Merge pull request #376 from JuliaRobotics/maint/20Q2/seperateVarFacCopy

copyGraph separate variables factors

Author: Affie

.travis.yml

@@ -24,7 +24,7 @@ jobs:
     - julia: 1.3
       env: IIF_TEST=true
       if: NOT branch =~ ^release.*$
-    - arch: arm64
+    # - arch: arm64
     - stage: "Documentation"
       julia: 1.3
       os: linux
@@ -33,15 +33,14 @@ jobs:
         - julia --project=docs/ docs/make.jl
       after_success: skip
   fast_finish: true
+  allow_failures:
+      - julia: nightly
+      # - arch: arm64
+      #- env: IIF_TEST=true
 
 notifications:
     email: false
 
-matrix:
-  allow_failures:
-  - julia: nightly
-  - arch: arm64
-  #- env: IIF_TEST=true
 
 # Set the password for Neo4j to neo4j:test
 before_script:

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.7.2"
+version = "0.7.3"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

src/DFGPlots/DFGPlots.jl

@@ -88,7 +88,7 @@ More information at [GraphPlot.jl](https://github.com/JuliaGraphs/GraphPlot.jl)
 function dfgplot(dfg::AbstractDFG, p::DFGPlotProps = DFGPlotProps())
     # TODO implement convert functions
     ldfg = LightDFG{NoSolverParams}()
-    copyGraph!(ldfg, dfg, union(listVariables(dfg), listFactors(dfg)), copyGraphMetadata=false)
+    copyGraph!(ldfg, dfg, listVariables(dfg), listFactors(dfg), copyGraphMetadata=false)
     dfgplot(ldfg, p)
 end
 

src/LightDFG/services/LightDFG.jl

@@ -265,33 +265,31 @@ function getNeighbors(dfg::LightDFG, label::Symbol; solvable::Int=0)::Vector{Sym
 
 end
 
-
-# TODO copy LightDFG to LightDFG overwrite
-# function copyGraph!(destDFG::LightDFG,
-#                     sourceDFG::LightDFG,
-#                     variableFactorLabels::Vector{Symbol};
-#                     copyGraphMetadata::Bool=false,
-#                     overwriteDest::Bool=false,
-#                     deepcopyNodes::Bool=false,
-#                     verbose::Bool = true)
-
-function buildSubgraph(::Type{G}, dfg::LightDFG, variableFactorLabels::Vector{Symbol}, distance::Int=0; solvable::Int=0, kwargs...) where G <: AbstractDFG
-
+function getNeighborhood(dfg::LightDFG, variableFactorLabels::Vector{Symbol}, distance::Int; solvable::Int=0)::Vector{Symbol}
     # find neighbors at distance to add
     nbhood = Int[]
 
     for l in variableFactorLabels
         union!(nbhood, neighborhood(dfg.g, dfg.g.labels[l], distance))
     end
 
-    solvable != 0 && (filter!(id -> _isSolvable(dfg, dfg.g.labels[id], solvable), nbhood))
-
     allvarfacs = [dfg.g.labels[id] for id in nbhood]
-    # Copy the section of graph we want
-    destDFG = deepcopyGraph(G, dfg, allvarfacs; kwargs...)
-    return destDFG
+
+    solvable != 0 && filter!(nlbl -> (getSolvable(dfg, nlbl) >= solvable), allvarfacs)
+
+    return allvarfacs
+
 end
 
+# TODO copy LightDFG to LightDFG overwrite
+# function copyGraph!(destDFG::LightDFG,
+#                     sourceDFG::LightDFG,
+#                     variableFactorLabels::Vector{Symbol};
+#                     copyGraphMetadata::Bool=false,
+#                     overwriteDest::Bool=false,
+#                     deepcopyNodes::Bool=false,
+#                     verbose::Bool = true)
+
 
