PPE calls, WIP on smallData

Author: GearsAD

docs/src/GraphData.md

@@ -89,21 +89,59 @@ getSofttype
 
 Solved graphs contain packed parametric estimates for the variables, which are keyed by the solution (the default is saved as :default).
 
+For each PPE structure, there are accessors for getting individual values:
+
 ```@docs
 getMaxPPE
 getMeanPPE
 getSuggestedPPE
-getVariablePPE
 getPPE
-getVariablePPEs
-getPPEs
+```
+
+Related functions for getting, adding/updating, and deleting PPE structures:
+
+```@docs
+listPPE
+getPPE
+addPPE!
+updatePPE!
+deletePPE!
+```
+
+Example of PPE operations:
+
+```julia
+# Add a new PPE of type MeanMaxPPE to :x0
+ppe = MeanMaxPPE(:default, [0.0], [0.0], [0.0])
+addPPE!(dfg, :x0, ppe)
+@show listPPE(dfg, :x0)
+# Get the data back - note that this is a reference to above.
+v = getPPE(dfg, :x0, :default)
+# Delete it
+deletePPE!(dfg, :x0, :default)
+# Update add it
+updatePPE!(dfg, :x0, ppe, :default)
+# Update update it
+updatePPE!(dfg, :x0, ppe, :default)
+# Bulk copy PPE's for x0 and x1
+updatePPE!(dfg, [x0], :default)
 ```
 
 #### Solver Data
 
 Solver data is used by IncrementalInference/RoME/Caesar solver to produce the above PPEs.
 
-Example of updating solver data:
+Related functions:
+
+```@docs
+listVariableSolverData
+getVariableSolverData
+addVariableSolverData!
+updateVariableSolverData!
+deleteVariableSolverData!
+```
+
+Example of solver data operations:
 
 ```julia
 # Add new VND of type ContinuousScalar to :x0
@@ -117,17 +155,24 @@ vndBack = getVariableSolverData(dfg, :x0, :parametric)
 deleteVariableSolverData!(dfg, :x0, :parametric)
 ```
 
-Related Functions:
+#### Small Data
+
+Small data allows you to assign a dictionary to variables. It is a useful way to
+keep small amounts of string data in a variable. As it is stored in the graph
+itself, large entries will slow the graph down, so if data should exceed a
+few bytes/kb, it should rather be saved in bigData.
 
 ```@docs
-listVariableSolverData
-getVariableSolverData
-addVariableSolverData!
-updateVariableSolverData!
-deleteVariableSolverData!
+getSmallData,
+setSmallData!
 ```
 
-#### Small Data
+Example:
+
+```julia
+setSmallData!(x0, Dict("entry"=>"entry value"))
+getSmallData(x0)
+```
 
 #### Big Data
 

src/DistributedFactorGraphs.jl

@@ -57,7 +57,8 @@ const DataLevel2 = Union{VariableDataLevel2, FactorDataLevel2}
 # Level 0
 export getLabel, getTimestamp, setTimestamp!, getTags, setTags!
 # Level 1
-export getMaxPPE, getMeanPPE, getSuggestedPPE, getVariablePPE, getPPE, getVariablePPEs, getPPEs #, getEstimates
+export getMaxPPE, getMeanPPE, getSuggestedPPE, getVariablePPE, getVariablePPEs, getPPEs #, getEstimates
+export listPPE, getPPE, addPPE!, updatePPE!, deletePPE!
 export getSofttype
 # Level 2
 export getData, getSolverData, getSolverDataDict, setSolverData!, getInternalId

src/entities/DFGVariable.jl

@@ -29,7 +29,7 @@ struct DFGVariable{T<:InferenceVariable} <: AbstractDFGVariable
     solverDataDict::Dict{Symbol, VariableNodeData{T}}
     """Dictionary of small data associated with this variable.
     Accessors: `addSmallData!`, `updateSmallData!`, and `deleteSmallData!`"""
-    smallData::Dict{String, String}
+    smallData::Ref{Dict{String, String}}
     """Dictionary of large data associated with this variable.
     Accessors: `addBigDataEntry!`, `getBigDataEntry`, `updateBigDataEntry!`, and `deleteBigDataEntry!`"""
     bigData::Dict{Symbol, AbstractBigDataEntry}

src/services/AbstractDFG.jl

@@ -583,6 +583,105 @@ Delete variable solver data, returns the deleted element.
 deleteVariableSolverData!(dfg::AbstractDFG, sourceVariable::DFGVariable, solvekey::Symbol=:default) =
     deleteVariableSolverData!(dfg, sourceVariable.label, solvekey)
 
