Merge branch 'master' of github.com:JuliaRobotics/DistributedFactorGraphs.jl into 815/cgdfg_createsession

Author: GearsAD

.github/workflows/CompatHelper.yml

@@ -1,24 +1,45 @@
 name: CompatHelper
-
 on:
   schedule:
-    - cron: '00 00 * * *'
-
+    - cron: 0 0 * * *
+  workflow_dispatch:
+permissions:
+  contents: write
+  pull-requests: write
 jobs:
   CompatHelper:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        julia-version: [1.2.0]
-        julia-arch: [x86]
-        os: [ubuntu-latest]
+    runs-on: ubuntu-latest
     steps:
-      - uses: julia-actions/setup-julia@latest
+      - name: Check if Julia is already available in the PATH
+        id: julia_in_path
+        run: which julia
+        continue-on-error: true
+      - name: Install Julia, but only if it is not already available in the PATH
+        uses: julia-actions/setup-julia@v1
         with:
-          version: ${{ matrix.julia-version }}
-      - name: Pkg.add("CompatHelper")
-        run: julia -e 'using Pkg; Pkg.add("CompatHelper")'
-      - name: CompatHelper.main()
+          version: '1'
+          # arch: ${{ runner.arch }}
+        if: steps.julia_in_path.outcome != 'success'
+      - name: "Add the General registry via Git"
+        run: |
+          import Pkg
+          ENV["JULIA_PKG_SERVER"] = ""
+          Pkg.Registry.add("General")
+        shell: julia --color=yes {0}
+      - name: "Install CompatHelper"
+        run: |
+          import Pkg
+          name = "CompatHelper"
+          uuid = "aa819f21-2bde-4658-8897-bab36330d9b7"
+          version = "3"
+          Pkg.add(; name, uuid, version)
+        shell: julia --color=yes {0}
+      - name: "Run CompatHelper"
+        run: |
+          import CompatHelper
+          CompatHelper.main()
+        shell: julia --color=yes {0}
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: julia -e 'using CompatHelper; CompatHelper.main()'
+          COMPATHELPER_PRIV: ${{ secrets.DOCUMENTER_KEY }}
+          # COMPATHELPER_PRIV: ${{ secrets.COMPATHELPER_PRIV }}

.github/workflows/ci.yml

@@ -2,12 +2,12 @@ name: CI
 on:
   pull_request:
   push:
-    branch:
+    branches:
       - master
-      - release**
+      - release/*
     tags:
       - v**
-
+  workflow_dispatch:
 jobs:
   test:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }}
@@ -19,6 +19,7 @@ jobs:
       matrix:
         version:
           - '1.6'
+          - '1.8'
           - 'nightly'
         os:
           - ubuntu-latest
@@ -81,6 +82,7 @@ jobs:
       matrix:
         version:
           - '1.6'
+          - '1.8'
         os:
           - ubuntu-latest
         arch:
@@ -123,6 +125,8 @@ jobs:
             ${{ runner.os }}-
 
       - name: Julia Build Pkg
+        env:
+          DFG_USE_CGDFG: true
         uses: julia-actions/julia-buildpkg@latest
 
       - name: Git Test Credentials
@@ -157,7 +161,7 @@ jobs:
       - name: Setup julia
         uses: julia-actions/setup-julia@v1
         with:
-          version: 1.6
+          version: 1.8
           arch: x64
 
       - name: Build Docs
@@ -167,4 +171,4 @@ jobs:
         run: |
           julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
           julia --project=docs/ docs/make.jl
-        
+        

.gitignore

@@ -1,6 +1,7 @@
 *.jl.cov
 *.jl.*.cov
 *.jl.mem
+*.mem
 deps/deps.jl
 docs/build
 Manifest.toml

.travis.yml

@@ -1,13 +1,11 @@
-Copyright (c) 2017-2021 NavAbility
-
-NOTICE: this license will be relaxed to be much more permissive soon.
+Copyright (c) 2017-2022 NavAbility
 
 The source code in this repository is separated into two parts 
-that are licensed separately.  The CloudGraphDFG library/driver
+that are licensed separately.  The Neo4jDFG library/driver
 is licensed separately.  For more details see: 
-https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/blob/develop/src/CloudGraphsDFG/LICENSE
+https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/blob/develop/src/Neo4jDFG/LICENSE
 
-DistributedFactorGraphs.jl, is not licensed for hosted, webservice or cloud 
+DistributedFactorGraphs' Neo4jDFG Driver is not licensed for hosted, webservice or cloud 
 solutions (public or private).  Please contact NavAbility via email at 
 <[email protected]> for clarification or additional licensing options.
 NavAbility reserves all rights regarding, and to deny use of the software 
@@ -18,9 +16,9 @@ Other general use or modification of the software beyond that of
 webservices or clouds (private or public) is permitted 
 according to terms defined by Apache 2.0 or other library specifc licenses.
 
