add timestamps to DFGFactor and Summary

Author: dehann

src/entities/DFGFactor.jl

@@ -31,20 +31,30 @@ mutable struct GenericFunctionNodeData{T, S}
 end
 
 """
-    $(SIGNATURES)
+    $(TYPEDEF)
+
 Fundamental structure for a DFG factor.
 """
 mutable struct DFGFactor{T, S} <: AbstractDFGFactor
     label::Symbol
     tags::Vector{Symbol}
     data::GenericFunctionNodeData{T, S}
     solvable::Int
+    timestamp::DateTime
     _internalId::Int64
     _variableOrderSymbols::Vector{Symbol}
-    DFGFactor{T, S}(label::Symbol) where {T, S} = new{T, S}(label, Symbol[], GenericFunctionNodeData{T, S}(), 0, 0, Symbol[])
-    DFGFactor{T, S}(label::Symbol, _internalId::Int64) where {T, S} = new{T, S}(label, Symbol[], GenericFunctionNodeData{T, S}(), 0, _internalId, Symbol[])
+    # TODO back to front ts and _internalId for legacy reasons
+    DFGFactor{T, S}(label::Symbol, _internalId::Int64=0, ts::DateTime=now()) where {T, S} = new{T, S}(label, Symbol[], GenericFunctionNodeData{T, S}(), 0, ts, 0, Symbol[])
+    # DFGFactor{T, S}(label::Symbol, _internalId::Int64) where {T, S} = new{T, S}(label, Symbol[], GenericFunctionNodeData{T, S}(), 0, now(), _internalId, Symbol[])
 end
 
+"""
+    $(SIGNATURES)
+
+Convenience constructor for DFG factor.
+"""
+DFGFactor(label::Symbol; tags::Vector{Symbol}=Symbol[], data::GenericFunctionNodeData{T, S}=GenericFunctionNodeData{T, S}(), solvable::Int=0, timestamp::DateTime=now(), _internalId::Int64=0, _variableOrderSymbols::Vector{Symbol}=Symbol[]) where {T, S} = DFGFactor{T,S}(label,tags,data,solvable,timestamp,_internalId,_variableOrderSymbols)
+
 # Simply for convenience - don't export
 const PackedFunctionNodeData{T} = GenericFunctionNodeData{T, <: AbstractString}
 PackedFunctionNodeData(x1, x2, x3, x4, x5::S, x6::T, x7::String="", x8::Vector{Int}=Int[], x9::Int=0) where {T <: PackedInferenceType, S <: AbstractString} = GenericFunctionNodeData(x1, x2, x3, x4, x5, x6, x7, x8, x9)
@@ -80,6 +90,7 @@ SkeletonDFGFactor(label::Symbol, variableOrderSymbols::Vector{Symbol} = Symbol[]
 
 const FactorDataLevel0 = Union{DFGFactor, DFGFactorSummary, SkeletonDFGFactor}
 const FactorDataLevel1 = Union{DFGFactor, DFGFactorSummary}
+# const FactorDataLevel2 = Union{DFGFactor}
 
 """
 $SIGNATURES
@@ -100,7 +111,21 @@ $SIGNATURES
 
 Set the tags for a factor.
 """
-setTag!s(f::FactorDataLevel0, tags::Vector{Symbol}) = f.tags = tags
+setTags!(f::FactorDataLevel0, tags::Vector{Symbol}) = f.tags = tags
+
+"""
+$SIGNATURES
+
+Get the timestamp from a DFGFactor object.
+"""
+timestamp(v::FactorDataLevel1) = v.timestamp
+
+"""
+$SIGNATURES
+
+Set the timestamp of a DFGFactor object.
+"""
+setTimestamp!(v::FactorDataLevel1, ts::DateTime) = v.timestamp = ts
 
 """
 $SIGNATURES

test/interfaceTests.jl

@@ -141,6 +141,11 @@ end
     @test setTimestamp!(v1, testTimestamp) == testTimestamp
     @test timestamp(v1) == testTimestamp
 
+    @test timestamp(f1) == f1.timestamp
+    testTimestamp = now()
+    @test setTimestamp!(f1, testTimestamp) == testTimestamp
+    @test timestamp(f1) == f1.timestamp
+
     @test estimates(v1) == v1.estimateDict
     @test estimate(v1, :notfound) == nothing
     @test solverData(v1) === v1.solverDataDict[:default]