getSofttype fix and no keyword arg on solverkey as standard (#289)

Author: Affie

src/Common.jl

@@ -137,11 +137,11 @@ sortDFG(vars::Vector{Symbol})::Vector{Symbol} = sortVarNested(vars)
 #   # this looks right
 #   return data.fnc.usrfnc!
 # end
-# function getfnctype(fact::DFGFactor; solveKey::Symbol=:default)
-#   data = getSolverData(fact) # TODO , solveKey=solveKey)
+# function getfnctype(fact::DFGFactor, solveKey::Symbol=:default)
+#   data = getSolverData(fact) # TODO , solveKey)
 #   return getfnctype(data)
 # end
-# function getfnctype(dfg::T, lbl::Symbol; solveKey::Symbol=:default) where T <: AbstractDFG
+# function getfnctype(dfg::T, lbl::Symbol, solveKey::Symbol=:default) where T <: AbstractDFG
 #   getfnctype(getFactor(dfg, exvertid))
 # end
 

src/Deprecated.jl

@@ -141,6 +141,8 @@ getPPEs(vari::VariableDataLevel1)::Dict = getVariablePPEs(vari)
 #FIXME TODO based on API definition of merge, in some cases the Noun is really not needed.
 # @deprecate mergeUpdateVariableSolverData!(args...) mergeVariableSolverData!(args...)
 
+@deprecate pack(dfg::AbstractDFG, d::VariableNodeData) packVariableNodeData(dfg, d)
+@deprecate unpack(dfg::AbstractDFG, d::PackedVariableNodeData) unpackVariableNodeData(dfg, d)
 
 export getLabelDict
 getLabelDict(dfg::AbstractDFG) = error("getLabelDict is deprecated, consider using listing functions")

src/services/AbstractDFG.jl

@@ -1009,7 +1009,7 @@ Returns state of vertex data `.initialized` flag.
 Notes:
 - used by both factor graph variable and Bayes tree clique logic.
 """
-function isInitialized(var::DFGVariable; key::Symbol=:default)::Bool
+function isInitialized(var::DFGVariable, key::Symbol=:default)::Bool
       data = getSolverData(var, key)
       if data == nothing
         @error "Variable does not have solver data $(key)"
@@ -1019,8 +1019,8 @@ function isInitialized(var::DFGVariable; key::Symbol=:default)::Bool
     end
 end
 
-function isInitialized(dfg::AbstractDFG, label::Symbol; key::Symbol=:default)::Bool
-  return isInitialized(getVariable(dfg, label), key=key)
+function isInitialized(dfg::AbstractDFG, label::Symbol, key::Symbol=:default)::Bool
+  return isInitialized(getVariable(dfg, label), key)
 end
 
 

src/services/DFGFactor.jl

@@ -38,7 +38,7 @@ function unpackFactor(dfg::G, packedProps::Dict{String, Any})::DFGFactor where G
 
     data = packedProps["data"]
     datatype = packedProps["fnctype"]
-    @debug "DECODING Softtype = '$unpackedTypeName' for factor '$label'"
+    @debug "DECODING Softtype = '$(datatype)' for factor '$label'"
     packtype = getTypeFromSerializationModule(dfg, Symbol("Packed"*datatype))
 
     packed = nothing

src/services/DFGVariable.jl

@@ -288,8 +288,8 @@ getVariableType
 function getSofttype(vnd::VariableNodeData)
   return vnd.softtype
 end
-function getSofttype(v::DFGVariable)
-  return typeof(v).parameters[1]() # Get instantiated form of the parameter for the DFGVariable
+function getSofttype(v::DFGVariable, solvekey::Symbol=:default)
+  return v.solverDataDict[solvekey].softtype # Get instantiated form of the parameter for the DFGVariable
 end
 
 """

test/iifInterfaceTests.jl

@@ -215,7 +215,7 @@ end
     @test !isInitialized(dfg, :a)
     @test !isInitialized(v2)
 
-    @test !isInitialized(v2, key=:second)
+    @test !isInitialized(v2, :second)
 
     # Session, robot, and user small data tests
     # NOTE: CloudGraphDFG isnt supporting this yet.

test/testBlocks.jl

@@ -390,7 +390,7 @@ function  VariablesandFactorsCRUD_SET!(fg, v1, v2, v3, f0, f1, f2)
         @test isPrior(fg, :af1)
         @test !isPrior(fg, :abf1)
     end
-    
+
     #list
     @test length(getVariables(fg)) == 2
     @test issetequal(getLabel.(getFactors(fg)), [:af1, :abf1])
@@ -781,7 +781,7 @@ function testGroup!(fg, v1, v2, f0, f1)
         #solver data is initialized
         @test !isInitialized(fg, :a)
         @test !isInitialized(v2)
-        @test @test_logs (:error, r"Variable does not have solver data") !isInitialized(v2, key=:second)
+        @test @test_logs (:error, r"Variable does not have solver data") !isInitialized(v2, :second)
 
         # solvables
         @test getSolvable(v1) == 0