-   Copyright 2017-2021 NavAbility
+   Copyright 2017-2022 NavAbility
 
-   Licensed under a Market Limited version of the Apache License, Version 2.0 (the "License");
+   Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
 
    Unless required by applicable law or agreed to in writing, software

LICENSE

@@ -1,5 +1,16 @@
 Listing news on any major breaking changes in DFG.  For regular changes, see integrated Github.com project milestones for DFG.
 
+# v0.18.0
+
+- Unpack of GenericFactorNodeData with `reconstrFactorData` now gets `dfg::AbstractDFG` and `varOrder::Vector{Symbol}`, deprecating previous use of `convert` without the graph context (#832).
+- Switch to GraphsDFG, deprecating archived LightGraphs.jl (#826).
+- Workaround: packed factor data `.fnc` encoded as base64 to avoid escape character problems (#834).
+- Towards distributions serialized via JSON, getting away from custom strings (#848).
+- `LocalDFG` replaces `DefaultDFG` (#844).
+- Optimized creation of CGDFG / `createDfgSessionIfNotExist` (#839, #815).
+- `plotDFG` replaces `dfgplot` (#841, #844).
+- `Neo4jDFG` replaces `CloudGraphsDFG` (#836).
+
 # v0.16.0
 
-- `{Packed}VariableNodeData.infoPerCoord::Vector{Float64}` replaces previous `.inferdim::Float64`.  The change should have legacy support to help facilitate the transition.  This datastore is likely to only become part of critical computations downstream in IncrementalInference.jl v0.26, even though the previous `.inferdim` data values are being populated there.  (#804)
+- `{Packed}VariableNodeData.infoPerCoord::Vector{Float64}` replaces previous `.inferdim::Float64`.  The change should have legacy support to help facilitate the transition.  This datastore is likely to only become part of critical computations downstream in IncrementalInference.jl v0.26, even though the previous `.inferdim` data values are being populated there.  (#804)

NEWS.md

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.18.0"
+version = "0.18.5"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
@@ -15,7 +15,9 @@ LightGraphs = "093fc24a-ae57-5d10-9952-331d41423f4d"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 ManifoldsBase = "3362f125-f0bb-47a3-aa74-596ffd7ef2fb"
 Neo4j = "d2adbeaf-5838-5367-8a2f-e46d570981db"
+OrderedCollections = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
 Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
+RecursiveArrayTools = "731186ca-8d62-57ce-b412-fbd966d074cd"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 SHA = "ea8e919c-243c-51af-8825-aaa63cd721ce"
@@ -26,22 +28,25 @@ UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 Unmarshal = "cbff2730-442d-58d7-89d1-8e530c41eb02"
 
 [compat]
-Colors = "0.8, 0.9, 0.10, 0.11, 0.12"
-Distributions = "0.18, 0.19, 0.20, 0.21, 0.22, 0.23, 0.24, 0.25, 1"
-DocStringExtensions = "0.8, 0.9, 0.10, 1"
+Colors = "0.10, 0.11, 0.12"
+Distributions = "0.23, 0.24, 0.25"
+DocStringExtensions = "0.8, 0.9"
+GraphPlot = "0.5.0"
 Graphs = "1.4"
 JSON = "0.21"
 JSON2 = "0.3.1"
 LightGraphs = "1.2, 1.3"
-ManifoldsBase = "0.11, 0.12"
+ManifoldsBase = "0.11, 0.12, 0.13"
 Neo4j = "2"
+OrderedCollections = "1.4"
 Pkg = "1.4, 1.5"
-Reexport = "0.2, 0.3, 0.4, 0.5, 1"
-Requires = "0.5, 1"
+RecursiveArrayTools = "2"
+Reexport = "1"
+Requires = "1"
 TensorCast = "0.3.3, 0.4"
 TimeZones = "1.3.1"
 Unmarshal = "0.4"
-julia = "1.4"
+julia = "1.6"
 
