Merge pull request #991 from JuliaRobotics/23Q1/maint/sdkv6

Changes needed for NvaSDK v0.6

Author: Affie

src/DataBlobs/entities/BlobEntry.jl

@@ -30,6 +30,4 @@ StructTypes.StructType(::Type{BlobEntry}) = StructTypes.UnorderedStruct()
 StructTypes.idproperty(::Type{BlobEntry}) = :id
 StructTypes.omitempties(::Type{BlobEntry}) = (:id,)
 
-
-
 _fixtimezone(cts::NamedTuple) = ZonedDateTime(cts.utc_datetime*"+00")

src/DataBlobs/services/BlobEntry.jl

@@ -46,7 +46,7 @@ function assertHash(de::BlobEntry, db; hashfunction::Function = sha256)
 end
 
 
-function Base.show(io::IO, entry::BlobEntry) 
+function Base.show(io::IO, ::MIME"text/plain", entry::BlobEntry)
     println(io, "_type=BlobEntry {")
     println(io, "  id:            ", entry.id) 
     println(io, "  blobId:        ", entry.blobId) 
@@ -62,10 +62,6 @@ function Base.show(io::IO, entry::BlobEntry)
     println(io, "}") 
 end 
 
-Base.show(io::IO, ::MIME"text/plain", entry::BlobEntry) = show(io, entry)
-
-
-
 ##==============================================================================
 ## BlobEntry - CRUD
 ##==============================================================================

src/entities/DFGFactor.jl

@@ -48,6 +48,12 @@ Base.@kwdef mutable struct GenericFunctionNodeData{T<:Union{<:AbstractPackedFact
     inflation::Float64 = 0.0
 end
 
+# TODO should we move non FactorOperationalMemory to DFGFactor: 
+# fnc, multihypo, nullhypo, inflation ?
+# that way we split solverData <: FactorOperationalMemory and constants
+# TODO see if above ever changes?
+
+
 ## Constructors
 
 
@@ -78,8 +84,7 @@ FunctionNodeData(args...; kw...) = FunctionNodeData{typeof(args[4])}(args...; kw
 
 # Packed Factor
 Base.@kwdef struct PackedFactor
-    # NOTE: This has to match the order of the JSON deserializer as we're using OrderedStructs.
-    id::Union{UUID, Nothing}
+    id::Union{UUID, Nothing} = nothing
     label::Symbol
     tags::Vector{Symbol}
     _variableOrderSymbols::Vector{Symbol}
@@ -89,7 +94,7 @@ Base.@kwdef struct PackedFactor
     solvable::Int
     data::String
     metadata::String
-    _version::String
+    _version::String = string(_getDFGVersion())
   end
 
 StructTypes.StructType(::Type{PackedFactor}) = StructTypes.UnorderedStruct()

src/entities/DFGVariable.jl

@@ -91,7 +91,7 @@ VariableNodeData(variableType::InferenceVariable; kwargs...) = VariableNodeData{
 
 """
 $(TYPEDEF)
-Packed VariabeNodeData structure for serializing DFGVariables.
+Packed VariableNodeData structure for serializing DFGVariables.
 
   ---
 Fields:
@@ -179,19 +179,18 @@ getEstimateFields(::MeanMaxPPE) = [:suggested, :max, :mean]
 
 # Packed Variable
 Base.@kwdef struct PackedVariable
-    # NOTE: This has to match the order of the JSON deserializer as we're using OrderedStructs.
-    id::Union{UUID, Nothing}
+    id::Union{UUID, Nothing} = nothing
     label::Symbol
-    tags::Vector{Symbol}
-    timestamp::ZonedDateTime
-    nstime::Int
-    ppes::Vector{MeanMaxPPE}
-    blobEntries::Vector{BlobEntry}
+    tags::Vector{Symbol} = Symbol[]
+    timestamp::ZonedDateTime = now(tz"UTC")
+    nstime::Int = 0
+    ppes::Vector{MeanMaxPPE} = MeanMaxPPE[]
+    blobEntries::Vector{BlobEntry} = BlobEntry[]
     variableType::String
-    _version::String
-    metadata::String
-    solvable::Int
-    solverData::Vector{PackedVariableNodeData}
+    _version::String = string(_getDFGVersion())
+    metadata::String = "e30="
+    solvable::Int = 1
+    solverData::Vector{PackedVariableNodeData} = PackedVariableNodeData[]
 end
 
 StructTypes.StructType(::Type{PackedVariable}) = StructTypes.UnorderedStruct()
@@ -344,6 +343,27 @@ Base.@kwdef struct DFGVariableSummary <: AbstractDFGVariable
     dataDict::Dict{Symbol, BlobEntry}
 end
 
+function DFGVariableSummary(
+    id,
+    label,
+    timestamp,
+    tags,
+    ::Nothing,
+    variableTypeName,
+    ::Nothing,
+)
+    return DFGVariableSummary(
+        id,
+        label,
+        timestamp,
+        tags,
+        Dict{Symbol, MeanMaxPPE}(),
+        variableTypeName,
+        Dict{Symbol, BlobEntry}(),
+    )
+end
+
+StructTypes.names(::Type{DFGVariableSummary}) = ((:variableTypeName, :variableType),)
 
 ##------------------------------------------------------------------------------
 ## SkeletonDFGVariable.jl

test/testBlocks.jl

@@ -702,7 +702,7 @@ function  VSDTestBlock!(fg, v1)
     #  - `updateVariableSolverData!`
     #  - `deleteVariableSolverData!`
     #
-    # > - `getVariableSolverDataAll` #TODO Data is already plural so maybe Variables, All or Dict
+    # > - `getVariableSolverDataAll` #TODO Data is already plural so maybe Variables, All or Dict, or use Datum for singular
     # > - `getVariablesSolverData`
     #
     # **Set like**