Also dispach on solverData type for rebuildFactorMetadata!

Author: Affie

attic/GraphsDFG/entities/GraphsDFG.jl

@@ -8,7 +8,7 @@ mutable struct GraphsNode
 end
 const FGType = Graphs.GenericIncidenceList{GraphsNode,Graphs.Edge{GraphsNode},Dict{Int,GraphsNode},Dict{Int,Array{Graphs.Edge{GraphsNode},1}}}
 
-mutable struct GraphsDFG{T <: AbstractParams} <: AbstractDFG
+mutable struct GraphsDFG{T <: AbstractParams} <: AbstractDFG{T}
     g::FGType
     description::String
     userId::String

src/CloudGraphsDFG/entities/CloudGraphsDFG.jl

@@ -5,7 +5,7 @@ mutable struct Neo4jInstance
   graph::Neo4j.Graph
 end
 
-mutable struct CloudGraphsDFG{T <: AbstractParams} <: AbstractDFG
+mutable struct CloudGraphsDFG{T <: AbstractParams} <: AbstractDFG{T}
     neo4jInstance::Neo4jInstance
     userId::String
     robotId::String

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -242,7 +242,7 @@ function getFactor(dfg::CloudGraphsDFG, label::Union{Symbol, String})::DFGFactor
     factor = unpackFactor(dfg, props)
 
     # Lastly, rebuild the metadata
-    factor = dfg.rebuildFactorMetadata!(dfg, factor)
+    factor = rebuildFactorMetadata!(dfg, factor)
 
     return factor
 end

src/Deprecated.jl

@@ -11,6 +11,8 @@ include("../attic/GraphsDFG/GraphsDFG.jl")
 @reexport using .GraphsDFGs
 
 
+@deprecate loadDFG(source::String, iifModule::Module, dest::AbstractDFG) loadDFG!(dest, source)
+
 @deprecate buildSubgraphFromLabels!(dfg::AbstractDFG, varList::Vector{Symbol}) buildSubgraph(dfg, varList, 1)
 
 

src/FileDFG/services/FileDFG.jl

@@ -82,9 +82,7 @@ loadDFG("/tmp/savedgraph.tar.gz", IncrementalInference, dfg)
 ls(dfg)
 ```
 """
-function loadDFG(dst::String,
-                 iifModule::Module,
-                 dfgLoadInto::G) where G <: AbstractDFG
+function loadDFG!(dfgLoadInto::AbstractDFG, dst::String)
 
 
     #
@@ -151,7 +149,7 @@ function loadDFG(dst::String,
     # Finally, rebuild the CCW's for the factors to completely reinflate them
     @info "Rebuilding CCW's for the factors..."
     for factor in factors
-        iifModule.rebuildFactorMetadata!(dfgLoadInto, factor)
+        rebuildFactorMetadata!(dfgLoadInto, factor)
     end
 
     # remove the temporary unzipped file

src/LightDFG/entities/LightDFG.jl

@@ -7,7 +7,7 @@ An in-memory DistributedFactorGraph based on LightGraphs.jl with parameters:
 - V: Variable type
 - F: Factor type
 """
-mutable struct LightDFG{T <: AbstractParams, V <: AbstractDFGVariable, F <:AbstractDFGFactor} <: AbstractDFG
+mutable struct LightDFG{T <: AbstractParams, V <: AbstractDFGVariable, F <:AbstractDFGFactor} <: AbstractDFG{T}
     g::FactorGraph{Int, V, F}
     description::String
     userId::String

src/entities/AbstractDFG.jl

@@ -32,16 +32,15 @@ end
 
 """
 $(TYPEDEF)
-Abstract parent struct for a DFG graph.
+Abstract parent struct for solver parameters.
 """
-abstract type AbstractDFG
-end
+abstract type AbstractParams end
 
 """
 $(TYPEDEF)
-Abstract parent struct for solver parameters.
-"""
-abstract type AbstractParams end
+Abstract parent struct for a DFG graph.
+    """
+abstract type AbstractDFG{T<:AbstractParams} end
 
 """
 $(TYPEDEF)

src/services/AbstractDFG.jl

@@ -60,6 +60,12 @@ Method must be overloaded by the user for Serialization to work.  E.g. Increment
 getFactorOperationalMemoryType(dummy) = error("Please extend your workspace with function getFactorOperationalMemoryType(<:AbstractParams) for your usecase, e.g. IncrementalInference uses `CommonConvWrapper <: FactorOperationalMemory`")
 getFactorOperationalMemoryType(dfg::AbstractDFG) = getFactorOperationalMemoryType(getSolverParams(dfg))
 
+"""
+    $(SIGNATURES)
+
+Method must be overloaded by the user for Serialization to work.
+"""
+rebuildFactorMetadata!(dfg::AbstractDFG{<:AbstractParams}, factor::AbstractDFGFactor) = error("rebuildFactorMetadata! is not implemented for $(typeof(dfg))")
 
 ##------------------------------------------------------------------------------
 ## Setters

src/services/Serialization.jl

@@ -167,7 +167,7 @@ function unpackFactor(dfg::G, packedProps::Dict{String, Any})::DFGFactor where G
     factor._variableOrderSymbols = _variableOrderSymbols
     setSolvable!(factor, solvable)
 
-    # Note, once inserted, you still need to call IIF.rebuildFactorMetadata!
+    # Note, once inserted, you still need to call rebuildFactorMetadata!
     return factor
 end
 

test/CGStructureTests.jl

@@ -4,7 +4,7 @@ dfg = CloudGraphsDFG{SolverParams}("localhost", 7474, "neo4j", "test",
                             nothing,
                             nothing,
                             nothing,
-                            IncrementalInference.rebuildFactorMetadata!,
+                            nothing,
                             solverParams=SolverParams())
 
 # Nuke the user