other graphs small data

Author: Affie

src/DistributedFactorGraphs.jl

@@ -24,6 +24,9 @@ export FunctorSingleton, FunctorPairwise, FunctorPairwiseMinimize
 export label, timestamp, tags, estimates, estimate, data, softtype, solverData, getData, solverDataDict, setSolverData, internalId, smallData, bigData
 export DFGVariableSummary, DFGFactorSummary, AbstractDFGSummary
 
+#graph small data
+export getUserData, setUserData, getRobotData, setRobotData, getSessionData, setSessionData
+
 # Services/AbstractDFG Exports
 export hasFactor, hasVariable, isInitialized, getFactorFunction, isVariable, isFactor
 export updateGraphSolverData!

src/MetaGraphsDFG/entities/MetaGraphsDFG.jl

@@ -16,6 +16,9 @@ mutable struct MetaGraphsDFG{T <: AbstractParams} <: AbstractDFG
     userId::String
     robotId::String
     sessionId::String
+    userData::Dict{Symbol, String}
+    robotData::Dict{Symbol, String}
+    sessionData::Dict{Symbol, String}
     #NOTE Removed nodeCounter
     # nodeCounter::Int64
     #NOTE using matagraphs labels
@@ -30,13 +33,16 @@ function MetaGraphsDFG{T}(g::LFGType=MetaGraph();
                            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
     set_prop!(g, :description, description)
     set_prop!(g, :userId, userId)
     set_prop!(g, :robotId, robotId)
     set_prop!(g, :sessionId, sessionId)
     set_indexing_prop!(g, :label)
-    MetaGraphsDFG{T}(g, description, userId, robotId, sessionId, Symbol[], params)
+    MetaGraphsDFG{T}(g, description, userId, robotId, sessionId, userData, robotData, sessionData, Symbol[], params)
 end
 
 Base.propertynames(x::MetaGraphsDFG, private::Bool=false) =

src/SymbolDFG/entities/SymbolDFG.jl

@@ -5,6 +5,9 @@ mutable struct SymbolDFG{T <: AbstractParams, V <: DFGNode, F <:DFGNode} <: Abst
     userId::String
     robotId::String
     sessionId::String
+    userData::Dict{Symbol, String}
+    robotData::Dict{Symbol, String}
+    sessionData::Dict{Symbol, String}
     #NOTE does not exist
     # nodeCounter::Int64
     #NOTE does not exist
@@ -19,9 +22,12 @@ function SymbolDFG{T,V,F}(g::SymbolFactorGraph{V,F}=SymbolFactorGraph{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 <:DFGNode, F<:DFGNode}
 
-    SymbolDFG{T,V,F}(g, description, userId, robotId, sessionId, Symbol[], params)
+    SymbolDFG{T,V,F}(g, description, userId, robotId, sessionId, userData, robotData, sessionData, Symbol[], params)
 end
 
 SymbolDFG{T}(g::SymbolFactorGraph{DFGVariable,DFGFactor}=SymbolFactorGraph{DFGVariable,DFGFactor}(); kwargs...) where T <: AbstractParams = SymbolDFG{T,DFGVariable,DFGFactor}(g; kwargs...)

src/services/AbstractDFG.jl

@@ -50,23 +50,39 @@ function setSolverParams(dfg::G, solverParams::T) where {G <: AbstractDFG, T <:
 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))")
+# 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
+
+getUserData(dfg::AbstractDFG)::Dict{Symbol, String} = return dfg.userData
+function setUserData(dfg::AbstractDFG, data::Dict{Symbol, String})::Bool
+	dfg.userData = data
+	return true
+end
+getRobotData(dfg::AbstractDFG)::Dict{Symbol, String} = return dfg.robotData
+function setRobotData(dfg::AbstractDFG, data::Dict{Symbol, String})::Bool
+	dfg.robotData = data
+	return true
+end
+getSessionData(dfg::AbstractDFG)::Dict{Symbol, String} = return dfg.sessionData
+function setSessionData(dfg::AbstractDFG, data::Dict{Symbol, String})::Bool
+	dfg.sessionData = data
+	return true
 end
 
 """