Cleanup old deprection of VariableState.variableType (#1143)

Author: Affie

src/Deprecated.jl

@@ -458,24 +458,3 @@ DFGSummary(args) = error("DFGSummary is deprecated")
 @deprecate getSummary(dfg::AbstractDFG) getSummaryGraph(dfg)
 
 @deprecate getKey(store::AbstractBlobstore) getLabel(store)
-
-##------------------------------------------------------------------------------
-## smallData
-##------------------------------------------------------------------------------
-@deprecate getSmallData(args...) getMetadata(args...)
-@deprecate setSmallData!(args...) setMetadata!(args...)
-@deprecate addSmallData!(args...) addMetadata!(args...)
-@deprecate updateSmallData!(args...) updateMetadata!(args...)
-@deprecate deleteSmallData!(args...) deleteMetadata!(args...)
-@deprecate listSmallData(args...) listMetadata(args...)
-@deprecate emptySmallData!(args...) emptyMetadata!(args...)
-
-## ================================================================================
-## Deprecated in v0.24
-##=================================================================================
-@deprecate getBlobEntry(var::AbstractDFGVariable, key::AbstractString) getBlobEntryFirst(
-    var,
-    Regex(key),
-)
-
-@deprecate lsfWho(dfg::AbstractDFG, type::Symbol) lsf(dfg, getfield(Main, type))

src/entities/DFGFactor.jl

@@ -64,7 +64,7 @@ Base.@kwdef struct FactorDFG <: AbstractDFGFactor
     nstime::String
     fnctype::String
     solvable::Int
-    data::Union{Nothing, String} = nothing #TODO deprecate data completely, left as a bridge to old serialization structure
+    data::Union{Nothing, String} = nothing #TODO v0.27 deprecate data completely, left as a bridge to old serialization structure
     metadata::String
     _version::String = string(_getDFGVersion())
     state::FactorState
@@ -119,7 +119,7 @@ function FactorDFG(
         nstime,
         fnctype,
         solvable,
-        nothing, #TODO deprecate data completely
+        nothing, #TODO v0.27 deprecate data completely
         metadata,
         _version,
         state,
@@ -177,7 +177,7 @@ function FactorDFG(
         metadata = base64encode(JSON3.write(metadata)),
         state,
         observJSON = JSON3.write(fnc),
-        data = "", #TODO deprecate data completely
+        data = "", #TODO v0.27 deprecate data completely
     )
 
     return factor

src/entities/DFGVariable.jl

@@ -20,8 +20,6 @@ Fields:
 $(TYPEDFIELDS)
 """
 Base.@kwdef mutable struct VariableState{T <: InferenceVariable, P, N}
-    "DEPRECATED remove in DFG v0.22"
-    variableType::T = T() #tricky deprecation, also change covar to using N and not variableType
     """
     Globally unique identifier.
     """
@@ -36,11 +34,11 @@ Base.@kwdef mutable struct VariableState{T <: InferenceVariable, P, N}
     bw::Matrix{Float64} = zeros(0, 0)
     "Parametric (Gaussian) covariance."
     covar::Vector{SMatrix{N, N, Float64}} =
-        SMatrix{getDimension(variableType), getDimension(variableType), Float64}[]
+        SMatrix{getDimension(T), getDimension(T), Float64}[]
     BayesNetOutVertIDs::Vector{Symbol} = Symbol[]
     dimIDs::Vector{Int} = Int[] # TODO Likely deprecate
 
-    dims::Int = getDimension(variableType) #TODO should we deprecate in favor of N
+    dims::Int = getDimension(T) #TODO should we deprecate in favor of N
     """
     Flag used by junction (Bayes) tree construction algorithm to know whether this variable has yet been included in the tree construction.
     """
@@ -54,7 +52,7 @@ Base.@kwdef mutable struct VariableState{T <: InferenceVariable, P, N}
     """
     Stores the amount information (per measurement dimension) captured in each coordinate dimension.
     """
-    infoPerCoord::Vector{Float64} = zeros(getDimension(variableType))
+    infoPerCoord::Vector{Float64} = zeros(getDimension(T))
     """
     Should this variable solveKey be treated as marginalized in inference computations.
     """

src/services/AbstractDFG.jl

@@ -781,7 +781,7 @@ end
     $(SIGNATURES)
 Lists the factors of a specific type in the factor graph. 
 Example, list all the Point2Point2 factors in the factor graph `dfg`:
-    lsfWho(dfg, :Point2Point2)
+    lsf(dfg, Point2Point2)
 
 Notes
 - Return `Vector{Symbol}`

src/services/DFGVariable.jl

@@ -714,7 +714,8 @@ function copytoVariableState!(
     stateLabel::Symbol,
     state::VariableState,
 )
-    newstate = VariableState(;
+    newstate = VariableState(
+        getVariableType(state);
         (k => getproperty(state, k) for k in fieldnames(VariableState))...,
         solveKey = stateLabel,
     )

src/services/Serialization.jl

@@ -242,7 +242,9 @@ function unpackVariable(variable::VariableDFG; skipVersionCheck::Bool = false)
 
     ppeDict =
         Dict{Symbol, MeanMaxPPE}(map(p -> p.solveKey, variable.ppes) .=> variable.ppes)
-    solverDict = Dict{Symbol, VariableState{variableType, pointType}}(
+
+    N = getDimension(variableType)
+    solverDict = Dict{Symbol, VariableState{variableType, pointType, N}}(
         map(sd -> sd.solveKey, variable.solverData) .=>
             map(sd -> DFG.unpackVariableState(sd), variable.solverData),
     )