Merge pull request #124 from JuliaRobotics/feature/cloudSparseAdj

Sparse cloud adj matrix

Author: GearsAD

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -718,25 +718,11 @@ Optionally provide a distance to specify the number of edges should be followed.
 Optionally provide an existing subgraph addToDFG, the extracted nodes will be copied into this graph. By default a new subgraph will be created.
 Note: By default orphaned factors (where the subgraph does not contain all the related variables) are not returned. Set includeOrphanFactors to return the orphans irrespective of whether the subgraph contains all the variables.
 """
-function getSubgraphAroundNode(dfg::CloudGraphsDFG, node::DFGNode, distance::Int64=1, includeOrphanFactors::Bool=false, addToDFG::Union{Nothing, CloudGraphsDFG}=nothing)::CloudGraphsDFG
+function getSubgraphAroundNode(dfg::CloudGraphsDFG, node::DFGNode, distance::Int64=1, includeOrphanFactors::Bool=false, addToDFG::AbstractDFG=_getDuplicatedEmptyDFG(dfg))::AbstractDFG
     distance < 1 && error("getSubgraphAroundNode() only works for distance > 0")
 
     # Making a copy session if not specified
-    if addToDFG == nothing
-        addToDFG = _getDuplicatedEmptyDFG(dfg)
-    end
-
-    # Thank you Neo4j for 0..* awesomeness!!
-    neighborList = _getLabelsFromCyphonQuery(dfg.neo4jInstance, "(n:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId):$(node.label))-[FACTORGRAPH*0..$distance]-(node:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId))")
-
-    # Copy the section of graph we want
-    _copyIntoGraph!(dfg, addToDFG, neighborList, includeOrphanFactors)
-    return addToDFG
-end
-
-function getSubgraphAroundNode(dfg::CloudGraphsDFG{<:AbstractParams}, node::DFGNode, distance::Int64, includeOrphanFactors::Bool, addToDFG::MetaGraphsDFG{AbstractParams})::AbstractDFG
-    distance < 1 && error("getSubgraphAroundNode() only works for distance > 0")
-
+    #moved to parameter addToDFG::AbstractDFG=_getDuplicatedEmptyDFG(dfg)
 
     # Thank you Neo4j for 0..* awesomeness!!
     neighborList = _getLabelsFromCyphonQuery(dfg.neo4jInstance, "(n:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId):$(node.label))-[FACTORGRAPH*0..$distance]-(node:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId))")
@@ -801,6 +787,33 @@ function getAdjacencyMatrix(dfg::CloudGraphsDFG)::Matrix{Union{Nothing, Symbol}}
     return adjMat
 end
 
+function getAdjacencyMatrixSparse(dfg::CloudGraphsDFG)::Tuple{SparseMatrixCSC, Vector{Symbol}, Vector{Symbol}}
+    varLabels = getVariableIds(dfg)
+    factLabels = sort(getFactorIds(dfg))
+    vDict = Dict(varLabels .=> [1:length(varLabels)...].+1)
+    fDict = Dict(factLabels .=> [1:length(factLabels)...].+1)
+
+    adjMat = spzeros(Int, length(factLabels)+1, length(varLabels)+1)
+
+    # Now ask for all relationships for this session graph
+    loadtx = transaction(dfg.neo4jInstance.connection)
+    query = "START n=node(*) MATCH (n:VARIABLE:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId))-[r:FACTORGRAPH]-(m:FACTOR:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId)) RETURN n.label as variable, m.label as factor;"
+    nodes = loadtx(query; submit=true)
+    # Have to finish the transaction
+    commit(loadtx)
+    if length(nodes.errors) > 0
+        error(string(nodes.errors))
+    end
+    # Add in the relationships
+    varRel = Symbol.(map(node -> node["row"][1], nodes.results[1]["data"]))
+    factRel = Symbol.(map(node -> node["row"][2], nodes.results[1]["data"]))
+    for i = 1:length(varRel)
+        adjMat[fDict[factRel[i]], vDict[varRel[i]]] = 1
+    end
+
+    return adjMat, varLabels, factLabels
+end
+
 # """
 #     $(SIGNATURES)
 # Produces a dot-format of the graph for visualization.