Merge pull request #173 from JuliaRobotics/backport/v04_2_cgdfg

Backport of the CGDFG code and unit tests

Author: GearsAD

.travis.yml

@@ -1,4 +1,6 @@
 language: julia
+sudo: required
+dist: trusty
 
 os:
     - linux
@@ -13,37 +15,35 @@ julia:
     - 1.3
     - nightly
 
-notifications:
-    email: false
-
-matrix:
-  allow_failures:
-    - julia: nightly
-
-# script:
-#   - if [[ -a .git/shallow ]]; then git fetch --unshallow; fi
-#   - julia --project --check-bounds=yes -e 'using UUIDs; write("Project.toml", replace(read("Project.toml", String), r"uuid = .*?\n" =>"uuid = \"$(uuid4())\"\n"));
-# import Pkg; Pkg.build("DistributedFactorGraphs"); Pkg.test("DistributedFactorGraphs"; coverage=true)'
-
-# script:
-#   - if [[ -a .git/shallow ]]; then git fetch --unshallow; fi
-#   - julia --check-bounds=yes -e 'using Pkg; Pkg.clone(pwd()); Pkg.build("DistributedFactorGraphs"); Pkg.test("DistributedFactorGraphs"; coverage=true)'
-
-# can be used if master of package is required
-# script:
-#     - julia --project --color=yes --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="MetaGraphs", rev="master")); Pkg.build(); Pkg.test(coverage=true)'
-
-after_success:
-    - julia -e 'using Pkg; cd(Pkg.dir("DistributedFactorGraphs")); Pkg.add("Coverage"); using Coverage; Codecov.submit(process_folder()); Coveralls.submit(process_folder())'
+env:
+    - IIF_TEST=false
 
 jobs:
   include:
+    - julia: 1.2
+      env: IIF_TEST=true
     - stage: "Documentation"
       julia: 1.0
       os: linux
       script:
-        - julia -e 'import Pkg; Pkg.add("Documenter"); Pkg.add("DataFrames")'
+        - julia -e 'import Pkg; Pkg.add("Documenter"); Pkg.add("Neo4j"); Pkg.add("GraphPlot")'
         - julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd()));
                                                Pkg.instantiate()'
         - julia --project=docs/ docs/make.jl
       after_success: skip
+
+notifications:
+    email: false
+
+matrix:
+  allow_failures:
+  - julia: nightly
+  - env: IIF_TEST=true
+
+# Set the password for Neo4j to neo4j:test
+before_script:
+    - sleep 10
+    - curl -v POST http://neo4j:neo4j@localhost:7474/user/neo4j/password -d"password=test"
+
+after_success:
+    - julia -e 'using Pkg; cd(Pkg.dir("DistributedFactorGraphs")); Pkg.add("Coverage"); using Coverage; Codecov.submit(process_folder()); Coveralls.submit(process_folder())'

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.4.1"
+version = "0.4.2"
 
 [deps]
 Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
@@ -13,23 +13,25 @@ JSON2 = "2535ab7d-5cd8-5a07-80ac-9b1792aadce3"
 LightGraphs = "093fc24a-ae57-5d10-9952-331d41423f4d"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 MetaGraphs = "626554b9-1ddb-594c-aa3c-2596fe9399a5"
+Neo4j = "d2adbeaf-5838-5367-8a2f-e46d570981db"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
 [compat]
-Distributions = "≥ 0.18"
-DocStringExtensions = "≥ 0.7"
-Graphs = "≥ 0.10.3"
-MetaGraphs = "≥ 0.6.4"
-Reexport = "≥ 0.2"
-Requires = "≥ 0.5"
+Distributions = "0.18, 0.19, 0.20, 0.21, 0.22, 0.23, 0.24, 0.25, 1"
+DocStringExtensions = "0.7, 0.8, 0.9, 0.10, 1"
+Graphs = "0.10.2, 0.11, 1"
+MetaGraphs = "^0.6.3"
+Neo4j = "2"
+Reexport = "0.2, 0.3, 0.4, 0.5, 1"
+Requires = "0.5, 0.6, 0.7, 0.8, 0.9, 0.10, 1"
 julia = "0.7, 1"
 
 [extras]
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231"
-Neo4j = "d2adbeaf-5838-5367-8a2f-e46d570981db"
+Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
 
