feature setTimestamp!(dfg,lbl,ts) close #315 (#322)

Author: Affie

src/needsahome.jl

@@ -80,13 +80,13 @@ Dev Notes
 """
 function printVariable(fgl::AbstractDFG, vsym::Symbol, solveKey::Symbol=:default)
   vert = getVariable(fgl, vsym)
-  vnd = solverData(vert, solveKey)
+  vnd = getSolverData(vert, solveKey)
   println("label: $(vert.label)")
   println("tags: $(getTags(vert))")
   println("size marginal samples $(size(vnd.val))")
   println("kde bandwidths: $((vnd.bw)[:,1])")
-  if 0 < length(getVariablePPEs(vert))
-    println("PPE.suggested: $(round.(getVariablePPE(vert).suggested,digits=4))")
+  if 0 < length(getPPEDict(vert))
+    println("PPE.suggested: $(round.(getPPE(vert).suggested,digits=4))")
   else
     println("No PPEs")
   end

src/services/CommonAccessors.jl

@@ -54,6 +54,23 @@ Get the timestamp of a DFGNode.
 getTimestamp(v::DataLevel1) = v.timestamp
 
 
+"""
+    $SIGNATURES
+
+Set the timestamp of a Variable/Factor object in a factor graph.
+Note:
+Since `timestamp` is not mutable `setTimestamp!` calls `updateVariable!` internally.
+See also [`setTimestamp`](@ref)
+"""
+function setTimestamp!(dfg::AbstractDFG, lbl::Symbol, ts::DateTime)
+    if isVariable(dfg, lbl)
+        return updateVariable!(dfg, setTimestamp(getVariable(dfg,lbl), ts))
+    else
+        return updateFactor!(dfg, setTimestamp(getFactor(dfg,lbl), ts))
+    end
+end
+
+
 
 ##------------------------------------------------------------------------------
 ## _internalId

src/services/DFGVariable.jl

@@ -158,8 +158,9 @@ end
 
 Set the timestamp of a DFGVariable object returning a new DFGVariable.
 Note:
-Since `timestamp` is not mutable `setTimestamp` returns a new variable with the updated timestamp.
-Use `updateVariable!` to update it in the factor graph.
+Since the `timestamp` field is not mutable `setTimestamp` returns a new variable with the updated timestamp (note the absence of `!`).
+Use [`updateVariable!`](@ref) on the returened variable to update it in the factor graph if needed. Alternatively use [`setTimestamp!`](@ref).
+See issue #315.
 """
 function setTimestamp(v::DFGVariable, ts::DateTime)
     return DFGVariable(v.label, ts, v.tags, v.ppeDict, v.solverDataDict, v.smallData, v.bigData, v._dfgNodeParams)
@@ -169,8 +170,6 @@ function setTimestamp(v::DFGVariableSummary, ts::DateTime)
     return DFGVariableSummary(v.label, ts, v.tags, v.estimateDict, v.softtypename, v.bigData, v._internalId)
 end
 
-#TODO something like:
-# setTimestamp!(dfg::AbstractDFG, var::DFGVariable, ts::DateTime) = updateVariable!(dfg, setTimestamp(var, ts))
 
 ##------------------------------------------------------------------------------
 ## _dfgNodeParams [_internalId, solvable]

test/testBlocks.jl

@@ -200,12 +200,11 @@ function DFGVariableSCA()
     @test setTags!(v3, testTags) == Set(testTags)
     @test setTags!(v3, Set(testTags)) == Set(testTags)
 
-    #TODO Document
     #NOTE  a variable's timestamp is considered similar to its label.  setTimestamp! (not implemented) would create a new variable and call updateVariable!
     v1ts = setTimestamp(v1, testTimestamp)
     @test getTimestamp(v1ts) == testTimestamp
     #follow with updateVariable!(fg, v1ts)
-    # setTimestamp!(v1, testTimestamp) not implemented, we can do an setTimestamp() updateVariable!() for a setTimestamp!(dfg, v1, testTimestamp)
+
     @test_throws MethodError setTimestamp!(v1, testTimestamp)
 
     @test setSolvable!(v1, 1) == 1
@@ -257,7 +256,7 @@ function  DFGFactorSCA()
     f1 = DFGFactor{TestCCW{TestFunctorInferenceType1}, Symbol}(f1_lbl)
     f1 = DFGFactor(f1_lbl, [:a,:b], gfnd, tags = f1_tags, solvable=0)
 
-    f2 = DFGFactor{TestFunctorInferenceType1, Symbol}(:f2)
+    f2 = DFGFactor{TestFunctorInferenceType1, Symbol}(:bcf1)
 
     @test getLabel(f1) == f1_lbl
     @test getTags(f1) == f1_tags
@@ -291,7 +290,7 @@ function  DFGFactorSCA()
     f1ts = setTimestamp(f1, testTimestamp)
     @test !(f1ts === f1)
     @test getTimestamp(f1ts) == testTimestamp
-    #follow with updateVariable!(fg, v1ts)
+    #follow with updateFactor!(fg, v1ts)
     @test setTimestamp!(f1, testTimestamp) == testTimestamp
     #/TODO
 
@@ -341,11 +340,20 @@ function  VariablesandFactorsCRUD_SET!(fg, v1, v2, v3, f0, f1, f2)
 
     @test getAddHistory(fg) == [:a, :b, :c]
 
+    # Extra timestamp functions https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/315
+    if !(v1 isa SkeletonDFGVariable)
+        newtimestamp = now()
+        @test !(setTimestamp!(fg, :c, newtimestamp) === v3)
+        @test getVariable(fg, :c) |> getTimestamp == newtimestamp
+
+        @test !(setTimestamp!(fg, :bcf1, newtimestamp) === f2)
+        @test getFactor(fg, :bcf1) |> getTimestamp == newtimestamp
+    end
     #deletions
-    @test deleteVariable!(fg, v3) == v3
+    @test getVariable(fg, :c) === deleteVariable!(fg, v3)
     @test_throws ErrorException deleteVariable!(fg, v3)
     @test setdiff(ls(fg),[:a,:b]) == []
-    @test deleteFactor!(fg, f2) === f2
+    @test getFactor(fg, :bcf1) === deleteFactor!(fg, f2)
     @test_throws ErrorException deleteFactor!(fg, f2)
     @test lsf(fg) == [:abf1]
 
@@ -365,14 +373,13 @@ function  VariablesandFactorsCRUD_SET!(fg, v1, v2, v3, f0, f1, f2)
     @test getFactor(fg, :abf1) === f1
 
     @test_throws ErrorException getVariable(fg, :c)
-    @test_throws ErrorException getFactor(fg, :f2)
-
+    @test_throws ErrorException getFactor(fg, :bcf1)
 
     # Existence
     @test exists(fg, :a)
     @test !exists(fg, :c)
     @test exists(fg, :abf1)
-    @test !exists(fg, :f2)
+    @test !exists(fg, :bcf1)
 
     @test exists(fg, v1)
     @test !exists(fg, v3)