 #  Biadjacency Matrix https://en.wikipedia.org/wiki/Adjacency_matrix#Of_a_bipartite_graph
 function getBiadjacencyMatrix(dfg::LightDFG; solvable::Int=0)::NamedTuple{(:B, :varLabels, :facLabels),Tuple{LightGraphs.SparseMatrixCSC,Vector{Symbol}, Vector{Symbol}}}

src/services/AbstractDFG.jl

@@ -799,19 +799,15 @@ Dev Note:
 """
 function copyGraph!(destDFG::AbstractDFG,
                     sourceDFG::AbstractDFG,
-                    variableFactorLabels::Vector{Symbol};
+                    variableLabels::Vector{Symbol},
+                    factorLabels::Vector{Symbol};
                     copyGraphMetadata::Bool=false,
                     overwriteDest::Bool=false,
                     deepcopyNodes::Bool=false,
                     verbose::Bool = true)
     # Split into variables and factors
-    sourceVariables = map(vId->getVariable(sourceDFG, vId), intersect(listVariables(sourceDFG), variableFactorLabels))
-    sourceFactors = map(fId->getFactor(sourceDFG, fId), intersect(listFactors(sourceDFG), variableFactorLabels))
-    if length(sourceVariables) + length(sourceFactors) != length(variableFactorLabels)
-        remv = setdiff(map(v->v.label, sourceVariables), variableFactorLabels)
-        remf = setdiff(map(f->f.label, sourceFactors), variableFactorLabels)
-        error("Cannot copy because cannot find the following nodes in the source graph: $remv, $remf")
-    end
+    sourceVariables = map(vId->getVariable(sourceDFG, vId), variableLabels)
+    sourceFactors = map(fId->getFactor(sourceDFG, fId), factorLabels)
 
     # Now we have to add all variables first,
     for variable in sourceVariables
@@ -861,18 +857,20 @@ end
 
 function deepcopyGraph!(destDFG::AbstractDFG,
                         sourceDFG::AbstractDFG,
-                        variableFactorLabels::Vector{Symbol} = union(ls(sourceDFG), lsf(sourceDFG));
+                        variableLabels::Vector{Symbol} = ls(sourceDFG),
+                        factorLabels::Vector{Symbol} = lsf(sourceDFG);
                         kwargs...)
-    copyGraph!(destDFG, sourceDFG, variableFactorLabels; deepcopyNodes=true, kwargs...)
+    copyGraph!(destDFG, sourceDFG, variableLabels, factorLabels; deepcopyNodes=true, kwargs...)
 end
 
 
-function deepcopyGraph( ::Type{T},
-                        sourceDFG::AbstractDFG,
-                        variableFactorLabels::Vector{Symbol} = union(ls(sourceDFG), lsf(sourceDFG));
-                        kwargs...) where T <: AbstractDFG
+function deepcopyGraph(::Type{T},
+                       sourceDFG::AbstractDFG,
+                       variableLabels::Vector{Symbol} = ls(sourceDFG),
+                       factorLabels::Vector{Symbol} = lsf(sourceDFG);
+                       kwargs...) where T <: AbstractDFG
     destDFG = T(getDFGInfo(sourceDFG)...)
-    copyGraph!(destDFG, sourceDFG, variableFactorLabels; deepcopyNodes=true, kwargs...)
+    copyGraph!(destDFG, sourceDFG, variableLabels, factorLabels; deepcopyNodes=true, kwargs...)
     return destDFG
 end
 
@@ -946,8 +944,10 @@ function buildSubgraph(::Type{G},
     #build up the neighborhood from variableFactorLabels
     allvarfacs = getNeighborhood(dfg, variableFactorLabels, distance; solvable=solvable)
 
+    variableLabels = intersect(listVariables(dfg), allvarfacs)
+    factorLabels = intersect(listFactors(dfg), allvarfacs)
     # Copy the section of graph we want
-    destDFG = deepcopyGraph(G, dfg, allvarfacs; kwargs...)
+    destDFG = deepcopyGraph(G, dfg, variableLabels, factorLabels; kwargs...)
     return destDFG
 end
 
@@ -965,15 +965,19 @@ Related:
 """
 function mergeGraph!(destDFG::AbstractDFG,
                      sourceDFG::AbstractDFG,
-                     variableFactorLabels::Vector{Symbol} = union(ls(sourceDFG), lsf(sourceDFG)),
+                     variableLabels::Vector{Symbol} = ls(sourceDFG),
+                     factorLabels::Vector{Symbol} = lsf(sourceDFG),
                      distance::Int = 0;
                      solvable::Int = 0,
                      kwargs...)
 
