Merge pull request #269 from JuliaRobotics/feat/1Q20/solvedcount

add unpack function for solvedCount

Author: GearsAD

src/DistributedFactorGraphs.jl

@@ -23,7 +23,7 @@ export InferenceType, PackedInferenceType, FunctorInferenceType, InferenceVariab
 export FunctorSingleton, FunctorPairwise, FunctorPairwiseMinimize
 export getMaxPPE, getMeanPPE, getSuggestedPPE, getVariablePPE, getPPE, getVariablePPEs, getPPEs #, getEstimates
 export timestamp # DEPRECATED
-export getSolved, isSolved, setSolved!
+export getSolvedCount, isSolved, setSolvedCount!
 export label, getTimestamp, setTimestamp!, tags, setTags!, estimates, estimate, data, softtype, solverData, getData, solverDataDict, setSolverData, setSolverData!, internalId, smallData, setSmallData!, bigData
 export DFGVariableSummary, DFGFactorSummary, AbstractDFGSummary
 export addBigDataEntry!, getBigDataEntry, updateBigDataEntry!, deleteBigDataEntry!, getBigDataEntries, getBigDataKeys

src/entities/DFGVariable.jl

@@ -308,11 +308,11 @@ Get the number of times a variable has been inferred -- i.e. `solvedCount`.
 
 Related
 
-isSolved, setSolved!
+isSolved, setSolvedCount!
 """
-getSolved(v::VariableNodeData) = v.solvedCount
-getSolved(v::VariableDataLevel2, solveKey::Symbol=:default) = solverData(v, solveKey) |> getSolved
-getSolved(dfg::AbstractDFG, sym::Symbol, solveKey::Symbol=:default) = getSolved(getVariable(dfg, sym), solveKey)
+getSolvedCount(v::VariableNodeData) = v.solvedCount
+getSolvedCount(v::VariableDataLevel2, solveKey::Symbol=:default) = solverData(v, solveKey) |> getSolvedCount
+getSolvedCount(dfg::AbstractDFG, sym::Symbol, solveKey::Symbol=:default) = getSolvedCount(getVariable(dfg, sym), solveKey)
 
 """
     $SIGNATURES
@@ -337,9 +337,9 @@ Related
 
 getSolved, isSolved
 """
-setSolved!(v::VariableNodeData, val::Int) = v.solvedCount = val
-setSolved!(v::VariableDataLevel2, val::Int, solveKey::Symbol=:default) = setSolved!(solverData(v, solveKey), val)
-setSolved!(dfg::AbstractDFG, sym::Symbol, val::Int, solveKey::Symbol=:default) = setSolved!(getVariable(dfg, sym), solveKey, val)
+setSolvedCount!(v::VariableNodeData, val::Int) = v.solvedCount = val
+setSolvedCount!(v::VariableDataLevel2, val::Int, solveKey::Symbol=:default) = setSolvedCount!(solverData(v, solveKey), val)
+setSolvedCount!(dfg::AbstractDFG, sym::Symbol, val::Int, solveKey::Symbol=:default) = setSolvedCount!(getVariable(dfg, sym), val, solveKey)
 
 
 """

src/services/DFGVariable.jl

@@ -103,7 +103,7 @@ function unpack(dfg::G, d::PackedVariableNodeData)::VariableNodeData where G <:
 
   return VariableNodeData{typeof(st)}(M3,M4, d.BayesNetOutVertIDs,
     d.dimIDs, d.dims, d.eliminated, d.BayesNetVertID, d.separator,
-    st, d.initialized, d.inferdim, d.ismargin, d.dontmargin, d.solveInProgress)
+    st, d.initialized, d.inferdim, d.ismargin, d.dontmargin, d.solveInProgress, d.solvedCount)
 end
 
 function compare(a::VariableNodeData, b::VariableNodeData)

test/fileDFGTests.jl

@@ -1,3 +1,7 @@
+using DistributedFactorGraphs
+using IncrementalInference
+dfg = LightDFG{NoSolverParams}()
+
 @testset "FileDFG Tests" begin
 
     if typeof(dfg) <: CloudGraphsDFG
@@ -14,6 +18,7 @@
     verts[7].solvable = 1
     verts[8].solvable = 0
     solverData(verts[8]).solveInProgress = 1
+    setSolvedCount!(verts[1], 5)
     #call update to set it on cloud
     updateVariable!(dfg, verts[7])
     updateVariable!(dfg, verts[8])

test/interfaceTests.jl

@@ -212,12 +212,13 @@ end
     @test !isFactor(dfg, :doesntexist)
 
     # test solveCount for variable
-    # vari = getVariable(dfg, v1)
     @test !isSolved(v1)
-    @test getSolved(v1) == 0
-    setSolved!(v1, 1)
-    @test getSolved(v1) == 1
+    @test getSolvedCount(v1) == 0
+    setSolvedCount!(v1, 1)
+    @test getSolvedCount(v1) == 1
     @test isSolved(v1)
+    setSolvedCount!(dfg, getLabel(v1), 2)
+    @test getSolvedCount(dfg, getLabel(v1)) == 2
 
     # Session, robot, and user small data tests
     smallUserData = Dict{Symbol, String}(:a => "42", :b => "Hello")