Gets, sets, and lists for sessions, robots, and users

GearsAD · GearsAD · commit 684acfe5dca0 · 2019-11-16T23:10:44.000-06:00
diff --git a/README.md b/README.md
@@ -69,7 +69,7 @@ docker pull neo4j
 To run the image with user `neo4j` and password `test`:
 
 ```bash
-docker run --publish=7474:7474 --publish=7687:7687 --env NEO4J_AUTH=neo4j/test neo4j
+docker run -d --publish=7474:7474 --publish=7687:7687 --env NEO4J_AUTH=neo4j/test neo4j
 ```
 
 > **Note** If you just installed docker and having permission issues, please see [this ask Ubuntu forum](https://askubuntu.com/questions/941816/permission-denied-when-running-docker-after-installing-it-as-a-snap).
diff --git a/src/CloudGraphsDFG/services/CGStructure.jl b/src/CloudGraphsDFG/services/CGStructure.jl
@@ -7,11 +7,21 @@ export createSession, createRobot, createUser, createDfgSessionIfNotExist
 export existsSession, existsRobot, existsUser
 export getSession, getRobot, getUser
 export updateSession, updateRobot, updateUser
-export listSessions, listRobots, listUsers
+export lsSessions, lsRobots, lsUsers
+
+global _invalidIds = ["USER", "ROBOT", "SESSION", "VARIABLE", "FACTOR", "ENVIRONMENT", "PPE", "BIGDATA"]
+global _validLabelRegex = r"^[a-zA-Z]\w*$"
+
+function _isValid(id::Union{Symbol, String})::Bool
+	if typeof(id) == Symbol
+		id = String(id)
+	end
+	return all(t -> t != uppercase(id), _invalidIds) && match(_validLabelRegex, id) != nothing
+end
 
 function _isValid(abstractNode::N)::Bool where N <: AbstractCGNode
-	invalidIds = ["USER", "ROBOT", "SESSION", "VARIABLE", "FACTOR", "ENVIRONMENT"]
-	return all(t -> t != uppercase(String(abstractNode.id)), invalidIds)
+	id = String(abstractNode.id)
+	return all(t -> t != uppercase(id), _invalidIds) && match(_validLabelRegex, id) != nothing
 end
 
 # Fastest way I can think to convert the data into a dict
@@ -26,16 +36,37 @@ end
 
 #TODO: Refactor, #HACK :D (but it works!)
 function _convertDictToSession(dict::Dict{String, Any})::Session
-	sessionData = JSON2.read(String(base64decode(dict["data"])), Dict{Symbol, String})
+	data = JSON2.read(String(base64decode(dict["data"])), Dict{Symbol, String})
 	session = Session(
 		Symbol(dict["id"]),
 		Symbol(dict["robotId"]),
 		Symbol(dict["userId"]),
 		dict["name"],
 		dict["description"],
-		sessionData)
+		data)
 	return session
 end
+#TODO: Refactor, #HACK :D (but it works!)
+function _convertDictToRobot(dict::Dict{String, Any})::Robot
+	data = JSON2.read(String(base64decode(dict["data"])), Dict{Symbol, String})
+	robot = Robot(
+		Symbol(dict["id"]),
+		Symbol(dict["userId"]),
+		dict["name"],
+		dict["description"],
+		data)
+	return robot
+end
+#TODO: Refactor, #HACK :D (but it works!)
+function _convertDictToUser(dict::Dict{String, Any})::User
+	data = JSON2.read(String(base64decode(dict["data"])), Dict{Symbol, String})
+	user = User(
+		Symbol(dict["id"]),
+		dict["name"],
+		dict["description"],
+		data)
+	return user
+end
 
 function createUser(dfg::CloudGraphsDFG, user::User)::User
 	Symbol(dfg.userId) != user.id && error("DFG user ID must match user's ID")
@@ -105,18 +136,106 @@ function createDfgSessionIfNotExist(dfg::CloudGraphsDFG)::Session
 	end
 end
 