     # find neighbors at distance to add
-    allvarfacs = getNeighborhood(sourceDFG, variableFactorLabels, distance; solvable=solvable)
+    allvarfacs = getNeighborhood(sourceDFG, union(variableLabels, factorLabels), distance; solvable=solvable)
+
+    sourceVariables = intersect(listVariables(sourceDFG), allvarfacs)
+    sourceFactors = intersect(listFactors(sourceDFG), allvarfacs)
 
-    copyGraph!(destDFG, sourceDFG, allvarfacs; deepcopyNodes=true, overwriteDest=true, kwargs...)
+    copyGraph!(destDFG, sourceDFG, sourceVariables, sourceFactors; deepcopyNodes=true, overwriteDest=true, kwargs...)
 
     return destDFG
 end
@@ -1082,7 +1086,7 @@ Produces a dot-format of the graph for visualization.
 function toDot(dfg::AbstractDFG)::String
     #TODO implement convert
     graphsdfg = GraphsDFG{NoSolverParams}()
-    copyGraph!(graphsdfg, dfg, union(listVariables(dfg), listFactors(dfg)))
+    copyGraph!(graphsdfg, dfg, listVariables(dfg), listFactors(dfg))
     # Calls down to GraphsDFG.toDot
     return toDot(graphsdfg)
 end
@@ -1103,7 +1107,7 @@ function toDotFile(dfg::AbstractDFG, fileName::String="/tmp/dfg.dot")::Nothing
         graphsdfg = dfg
     else
         graphsdfg = GraphsDFG{NoSolverParams}()
-        copyGraph!(graphsdfg, dfg, union(listVariables(dfg), listFactors(dfg)))
+        copyGraph!(graphsdfg, dfg, listVariables(dfg), listFactors(dfg))
     end
 
     open(fileName, "w") do fid

test/testBlocks.jl

@@ -362,6 +362,10 @@ function  VariablesandFactorsCRUD_SET!(fg, v1, v2, v3, f0, f1, f2)
     @test_throws ErrorException getVariable(fg, :c)
     @test_throws ErrorException getFactor(fg, :bcf1)
 
+    #test issue #375
+    @test_skip @test_throws ErrorException getVariable(fg, :abf1)
+    @test_skip @test_throws ErrorException getFactor(fg, :a)
+
     # Existence
     @test exists(fg, :a)
     @test !exists(fg, :c)
@@ -1005,7 +1009,7 @@ end
 
 function  BuildingSubgraphs(testDFGAPI; VARTYPE=DFGVariable, FACTYPE=DFGFactor)
 
-    # "Getting Subgraphs"
+        # "Getting Subgraphs"
     dfg, verts, facs = connectivityTestGraph(testDFGAPI, VARTYPE=VARTYPE, FACTYPE=FACTYPE)
     # Subgraphs
     dfgSubgraph = buildSubgraph(testDFGAPI, dfg, [verts[1].label], 2)
@@ -1132,41 +1136,63 @@ function CopyFunctionsTest(testDFGAPI; kwargs...)
     varlbls = ls(dfg)
     faclbls = lsf(dfg)
 
-    dcdfg = DFG.deepcopyGraph(LightDFG, dfg)
+    dcdfg = deepcopyGraph(LightDFG, dfg)
 
     @test issetequal(ls(dcdfg), varlbls)
     @test issetequal(lsf(dcdfg), faclbls)
 
-    lbls = [:x2, :x3, :x2x3f1]
-    dcdfg_part = DFG.deepcopyGraph(LightDFG, dfg, lbls)
+    vlbls = [:x2, :x3]
+    flbls = [:x2x3f1]
+    dcdfg_part = deepcopyGraph(LightDFG, dfg, vlbls, flbls)
 
-    @test issetequal(union(ls(dcdfg_part), lsf(dcdfg_part)), lbls)
+    @test issetequal(ls(dcdfg_part), vlbls)
+    @test issetequal(lsf(dcdfg_part), flbls)
 
