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GearsADGearsAD
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Standardizing DFG objects against new patterns
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14 files changed

+69
-93
lines changed

14 files changed

+69
-93
lines changed

‎src/DFGPlots/DFGPlots.jl

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -104,10 +104,10 @@ function plotDFG(io::IO, ::MIME"application/prs.juno.plotpane+html", dfg::Abstra
104104
">
105105
$(typeof(dfg))
106106
<ul>
107-
<li>$(dfg.userId)</li>
108-
<li>$(dfg.robotId)</li>
109-
<li>$(dfg.sessionId)</li>
110-
<li>$(dfg.description)</li>
107+
<li>$(getUserLabel(dfg))</li>
108+
<li>$(getRobotLabel(dfg))</li>
109+
<li>$(getSessionLabel(dfg))</li>
110+
<li>$(getDescription(dfg))</li>
111111
</ul>
112112
<script charset="utf-8">
113113
$(read(GraphPlot.Compose.snapsvgjs, String))

‎src/DataBlobs/services/AbstractDataEntries.jl

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -14,10 +14,10 @@ end
1414

1515
"""
1616
$(SIGNATURES)
17-
Function to generate source string - userId|robotId|sessionId|varLabel
17+
Function to generate source string - userLabel|robotLabel|sessionLabel|varLabel
1818
"""
1919
buildSourceString(dfg::AbstractDFG, label::Symbol) =
20-
"$(dfg.userId)|$(dfg.robotId)|$(dfg.sessionId)|$label"
20+
"$(getUserLabel(dfg))|$(getRobotLabel(dfg))|$(getSessionLabel(dfg))|$label"
2121

2222

2323
##==============================================================================

‎src/DataBlobs/services/BlobStores.jl

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -104,7 +104,7 @@ end
104104
function updateData!(dfg::AbstractDFG, blobstore::AbstractBlobStore, label::Symbol, entry::AbstractDataEntry, blob::Vector{UInt8}; hashfunction = sha256)
105105
# Recalculate the hash - NOTE Assuming that this is going to be a BlobStoreEntry. TBD.
106106
newEntry = BlobStoreEntry(entry.label, entry.id, blobstore.key, bytes2hex(hashfunction(blob)),
107-
"$(dfg.userId)|$(dfg.robotId)|$(dfg.sessionId)|$(label)",
107+
buildSourceString(dfg, label),
108108
entry.description, entry.mimeType, entry.createdTimestamp)
109109

110110
de = updateDataEntry!(dfg, label, newEntry)
@@ -137,7 +137,7 @@ function addData!(dfg::AbstractDFG, blobstore::AbstractBlobStore, label::Symbol,
137137

138138

139139
entry = BlobStoreEntry(key, id, blobstore.key, bytes2hex(hashfunction(blob)),
140-
"$(dfg.userId)|$(dfg.robotId)|$(dfg.sessionId)|$(label)",
140+
buildSourceString(dfg, label),
141141
description, mimeType, timestamp)
142142

143143
addData!(dfg, blobstore, label, entry, blob; hashfunction)

‎src/DistributedFactorGraphs.jl

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -57,7 +57,7 @@ export AbstractParams, NoSolverParams
5757
export AbstractBlobStore
5858

5959
# accessors & crud
60-
export getUserId, getRobotId, getSessionId
60+
export getUserLabel, getRobotLabel, getSessionLabel
6161
export getDFGInfo
6262
export getDescription, setDescription!,
6363
getSolverParams, setSolverParams!,

‎src/GraphsDFG/GraphsDFG.jl

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -11,7 +11,6 @@ using ...DistributedFactorGraphs
1111
# import DFG functions to extend
1212
import ...DistributedFactorGraphs: setSolverParams!,
1313
getFactor,
14-
setDescription!,
1514
# getLabelDict,
1615
getUserData,
1716
setUserData!,
@@ -27,7 +26,6 @@ import ...DistributedFactorGraphs: setSolverParams!,
2726
exists,
2827
isVariable,
2928
isFactor,
30-
getDescription,
3129
updateVariable!,
3230
updateFactor!,
3331
deleteVariable!,

