Merge pull request #442 from JuliaRobotics/maint/2Q20/buildsfg

convenience buildSubgraph, fix #441

Author: dehann

src/Deprecated.jl

@@ -7,6 +7,7 @@
 ## Remove in 0.9
 ##==============================================================================
 
+@deprecate buildSubgraphFromLabels!(dfg::AbstractDFG, varList::Vector{Symbol}) buildSubgraph(dfg, varList, 1)
 
 Base.getproperty(x::DFGFactor,f::Symbol) = begin
     if f == :solvable

src/FileDFG/services/FileDFG.jl

@@ -17,11 +17,7 @@ v1 = addVariable!(dfg, :a, ContinuousScalar, labels = [:POSE], solvable=0)
 saveDFG(dfg, "/tmp/saveDFG.tar.gz")
 ```
 """
-function saveDFG(dfg::AbstractDFG, folder::String; compress::Symbol=:null)
-
-    if compress != :null
-      @warn "saveDFG keyword args are deprecated, and folders will be tarred as standard in current and future versions."
-    end
+function saveDFG( dfg::AbstractDFG, folder::String )
 
     # TODO: Deprecate the folder functionality in v0.6.1
 

src/services/AbstractDFG.jl

@@ -54,10 +54,11 @@ getSolverParams(dfg::AbstractDFG) = dfg.solverParams
 
 """
     $(SIGNATURES)
+
+Method must be overloaded by the user for Serialization to work.  E.g. IncrementalInference uses `CommonConvWrapper <: FactorOperationalMemory`.
 """
-getFactorOperationalMemoryType(par::AbstractParams) = par.factorOperationalMemoryType
+getFactorOperationalMemoryType(dummy) = error("Please define this function getFactorOperationalMemoryType for your usecase, e.g. = `IIF.CommonConvWrapper <: FactorOperationalMemory`")
 
-getFactorOperationalMemoryType(dfg::AbstractDFG) = getFactorOperationalMemoryType(getSolverParams(dfg))
 
 ##------------------------------------------------------------------------------
 ## Setters
@@ -971,6 +972,14 @@ function buildSubgraph(::Type{G},
     return destDFG
 end
 
+# Perhaps IIF.InMemDFGType should perhaps be incorporated as a DFG value, but this has been much debated in the past and hence just left as breadcrum.
+buildSubgraph(dfg::AbstractDFG,
+              variableFactorLabels::Vector{Symbol},
+              distance::Int=1;
+              solvable::Int=0,
+              sessionId::String = "",
+              kwargs...) = buildSubgraph(typeof(LightDFG(params=getSolverParams(dfg))), dfg, variableFactorLabels, distance, solvable=solvable, sessionId=sessionId, kwargs...)
+
 """
     $(SIGNATURES)
 Merger sourceDFG to destDFG given an optional list of variables and factors and distance.

src/services/CompareUtils.jl

@@ -366,6 +366,8 @@ Compare and return if two factor graph objects are the same, by comparing simila
 Notes:
 - Default items to skip with `skipsamples`, `skipcompute`.
 - User defined fields to skip can be specified with `skip::Vector{Symbol}`.
+- To enable debug messages for viewing which fields are not the same:
+  - https://stackoverflow.com/questions/53548681/how-to-enable-debugging-messages-in-juno-julia-editor
 
 Related:
 

test/consolInterfaceDev.jl

@@ -7,6 +7,12 @@ using Dates
 using UUIDs
 # using IncrementalInference
 
+## must overload the function
+import DistributedFactorGraphs: getFactorOperationalMemoryType
+# DF, dropping DFG. so that Main context is used and can be overridden by IIF.getFac...Type
+getFactorOperationalMemoryType(::CloudGraphsDFG) = TestCCW
+
+
 include("testBlocks.jl")
 
 ##

test/testBlocks.jl

@@ -61,7 +61,12 @@ struct TestCCW{T} <: FactorOperationalMemory where {T<:FunctorInferenceType}
 end
 Base.:(==)(a::TestCCW, b::TestCCW) = a.usrfnc! == b.usrfnc!
 
-DFG.getFactorOperationalMemoryType(par::NoSolverParams) = TestCCW
+
+## must overload the function
+import DistributedFactorGraphs: getFactorOperationalMemoryType
+
+# DF, dropping DFG. so that Main context is used and can be overridden by IIF.getFac...Type
+getFactorOperationalMemoryType(par::NoSolverParams) = TestCCW
 
 function Base.convert(::Type{DFG.FunctionNodeData{TestCCW{F}}},
                      d::DFG.PackedFunctionNodeData{<:PackedInferenceType}) where F<:FunctorInferenceType