Merge pull request #417 from JuliaRobotics/2Q20/cg_structure_updates

CG Structure updates and creating sentinel nodes in the constructor

Author: Affie

src/CloudGraphsDFG/entities/CGStructure.jl

@@ -10,17 +10,34 @@ mutable struct User <: AbstractCGNode
     id::Symbol
     name::String
     description::String
-    # labels::Vector{Symbol}
     data::Dict{Symbol, String}
+    createdTimestamp::String
+    lastUpdatedTimestamp::String
+    User(id::Symbol,
+          name::String,
+          description::String,
+          data::Dict{Symbol, String},
+          createdTimestamp::String=string(now(UTC)),
+          lastUpdatedTimestamp::String=string(now(UTC))) =
+          new(id, name, description, data, createdTimestamp, lastUpdatedTimestamp)
 end
 
 mutable struct Robot <: AbstractCGNode
     id::Symbol
     userId::Symbol
     name::String
     description::String
-    # labels::Vector{Symbol}
     data::Dict{Symbol, String}
+    createdTimestamp::String
+    lastUpdatedTimestamp::String
+    Robot(id::Symbol,
+          userId::Symbol,
+          name::String,
+          description::String,
+          data::Dict{Symbol, String},
+          createdTimestamp::String=string(now(UTC)),
+          lastUpdatedTimestamp::String=string(now(UTC))) =
+          new(id, userId, name, description, data, createdTimestamp, lastUpdatedTimestamp)
 end
 
 mutable struct Session <: AbstractCGNode
@@ -29,6 +46,17 @@ mutable struct Session <: AbstractCGNode
     userId::Symbol
     name::String
     description::String
-    # labels::Vector{Symbol}
     data::Dict{Symbol, String}
+    createdTimestamp::String
+    lastUpdatedTimestamp::String
+    Session(id::Symbol,
+          robotId::Symbol,
+          userId::Symbol,
+          name::String,
+          description::String,
+          data::Dict{Symbol, String},
+          createdTimestamp::String=string(now(UTC)),
+          lastUpdatedTimestamp::String=string(now(UTC))) =
+          new(id, robotId,userId, name, description, data, createdTimestamp, lastUpdatedTimestamp)
+
 end

src/CloudGraphsDFG/entities/CloudGraphsDFG.jl

@@ -32,10 +32,14 @@ function CloudGraphsDFG{T}(neo4jConnection::Neo4j.Connection,
                             getPackedTypeFunc,
                             decodePackedTypeFunc,
                             rebuildFactorMetadata!;
-                            solverParams::T=NoSolverParams()) where T <: AbstractParams
+                            solverParams::T=NoSolverParams(),
+                            createSessionNodes::Bool=true) where T <: AbstractParams
     graph = Neo4j.getgraph(neo4jConnection)
     neo4jInstance = Neo4jInstance(neo4jConnection, graph)
-    return CloudGraphsDFG{T}(neo4jInstance, userId, robotId, sessionId, description, encodePackedTypeFunc, getPackedTypeFunc, decodePackedTypeFunc, rebuildFactorMetadata!, Symbol[], solverParams)
+    dfg = CloudGraphsDFG{T}(neo4jInstance, userId, robotId, sessionId, description, encodePackedTypeFunc, getPackedTypeFunc, decodePackedTypeFunc, rebuildFactorMetadata!, Symbol[], solverParams)
+    # Create the session if it doesn't already exist
+    createSessionNodes && createDfgSessionIfNotExist(dfg)
+    return dfg
 end
 """
     $(SIGNATURES)
@@ -53,9 +57,10 @@ function CloudGraphsDFG{T}(host::String,
                            getPackedTypeFunc,
                            decodePackedTypeFunc,
                            rebuildFactorMetadata!;
-                           solverParams::T=NoSolverParams()) where T <: AbstractParams
+                           solverParams::T=NoSolverParams(),
+                           createSessionNodes::Bool=true) where T <: AbstractParams
     neo4jConnection = Neo4j.Connection(host, port=port, user=dbUser, password=dbPassword);
-    return CloudGraphsDFG{T}(neo4jConnection, userId, robotId, sessionId, description, encodePackedTypeFunc, getPackedTypeFunc, decodePackedTypeFunc, rebuildFactorMetadata!, solverParams=solverParams)
+    return CloudGraphsDFG{T}(neo4jConnection, userId, robotId, sessionId, description, encodePackedTypeFunc, getPackedTypeFunc, decodePackedTypeFunc, rebuildFactorMetadata!, solverParams=solverParams, createSessionNodes=createSessionNodes)
 end
 
 

src/CloudGraphsDFG/services/CGStructure.jl

@@ -32,7 +32,9 @@ function _convertDictToSession(dict::Dict{String, Any})::Session
         Symbol(dict["userId"]),
         dict["name"],
         dict["description"],
-        data)
+        data,
+        dict["createdTimestamp"],
+        dict["lastUpdatedTimestamp"])
     return session
 end
 #TODO: Refactor, #HACK :D (but it works!)
@@ -43,7 +45,9 @@ function _convertDictToRobot(dict::Dict{String, Any})::Robot
         Symbol(dict["userId"]),
         dict["name"],
         dict["description"],
-        data)
+        data,
+        dict["createdTimestamp"],
+        dict["lastUpdatedTimestamp"])
     return robot
 end
 #TODO: Refactor, #HACK :D (but it works!)
@@ -53,7 +57,9 @@ function _convertDictToUser(dict::Dict{String, Any})::User
         Symbol(dict["id"]),
         dict["name"],
         dict["description"],
-        data)
+        data,
+        dict["createdTimestamp"],
+        dict["lastUpdatedTimestamp"])
     return user
 end
 
@@ -114,7 +120,7 @@ function createDfgSessionIfNotExist(dfg::CloudGraphsDFG)::Session
     strip(dfg.sessionId) == "" && error("Session ID is not populated in DFG.")
     user = User(Symbol(dfg.userId), dfg.userId, "Description for $(dfg.userId)", Dict{Symbol, String}())
     robot = Robot(Symbol(dfg.robotId), Symbol(dfg.userId), dfg.robotId, "Description for $(dfg.userId):$(dfg.robotId)", Dict{Symbol, String}())
-    session = Session(Symbol(dfg.sessionId), Symbol(dfg.robotId), Symbol(dfg.userId), dfg.sessionId, "Description for $(dfg.userId):$(dfg.robotId):$(dfg.sessionId)", Dict{Symbol, String}())
+    session = Session(Symbol(dfg.sessionId), Symbol(dfg.robotId), Symbol(dfg.userId), dfg.sessionId, dfg.description, Dict{Symbol, String}())
 
     _getNodeCount(dfg.neo4jInstance, [dfg.userId, "USER"]) == 0 && createUser(dfg, user)
     _getNodeCount(dfg.neo4jInstance, [dfg.userId, dfg.robotId, "ROBOT"]) == 0 && createRobot(dfg, robot)

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -9,7 +9,7 @@ function _getDuplicatedEmptyDFG(dfg::CloudGraphsDFG)::CloudGraphsDFG
     while true #do..while loop
         count += 1
         sessionId = dfg.sessionId*"_$count"
-        length(_getLabelsFromCyphonQuery(dfg.neo4jInstance, "(node:$(dfg.userId):$(dfg.robotId):$(sessionId))")) == 0 && break
+        _getNodeCount(dfg.neo4jInstance, [dfg.userId, dfg.robotId, sessionId]) == 0 && break
     end
     @debug "Unique+empty copy session name: $sessionId"
     return CloudGraphsDFG{typeof(dfg.solverParams)}(