     # deepcopy subgraph ignoring orphans
-    @test_logs (:warn, r"orphan") dcdfg_part = DFG.deepcopyGraph(LightDFG, dfg, union(lbls, [:x1x2f1]))
-    @test issetequal(union(ls(dcdfg_part), lsf(dcdfg_part)), lbls)
+    @test_logs (:warn, r"orphan") dcdfg_part = deepcopyGraph(LightDFG, dfg, vlbls, union(flbls, [:x1x2f1]))
+    @test issetequal(ls(dcdfg_part), vlbls)
+    @test issetequal(lsf(dcdfg_part), flbls)
 
     # deepcopy subgraph with 2 parts
-    lbls = [:x2, :x3, :x2x3f1, :x5, :x6, :x5x6f1, :x10]
-    dcdfg_part = DFG.deepcopyGraph(LightDFG, dfg, lbls)
-    @test issetequal(union(ls(dcdfg_part), lsf(dcdfg_part)), lbls)
+    vlbls = [:x2, :x3, :x5, :x6, :x10]
+    flbls = [:x2x3f1, :x5x6f1]
+    dcdfg_part = deepcopyGraph(LightDFG, dfg, vlbls, flbls)
+    @test issetequal(ls(dcdfg_part), vlbls)
+    @test issetequal(lsf(dcdfg_part), flbls)
     @test !isFullyConnected(dcdfg_part)
     # dfgplot(dcdfg_part)
 
+
+    vlbls = [:x2, :x3]
+    dcdfg_part =  deepcopyGraph(LightDFG, dfg, vlbls; verbose=false)
+    @test issetequal(ls(dcdfg_part), vlbls)
+    @test issetequal(lsf(dcdfg_part), [:x2x3f1])
+
     # not found errors
-    @test_throws ErrorException DFG.deepcopyGraph(LightDFG, dfg, [:x0, :a])
+    @test_throws ErrorException deepcopyGraph(LightDFG, dfg, [:x1, :a])
+    @test_throws ErrorException deepcopyGraph(LightDFG, dfg, [:x1], [:f1])
 
     # already exists errors
-    dcdfg_part = DFG.deepcopyGraph(LightDFG, dfg, [:x1, :x2, :x3, :x1x2f1, :x2x3f1])
-    @test_throws ErrorException DFG.deepcopyGraph!(dcdfg_part, dfg, [:x4, :x2, :x3, :x1x2f1, :x2x3f1])
-    @test_throws ErrorException DFG.deepcopyGraph!(dcdfg_part, dfg, [:x1x2f1])
+    dcdfg_part = deepcopyGraph(LightDFG, dfg, [:x1, :x2, :x3], [:x1x2f1, :x2x3f1])
+    @test_throws ErrorException deepcopyGraph!(dcdfg_part, dfg, [:x4, :x2, :x3], [:x1x2f1, :x2x3f1])
+    @test_skip @test_throws ErrorException deepcopyGraph!(dcdfg_part, dfg, [:x1x2f1])
 
     # same but overwrite destination
-    DFG.deepcopyGraph!(dcdfg_part, dfg, [:x4, :x2, :x3, :x1x2f1, :x2x3f1]; overwriteDest = true)
+    deepcopyGraph!(dcdfg_part, dfg, [:x4, :x2, :x3], [:x1x2f1, :x2x3f1]; overwriteDest = true)
+
+    deepcopyGraph!(dcdfg_part, dfg, Symbol[], [:x1x2f1]; overwriteDest=true)
 
-    DFG.deepcopyGraph!(dcdfg_part, dfg, [:x1x2f1]; overwriteDest=true)
+    vlbls1 = [:x1, :x2, :x3]
+    vlbls2 = [:x4, :x5, :x6]
+    dcdfg_part1 = deepcopyGraph(LightDFG, dfg, vlbls1)
+    dcdfg_part2 = deepcopyGraph(GraphsDFG, dfg, vlbls2)
 
+    mergedGraph = testDFGAPI()
+    mergeGraph!(mergedGraph, dcdfg_part1)
+    mergeGraph!(mergedGraph, dcdfg_part2)
 
+    @test issetequal(ls(mergedGraph), union(vlbls1, vlbls2))
+    @test issetequal(lsf(mergedGraph), union(lsf(dcdfg_part1), lsf(dcdfg_part2)))
     # convert to...
     # condfg = convert(GraphsDFG, dfg)
     # @test condfg isa GraphsDFG