Merge pull request #225 from JuliaRobotics/feature/4Q19/setsolvable

add setSolvable!

Author: GearsAD

src/DistributedFactorGraphs.jl

@@ -34,7 +34,7 @@ export pushUserData!, pushRobotData!, pushSessionData!, popUserData!, popRobotDa
 
 # Services/AbstractDFG Exports
 export isInitialized, getFactorFunction, isVariable, isFactor
-export isSolvable, isSolveInProgress
+export isSolvable, isSolveInProgress, getSolvable, setSolvable!
 export mergeUpdateVariableSolverData!, mergeUpdateGraphSolverData!
 
 # Solver (IIF) Exports

src/services/AbstractDFG.jl

@@ -341,6 +341,30 @@ isSolveInProgress
 """
 isSolvable(var::Union{DFGVariable, DFGFactor})::Int = var.solvable
 
+"""
+    $SIGNATURES
+
+Variables or factors may or may not be 'solvable', depending on a user definition.  Useful for ensuring atomic transactions.
+
+Related
+
+isSolveInProgress
+"""
+getSolvable(var::Union{DFGVariable, DFGFactor})::Int = var.solvable
+
+"""
+    $SIGNATURES
+
+Get 'solvable' parameter for either a variable or factor.
+"""
+function getSolvable(dfg::AbstractDFG, sym::Symbol)
+  if isVariable(dfg, sym)
+    return getVariable(dfg, sym).solvable
+  elseif isFactor(dfg, sym)
+    return getFactor(dfg, sym).solvable
+  end
+end
+
 """
     $SIGNATURES
 
@@ -360,6 +384,30 @@ function isSolveInProgress(var::Union{DFGVariable, DFGFactor}; solveKey::Symbol=
     return solverData(var).solveInProgress
 end
 
+"""
+    $SIGNATURES
+
+Set the `solvable` parameter for either a variable or factor.
+"""
+function setSolvable!(dfg::AbstractDFG, sym::Symbol, solvable::Int)::Int
+  if isVariable(dfg, sym)
+    getVariable(dfg, sym).solvable = solvable
+  elseif isFactor(dfg, sym)
+    getFactor(dfg, sym).solvable = solvable
+  end
+  return solvable
+end
+
+"""
+    $SIGNATURES
+
+Set the `solvable` parameter for either a variable or factor.
+"""
+function setSolvable!(node::N, solvable::Int)::Int where N <: DFGNode
+  node.solvable = solvable
+  return solvable
+end
+
 """
     $(SIGNATURES)
 Gets an empty and unique CloudGraphsDFG derived from an existing DFG.

test/interfaceTests.jl

@@ -1,3 +1,5 @@
+# using DistributedFactorGraphs, Test
+# testDFGAPI = GraphsDFG
 dfg = testDFGAPI{NoSolverParams}()
 
 #add types for softtypes
@@ -20,7 +22,7 @@ solverData(v1).softtype = deepcopy(st1)
 solverData(v2).softtype = deepcopy(st2)
 
 # set v2 solvable
-v2.solvable = 1
+setSolvable!(v2, 1)
 # set v1 and f1 solveInProgress
 solverData(v1).solveInProgress = 1
 solverData(f1).solveInProgress = 1
@@ -164,6 +166,17 @@ end
     @test isSolvable(f1) == 0
     @test isSolveInProgress(v1) == 1
     @test isSolveInProgress(f1) == 1
+    # setSolvable, getSolvable, and variants
+    v1 = getVariable(dfg, v1.label)
+    f1 = getFactor(dfg, f1.label)
+    @test setSolvable!(v1, 1) == 1
+    @test isSolvable(v1) == 1
+    @test setSolvable!(dfg, v1.label, 0) == 0
+    @test isSolvable(v1) == 0
+    @test setSolvable!(f1, 1) == 1
+    @test getSolvable(dfg, f1.label) == 1
+    @test setSolvable!(dfg, f1.label, 0) == 0
+    @test getSolvable(f1) == 0
 
     # isFactor and isVariable
     @test isFactor(dfg, f1.label)