Refactoring and cleanup of DFG interface

Author: GearsAD

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -63,8 +63,8 @@ getDescription(dfg::CloudGraphsDFG) = dfg.description
 setDescription(dfg::CloudGraphsDFG, description::String) = dfg.description = description
 getAddHistory(dfg::CloudGraphsDFG) = dfg.addHistory
 getSolverParams(dfg::CloudGraphsDFG) = dfg.solverParams
-function setSolverParams(dfg::CloudGraphsDFG, solverParams::T) where T <: AbstractParams
-    dfg.solverParams = solverParams
+function setSolverParams(dfg::CloudGraphsDFG, solverParams::T)::T where T <: AbstractParams
+    return dfg.solverParams = solverParams
 end
 
 """

src/Common.jl

@@ -1,4 +1,3 @@
-
 export sortVarNested
 export isPrior, lsfPriors
 export getData
@@ -7,6 +6,14 @@ export getFactorType, getfnctype
 export lsTypes, lsfTypes
 export lsWho, lsfWho
 
+## Utility functions for getting type names and modules (from IncrementalInference)
+function _getmodule(t::T) where T
+  T.name.module
+end
+function _getname(t::T) where T
+  T.name.name
+end
+
 """
     $(SIGNATURES)
 Test if all elements of the string is a number:  Ex, "123" is true, "1_2" is false.

src/GraphsDFG/services/GraphsDFG.jl

@@ -22,10 +22,20 @@ setDescription(dfg::GraphsDFG, description::String) = dfg.description = descript
 getInnerGraph(dfg::GraphsDFG) = dfg.g
 getAddHistory(dfg::GraphsDFG) = dfg.addHistory
 getSolverParams(dfg::GraphsDFG) = dfg.solverParams
+function setSolverParams(dfg::GraphsDFG, solverParams::T) where T <: AbstractParams
+    dfg.solverParams = solverParams
+end
 
-# setSolverParams(dfg::GraphsDFG, solverParams) = dfg.solverParams = solverParams
-function setSolverParams(dfg::GraphsDFG, solverParams::P) where P <: AbstractParams
-  dfg.solverParams = solverParams
+"""
+    $(SIGNATURES)
+Gets an empty and unique CloudGraphsDFG derived from an existing DFG.
+"""
+function _getDuplicatedEmptyDFG(dfg::GraphsDFG)::GraphsDFG
+    newDfg = GraphsDFG{typeof(dfg.solverParams)}(;
+		userId=dfg.userId, robotId=dfg.robotId, sessionId=dfg.sessionId,
+		params=deepcopy(dfg.solverParams))
+	newDfg.description ="(Copy of) $(dfg.description)"
+	return newDfg
 end
 
 """
@@ -445,18 +455,6 @@ function getSubgraphAroundNode(dfg::GraphsDFG{P}, node::T, distance::Int64=1, in
     return addToDFG
 end
 
-"""
-    $(SIGNATURES)
-Gets an empty and unique CloudGraphsDFG derived from an existing DFG.
-"""
-function _getDuplicatedEmptyDFG(dfg::GraphsDFG)::GraphsDFG
-    newDfg = GraphsDFG{typeof(dfg.solverParams)}(;
-		userId=dfg.userId, robotId=dfg.robotId, sessionId=dfg.sessionId,
-		params=deepcopy(dfg.solverParams))
-	newDfg.description ="(Copy of) $(dfg.description)"
-	return newDfg
-end
-
 """
     $(SIGNATURES)
 Get an adjacency matrix for the DFG, returned as a Matrix{Union{Nothing, Symbol}}.

src/services/AbstractDFG.jl

@@ -1,3 +1,4 @@
+## ===== Interface for an AbstractDFG =====
 
 """
     $(SIGNATURES)
@@ -25,15 +26,28 @@ function getSerializationModule(dfg::G)::Module where G <: AbstractDFG
     return Main
 end
 
-## Utility functions for getting type names and modules (from IncrementalInference)
-function _getmodule(t::T) where T
-  T.name.module
+# Accessors
+function getLabelDict(dfg::G) where G <: AbstractDFG
+	error("getLabelDict not implemented for $(typeof(dfg))")
 end
-function _getname(t::T) where T
-  T.name.name
+function getDescription(dfg::G) where G <: AbstractDFG
+	error("getDescription not implemented for $(typeof(dfg))")
+end
+function setDescription(dfg::G, description::String) where G <: AbstractDFG
+	error("setDescription not implemented for $(typeof(dfg))")
+end
+function getInnerGraph(dfg::G) where G <: AbstractDFG
+	error("getInnerGraph not implemented for $(typeof(dfg))")
+end
+function getAddHistory(dfg::G) where G <: AbstractDFG
+	error("getAddHistory not implemented for $(typeof(dfg))")
+end
+function getSolverParams(dfg::G) where G <: AbstractDFG
+	error("getSolverParams not implemented for $(typeof(dfg))")
+end
+function setSolverParams(dfg::G, solverParams::T) where {G <: AbstractDFG, T <: AbstractParams}
+	error("setSolverParams not implemented for $(typeof(dfg))")
 end
-
-## Interface for an AbstractDFG
 
 """
     $(SIGNATURES)

test/interfaceTests.jl

@@ -92,6 +92,9 @@ end
     @test label(f1) == f1.label
     @test data(f1) == f1.data
     @test id(f1) == f1._internalId
+
+    @test getSolverParams(dfg) != nothing
+    @test setSolverParams(dfg, getSolverParams(dfg)) == getSolverParams(dfg)
 end
 
 # Connectivity test