Don't create :default => empty VND with constructor #202

Author: Affie

src/entities/DFGVariable.jl

@@ -177,14 +177,27 @@ end
 The default DFGVariable constructor.
 """
 DFGVariable(label::Symbol, softtype::T;
+            timestamp::DateTime=now(),
             tags::Set{Symbol}=Set{Symbol}(),
             estimateDict::Dict{Symbol, <: AbstractPointParametricEst}=Dict{Symbol, MeanMaxPPE}(),
-            solverDataDict::Dict{Symbol, VariableNodeData{T}}=Dict{Symbol, VariableNodeData{T}}(:default => VariableNodeData{T}()),
+            solverDataDict::Dict{Symbol, VariableNodeData{T}}=Dict{Symbol, VariableNodeData{T}}(),
             smallData::Dict{String, String}=Dict{String, String}(),
             bigData::Dict{Symbol, AbstractBigDataEntry}=Dict{Symbol,AbstractBigDataEntry}(),
             solvable::Int=1,
             _internalId::Int64=0) where {T <: InferenceVariable} =
-    DFGVariable{T}(label, now(), tags, estimateDict, solverDataDict, smallData, bigData, DFGNodeParams(solvable, _internalId))
+    DFGVariable{T}(label, timestamp, tags, estimateDict, solverDataDict, smallData, bigData, DFGNodeParams(solvable, _internalId))
+
+
+DFGVariable(label::Symbol,
+            solverData::VariableNodeData{T};
+            timestamp::DateTime=now(),
+            tags::Set{Symbol}=Set{Symbol}(),
+            estimateDict::Dict{Symbol, <: AbstractPointParametricEst}=Dict{Symbol, MeanMaxPPE}(),
+            smallData::Dict{String, String}=Dict{String, String}(),
+            bigData::Dict{Symbol, AbstractBigDataEntry}=Dict{Symbol,AbstractBigDataEntry}(),
+            solvable::Int=1,
+            _internalId::Int64=0) where {T <: InferenceVariable} =
+    DFGVariable{T}(label, timestamp, tags, estimateDict, Dict{Symbol, VariableNodeData{T}}(:default=>solverData), smallData, bigData, DFGNodeParams(solvable, _internalId))
 
 function Base.copy(o::DFGVariable)::DFGVariable
     return DFGVariable(o.label, getSofttype(o)(), tags=copy(o.tags), estimateDict=copy(o.estimateDict),

src/services/AbstractDFG.jl

@@ -1012,7 +1012,7 @@ Notes:
 function isInitialized(var::DFGVariable, key::Symbol=:default)::Bool
       data = getSolverData(var, key)
       if data == nothing
-        @error "Variable does not have solver data $(key)"
+          #TODO we still have a mixture of 2 error behaviours
         return false
       else
           return data.initialized

src/services/DFGVariable.jl

@@ -307,7 +307,9 @@ getSofttype(v::DFGVariableSummary)::Symbol = v.softtypename
 Retrieve solver data structure stored in a variable.
 """
 function getSolverData(v::DFGVariable, key::Symbol=:default)
-    return haskey(v.solverDataDict, key) ? v.solverDataDict[key] : nothing
+    #TODO this does not fit in with some of the other error behaviour. but its used so added @error
+    vnd =  haskey(v.solverDataDict, key) ? v.solverDataDict[key] : (@error "Variable does not have solver data $(key)"; nothing)
+    return vnd
 end
 
 """

test/LightDFGSummaryTypes.jl

@@ -6,8 +6,8 @@ dfg = LightDFG{NoSolverParams, VARTYPE, FACTYPE}()
 DistributedFactorGraphs.DFGVariableSummary(label::Symbol) = DFGVariableSummary(label, DistributedFactorGraphs.now(), Set{Symbol}(), Dict{Symbol, MeanMaxPPE}(), :Pose2, Dict{Symbol,AbstractBigDataEntry}(), 0)
 DistributedFactorGraphs.DFGFactorSummary(label::Symbol) = DFGFactorSummary(label, DistributedFactorGraphs.now(), Set{Symbol}(), 0, Symbol[])
 
