Merge pull request #236 from JuliaRobotics/twig/4Q19/fcttime_fix

Updates to branch

Author: GearsAD

src/CommonAccessors.jl

@@ -5,7 +5,7 @@
 export getLabel, label
 export getTags, setTags!, tags
 export getTimestamp, setTimestamp!, timestamp
-export getInternalId, interalId
+export getInternalId, internalId
 
 
 const DataLevel0 = Union{VariableDataLevel0, FactorDataLevel0}
@@ -50,15 +50,18 @@ DEPRECATED, tags -> getTags
 """
 function tags(v::DataLevel0)
   @warn "tags deprecated, use getTags instead"
-  getTags
+  getTags(v)
 end
 
 """
 $SIGNATURES
 
 Set the tags for a factor.
 """
-setTags!(f::DataLevel0, tags::Vector{Symbol}) = f.tags = tags
+function setTags!(f::DataLevel0, tags::Vector{Symbol})
+  resize!(f.tags, length(tags))
+  f.tags .= tags
+end
 
 
 """

src/entities/DFGFactor.jl

@@ -44,7 +44,7 @@ mutable struct DFGFactor{T, S} <: AbstractDFGFactor
     _internalId::Int64
     _variableOrderSymbols::Vector{Symbol}
     # TODO back to front ts and _internalId for legacy reasons
-    DFGFactor{T, S}(label::Symbol, _internalId::Int64=0, ts::DateTime=now()) where {T, S} = new{T, S}(label, Symbol[], GenericFunctionNodeData{T, S}(), 0, ts, 0, Symbol[])
+    DFGFactor{T, S}(label::Symbol, _internalId::Int64=0, timestamp::DateTime=now()) where {T, S} = new{T, S}(label, Symbol[], GenericFunctionNodeData{T, S}(), 0, timestamp, 0, Symbol[])
     # DFGFactor{T, S}(label::Symbol, _internalId::Int64) where {T, S} = new{T, S}(label, Symbol[], GenericFunctionNodeData{T, S}(), 0, now(), _internalId, Symbol[])
 end
 

src/entities/DFGVariable.jl

@@ -248,22 +248,21 @@ end
 """
     $SIGNATURES
 
-Retrieve the soft type name symbol for a DFGVariable or DFGVariableSummary. ie :Point2, Pose2, etc.
-
+Retrieve the soft type name symbol for a DFGVariableSummary. ie :Point2, Pose2, etc.
 TODO, DO NOT USE v.softtypename in DFGVariableSummary
 """
-getSofttype(v::DFGVariableSummary) = v.softtypename
+getSofttype(v::DFGVariableSummary)::Symbol = v.softtypename
 
 
 
 """
 $SIGNATURES
 
-Return the softtype name for a variable.
+Return the softtype for a variable.
 
 DEPRECATED, softtype -> getSofttype
 """
-function softtype(v::VariableDataLevel1)::Symbol
+function softtype(v::VariableDataLevel1)
     @warn "Deprecated softtype, use getSofttype instead."
     getSofttype(v)
 end

src/services/DFGFactor.jl

@@ -8,6 +8,7 @@ function packFactor(dfg::G, f::DFGFactor)::Dict{String, Any} where G <: Abstract
     # Construct the properties to save
     props = Dict{String, Any}()
     props["label"] = string(f.label)
+    props["timestamp"] = string(f.timestamp)
     props["tags"] = JSON2.write(f.tags)
     # Pack the node data
     fnctype = f.data.fnc.usrfnc!
@@ -32,6 +33,7 @@ end
 
 function unpackFactor(dfg::G, packedProps::Dict{String, Any}, iifModule)::DFGFactor where G <: AbstractDFG
     label = packedProps["label"]
+    timestamp = DateTime(packedProps["timestamp"])
     tags = JSON2.read(packedProps["tags"], Vector{Symbol})
 
     data = packedProps["data"]
@@ -56,7 +58,7 @@ function unpackFactor(dfg::G, packedProps::Dict{String, Any}, iifModule)::DFGFac
     solvable = packedProps["solvable"]
 
     # Rebuild DFGVariable
-    factor = DFGFactor{typeof(fullFactor.fnc), Symbol}(Symbol(label))
+    factor = DFGFactor{typeof(fullFactor.fnc), Symbol}(Symbol(label), 0, timestamp)
     factor.tags = tags
     factor.data = fullFactor
     factor._variableOrderSymbols = _variableOrderSymbols

test/iifInterfaceTests.jl

@@ -160,9 +160,9 @@ end
     @test solverDataDict(v1) == v1.solverDataDict
     @test internalId(v1) == v1._internalId
 
-    @test softtype(v1) == :ContinuousScalar#Symbol(typeof(st1))
-    @test softtype(v2) == :ContinuousScalar#Symbol(typeof(st2))
-    @test typeof(getSofttype(v1)) == typeof(ContinuousScalar())
+    @test typeof(softtype(v1)) == ContinuousScalar
+    @test typeof(softtype(v2)) == ContinuousScalar
+    @test typeof(getSofttype(v1)) == ContinuousScalar
 
     @test label(f1) == f1.label
     @test tags(f1) == f1.tags
@@ -441,9 +441,10 @@ end
     for v in ls(summaryGraph)
         for field in variableFields
             if field != :softtypename
-            @test getfield(getVariable(dfg, v), field) == getfield(getVariable(summaryGraph, v), field)
+                @test getfield(getVariable(dfg, v), field) == getfield(getVariable(summaryGraph, v), field)
             else
-                @test softtype(getVariable(dfg, v)) == softtype(getVariable(summaryGraph, v))
+                # Special case to check the symbol softtype is equal to the full softtype.
+                @test Symbol(typeof(softtype(getVariable(dfg, v)))) == softtype(getVariable(summaryGraph, v))
         end
     end
     end

test/interfaceTests.jl

@@ -161,8 +161,8 @@ end
     @test solverDataDict(v1) == v1.solverDataDict
     @test internalId(v1) == v1._internalId
 
-    @test softtype(v1) == Symbol(typeof(st1))
-    @test softtype(v2) == Symbol(typeof(st2))
+    @test softtype(v1) == st1
+    @test softtype(v2) == st2
     @test getSofttype(v1) == st1
 
     @test label(f1) == f1.label
@@ -446,7 +446,8 @@ end
             if field != :softtypename
                 @test getfield(getVariable(dfg, v), field) == getfield(getVariable(summaryGraph, v), field)
             else
-                @test softtype(getVariable(dfg, v)) == softtype(getVariable(summaryGraph, v))
+                # Special case to check the symbol softtype is equal to the full softtype.
+                @test Symbol(typeof(softtype(getVariable(dfg, v)))) == softtype(getVariable(summaryGraph, v))
             end
         end
     end