+#####
+
+"""
+    $(SIGNATURES)
+List all the PPE data keys in the variable.
+"""
+function listPPE(dfg::AbstractDFG, variablekey::Symbol)::Vector{Symbol}
+    v = getVariable(dfg, variablekey)
+    return collect(keys(v.ppeDict))
+end
+
+"""
+    $(SIGNATURES)
+Get variable PPE for a given solve key.
+"""
+function getPPE(dfg::AbstractDFG, variablekey::Symbol, ppekey::Symbol=:default)::AbstractPointParametricEst
+    v = getVariable(dfg, variablekey)
+    !haskey(v.ppeDict, ppekey) && error("PPE key '$ppeKey' not found in variable '$variableKey'")
+    return v.ppeDict[ppekey]
+end
+
+# Not the most efficient call but it at least reuses above (in memory it's probably ok)
+getPPE(dfg::AbstractDFG, sourceVariable::DFGVariable, ppekey::Symbol=default)::AbstractPointParametricEst = getPPE(dfg, sourceVariable.label, ppekey)
+
+"""
+    $(SIGNATURES)
+Add variable PPE, errors if it already exists.
+"""
+function addPPE!(dfg::AbstractDFG, variablekey::Symbol, ppe::P, ppekey::Symbol=:default)::Dict{Symbol, AbstractPointParametricEst} where P <: AbstractPointParametricEst
+    var = getVariable(dfg, variablekey)
+    if haskey(var.ppeDict, ppekey)
+        error("PPE '$(ppekey)' already exists")
+    end
+    var.ppeDict[ppekey] = ppe
+    return var.ppeDict
+end
+
+"""
+    $(SIGNATURES)
+Add a new PPE entry from a deepcopy of the source variable PPE.
+NOTE: Copies the solver data.
+"""
+addPPE!(dfg::AbstractDFG, sourceVariable::DFGVariable, ppekey::Symbol=:default) =
+    addPPE!(dfg, sourceVariable.label, deepcopy(getPPE(sourceVariable, ppekey)), ppekey)
+
+
+"""
+    $(SIGNATURES)
+Update PPE data if it exists, otherwise add it.
+"""
+function updatePPE!(dfg::AbstractDFG, variablekey::Symbol, ppe::P, ppekey::Symbol=:default)::Dict{Symbol, AbstractPointParametricEst} where P <: AbstractPointParametricEst
+    #This is basically just setSolverData
+    var = getVariable(dfg, variablekey)
+    #for InMemoryDFGTypes, cloud would update here
+    var.ppeDict[ppekey] = ppe
+    return var.ppeDict
+end
+
+"""
+    $(SIGNATURES)
+Update PPE data if it exists, otherwise add it.
+NOTE: Copies the PPE data.
+"""
+updatePPE!(dfg::AbstractDFG, sourceVariable::DFGVariable, ppekey::Symbol=:default) =
+    updateVariableSolverData!(dfg, sourceVariable.label, deepcopy(getPPE(sourceVariable, ppekey)), ppekey)
+
+"""
+    $(SIGNATURES)
+Update PPE data if it exists, otherwise add it.
+"""
+function updatePPE!(dfg::AbstractDFG, sourceVariables::Vector{<:DFGVariable}, ppekey::Symbol=:default)
+    #I think cloud would do this in bulk for speed
+    for var in sourceVariables
+        updatePPE!(dfg, var.label, getPPE(dfg, var, ppekey), ppekey)
+    end
+end
+
+"""
+    $(SIGNATURES)
+Delete PPE data, returns the deleted element.
+"""
+function deletePPE!(dfg::AbstractDFG, variablekey::Symbol, ppekey::Symbol=:default)::AbstractPointParametricEst
+    var = getVariable(dfg, variablekey)
+
+    if !haskey(var.ppeDict, ppekey)
+        error("VariableNodeData '$(ppekey)' does not exist")
+    end
+    vnd = pop!(var.ppeDict, ppekey)
+    return vnd
+end
+
+"""
+    $(SIGNATURES)
+Delete PPE data, returns the deleted element.
+"""
+deletePPE!(dfg::AbstractDFG, sourceVariable::DFGVariable, ppekey::Symbol=:default) =
+    deletePPE!(dfg, sourceVariable.label, ppekey)
+
+####
 
