Merge pull request #454 from JuliaRobotics/feature/20q2/customprint

Custom pretty-printing #448

Author: Affie

src/Deprecated.jl

@@ -14,9 +14,6 @@ include("../attic/GraphsDFG/GraphsDFG.jl")
 
 @deprecate loadDFG(source::String, iifModule::Module, dest::AbstractDFG) loadDFG!(dest, source)
 
-
-export buildSubgraphFromLabels!
-
 # leave a bit longer
 export buildSubgraphFromLabels!
 function buildSubgraphFromLabels!(dfg::AbstractDFG,
@@ -32,37 +29,3 @@ function buildSubgraphFromLabels!(dfg::AbstractDFG,
         """)
 
 end
-
-## TODO: I think these are handy, so move to Factor and Variable
-Base.getproperty(x::DFGFactor,f::Symbol) = begin
-    if f == :solvable
-        getfield(x,:_dfgNodeParams).solvable
-    else
-        getfield(x,f)
-    end
-end
-
-Base.setproperty!(x::DFGFactor,f::Symbol, val) = begin
-    if f == :solvable
-        setfield!(x,f,val)
-        getfield(x,:_dfgNodeParams).solvable = val
-    else
-        setfield!(x,f,val)
-    end
-end
-
-Base.getproperty(x::DFGVariable,f::Symbol) = begin
-    if f == :solvable
-        getfield(x,:_dfgNodeParams).solvable
-    else
-        getfield(x,f)
-    end
-end
-
-Base.setproperty!(x::DFGVariable,f::Symbol, val) = begin
-    if f == :solvable
-        getfield(x,:_dfgNodeParams).solvable = val
-    else
-        setfield!(x,f,val)
-    end
-end

src/DistributedFactorGraphs.jl

@@ -235,9 +235,8 @@ export
 #TODO remove export in DFG v0.8.0
 # export ConvolutionObject
 
-## needsahome.jl
-import Base: print
-export printFactor, printVariable, print
+## CustomPrinting.jl
+export printFactor, printVariable, printNode
 
 ##==============================================================================
 ## Files Includes
@@ -277,8 +276,8 @@ include("FileDFG/FileDFG.jl")
 
 include("CloudGraphsDFG/CloudGraphsDFG.jl")
 
-# Needs a home.
-include("needsahome.jl")
+# Custom show and printing for variable factor etc.
+include("services/CustomPrinting.jl")
 
 function __init__()
     @require GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231" begin

src/entities/DFGFactor.jl

@@ -141,6 +141,22 @@ DFGFactor(label::Symbol,
 
 
 
+Base.getproperty(x::DFGFactor,f::Symbol) = begin
+    if f == :solvable
+        getfield(x,:_dfgNodeParams).solvable
+    else
+        getfield(x,f)
+    end
+end
+
+Base.setproperty!(x::DFGFactor,f::Symbol, val) = begin
+    if f == :solvable
+        setfield!(x,f,val)
+        getfield(x,:_dfgNodeParams).solvable = val
+    else
+        setfield!(x,f,val)
+    end
+end
 ##------------------------------------------------------------------------------
 ## DFGFactorSummary lv1
 ##------------------------------------------------------------------------------

src/entities/DFGVariable.jl

@@ -233,6 +233,23 @@ DFGVariable(label::Symbol,
             solvable::Int=1) where {T <: InferenceVariable} =
     DFGVariable{T}(label, timestamp, tags, estimateDict, Dict{Symbol, VariableNodeData{T}}(:default=>solverData), smallData, bigData, DFGNodeParams(solvable))
 
