Merge pull request #928 from JuliaRobotics/22Q4/enh/moregetppe

add dispatch on getPPE

Author: dehann

src/services/DFGVariable.jl

@@ -16,8 +16,8 @@ getPPEMean(fg::AbstractDFG, varlabel::Symbol, solveKey::Symbol=:default) =
 
 "$(SIGNATURES)"
 getPPESuggested(est::AbstractPointParametricEst) = est.suggested
-getPPESuggested(fg::AbstractDFG, varlabel::Symbol, solveKey::Symbol=:default) =
-                getPPE(fg, varlabel, solveKey) |> getPPESuggested
+getPPESuggested(var::DFGVariable, solveKey::Symbol=:default) = getPPE(var, solveKey) |> getPPESuggested
+getPPESuggested(dfg::AbstractDFG, varlabel::Symbol, solveKey::Symbol=:default) = getPPE(getVariable(dfg, varlabel), solveKey) |> getPPESuggested
 
 "$(SIGNATURES)"
 getLastUpdatedTimestamp(est::AbstractPointParametricEst) = est.lastUpdatedTimestamp
@@ -570,7 +570,7 @@ Get variable solverdata for a given solve key.
 """
 function getVariableSolverData(dfg::AbstractDFG, variablekey::Symbol, solvekey::Symbol=:default)
     v = getVariable(dfg, variablekey)
-    !haskey(v.solverDataDict, solvekey) && error("Solve key '$solvekey' not found in variable '$variablekey'")
+    !haskey(v.solverDataDict, solvekey) && throw(KeyError("Solve key '$solvekey' not found in variable '$variablekey'"))
     return v.solverDataDict[solvekey]
 end
 
@@ -736,7 +736,7 @@ function deleteVariableSolverData!(dfg::AbstractDFG, variablekey::Symbol, solveK
     var = getVariable(dfg, variablekey)
 
     if !haskey(var.solverDataDict, solveKey)
-        error("VariableNodeData '$(solveKey)' does not exist")
+        throw(KeyError("VariableNodeData '$(solveKey)' does not exist"))
     end
     vnd = pop!(var.solverDataDict, solveKey)
     return vnd
@@ -793,14 +793,13 @@ Notes
 - Defaults on keywords `solveKey` and `method`
 
 Related
-getMeanPPE, getMaxPPE, getKDEMean, getKDEFit, getPPEs, getVariablePPEs
+[`getMeanPPE`](@ref), [`getMaxPPE`](@ref), [`updatePPE!`](@ref), getKDEMean, getKDEFit, getPPEs, getVariablePPEs
 """
-function getPPE(dfg::AbstractDFG, variablekey::Symbol, ppekey::Symbol=:default)
-    v = getVariable(dfg, variablekey)
-    !haskey(v.ppeDict, ppekey) && error("PPE key '$ppekey' not found in variable '$variablekey'")
+function getPPE(v::DFGVariable, ppekey::Symbol=:default)
+    !haskey(v.ppeDict, ppekey) && throw(KeyError("PPE key '$ppekey' not found in variable '$(getLabel(v))'"))
     return v.ppeDict[ppekey]
 end
-
+getPPE(dfg::AbstractDFG, variablekey::Symbol, ppekey::Symbol=:default) = getPPE(getVariable(dfg, variablekey), ppekey)
 # Not the most efficient call but it at least reuses above (in memory it's probably ok)
 getPPE(dfg::AbstractDFG, sourceVariable::VariableDataLevel1, ppekey::Symbol=:default) = getPPE(dfg, sourceVariable.label, ppekey)
 
@@ -870,7 +869,7 @@ function deletePPE!(dfg::AbstractDFG, variablekey::Symbol, ppekey::Symbol=:defau
     var = getVariable(dfg, variablekey)
 
     if !haskey(var.ppeDict, ppekey)
-        error("VariableNodeData '$(ppekey)' does not exist")
+        throw(KeyError("VariableNodeData '$(ppekey)' does not exist"))
     end
     vnd = pop!(var.ppeDict, ppekey)
     return vnd

test/testBlocks.jl

@@ -590,9 +590,9 @@ function  PPETestBlock!(fg, v1)
     @test_throws ErrorException addPPE!(fg, :a, ppe)
 
     @test listPPEs(fg, :a) == [:default]
-    # Get the data back - note that this is a reference to above.
-    @test getPPE(fg, :a, :default) == ppe
 
+    # Get the data back - note that this is a reference to above.
+    @test getPPE(getVariable(fg, :a), :default) == ppe
     @test getPPE(fg, :a, :default) == ppe
     @test getPPEMean(fg, :a, :default) == ppe.mean
     @test getPPEMax(fg, :a, :default) == ppe.max
@@ -601,7 +601,7 @@ function  PPETestBlock!(fg, v1)
     # Delete it
     @test deletePPE!(fg, :a, :default) == ppe
 
-    @test_throws ErrorException getPPE(fg, :a, :default)
+    @test_throws KeyError getPPE(fg, :a, :default)
     # Update add it
     @test @test_logs (:warn, Regex("'$(ppe.solveKey)' does not exist")) match_mode=:any updatePPE!(fg, :a, ppe) == ppe
     # Update update it
@@ -761,7 +761,7 @@ function  VSDTestBlock!(fg, v1)
     # Delete parametric from v1
     @test deleteVariableSolverData!(fg, :a, :parametric) == vnd
 
-    @test_throws ErrorException getVariableSolverData(fg, :a, :parametric)
+    @test_throws KeyError getVariableSolverData(fg, :a, :parametric)
 
     #FIXME copied from lower
     @test getSolverData(v1) === v1.solverDataDict[:default]