-function listSessions(dfg::CloudGraphsDFG)::Vector{Session}
+"""
+$(SIGNATURES)
+List all sessions for the specified DFG's robot and user.
+Returns nothing if it isn't found.
+"""
+function lsSessions(dfg::CloudGraphsDFG)::Vector{Session}
 	sessionNodes = _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:SESSION:$(dfg.robotId):$(dfg.userId))")
 	return map(s -> _convertDictToSession(Neo4j.getnodeproperties(s)), sessionNodes)
 end
 
-function getSession(dfg::CloudGraphsDFG)::Union{Nothing, Session}
-	sessionNode = _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:SESSION:$(dfg.sessionId):$(dfg.robotId):$(dfg.userId))")
+"""
+$(SIGNATURES)
+List all robots for the specified DFG's user.
+Returns nothing if it isn't found.
+"""
+function lsRobots(dfg::CloudGraphsDFG)::Vector{Robot}
+	robotNodes = _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:ROBOT:$(dfg.userId))")
+	return map(s -> _convertDictToRobot(Neo4j.getnodeproperties(s)), robotNodes)
+end
+
+"""
+$(SIGNATURES)
+List all users.
+Returns nothing if it isn't found.
+"""
+function lsUsers(dfg::CloudGraphsDFG)::Vector{User}
+	userNodes = _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:USER)")
+	return map(s -> _convertDictToUser(Neo4j.getnodeproperties(s)), userNodes)
+end
+
+"""
+$(SIGNATURES)
+Get a session specified by userId:robotId:sessionId.
+Returns nothing if it isn't found.
+"""
+function getSession(dfg::CloudGraphsDFG, userId::Symbol, robotId::Symbol, sessionId::Symbol)::Union{Session, Nothing}
+	!_isValid(userId) && error("Can't receive session with user ID '$(userId)'.")
+	!_isValid(robotId) && error("Can't receive session with robot ID '$(robotId)'.")
+	!_isValid(sessionId) && error("Can't receive session with session ID '$(sessionId)'.")
+	sessionNode = _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:SESSION:$(sessionId):$(robotId):$(userId))")
 	length(sessionNode) == 0 && return nothing
-	length(sessionNode) > 1 && error("There look to be $(length(sessionNode)) sessions identified for $(dfg.sessionId):$(dfg.robotId):$(dfg.userId)")
+	length(sessionNode) > 1 && error("There look to be $(length(sessionNode)) sessions identified for $(sessionId):$(robotId):$(userId)")
 	return _convertDictToSession(Neo4j.getnodeproperties(sessionNode[1]))
 end
 
