isFullyConnected and hasOrphans

Author: GearsAD

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -619,21 +619,33 @@ function getFactorIds(dfg::CloudGraphsDFG, regexFilter::Union{Nothing, Regex}=no
     end
 end
 
-# """
-#     $(SIGNATURES)
-# Checks if the graph is fully connected, returns true if so.
-# """
-# function isFullyConnected(dfg::CloudGraphsDFG)::Bool
-#     return length(connected_components(dfg.g)) == 1
-# end
-#
-# #Alias
-# """
-#     $(SIGNATURES)
-# Checks if the graph is not fully connected, returns true if it is not contiguous.
-# """
-# hasOrphans(dfg::CloudGraphsDFG)::Bool = !isFullyConnected(dfg)
-#
+"""
+    $(SIGNATURES)
+Checks if the graph is fully connected, returns true if so.
+"""
+function isFullyConnected(dfg::CloudGraphsDFG)::Bool
+    # If the total number of nodes == total number of distinct connected nodes, then it is fully connected
+    # Total nodes
+    varIds = getVariableIds(dfg)
+    factIds = getFactorIds(dfg)
+    totalNodes = length(varIds) + length(factIds)
+    if length(varIds) == 0
+        return false
+    end
+
+    # Total connected nodes - thank you Neo4j for 0..* awesomeness!!
+    connectedList = _getLabelsFromCyphonQuery(dfg.neo4jInstance, "(n:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId):$(varIds[1]))-[FACTORGRAPH*]-(node:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId))")
+
+    return length(connectedList) == totalNodes
+end
+
+#Alias
+"""
+    $(SIGNATURES)
+Checks if the graph is not fully connected, returns true if it is not contiguous.
+"""
+hasOrphans(dfg::CloudGraphsDFG)::Bool = !isFullyConnected(dfg)
+
 """
     $(SIGNATURES)
 Retrieve a list of labels of the immediate neighbors around a given variable or factor.
@@ -745,7 +757,7 @@ function getSubgraphAroundNode(dfg::CloudGraphsDFG, node::T, distance::Int64=1,
     end
 
     # Thank you Neo4j for 0..* awesomeness!!
-    neighborList = _getLabelsFromCyphonQuery(dfg.neo4jInstance, "(n:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId):$(node.label))-[FACTORGRAPH*0..$distance]-(node)")
+    neighborList = _getLabelsFromCyphonQuery(dfg.neo4jInstance, "(n:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId):$(node.label))-[FACTORGRAPH*0..$distance]-(node:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId))")
 
     # Copy the section of graph we want
     _copyIntoGraph!(dfg, addToDFG, neighborList, includeOrphanFactors)

test/sandbox.jl

@@ -190,31 +190,15 @@ global cgDFG = CloudGraphsDFG("localhost", 7474, "neo4j", "test",
     @test adjMat == expected
 end
 
+@testset "isFullyConnected, hasOrphans tests" begin
+    @test isFullyConnected(cgDFG) == true
+    @test hasOrphans(cgDFG) == false
+
+    # Now let's add an orphan
+    lOrphan = addVariable!(cgDFG, :lOrphan, Pose2)
+    @test isFullyConnected(cgDFG) == false
+    @test hasOrphans(cgDFG) == true
+end
 
 # Show it
 DFG.toDotFile(dfg, "/tmp/testRmMarg.dot")
-
-
-# ##### Testing
-newFactor = DFGFactor{CommonConvWrapper{typeof(prior)}, Symbol}(Symbol("x0f0"))
-# # newFactor.tags = union([:abc], [:FACTOR]) # TODO: And session info
-# # addNewFncVertInGraph!(fgl, newvert, currid, namestring, ready)
-ccw = IncrementalInference.prepgenericconvolution([x1], prior, multihypo=nothing, threadmodel=SingleThreaded)
-data_ccw = FunctionNodeData{CommonConvWrapper{typeof(prior)}}(Int[], false, false, Int[], Symbol(:test), ccw)
-newData = IncrementalInference.setDefaultFactorNode!(cgDFG, newFactor, [x1], deepcopy(prior), multihypo=nothing, threadmodel=SingleThreaded)
-# packedType = encodePackedType(newData)
-# #Testing
-fnctype = newData.fnc.usrfnc!
-fnc = getfield(IncrementalInference.getmodule(fnctype), Symbol("Packed$(IncrementalInference.getname(fnctype))"))
-packed = convert(PackedFunctionNodeData{fnc}, newData)
-using JSON2
-j = JSON2.write(packed)
-retPacked = JSON2.read(j, GenericFunctionNodeData{PackedPriorPose2,String})
-# retUnpacked = convert(GenericFunctionNodeData{IncrementalInference.getname(fnctype)}, retPacked)
-retUnpacked = convert(PriorPose2, retPacked.fnc)
-# # TODO: Need to remove this...
-# for vert in Xi
-#   push!(newData.fncargvID, vert.label) # vert._internalId # YUCK :/ -- Yup, this is a problem
-# end
-#
-#