‎src/GraphsDFG/entities/GraphsDFG.jl

Lines changed: 19 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -10,9 +10,9 @@ An in-memory DistributedFactorGraph based on Graphs.jl with parameters:
1010
mutable struct GraphsDFG{T <: AbstractParams, V <: AbstractDFGVariable, F <:AbstractDFGFactor} <: AbstractDFG{T}
1111
g::FactorGraph{Int, V, F}
1212
description::String
13-
userId::String
14-
robotId::String
15-
sessionId::String
13+
userLabel::String
14+
robotLabel::String
15+
sessionLabel::String
1616
userData::Dict{Symbol, String}
1717
robotData::Dict{Symbol, String}
1818
sessionData::Dict{Symbol, String}
@@ -31,19 +31,19 @@ Create an in-memory GraphsDFG with the following parameters:
3131
"""
3232
function GraphsDFG{T,V,F}(g::FactorGraph{Int,V,F}=FactorGraph{Int,V,F}();
3333
description::String="Graphs.jl implementation",
34-
userId::String="DefaultUser",
35-
robotId::String="DefaultRobot",
36-
sessionId::String="Session_$(string(uuid4())[1:6])",
34+
userLabel::String="DefaultUser",
35+
robotLabel::String="DefaultRobot",
36+
sessionLabel::String="Session_$(string(uuid4())[1:6])",
3737
userData::Dict{Symbol, String} = Dict{Symbol, String}(),
3838
robotData::Dict{Symbol, String} = Dict{Symbol, String}(),
3939
sessionData::Dict{Symbol, String} = Dict{Symbol, String}(),
4040
solverParams::T=T(),
4141
blobstores=Dict{Symbol, AbstractBlobStore}()) where {T <: AbstractParams, V <:AbstractDFGVariable, F<:AbstractDFGFactor}
42-
# Validate the userId, robotId, and sessionId
43-
!isValidLabel(userId) && error("'$userId' is not a valid User ID")
44-
!isValidLabel(robotId) && error("'$robotId' is not a valid Robot ID")
45-
!isValidLabel(sessionId) && error("'$sessionId' is not a valid Session ID")
46-
return GraphsDFG{T,V,F}(g, description, userId, robotId, sessionId, userData, robotData, sessionData, Symbol[], solverParams, blobstores)
42+
# Validate the userLabel, robotLabel, and sessionLabel
43+
!isValidLabel(userLabel) && error("'$userLabel' is not a valid User label")
44+
!isValidLabel(robotLabel) && error("'$robotLabel' is not a valid Robot label")
45+
!isValidLabel(sessionLabel) && error("'$sessionLabel' is not a valid Session label")
46+
return GraphsDFG{T,V,F}(g, description, userLabel, robotLabel, sessionLabel, userData, robotData, sessionData, Symbol[], solverParams, blobstores)
4747
end
4848

4949
# GraphsDFG{T}(; kwargs...) where T <: AbstractParams = GraphsDFG{T,DFGVariable,DFGFactor}(;kwargs...)
@@ -68,24 +68,24 @@ end
6868

6969

7070
GraphsDFG(description::String,
71-
userId::String,
72-
robotId::String,
73-
sessionId::String,
71+
userLabel::String,
72+
robotLabel::String,
73+
sessionLabel::String,
7474
userData::Dict{Symbol, String},
7575
robotData::Dict{Symbol, String},
7676
sessionData::Dict{Symbol, String},
7777
solverParams::AbstractParams,
7878
blobstores=Dict{Symbol, AbstractBlobStore}()) =
79-
GraphsDFG(FactorGraph{Int,DFGVariable,DFGFactor}(), description, userId, robotId, sessionId, userData, robotData, sessionData, Symbol[], solverParams, blobstores)
79+
GraphsDFG(FactorGraph{Int,DFGVariable,DFGFactor}(), description, userLabel, robotLabel, sessionLabel, userData, robotData, sessionData, Symbol[], solverParams, blobstores)
8080

