CloudGraphs DFG Updates (#517)

* WIP on breaking out solver data

* WIP on SolverData separation

* PPEs and SolverData serialization is working

* VariableNodeData as node properties

* Estimates are now written in with additional cartesian values

* WIP, may have broken a few things with DFGVariable

* Working on addVariable

* AddVariable/getVariable/updateVariable

* Drastic speedup of getFactor etc. Cleanup of API for getSolverData

* Working on addFactor/getFactor

* Factor serialization/deserialization with properties!

* Removing shows

* Adding :FACTORGRAPH relationships to factors in a single query; cleanup

* Fixing addPPE/updatePPE

* Fix for projecting cartesian PPEs

* Small fixes and optimization for getSofttype

* Minor fix

* Cleaning up cleanup functions

* Fixing unit tests, refactoring API

* Working through unit tests

* Fixing getSofttype and associated tests

* Fix for ls, fix for unit tests, fix for passing transaction to _getNodeProperty

* Fixing tests and reintroducing warnings

* Fixing Z-timestamp conversion

* Slightly cleaner getSofttype

Author: GearsAD

Project.toml

@@ -18,8 +18,8 @@ Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 TimeZones = "f269a46b-ccf7-5d73-abea-4c690281aa53"
-UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 Unmarshal = "cbff2730-442d-58d7-89d1-8e530c41eb02"
+UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 
 [compat]
 Colors = "0.8, 0.9, 0.10, 0.11, 0.12"

src/CloudGraphsDFG/CloudGraphsDFG.jl

@@ -20,6 +20,7 @@ import ...DistributedFactorGraphs:  setSolverParams!,
                                     exists,
                                     isVariable,
                                     isFactor,
+                                    getSofttype,
                                     getDescription,
                                     updateVariable!,
                                     updateFactor!,
@@ -59,6 +60,7 @@ import ...DistributedFactorGraphs:  setSolverParams!,
                                     mergeTags!,
                                     removeTags!,
                                     emptyTags!,
+                                    listVariableSolverData,
                                     addVariableSolverData!,
                                     updateVariableSolverData!,
                                     deleteVariableSolverData!,
@@ -69,17 +71,19 @@ import ...DistributedFactorGraphs:  setSolverParams!,
                                     listPPEs,
                                     deletePPE!,
                                     updatePPE!,
-                                    packPPE,
-                                    unpackPPE,
                                     getSolvable,
-                                    setSolvable!
+                                    setSolvable!,
+                                    getEstimateFields,
+                                    _getname,
+                                    _getmodule,
+                                    getTypeFromSerializationModule
 
 using Neo4j
 using Base64
 
 using DocStringExtensions
 using Requires
-using Dates
+using Dates, TimeZones
 using Distributions
 using Reexport
 using JSON

src/CloudGraphsDFG/services/CGStructure.jl

@@ -58,6 +58,7 @@ function createUser(dfg::CloudGraphsDFG, user::User)::User
     !isValidLabel(user) && error("Node cannot have an ID '$(user.id)'.")
 
     props = _convertNodeToDict(user)
+    # TODO: Switch to _queryNeo4j
     retNode = _createNode(dfg.neo4jInstance, ["USER", String(user.id)], props, nothing)
     return user
 end
@@ -77,6 +78,7 @@ function createRobot(dfg::CloudGraphsDFG, robot::Robot)::Robot
         error("Robot '$(robot.id)' already exists for user '$(robot.userId)'")
 
     props = _convertNodeToDict(robot)
+    # TODO: Switch to _queryNeo4j
     retNode = _createNode(dfg.neo4jInstance, ["ROBOT", String(robot.userId), String(robot.id)], props, parents[1], :ROBOT)
     return robot
 end
@@ -96,6 +98,7 @@ function createSession(dfg::CloudGraphsDFG, session::Session)::Session
         error("Session '$(session.id)' already exists for robot '$(session.robotId)' and user '$(session.userId)'")
 
     props = _convertNodeToDict(session)
+    # TODO: Switch to _queryNeo4j
     retNode = _createNode(dfg.neo4jInstance, ["SESSION", String(session.userId), String(session.robotId), String(session.id)], props, parents[1], :SESSION)
     return session
 end
@@ -227,7 +230,7 @@ DANGER: Clears the whole session from the database.
 """
 function clearSession!!(dfg::CloudGraphsDFG)::Nothing
     # Perform detach+deletion
-    _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId)) detach delete node ")
+    _queryNeo4j(dfg.neo4jInstance, "match (node:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId)) detach delete node ")
 
     # Clearing history
     dfg.addHistory = Symbol[]
@@ -240,7 +243,7 @@ DANGER: Clears the whole robot + sessions from the database.
 """
 function clearRobot!!(dfg::CloudGraphsDFG)::Nothing
     # Perform detach+deletion
-    _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:$(dfg.userId):$(dfg.robotId)) detach delete node ")
+    _queryNeo4j(dfg.neo4jInstance, "match (node:$(dfg.userId):$(dfg.robotId)) detach delete node ")
 
     # Clearing history
     dfg.addHistory = Symbol[]
@@ -253,7 +256,7 @@ DANGER: Clears the whole user + robot + sessions from the database.
 """
 function clearUser!!(dfg::CloudGraphsDFG)::Nothing
     # Perform detach+deletion
-    _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:$(dfg.userId)) detach delete node ")
+    _queryNeo4j(dfg.neo4jInstance, "match (node:$(dfg.userId)) detach delete node ")
 
     # Clearing history
     dfg.addHistory = Symbol[]