 """
     $(SIGNATURES)

src/services/DFGVariable.jl

@@ -307,7 +307,7 @@ function getSofttype(vnd::VariableNodeData)
   return vnd.softtype
 end
 function getSofttype(v::DFGVariable)
-  return typeof(v).parameters[1] # Get the parameter of the DFGVariable
+  return typeof(v).parameters[1]() # Get instantiated form of the parameter for the DFGVariable
 end
 
 """
@@ -347,14 +347,32 @@ $SIGNATURES
 
 Get the small data for a variable.
 """
-getSmallData(v::DFGVariable) = v.smallData
+getSmallData(v::DFGVariable)::Dict{String, String} = v.smallData
 
 """
 $SIGNATURES
 
 Set the small data for a variable.
 """
-setSmallData!(v::DFGVariable, smallData::String) = v.smallData = smallData
+function setSmallData!(v::DFGVariable, smallData::Dict{String, String})::Dict{String, String}
+    v.smallData = smallData
+end
+
+# WIP
+# """
+# $SIGNATURES
+#
+# Set the small data for a variable.
+# """
+# function addSmallData!(v::DFGVariable, smallData::Dict{String, String})::Dict{String, String}
+#     v.smallData = smallData
+# end
+#
+# function updateSmallData!()
+# end
+#
+# function deleteSmallData!()
+# end
 
 """
 $SIGNATURES

test/interfaceTests.jl

@@ -164,6 +164,7 @@ end
     @test getSolverDataDict(v1) == v1.solverDataDict
     @test getInternalId(v1) == v1._internalId
 
+    #TODO: Finish
     # Add new VND of type ContinuousScalar to :x0
     # Could also do VariableNodeData(ContinuousScalar())
     vnd = VariableNodeData{ContinuousScalar}()
@@ -177,11 +178,28 @@ end
     updateVariableSolverData!(dfg, :a, vnd, :parametric)
     # Update update it
     updateVariableSolverData!(dfg, :a, vnd, :parametric)
-    # Bulk copy update x0 and x1
-    updateVariableSolverData!(dfg, [v1, v2], :default)
+    # Bulk copy update x0
+    updateVariableSolverData!(dfg, [v1], :default)
     # Delete parametric from v1
     deleteVariableSolverData!(dfg, :a, :parametric)
 
+    #TODO: Finish
+    # Add a new PPE of type MeanMaxPPE to :x0
+    ppe = MeanMaxPPE(:default, [0.0], [0.0], [0.0])
+    addPPE!(dfg, :x0, ppe)
+    @show listPPE(dfg, :x0)
+    # Get the data back - note that this is a reference to above.
+    v = getPPE(dfg, :x0, :default)
+    # Delete it
+    deletePPE!(dfg, :x0, :default)
+    # Update add it
+    updatePPE!(dfg, :x0, ppe, :default)
+    # Update update it
+    updatePPE!(dfg, :x0, ppe, :default)
+    # Bulk copy PPE's for x0 and x1
+    updatePPE!(dfg, [x0], :default)
+    # Delete it
+    deletePPE!(dfg, :x0, :default)
 
     #TODO I don't know what is supposed to happen to softtype
     @test getSofttype(v1) == st1