Merge pull request #285 from JuliaRobotics/1Q20/cgdfg_ppes

Efficient calls for PPEs (and general transaction pattern) for CGDFG

Author: GearsAD

Project.toml

@@ -10,13 +10,15 @@ Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231"
 Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
+JSON = "682c06a0-de6a-54ab-a142-c8b1cf79cde6"
 JSON2 = "2535ab7d-5cd8-5a07-80ac-9b1792aadce3"
 LightGraphs = "093fc24a-ae57-5d10-9952-331d41423f4d"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Neo4j = "d2adbeaf-5838-5367-8a2f-e46d570981db"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
+Unmarshal = "cbff2730-442d-58d7-89d1-8e530c41eb02"
 
 [compat]
 Colors = "0.8, 0.9, 0.10, 0.11"

src/CloudGraphsDFG/CloudGraphsDFG.jl

@@ -12,7 +12,6 @@ include("services/CloudGraphsDFG.jl")
 
 # Exports
 export Neo4jInstance, CloudGraphsDFG
-export toDot, toDotFile
 
 # Additional exports for CGStructure
 export copySession!

src/CloudGraphsDFG/entities/CloudGraphsDFG.jl

@@ -7,19 +7,55 @@ end
 
 mutable struct CloudGraphsDFG{T <: AbstractParams} <: AbstractDFG
     neo4jInstance::Neo4jInstance
-    description::String
     userId::String
     robotId::String
     sessionId::String
     encodePackedTypeFunc
     getPackedTypeFunc
     decodePackedTypeFunc
     rebuildFactorMetadata!
-    labelDict::Dict{Symbol, Int64}
-    addHistory::Vector{Symbol} #TODO: Discuss more - is this an audit trail?
+    addHistory::Vector{Symbol}
     solverParams::T # Solver parameters
 end
 
+"""
+    $(SIGNATURES)
+Create a new CloudGraphs-based DFG factor graph using a Neo4j.Connection.
+"""
+function CloudGraphsDFG{T}(neo4jConnection::Neo4j.Connection,
+                            userId::String,
+                            robotId::String,
+                            sessionId::String,
+                            encodePackedTypeFunc,
+                            getPackedTypeFunc,
+                            decodePackedTypeFunc,
+                            rebuildFactorMetadata!;
+                            solverParams::T=NoSolverParams()) where T <: AbstractParams
+    graph = Neo4j.getgraph(neo4jConnection)
+    neo4jInstance = Neo4jInstance(neo4jConnection, graph)
+    return CloudGraphsDFG{T}(neo4jInstance, userId, robotId, sessionId, encodePackedTypeFunc, getPackedTypeFunc, decodePackedTypeFunc, rebuildFactorMetadata!, Symbol[], solverParams)
+end
+"""
+    $(SIGNATURES)
+Create a new CloudGraphs-based DFG factor graph by specifying the Neo4j connection information.
+"""
+function CloudGraphsDFG{T}(host::String,
+                            port::Int,
+                            dbUser::String,
+                            dbPassword::String,
+                            userId::String,
+                            robotId::String,
+                            sessionId::String,
+                            encodePackedTypeFunc,
+                            getPackedTypeFunc,
+                            decodePackedTypeFunc,
+                            rebuildFactorMetadata!;
+                            solverParams::T=NoSolverParams()) where T <: AbstractParams
+    neo4jConnection = Neo4j.Connection(host, port=port, user=dbUser, password=dbPassword);
+    return CloudGraphsDFG{T}(neo4jConnection, userId, robotId, sessionId, encodePackedTypeFunc, getPackedTypeFunc, decodePackedTypeFunc, rebuildFactorMetadata!, solverParams=solverParams)
+end
+
+
 function show(io::IO, c::CloudGraphsDFG)
     println(io, "CloudGraphsDFG:")
     println(io, " - Neo4J instance: $(c.neo4jInstance.connection.host)")

src/CloudGraphsDFG/services/CGStructure.jl

@@ -235,7 +235,6 @@ function clearSession!!(dfg::CloudGraphsDFG)::Nothing
 
     # Clearing history
     dfg.addHistory = Symbol[]
-    empty!(dfg.labelDict)
     return nothing
 end
 
@@ -249,7 +248,6 @@ function clearRobot!!(dfg::CloudGraphsDFG)::Nothing
 
     # Clearing history
     dfg.addHistory = Symbol[]
-    empty!(dfg.labelDict)
     return nothing
 end
 
@@ -263,7 +261,6 @@ function clearUser!!(dfg::CloudGraphsDFG)::Nothing
 
     # Clearing history
     dfg.addHistory = Symbol[]
-    empty!(dfg.labelDict)
     return nothing
 end
 
@@ -284,29 +281,3 @@ end
 DANGER: Copies the source to a new unique destination.
 """
 copySession!(sourceDFG::CloudGraphsDFG)::CloudGraphsDFG = copySession!(sourceDFG, nothing)
-
-
-function getUserData(dfg::CloudGraphsDFG)::Dict{Symbol, String}
-    propVal = _getNodeProperty(dfg.neo4jInstance, [dfg.userId, "USER"], "data")
-    return JSON2.read(String(base64decode(propVal)), Dict{Symbol, String})
-end
-function setUserData!(dfg::CloudGraphsDFG, data::Dict{Symbol, String})::Bool
-    count = _setNodeProperty(dfg.neo4jInstance, [dfg.userId, "USER"], "data", base64encode(JSON2.write(data)))
-    return count == 1
-end
-function getRobotData(dfg::CloudGraphsDFG)::Dict{Symbol, String}
-    propVal = _getNodeProperty(dfg.neo4jInstance, [dfg.userId, dfg.robotId, "ROBOT"], "data")
-    return JSON2.read(String(base64decode(propVal)), Dict{Symbol, String})
-end
-function setRobotData!(dfg::CloudGraphsDFG, data::Dict{Symbol, String})::Bool
-    count = _setNodeProperty(dfg.neo4jInstance, [dfg.userId, dfg.robotId, "ROBOT"], "data", base64encode(JSON2.write(data)))
-    return count == 1
-end
-function getSessionData(dfg::CloudGraphsDFG)::Dict{Symbol, String}
-    propVal = _getNodeProperty(dfg.neo4jInstance, [dfg.userId, dfg.robotId, dfg.sessionId, "SESSION"], "data")
-    return JSON2.read(String(base64decode(propVal)), Dict{Symbol, String})
-end
-function setSessionData!(dfg::CloudGraphsDFG, data::Dict{Symbol, String})::Bool
-    count = _setNodeProperty(dfg.neo4jInstance, [dfg.userId, dfg.robotId, dfg.sessionId, "SESSION"], "data", base64encode(JSON2.write(data)))
-    return count == 1
-end