-DistributedFactorGraphs.DFGVariableSummary(label::Symbol, soft::InferenceVariable) = DFGVariableSummary(label, DistributedFactorGraphs.now(), Set{Symbol}(), Dict{Symbol, MeanMaxPPE}(), Symbol(typeof(soft)), Dict{Symbol,AbstractBigDataEntry}(), 0)
-DistributedFactorGraphs.SkeletonDFGVariable(label::Symbol, soft::InferenceVariable) = SkeletonDFGVariable(label)
+DistributedFactorGraphs.DFGVariableSummary(label::Symbol, ::VariableNodeData{T}) where T = DFGVariableSummary(label, DistributedFactorGraphs.now(), Set{Symbol}(), Dict{Symbol, MeanMaxPPE}(), Symbol(T), Dict{Symbol,AbstractBigDataEntry}(), 0)
+DistributedFactorGraphs.SkeletonDFGVariable(label::Symbol, params...) = SkeletonDFGVariable(label)
 
 
 dfg = LightDFG{NoSolverParams, VARTYPE, FACTYPE}()
@@ -70,10 +70,10 @@ end
 
 @testset "Adjacency Matrices" begin
     fg = LightDFG{NoSolverParams, VARTYPE, FACTYPE}()
-    addVariable!(fg, VARTYPE(:a, TestSofttype1()))
-    addVariable!(fg, VARTYPE(:b, TestSofttype1()))
+    addVariable!(fg, VARTYPE(:a))
+    addVariable!(fg, VARTYPE(:b))
     addFactor!(fg,  [:a,:b], FACTYPE(:abf1))
-    addVariable!(fg, VARTYPE(:orphan, TestSofttype1()))
+    addVariable!(fg, VARTYPE(:orphan))
 
     AdjacencyMatricesTestBlock(fg)
 end

test/testBlocks.jl

@@ -167,9 +167,9 @@ function DFGVariableSCA()
     small = Dict("small"=>"data")
     testTimestamp = now()
     # Constructors
-    v1 = DFGVariable(v1_lbl, TestSofttype1(), tags=v1_tags, solvable=0)
-    v2 = DFGVariable(:b, TestSofttype2(), tags=Set([:VARIABLE, :LANDMARK]))
-    v3 = DFGVariable(:c, TestSofttype2())
+    v1 = DFGVariable(v1_lbl, TestSofttype1(), tags=v1_tags, solvable=0, solverDataDict=Dict(:default=>VariableNodeData{TestSofttype1}()))
+    v2 = DFGVariable(:b, VariableNodeData{TestSofttype2}(), tags=Set([:VARIABLE, :LANDMARK]))
+    v3 = DFGVariable(:c, VariableNodeData{TestSofttype2}())
 
 
     getSolverData(v1).solveInProgress = 1
@@ -885,8 +885,8 @@ function connectivityTestGraph(::Type{T}; VARTYPE=DFGVariable, FACTYPE=DFGFactor
 
     dfg = T()
 
-    vars = vcat(map(n -> VARTYPE(Symbol("x$n"), TestSofttype1()), 1:numNodesType1),
-                map(n -> VARTYPE(Symbol("x$(numNodesType1+n)"), TestSofttype2()), 1:numNodesType2))
+    vars = vcat(map(n -> VARTYPE(Symbol("x$n"), VariableNodeData{TestSofttype1}()), 1:numNodesType1),
+                map(n -> VARTYPE(Symbol("x$(numNodesType1+n)"), VariableNodeData{TestSofttype2}()), 1:numNodesType2))
 
     foreach(v -> addVariable!(dfg, v), vars)
 
@@ -900,7 +900,7 @@ function connectivityTestGraph(::Type{T}; VARTYPE=DFGVariable, FACTYPE=DFGFactor
         setSolvable!(dfg, :x7x8f1, 0)
 
     else
-        facs = map(n -> addFactor!(dfg, [vars[n], vars[n+1]],                 FACTYPE(Symbol("x$(n)x$(n+1)f1"))), 1:length(vars)-1)
+        facs = map(n -> addFactor!(dfg, [vars[n], vars[n+1]], FACTYPE(Symbol("x$(n)x$(n+1)f1"))), 1:length(vars)-1)
     end
 
     return (dfg=dfg, variables=vars, factors=facs)
@@ -1021,8 +1021,8 @@ function ProducingDotFiles(testDFGAPI; VARTYPE=DFGVariable, FACTYPE=DFGFactor)
     # "Producing Dot Files"
     # create a simpler graph for dot testing
     dotdfg = testDFGAPI()
-    v1 = VARTYPE(:a, TestSofttype1())
-    v2 = VARTYPE(:b, TestSofttype1())
+    v1 = VARTYPE(:a, VariableNodeData{TestSofttype1}())
+    v2 = VARTYPE(:b, VariableNodeData{TestSofttype1}())
     if FACTYPE==DFGFactor
         f1 = DFGFactor{Int, :Symbol}(:abf1)
     else