 [targets]
-test = ["Test", "GraphPlot", "Neo4j"]
+test = ["Test", "GraphPlot", "Pkg"]

src/CloudGraphsDFG/CloudGraphsDFG.jl

@@ -5,13 +5,14 @@ include("entities/CloudGraphsDFG.jl")
 
 # Services
 include("services/CommonFunctions.jl")
+include("services/CGStructure.jl")
 include("services/CloudGraphsDFG.jl")
 
 # Exports
 export Neo4jInstance, CloudGraphsDFG
 export exists
 export clearSession!
-export getLabelDict, getDescription, setDescription, getInnerGraph, getAddHistory, getSolverParams, setSolverParams
+export getLabelDict, getDescription, setDescription, getAddHistory, getSolverParams, setSolverParams
 
 export getAddHistory, getDescription, getLabelDict
 export addVariable!, addFactor!

src/CloudGraphsDFG/services/CGStructure.jl

@@ -0,0 +1,89 @@
+# Additional exports
+export copySession!
+# Please be careful with these
+# With great power comes great "Oh crap, I deleted everything..."
+export clearSession!!, clearRobot!!, clearUser!!
+
+
+"""
+    $(SIGNATURES)
+DANGER: Clears the whole session from the database.
+"""
+function clearSession!!(dfg::CloudGraphsDFG)::Nothing
+    # Perform detach+deletion
+    _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId)) detach delete node ")
+
+    # Clearing history
+    dfg.addHistory = Symbol[]
+    empty!(dfg.variableCache)
+    empty!(dfg.factorCache)
+    empty!(dfg.labelDict)
+    return nothing
+end
+
+"""
+    $(SIGNATURES)
+DANGER: Clears the whole robot + sessions from the database.
+"""
+function clearRobot!!(dfg::CloudGraphsDFG)::Nothing
+    # Perform detach+deletion
+    _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:$(dfg.userId):$(dfg.robotId)) detach delete node ")
+
+    # Clearing history
+    dfg.addHistory = Symbol[]
+    empty!(dfg.variableCache)
+    empty!(dfg.factorCache)
+    empty!(dfg.labelDict)
+    return nothing
+end
+
+"""
+    $(SIGNATURES)
+DANGER: Clears the whole user + robot + sessions from the database.
+"""
+function clearUser!!(dfg::CloudGraphsDFG)::Nothing
+    # Perform detach+deletion
+    _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:$(dfg.userId)) detach delete node ")
+
+    # Clearing history
+    dfg.addHistory = Symbol[]
+    empty!(dfg.variableCache)
+    empty!(dfg.factorCache)
+    empty!(dfg.labelDict)
+    return nothing
+end
+
+"""
+    $(SIGNATURES)
+DANGER: Copies and overwrites the destination session.
+If no destination specified then it creates a unique one.
+"""
+function copySession!(sourceDFG::CloudGraphsDFG, destDFG::Union{Nothing, CloudGraphsDFG})::CloudGraphsDFG
+    if destDFG == nothing
+        destDFG = _getDuplicatedEmptyDFG(sourceDFG)
+    end
+    _copyIntoGraph!(sourceDFG, destDFG, union(getVariableIds(sourceDFG), getFactorIds(sourceDFG)), true)
+    return destDFG
+end
+"""
+    $(SIGNATURES)
+DANGER: Copies the source to a new unique destination.
+"""
+copySession!(sourceDFG::CloudGraphsDFG)::CloudGraphsDFG = copySession!(sourceDFG, nothing)
+
+
+getUserData(dfg::CloudGraphsDFG)::Dict{Symbol, String} = _getNodeProperty(dfg.neo4jInstance, [dfg.userId, "USER"])
+function setUserData(dfg::CloudGraphsDFG, data::Dict{Symbol, String})::Bool
+	error("Not implemented yet")
+	return true
+end
+getRobotData(dfg::CloudGraphsDFG)::Dict{Symbol, String} = _getNodeProperty(dfg.neo4jInstance, [dfg.userId, dfg.robotId, "ROBOT"])
+function setRobotData(dfg::CloudGraphsDFG, data::Dict{Symbol, String})::Bool
+	error("Not implemented yet")
+	return true
+end
+getSessionData(dfg::CloudGraphsDFG)::Dict{Symbol, String} = _getNodeProperty(dfg.neo4jInstance, [dfg.userId, dfg.robotId, dfg.sessionId, "SESSION"])
+function setSessionData(dfg::CloudGraphsDFG, data::Dict{Symbol, String})::Bool
+	error("Not implemented yet")
+	return true
+end