+"""
+$(SIGNATURES)
+Get the session specified by the DFG object.
+Returns nothing if it isn't found.
+"""
+function getSession(dfg::CloudGraphsDFG)::Union{Nothing, Session}
+	return getSession(dfg, Symbol(dfg.userId), Symbol(dfg.robotId), Symbol(dfg.sessionId))
+end
+
+"""
+$(SIGNATURES)
+Get a robot specified by userId:robotId.
+Returns nothing if it isn't found.
+"""
+function getRobot(dfg::CloudGraphsDFG, userId::Symbol, robotId::Symbol)::Union{Robot, Nothing}
+	!_isValid(userId) && error("Can't receive session with user ID '$(userId)'.")
+	!_isValid(robotId) && error("Can't receive session with robot ID '$(robotId)'.")
+	robotNode = _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:ROBOT:$(robotId):$(userId))")
+	length(robotNode) == 0 && return nothing
+	length(robotNode) > 1 && error("There look to be $(length(robotNode)) robots identified for $(robotId):$(userId)")
+	return _convertDictToRobot(Neo4j.getnodeproperties(robotNode[1]))
+end
+
+"""
+$(SIGNATURES)
+Get the robot specified by the DFG object.
+Returns nothing if it isn't found.
+"""
+function getRobot(dfg::CloudGraphsDFG)::Union{Nothing, Robot}
+	return getRobot(dfg, Symbol(dfg.userId), Symbol(dfg.robotId))
+end
+
+"""
+$(SIGNATURES)
+Get a user specified by userId.
+Returns nothing if it isn't found.
+"""
+function getUser(dfg::CloudGraphsDFG, userId::Symbol)::Union{User, Nothing}
+	!_isValid(userId) && error("Can't receive session with user ID '$(userId)'.")
+	userNode = _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:USER:$(userId))")
+	length(userNode) == 0 && return nothing
+	length(userNode) > 1 && error("There look to be $(length(userNode)) robots identified for $(userId)")
+	return _convertDictToUser(Neo4j.getnodeproperties(userNode[1]))
+end
+
+"""
+$(SIGNATURES)
+Get the user specified by the DFG object.
+Returns nothing if it isn't found.
+"""
+function getUser(dfg::CloudGraphsDFG)::Union{Nothing, User}
+	return getUser(dfg, Symbol(dfg.userId))
+end
+
+
 """
     $(SIGNATURES)
 DANGER: Clears the whole session from the database.
diff --git a/src/CloudGraphsDFG/services/CloudGraphsDFG.jl b/src/CloudGraphsDFG/services/CloudGraphsDFG.jl
@@ -571,7 +571,7 @@ function isFullyConnected(dfg::CloudGraphsDFG)::Bool
     # Total connected nodes - thank you Neo4j for 0..* awesomeness!!
     query = """
         match (n:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId):$(varIds[1]))-[FACTORGRAPH*]-(node:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId))
-        WHERE n:VARIABLE OR n:FACTOR OR node:VARIABLE OR node:FACTOR
+        WHERE (n:VARIABLE OR n:FACTOR OR node:VARIABLE OR node:FACTOR) and not (node:SESSION)
         WITH collect(n)+collect(node) as nodelist
         unwind nodelist as nodes
         return count(distinct nodes)"""
@@ -665,11 +665,9 @@ Note: By default orphaned factors (where the subgraph does not contain all the r
 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
-    #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))")
+    neighborList = _getLabelsFromCyphonQuery(dfg.neo4jInstance,
+        "(n:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId):$(node.label))-[FACTORGRAPH*0..$distance]-(node:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId)) WHERE (n:VARIABLE OR n:FACTOR OR node:VARIABLE OR node:FACTOR) and not (node:SESSION)")
 
     # Copy the section of graph we want
     _copyIntoGraph!(dfg, addToDFG, neighborList, includeOrphanFactors)
diff --git a/test/CGStructureTests.jl b/test/CGStructureTests.jl
@@ -1,9 +1,5 @@
-using DistributedFactorGraphs
-using IncrementalInference
-using Test
-
 dfg = CloudGraphsDFG{NoSolverParams}("localhost", 7474, "neo4j", "test",
-                            "Bob", "testRobot", "testSession",
+                            "testUser", "testRobot", "testSession",
                             nothing,
                             nothing,
                             IncrementalInference.decodePackedType,
@@ -12,24 +8,38 @@ dfg = CloudGraphsDFG{NoSolverParams}("localhost", 7474, "neo4j", "test",
 
 # Nuke the user
 clearUser!!(dfg)
-@test listSessions(dfg) == []
+@test lsSessions(dfg) == []
+@test lsRobots(dfg) == []
+@test !(Symbol(dfg.userId) in map(u -> u.id, lsUsers(dfg)))
 # Create sentinel nodes using shortcut
 createDfgSessionIfNotExist(dfg)
-@test map(s -> s.id, listSessions(dfg)) == [:testSession]
+@test map(s -> s.id, lsSessions(dfg)) == [Symbol(dfg.sessionId)]
+@test map(s -> s.id, lsRobots(dfg)) == [Symbol(dfg.robotId)]
+@test Symbol(dfg.userId) in map(u -> u.id, lsUsers(dfg))
 # Test that we can call it again.
 createDfgSessionIfNotExist(dfg)
 # And nuke it so we can try the longer functions.
 clearUser!!(dfg)
 
