session "small" data.
+getUserData(dfg::GraphsDFG)::Dict{Symbol, String} = return dfg.userData
+function setUserData(dfg::GraphsDFG, data::Dict{Symbol, String})::Bool
+	dfg.userData = data
+	return true
+end
+getRobotData(dfg::GraphsDFG)::Dict{Symbol, String} = return dfg.robotData
+function setRobotData(dfg::GraphsDFG, data::Dict{Symbol, String})::Bool
+	dfg.robotData = data
+	return true
+end
+getSessionData(dfg::GraphsDFG)::Dict{Symbol, String} = return dfg.sessionData
+function setSessionData(dfg::GraphsDFG, data::Dict{Symbol, String})::Bool
+	dfg.sessionData = data
+	return true
+end
+
 """
     $(SIGNATURES)
 Gets an empty and unique CloudGraphsDFG derived from an existing DFG.

src/LightDFG/LightDFG.jl

@@ -11,6 +11,12 @@ import ...DistributedFactorGraphs:  setSolverParams,
                                     getFactor,
                                     setDescription,
                                     getLabelDict,
+                                    getUserData,
+                                    setUserData,
+                                    getRobotData,
+                                    setRobotData,
+                                    getSessionData,
+                                    setSessionData,
                                     addVariable!,
                                     getVariable,
                                     getAddHistory,

src/LightDFG/entities/LightDFG.jl

@@ -13,6 +13,9 @@ mutable struct LightDFG{T <: AbstractParams, V <: AbstractDFGVariable, F <:Abstr
     userId::String
     robotId::String
     sessionId::String
+    userData::Dict{Symbol, String}
+    robotData::Dict{Symbol, String}
+    sessionData::Dict{Symbol, String}
     addHistory::Vector{Symbol} #TODO: Discuss more - is this an audit trail?
     solverParams::T # Solver parameters
 end
@@ -30,9 +33,12 @@ function LightDFG{T,V,F}(g::FactorGraph{Int,V,F}=FactorGraph{Int,V,F}();
                            userId::String="User ID",
                            robotId::String="Robot ID",
                            sessionId::String="Session ID",
+                           userData::Dict{Symbol, String} = Dict{Symbol, String}(),
+                           robotData::Dict{Symbol, String} = Dict{Symbol, String}(),
+                           sessionData::Dict{Symbol, String} = Dict{Symbol, String}(),
                            params::T=NoSolverParams()) where {T <: AbstractParams, V <:AbstractDFGVariable, F<:AbstractDFGFactor}
 
-    LightDFG{T,V,F}(g, description, userId, robotId, sessionId, Symbol[], params)
+    LightDFG{T,V,F}(g, description, userId, robotId, sessionId, userData, robotData, sessionData, Symbol[], params)
 end
 
 # LightDFG{T}(; kwargs...) where T <: AbstractParams = LightDFG{T,DFGVariable,DFGFactor}(;kwargs...)

src/LightDFG/services/LightDFG.jl

@@ -13,6 +13,23 @@ function setSolverParams(dfg::LightDFG, solverParams::P) where P <: AbstractPara
   dfg.solverParams = solverParams
 end
 
+# Get user, robot, and session "small" data.
+getUserData(dfg::LightDFG)::Dict{Symbol, String} = return dfg.userData
+function setUserData(dfg::LightDFG, data::Dict{Symbol, String})::Bool
+	dfg.userData = data
+	return true
+end
+getRobotData(dfg::LightDFG)::Dict{Symbol, String} = return dfg.robotData
+function setRobotData(dfg::LightDFG, data::Dict{Symbol, String})::Bool
+	dfg.robotData = data
+	return true
+end
+getSessionData(dfg::LightDFG)::Dict{Symbol, String} = return dfg.sessionData
+function setSessionData(dfg::LightDFG, data::Dict{Symbol, String})::Bool
+	dfg.sessionData = data
+	return true
+end
+
 """
     $(SIGNATURES)
 True if the variable or factor exists in the graph.

src/services/AbstractDFG.jl

@@ -49,6 +49,26 @@ function setSolverParams(dfg::G, solverParams::T) where {G <: AbstractDFG, T <:
 	error("setSolverParams not implemented for $(typeof(dfg))")
 end
 
+# Get user, robot, and session "small" data.
+function getUserData(dfg::G)::Dict{Symbol, String} where {G <: AbstractDFG}
+	error("getUserData not implemented for $(typeof(dfg))")
+end
+function setUserData(dfg::G, data::Dict{Symbol, String})::Bool where {G <: AbstractDFG}
+	error("setUserData not implemented for $(typeof(dfg))")
+end
+function getRobotData(dfg::G)::Dict{Symbol, String} where {G <: AbstractDFG}
+	error("getRobotData not implemented for $(typeof(dfg))")
+end
+function setRobotData(dfg::G, data::Dict{Symbol, String})::Bool where {G <: AbstractDFG}
+	error("setRobotData not implemented for $(typeof(dfg))")
+end
+function getSessionData(dfg::G)::Dict{Symbol, String} where {G <: AbstractDFG}
+	error("getSessionData not implemented for $(typeof(dfg))")
+end
+function setSessionData(dfg::G, data::Dict{Symbol, String})::Bool where {G <: AbstractDFG}
+	error("setSessionData not implemented for $(typeof(dfg))")
+end
+
 """
     $(SIGNATURES)
 True if the variable or factor exists in the graph.

test/interfaceTests.jl

@@ -115,7 +115,17 @@ end
     #TODO Should the next test work?
     @test_broken !isInitialized(dfg, :f1)
     @test_broken !isInitialized(f1)
-    
+
+    # Session, robot, and user small data tests
+    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))
+    @test getUserData(dfg) == smallUserData
+    @test getRobotData(dfg) == smallRobotData
+    @test getSessionData(dfg) == smallSessionData
 end
 
 @testset "Updating Nodes" begin