Merge pull request #1012 from JuliaRobotics/23Q2/feat/weak_deps

Use weakdeps; drop Requires and jl < v1.9

Author: Affie

.github/workflows/ci.yml

@@ -18,7 +18,6 @@ jobs:
       fail-fast: false
       matrix:
         version:
-          - '1.8'
           - '1.9'
           - 'nightly'
         os:

Project.toml

@@ -18,7 +18,6 @@ Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
 ProgressMeter = "92933f4c-e287-5a05-a399-4b506db050ca"
 RecursiveArrayTools = "731186ca-8d62-57ce-b412-fbd966d074cd"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
-Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 SHA = "ea8e919c-243c-51af-8825-aaa63cd721ce"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
@@ -27,6 +26,12 @@ TensorCast = "02d47bb6-7ce6-556a-be16-bb1710789e2b"
 TimeZones = "f269a46b-ccf7-5d73-abea-4c690281aa53"
 UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 
+[weakdeps]
+GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231"
+
+[extensions]
+DFGPlots = "GraphPlot"
+
 [compat]
 CSV = "0.10"
 Colors = "0.10, 0.11, 0.12"
@@ -41,12 +46,11 @@ Pkg = "1.4, 1.5"
 ProgressMeter = "1"
 RecursiveArrayTools = "2"
 Reexport = "1"
-Requires = "1"
 StaticArrays = "1"
 StructTypes = "1"
 TensorCast = "0.3.3, 0.4"
 TimeZones = "1.3.1"
-julia = "1.8"
+julia = "1.9"
 
 [extras]
 DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"

src/DFGPlots/DFGPlots.jl renamed to ext/DFGPlots.jl

@@ -2,11 +2,13 @@ module DFGPlots
 
 using Colors
 using Graphs
-using ..GraphPlot
+using GraphPlot
 using DocStringExtensions
-import ..GraphPlot: gplot
+import GraphPlot: gplot
+
+using DistributedFactorGraphs
 
-using ...DistributedFactorGraphs
+import DistributedFactorGraphs.plotDFG
 
 export
     plotDFG,

src/Common.jl

@@ -72,7 +72,7 @@ global _invalidIds = [
     "VARIABLE", "FACTOR", "ENVIRONMENT", 
     "PPE", "DATA_ENTRY", "FACTORGRAPH"]
 
-global _validLabelRegex = r"^[a-zA-Z][\w\.\@]*$"
+global _validLabelRegex = r"^[a-zA-Z][-\w\.\@]*$"
 
 """
 $(SIGNATURES)

src/DistributedFactorGraphs.jl

@@ -17,7 +17,6 @@ module DistributedFactorGraphs
 using Base
 using Base64
 using DocStringExtensions
-using Requires
 using Dates
 using TimeZones
 using Distributions
@@ -299,6 +298,8 @@ export getId, getHash, getTimestamp
 # convenience wrappers
 export getData, addData!, updateData!, deleteData!
 
+export plotDFG
+
 ##==============================================================================
 ## Files Includes
 ##==============================================================================
@@ -348,13 +349,8 @@ include("services/CustomPrinting.jl")
 # To be moved as necessary.
 include("Common.jl")
 
-function __init__()
-    @require GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231" begin
-        @info "DistributedFactorGraphs.jl is adding tools using GraphPlot.jl"
-        include("DFGPlots/DFGPlots.jl")
-        @reexport using .DFGPlots
-    end
-end
+function plotDFG end
+
 
 
 end

src/services/AbstractDFG.jl

@@ -905,7 +905,7 @@ function findVariableNearTimestamp(dfg::AbstractDFG,
 end
 
 findVariableNearTimestamp(dfg::AbstractDFG, timest::DateTime, regexFilter::Union{Nothing, Regex}=nothing;
-                          timezone=localzone(), kwargs...) =
+                          timezone=tz"UTC", kwargs...) =
     findVariableNearTimestamp(dfg, ZonedDateTime(timest, timezone), regexFilter; kwargs...)
 
 ##==============================================================================

src/services/Serialization.jl

@@ -322,7 +322,11 @@ function unpackFactor(
 
     fullFactorData = nothing
     try
-        packedFnc = fncStringToData(factor.fnctype, factor.data)
+        if factor.data[1] == '{'
+            packedFnc = fncStringToData(factor.fnctype, factor.data)
+        else
+            packedFnc = fncStringToData(factor.fnctype, String(base64decode(factor.data)))
+        end
         decodeType = getFactorOperationalMemoryType(dfg)
         fullFactorData = decodePackedType(dfg, factor._variableOrderSymbols, decodeType, packedFnc)
     catch ex