WIP

Author: GearsAD

src/Common.jl

@@ -1,7 +1,6 @@
 
 export sortVarNested
 export isPrior, lsfPriors
-export getData
 export getVariableType, getSofttype
 export getFactorType, getfnctype
 export lsTypes, lsfTypes
@@ -82,14 +81,6 @@ function sortVarNested(vars::Vector{Symbol})::Vector{Symbol}
 	return retvars
 end
 
-"""
-    $SIGNATURES
-
-Retrieve data structure stored in a node.
-"""
-getData(v::DFGFactor)::GenericFunctionNodeData = v.data
-getData(v::DFGVariable; solveKey::Symbol=:default)::VariableNodeData = v.solverDataDict[solveKey]
-
 """
     $SIGNATURES
 

src/DistributedFactorGraphs.jl

@@ -25,10 +25,13 @@ export InferenceType, PackedInferenceType, FunctorInferenceType, InferenceVariab
 export FunctorSingleton, FunctorPairwise, FunctorPairwiseMinimize
 
 export DFGVariable
-export label, timestamp, tags, estimates, estimate, solverData, solverDataDict, id, smallData, bigData
+export label, timestamp, tags, estimates, estimate, solverData, getData, solverDataDict, id, smallData, bigData
 export setSolverData
 export label, data, id
 
+# Services/AbstractDFG Exports
+export hasFactor, hasVariable, isInitialized, getFactorFunction, isVariable, isFactor
+
 # Solver (IIF) Exports
 export VariableNodeData, PackedVariableNodeData, VariableEstimate
 export GenericFunctionNodeData#, FunctionNodeData
@@ -97,9 +100,7 @@ function __init__()
 
 end
 
-
-# not sure where to put
+# To be moved as necessary.
 include("Common.jl")
-include("NeedsAHome.jl")
 
 end

src/NeedsAHome.jl

@@ -56,3 +56,10 @@ const PackedFunctionNodeData{T} = GenericFunctionNodeData{T, <: AbstractString}
 PackedFunctionNodeData(x1, x2, x3, x4, x5::S, x6::T, x7::String="", x8::Vector{Int}=Int[]) where {T <: PackedInferenceType, S <: AbstractString} = GenericFunctionNodeData(x1, x2, x3, x4, x5, x6, x7, x8)
 const FunctionNodeData{T} = GenericFunctionNodeData{T, Symbol}
 FunctionNodeData(x1, x2, x3, x4, x5::Symbol, x6::T, x7::String="", x8::Vector{Int}=Int[]) where {T <: Union{FunctorInferenceType, ConvolutionObject}}= GenericFunctionNodeData{T, Symbol}(x1, x2, x3, x4, x5, x6, x7, x8)
+
+"""
+    $SIGNATURES
+
+Retrieve data structure stored in a node.
+"""
+getData(v::DFGFactor)::GenericFunctionNodeData = v.data

src/entities/DFGFactor.jl

@@ -75,6 +75,7 @@ struct VariableEstimate
   estimate::Vector{Float64}
   type::Symbol
   key::Symbol
+  lastUpdatedTimestamp::DateTime
 end
 
 """
@@ -104,6 +105,7 @@ estimates(v::DFGVariable) = v.estimateDict
 estimate(v::DFGVariable, key::Symbol=:default) = haskey(v.estimateDict, key) ? v.estimateDict[key] : nothing
 #solverData(v::DFGVariable) = haskey(v.solverDataDict, :default) ? v.solverDataDict[:default] : nothing
 solverData(v::DFGVariable, key::Symbol=:default) = haskey(v.solverDataDict, key) ? v.solverDataDict[key] : nothing
+getData(v::DFGVariable; solveKey::Symbol=:default)::VariableNodeData = v.solverDataDict[solveKey]
 setSolverData(v::DFGVariable, data::VariableNodeData, key::Symbol=:default) = v.solverDataDict[key] = data
 solverDataDict(v::DFGVariable) = v.solverDataDict
 id(v::DFGVariable) = v._internalId

src/entities/DFGVariable.jl

@@ -82,3 +82,76 @@ Get an adjacency matrix for the DFG, returned as a tuple: adjmat::SparseMatrixCS
 Rows are the factors, columns are the variables, with the corresponding labels in fac_labels,var_labels.
 """
 getAdjacencyMatrixSparse(dfg::AbstractDFG) =  error("getAdjacencyMatrixSparse not implemented for $(typeof(dfg))")
+
+
+"""
+    $SIGNATURES
+
+Return boolean whether a factor `label` is present in `<:AbstractDFG`.
+"""
+function hasFactor(dfg::G, label::Symbol)::Bool where {G <: AbstractDFG}
+  return haskey(dfg.labelDict, label)
+end
+
+"""
+    $(SIGNATURES)
+
+Return `::Bool` on whether `dfg` contains the variable `lbl::Symbol`.
+"""
+function hasVariable(dfg::G, label::Symbol)::Bool where {G <: AbstractDFG}
+  return haskey(dfg.labelDict, label) # haskey(vertices(dfg.g), label)
+end
+
+
+"""
+    $SIGNATURES
+
+Returns state of vertex data `.initialized` flag.
+
+Notes:
+- used by both factor graph variable and Bayes tree clique logic.
+TODO: Refactor
+"""
+function isInitialized(var::DFGVariable; key::Symbol=:default)::Bool
+  return var.solverDataDict[key].initialized
+end
+function isInitialized(fct::DFGFactor; key::Symbol=:default)::Bool
+  return fct.solverDataDict[key].initialized
+end
+function isInitialized(dfg::G, label::Symbol; key::Symbol=:default)::Bool where G <: AbstractDFG
+  return isInitialized(getVariable(dfg, label), key=key)
+end
+
+
+"""
+    $SIGNATURES
+
+Return whether `sym::Symbol` represents a variable vertex in the graph.
+"""
+isVariable(dfg::G, sym::Symbol) where G <: AbstractDFG = hasVariable(dfg, sym)
+
+"""
+    $SIGNATURES
+
+Return whether `sym::Symbol` represents a factor vertex in the graph.
+"""
+isFactor(dfg::G, sym::Symbol) where G <: AbstractDFG = hasFactor(dfg, sym)
+
+"""
+    $SIGNATURES
+
+Return reference to the user factor in `<:AbstractDFG` identified by `::Symbol`.
+"""
+getFactorFunction(fcd::GenericFunctionNodeData) = fcd.fnc.usrfnc!
+getFactorFunction(fc::DFGFactor) = getFactorFunction(getData(fc))
+function getFactorFunction(dfg::G, fsym::Symbol) where G <: AbstractDFG
+  getFactorFunction(getFactor(dfg, fsym))
+end
+
+
+"""
+    $SIGNATURES
+
+Display and return to console the user factor identified by tag name.
+"""
+showFactor(fgl::G, fsym::Symbol) where G <: AbstractDFG = @show getFactor(fgl,fsym)