8181

8282
GraphsDFG{T,V,F}(description::String,
83-
userId::String,
84-
robotId::String,
85-
sessionId::String,
83+
userLabel::String,
84+
robotLabel::String,
85+
sessionLabel::String,
8686
userData::Dict{Symbol, String},
8787
robotData::Dict{Symbol, String},
8888
sessionData::Dict{Symbol, String},
8989
solverParams::T,
9090
blobstores=Dict{Symbol, AbstractBlobStore}()) where {T <: AbstractParams, V <:AbstractDFGVariable, F<:AbstractDFGFactor} =
91-
GraphsDFG(FactorGraph{Int,V,F}(), description, userId, robotId, sessionId, userData, robotData, sessionData, Symbol[], solverParams, blobstores)
91+
GraphsDFG(FactorGraph{Int,V,F}(), description, userLabel, robotLabel, sessionLabel, userData, robotData, sessionData, Symbol[], solverParams, blobstores)

‎src/GraphsDFG/services/GraphsDFG.jl

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -317,7 +317,7 @@ Gets an empty and unique GraphsDFG derived from an existing DFG.
317317
"""
318318
function _getDuplicatedEmptyDFG(dfg::GraphsDFG{P,V,F}) where {P <: AbstractParams, V <: AbstractDFGVariable, F <: AbstractDFGFactor}
319319
newDfg = GraphsDFG{P,V,F}(;
320-
userId=dfg.userId, robotId=dfg.robotId, sessionId=dfg.sessionId,
320+
userLabel=getUserLabel(dfg), robotLabel=getRobotLabel(dfg), sessionLabel=getSessionLabel(dfg),
321321
solverParams=deepcopy(dfg.solverParams))
322322
newDfg.description ="(Copy of) $(dfg.description)"
323323
return newDfg

‎src/entities/AbstractDFGSummary.jl

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@ Structure for a graph summary.
66
struct DFGSummary
77
variables::Dict{Symbol, DFGVariableSummary}
88
factors::Dict{Symbol, DFGFactorSummary}
9-
userId::String
10-
robotId::String
11-
sessionId::String
9+
userLabel::String
10+
robotLabel::String
11+
sessionLabel::String
1212
end

‎src/services/AbstractDFG.jl

Lines changed: 14 additions & 29 deletions
Original file line numberDiff line numberDiff line change
@@ -13,9 +13,9 @@ Base.Broadcast.broadcastable(dfg::AbstractDFG) = Ref(dfg)
1313
##==============================================================================
1414
# Standard recommended fields to implement for AbstractDFG
1515
# - `description::String`
16-
# - `userId::String`
17-
# - `robotId::String`
18-
# - `sessionId::String`
16+
# - `userLabel::String`
17+
# - `robotLabel::String`
18+
# - `sessionLabel::String`
1919
# - `userData::Dict{Symbol, String}`
2020
# - `robotData::Dict{Symbol, String}`
2121
# - `sessionData::Dict{Symbol, String}`
@@ -31,7 +31,7 @@ Base.Broadcast.broadcastable(dfg::AbstractDFG) = Ref(dfg)
3131
$(SIGNATURES)
3232
Convenience function to get all the metadata of a DFG
3333
"""
34-
getDFGInfo(dfg::AbstractDFG) = (getDescription(dfg), getUserId(dfg), getRobotId(dfg), getSessionId(dfg), getUserData(dfg), getRobotData(dfg), getSessionData(dfg), getSolverParams(dfg))
34+
getDFGInfo(dfg::AbstractDFG) = (getDescription(dfg), getUserLabel(dfg), getRobotLabel(dfg), getSessionLabel(dfg), getUserData(dfg), getRobotData(dfg), getSessionData(dfg), getSolverParams(dfg))
3535

3636
"""
3737
$(SIGNATURES)
@@ -41,17 +41,17 @@ getDescription(dfg::AbstractDFG) = dfg.description
4141
"""
4242
$(SIGNATURES)
4343
"""
44-
getUserId(dfg::AbstractDFG) = dfg.userId
44+
getUserLabel(dfg::AbstractDFG) = dfg.userLabel
4545