 # User, robot, and session
 # TODO: Make easier ways to initialize these.
-user = User(:Bob, "Bob Zack", "Description", Dict{Symbol, String}())
-robot = Robot(:testRobot, user.id, "Test robot", "Description", Dict{Symbol, String}())
-session = Session(:testSession, robot.id, user.id, "Test Session", "Description", Dict{Symbol, String}())
+user = User(Symbol(dfg.userId), "Bob Zack", "Description", Dict{Symbol, String}())
+robot = Robot(Symbol(dfg.robotId), user.id, "Test robot", "Description", Dict{Symbol, String}())
+session = Session(Symbol(dfg.sessionId), robot.id, user.id, "Test Session", "Description", Dict{Symbol, String}())
 
 @test createUser(dfg, user) == user
 @test createRobot(dfg, robot) == robot
 @test createSession(dfg, session) == session
+@test map(s -> s.id, lsSessions(dfg)) == [Symbol(dfg.sessionId)]
+@test map(s -> s.id, lsRobots(dfg)) == [Symbol(dfg.robotId)]
+@test Symbol(dfg.userId) in map(u -> u.id, lsUsers(dfg))
+
+# Test errors
+dfgError = deepcopy(dfg)
+# User/robot/session ID's can't start with numbers and can't have spaces.
+dfgError.userId = "1testNope"
+user = User(Symbol(dfgError.userId), "Bob Zack", "Description", Dict{Symbol, String}())
+@test_throws Exception createUser(dfgError, user)
 
 @test getUserData(dfg) == Dict{Symbol, String}()
 @test getRobotData(dfg) == Dict{Symbol, String}()
@@ -54,7 +64,7 @@ v3 = addVariable!(dfg, :c, ContinuousScalar, labels = [:LANDMARK])
 f1 = addFactor!(dfg, [:a; :b], LinearConditional(Normal(50.0,2.0)) )
 f2 = addFactor!(dfg, [:b; :c], LinearConditional(Normal(50.0,2.0)) )
 
-sessions = listSessions(dfg)
+sessions = lsSessions(dfg)
 @test map(s -> s.id, sessions) == [session.id]
 
 # Pull and solve this graph
@@ -83,3 +93,5 @@ f2 = addFactor!(dfgOrphaned, [:b; :c], LinearConditional(Normal(50.0,2.0)) )
 dfgLocal = GraphsDFG{SolverParams}(params=SolverParams())
 DistributedFactorGraphs.getSubgraph(dfgOrphaned, union(ls(dfgOrphaned), lsf(dfgOrphaned)), true, dfgLocal)
 tree, smtasks = solveTree!(dfgLocal)
+
+# If this passes without errors and we solve the graph, then all good.
diff --git a/test/runtests.jl b/test/runtests.jl
@@ -7,7 +7,7 @@ using Pkg
 ## To run the IIF tests, you need a local Neo4j with user/pass neo4j:test
 # To run a Docker image
 # Install: docker pull neo4j
-# Run: docker run --publish=7474:7474 --publish=7687:7687 --env NEO4J_AUTH=neo4j/test neo4j
+# Run: docker run -d --publish=7474:7474 --publish=7687:7687 --env NEO4J_AUTH=neo4j/test neo4j
 ##
 
 # Test each interface
@@ -43,9 +43,9 @@ end
 end
 
 
-# if get(ENV, "IIF_TEST", "") == "true"
+if get(ENV, "IIF_TEST", "") == "true"
 