+Base.getproperty(x::DFGVariable,f::Symbol) = begin
+    if f == :solvable
+        getfield(x,:_dfgNodeParams).solvable
+    else
+        getfield(x,f)
+    end
+end
+
+Base.setproperty!(x::DFGVariable,f::Symbol, val) = begin
+    if f == :solvable
+        getfield(x,:_dfgNodeParams).solvable = val
+    else
+        setfield!(x,f,val)
+    end
+end
+
+
 ##------------------------------------------------------------------------------
 function Base.copy(o::DFGVariable)::DFGVariable
     return DFGVariable(o.label, getSofttype(o)(), tags=copy(o.tags), estimateDict=copy(o.estimateDict),

src/needsahome.jl

@@ -0,0 +1,113 @@
+##==============================================================================
+## Overloading show
+##==============================================================================
+# Base.show_default(io, v)
+Base.show(io::IO, ::MIME"text/plain", v::DFGVariable) = show(IOContext(io, :limit=>true, :compact=>true), v)
+
+Base.show(io::IO, ::MIME"text/plain", f::DFGFactor) = show(IOContext(io, :limit=>true, :compact=>true), f)
+
+#default for Atom/Juno
+Base.show(io::IO, ::MIME"application/prs.juno.inline", x::Union{DFGVariable, DFGFactor}) = x
+
+
+##==============================================================================
+## Printing Variables and Factors
+##==============================================================================
+
+printVariable(vert::DFGVariable; kwargs...) = printVariable(stdout::IO, vert; kwargs...)
+
+function printVariable(io::IO, vert::DFGVariable;
+                       short::Bool=false,
+                       compact::Bool=true,
+                       limit::Bool=true,
+                       skipfields::Vector{Symbol}=Symbol[],
+                       solveKeys::Vector{Symbol}=Symbol[])
+
+    ioc = IOContext(io, :limit=>limit, :compact=>compact)
+
+    if short
+        printstyled(ioc, summary(vert),"\n", bold=true)
+        vnd = getSolverData(vert)
+        println(ioc, "label: $(vert.label)")
+        println(ioc, "tags: $(getTags(vert))")
+        println(ioc, "size marginal samples: $(size(vnd.val))")
+        println(ioc, "kde bandwidths: $((vnd.bw)[:,1])")
+        if 0 < length(getPPEDict(vert))
+            println(ioc, "PPE.suggested: $(round.(getPPE(vert).suggested,digits=4))")
+        else
+            println(ioc, "No PPEs")
+        end
+        # println(ioc, "kde max: $(round.(getKDEMax(getKDE(vnd)),digits=4))")
+        # println(ioc, "kde max: $(round.(getKDEMax(getKDE(vnd)),digits=4))")
+    else
+
+        printstyled(ioc, summary(vert),"\n", bold=true, color=:blue)
+
+        :solver in skipfields && push!(skipfields, :solverDataDict)
+        :ppe in skipfields && push!(skipfields, :ppeDict)
+
+        t = typeof(vert)
+        fields = setdiff(fieldnames(t), skipfields)
+        nf = nfields(vert)
+
+        for f in fields
+            printstyled(ioc, f,":\n", color=:blue)
+            show(ioc, getfield(vert, f))
+            println(ioc)
+        end
+    end
+end
+
+printFactor(vert::DFGFactor; kwargs...) = printFactor(stdout::IO, vert; kwargs...)
+function printFactor(io::IO, vert::DFGFactor;
+                     short::Bool=false,
+                     compact::Bool=true,
+                     limit::Bool=true,
+                     skipfields::Vector{Symbol}=Symbol[])
+
+    ioc = IOContext(io, :limit=>limit, :compact=>compact)
+
+    if short
+        printstyled(ioc, summary(vert),"\n", bold=true)
+        println(ioc, "label: ", vert.label)
+        println(ioc, "timestamp: ", vert.timestamp)
+        println(ioc, "tags: ", vert.tags)
+        println(ioc, "solvable: ", vert.solvable)
+        println(ioc, "VariableOrder: ", vert._variableOrderSymbols)
+    else
+
+        printstyled(ioc, summary(vert),"\n", bold=true, color=:blue)
+
+        :solver in skipfields && push!(skipfields, :solverData)
+
+        t = typeof(vert)
+        fields = setdiff(fieldnames(t), skipfields)
+        nf = nfields(vert)
+
+        for f in fields
+            printstyled(ioc, f,":\n", color=:blue)
+            show(ioc, getfield(vert, f))
+            println(ioc)
+        end
+    end
+end
+
+
+"""
+    $SIGNATURES
+
+Display and return to console the user factor identified by tag name.
+"""
+printFactor(dfg::AbstractDFG, sym::Symbol) = print(getFactor(dfg, sym))
+
+"""
+   $SIGNATURES
+
+Display the content of `VariableNodeData` to console for a given factor graph and variable tag`::Symbol`.
+
+Dev Notes
+- TODO split as two show macros between AMP and DFG
+"""
+printVariable(dfg::AbstractDFG, sym::Symbol) = print(getVariable(dfg, sym))
+
+printNode(dfg::AbstractDFG, sym::Symbol) = isVariable(dfg,sym) ? printVariable(dfg, sym) : printFactor(dfg, sym)