4646
"""
4747
$(SIGNATURES)
4848
"""
49-
getRobotId(dfg::AbstractDFG) = dfg.robotId
49+
getRobotLabel(dfg::AbstractDFG) = dfg.robotLabel
5050

5151
"""
5252
$(SIGNATURES)
5353
"""
54-
getSessionId(dfg::AbstractDFG) = dfg.sessionId
54+
getSessionLabel(dfg::AbstractDFG) = dfg.sessionLabel
5555

5656
"""
5757
$(SIGNATURES)
@@ -87,21 +87,6 @@ rebuildFactorMetadata!(dfg::AbstractDFG{<:AbstractParams}, factor::AbstractDFGFa
8787
"""
8888
setDescription!(dfg::AbstractDFG, description::String) = dfg.description = description
8989

90-
"""
91-
$(SIGNATURES)
92-
"""
93-
setUserId!(dfg::AbstractDFG, userId::String) = dfg.userId = userId
94-
95-
"""
96-
$(SIGNATURES)
97-
"""
98-
setRobotId!(dfg::AbstractDFG, robotId::String) = dfg.robotId = robotId
99-
100-
"""
101-
$(SIGNATURES)
102-
"""
103-
setSessionId!(dfg::AbstractDFG, sessionId::String) = dfg.sessionId = sessionId
104-
10590
"""
10691
$(SIGNATURES)
10792
"""
@@ -1182,7 +1167,7 @@ function buildSubgraph(::Type{G},
11821167
kwargs...) where G <: AbstractDFG
11831168

11841169
if sessionId == ""
1185-
sessionId = getSessionId(dfg) * "_sub_$(string(uuid4())[1:6])"
1170+
sessionId = getSessionLabel(dfg) * "_sub_$(string(uuid4())[1:6])"
11861171
end
11871172

11881173
#build up the neighborhood from variableFactorLabels
@@ -1389,9 +1374,9 @@ function getSummary(dfg::G) where {G <: AbstractDFG}
13891374
return DFGSummary(
13901375
Dict(map(v->v.label, vars) .=> vars),
13911376
Dict(map(f->f.label, facts) .=> facts),
1392-
dfg.userId,
1393-
dfg.robotId,
1394-
dfg.sessionId)
1377+
dfg.userLabel,
1378+
dfg.robotLabel,
1379+
dfg.sessionLabel)
13951380
end
13961381

13971382
"""
@@ -1405,9 +1390,9 @@ Notes
14051390
function getSummaryGraph(dfg::G) where {G <: AbstractDFG}
14061391
summaryDfg = GraphsDFG{NoSolverParams, DFGVariableSummary, DFGFactorSummary}(
14071392
description="Summary of $(getDescription(dfg))",
1408-
userId=dfg.userId,
1409-
robotId=dfg.robotId,
1410-
sessionId=dfg.sessionId)
1393+
userLabel=dfg.userLabel,
1394+
robotLabel=dfg.robotLabel,
1395+
sessionLabel=dfg.sessionLabel)
14111396
deepcopyGraph!(summaryDfg, dfg)
14121397
# for v in getVariables(dfg)
14131398
# newV = addVariable!(summaryDfg, DFGVariableSummary(v))

‎src/services/CustomPrinting.jl

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -189,9 +189,9 @@ Base.show(io::IO, ::MIME"text/plain", f::DFGFactor) = printFactor(io, f, short=t
189189

190190
function Base.show(io::IO, dfg::AbstractDFG)
191191
summary(io, dfg)
192-
println(io, "\n UserId: ", dfg.userId)
193-
println(io, " RobotId: ", dfg.robotId)
194-
println(io, " SessionId: ", dfg.sessionId)
192+
println(io, "\n UserLabel: ", dfg.userLabel)
193+
println(io, " RobotLabel: ", dfg.robotLabel)
194+
println(io, " SessionLabel: ", dfg.sessionLabel)
195195
println(io, " Description: ", dfg.description)
196196
println(io, " Nr variables: ", length(ls(dfg)))
197197
println(io, " Nr factors: ",length(lsf(dfg)))

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