-    # Pkg.add("IncrementalInference")
+    Pkg.add("IncrementalInference")
     # TODO: Remove this once we move to v0.5.0
     Pkg.add(PackageSpec(name="IncrementalInference", rev="enhancement/compare_move_dfg"))
     @info "------------------------------------------------------------------------"
@@ -74,6 +74,11 @@ end
             include("iifInterfaceTests.jl")
         end
     end
-# else
-#     @warn "Skipping IncrementalInference driver tests"
-# end
+
+    @testset "CGStructure Tests for CGDFG" begin
+        # Run the CGStructure tests
+        include("CGStructureTests.jl")
+    end
+else
+    @warn "Skipping IncrementalInference driver tests"
+end
diff --git a/test/sandbox.jl b/test/sandbox.jl
@@ -9,47 +9,15 @@ logger = SimpleLogger(stdout, Logging.Debug)
 global_logger(logger)
 
 dfg = CloudGraphsDFG{SolverParams}("localhost", 7474, "neo4j", "test",
-                            "testUser", "testRobot", "sandbox",
+                            "1testUser", "testRobot", "testSession",
                             nothing,
                             nothing,
                             IncrementalInference.decodePackedType,
                             IncrementalInference.rebuildFactorMetadata!,
                             solverParams=SolverParams())
-clearRobot!!(dfg)
+user = User(Symbol(dfg.userId), "Bob Zack", "Description", Dict{Symbol, String}())
+@test_throws Exception createUser(dfg, user) == user
 
-numNodes = 10
-#change ready and backendset for x7,x8 for improved tests on x7x8f1
-verts = map(n -> addVariable!(dfg, Symbol("x$n"), ContinuousScalar, labels = [:POSE]), 1:numNodes)
-#TODO fix this to use accessors
-verts[7].ready = 1
-# verts[7].backendset = 0
-verts[8].ready = 0
-verts[8].backendset = 1
-#call update to set it on cloud
-updateVariable!(dfg, verts[7])
-updateVariable!(dfg, verts[8])
-
-facts = map(n -> addFactor!(dfg, [verts[n], verts[n+1]], LinearConditional(Normal(50.0,2.0))), 1:(numNodes-1))
-
-# Get neighbors tests
-@test getNeighbors(dfg, verts[1]) == [:x1x2f1]
-neighbors = getNeighbors(dfg, getFactor(dfg, :x1x2f1))
-@test neighbors == [:x1, :x2]
-# Testing aliases
-@test getNeighbors(dfg, getFactor(dfg, :x1x2f1)) == ls(dfg, getFactor(dfg, :x1x2f1))
-@test getNeighbors(dfg, :x1x2f1) == ls(dfg, :x1x2f1)
-
-# ready and backendset
-@test getNeighbors(dfg, :x5, ready=1) == Symbol[]
-#TODO Confirm: test failed on GraphsDFG, don't know if the order is important for isa variable.
-@test symdiff(getNeighbors(dfg, :x5, ready=0), [:x4x5f1,:x5x6f1]) == []
-@test getNeighbors(dfg, :x5, backendset=1) == Symbol[]
-@test symdiff(getNeighbors(dfg, :x5, backendset=0),[:x4x5f1,:x5x6f1]) == []
-@test getNeighbors(dfg, :x7x8f1, ready=0) == [:x8]
-@test getNeighbors(dfg, :x7x8f1, backendset=0) == [:x7]
-@test getNeighbors(dfg, :x7x8f1, ready=1) == [:x7]
-@test getNeighbors(dfg, :x7x8f1, backendset=1) == [:x8]
-@test getNeighbors(dfg, verts[1], ready=0) == [:x1x2f1]
-@test getNeighbors(dfg, verts[1], ready=1) == Symbol[]
-@test getNeighbors(dfg, verts[1], backendset=0) == [:x1x2f1]
-@test getNeighbors(dfg, verts[1], backendset=1) == Symbol[]
+isFullyConnected(dfg)
+hasOrphans(dfg)
+dfgSubgraph = getSubgraphAroundNode(dfg, getVariable(dfg, :x1), 2)