src/services/CustomPrinting.jl

@@ -22,11 +22,54 @@ end
     global fac0, fac1, fac2 = DFGFactorSCA()
 end
 
+
 @testset "Variables and Factors CRUD and SET" begin
     VariablesandFactorsCRUD_SET!(fg1, var1, var2, var3, fac0, fac1, fac2)
 end
 
 
+@testset "Custom Printing" begin
+
+    iobuf = IOBuffer()
+    # for now just test the interface and a bit of output
+    @test printVariable(var1) == nothing
+    @test printFactor(fac1) == nothing
+
+    @test printVariable(iobuf, var1, skipfields=[:timestamp, :solver, :ppe]) == nothing
+    @test String(take!(iobuf)) == "DFGVariable{TestSofttype1}\nlabel:\n:a\ntags:\nSet([:VARIABLE, :POSE])\nsmallData:\nDict(\"small\"=>\"data\")\nbigData:\nDict{Symbol,AbstractBigDataEntry}()\n_dfgNodeParams:\nDFGNodeParams(0)\n"
+
+    @test printVariable(iobuf, var1, short=true) == nothing
+    @test String(take!(iobuf)) == "DFGVariable{TestSofttype1}\nlabel: a\ntags: Set([:VARIABLE, :POSE])\nsize marginal samples: (1, 1)\nkde bandwidths: [0.0]\nNo PPEs\n"
+
+
+    @test printFactor(iobuf, fac1, skipfields=[:timestamp, :solver]) == nothing
+    @test occursin(r"DFGFactor.*\nlabel:\n:abf1", String(take!(iobuf)))
+
+    String(take!(iobuf)) == "DFGFactor{TestCCW{TestFunctorInferenceType1}}\nlabel:\n:abf1\ntags:\nSet([:tag1, :tag2])\nsolvable:\n0\n_dfgNodeParams:\nDFGNodeParams(1)\n_variableOrderSymbols:\n[:a, :b]\n"
+
+    @test printFactor(iobuf, fac1, short=true) == nothing
+    @test occursin(r"DFGFactor.*\nlabel.*\ntimestamp.*\ntags.*\nsolvable", String(take!(iobuf)))
+
+    # s = String(take!(iobuf))
+
+    @test show(var1) == nothing
+    @test show(fac1) == nothing
+
+    @test show(iobuf, MIME("text/plain"), var1) == nothing
+    isapprox(length(take!(iobuf)), 452, atol=10)
+    @test show(iobuf, MIME("text/plain"), fac1) == nothing
+    isapprox(length(take!(iobuf)), 301, atol=10)
+
+    @test printVariable(fg1, :a) == nothing
+    @test printFactor(fg1, :abf1) == nothing
+
+    @test printNode(fg1, :a) == nothing
+    @test printNode(fg1, :abf1) == nothing
+
+    show(stdout, MIME("application/prs.juno.inline"), var1) == var1
+    show(stdout, MIME("application/prs.juno.inline"), fac1) == fac1
+end
+
 @testset "tags" begin
     tagsTestBlock!(fg1, var1, v1_tags)
 end