 [extras]
 GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231"

Project.toml

@@ -2,14 +2,14 @@
 
 Click on badges to follow links:
 
-| Release v0.16 | Dev | Coverage | Documentation |
+| Release v0.18 | Dev | Coverage | Documentation |
 |---------------|-----|----------|---------------|
 | [![Build Status][dfg-ci-stb-img]][dfg-ci-stb-url] | [![CI][dfg-ci-dev-img]][dfg-ci-dev-url] <br> [![Average time to resolve an issue](https://isitmaintained.com/badge/resolution/JuliaRobotics/DistributedFactorGraphs.jl.svg)](https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues) | [![codecov.io][dfg-cov-img]][dfg-cov-url] <br> [![Percentage of issues still open](https://isitmaintained.com/badge/open/JuliaRobotics/DistributedFactorGraphs.jl.svg)](https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues) | [![docs](https://img.shields.io/badge/DFGDocs-latest-blue.svg)](http://juliarobotics.github.io/DistributedFactorGraphs.jl/latest/) <br> [![docs](https://img.shields.io/badge/CaesarDocs-latest-blue.svg)](http://juliarobotics.github.io/Caesar.jl/latest/)
 
 
 [dfg-ci-dev-img]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/actions/workflows/ci.yml/badge.svg
 [dfg-ci-dev-url]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/actions/workflows/ci.yml
-[dfg-ci-stb-img]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/actions/workflows/ci.yml/badge.svg?branch=release%2Fv0.16
+[dfg-ci-stb-img]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/actions/workflows/ci.yml/badge.svg?branch=release%2Fv0.18
 [dfg-ci-stb-url]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/actions/workflows/ci.yml
 [dfg-cov-img]: https://codecov.io/github/JuliaRobotics/DistributedFactorGraphs.jl/coverage.svg?branch=master
 [dfg-cov-url]: https://codecov.io/github/JuliaRobotics/DistributedFactorGraphs.jl?branch=master

README.md

@@ -9,7 +9,7 @@ using UUIDs
 
 include("testBlocks.jl")
 
-testDFGAPI = CloudGraphsDFG
+testDFGAPI = Neo4jDFG
 end
 # Build a basic graph.
 
@@ -19,7 +19,7 @@ dfg = testDFGAPI{NoSolverParams}()
 # struct TestInferenceVariable1 <: InferenceVariable end
 # v1 = DFGVariable(:a, TestInferenceVariable1())
 # v2 = DFGVariable(:b, TestInferenceVariable1())
-# f1 = DFGFactor{TestFunctorInferenceType1}(:f1, [:a,:b]);
+# f1 = DFGFactor{TestAbstractFactor1}(:f1, [:a,:b]);
 # #add tags for filters
 # union!(v1.tags, [:VARIABLE, :POSE])
 # union!(v2.tags, [:VARIABLE, :LANDMARK])

attic/DataStoreTests.jl

@@ -9,15 +9,15 @@ using GraphPlot
 using DistributedFactorGraphs, DistributedFactorGraphs.DFGPlots
 # ... Make graph...
 # Using GraphViz plotting
-dfgplot(fg)
+plotDFG(fg)
 # Save to PDFG
 using Compose
-draw(PDF("/tmp/graph.pdf", 16cm, 16cm), dfgplot(fg))
+draw(PDF("/tmp/graph.pdf", 16cm, 16cm), plotDFG(fg))
 ```
 
 More information at [GraphPlot.jl](https://github.com/JuliaGraphs/GraphPlot.jl)
 """
-function dfgplot(dfg::DistributedFactorGraphs.MetaGraphsDFG, p::DFGPlotProps = DFGPlotProps())
+function plotDFG(dfg::DistributedFactorGraphs.MetaGraphsDFG, p::DFGPlotProps = DFGPlotProps())
     @info "Deprecated, please use GraphsDFG or LightDFG."
     nodesize = [has_prop(dfg.g,i,:factor) ?  p.nodesize.fac : p.nodesize.var for i=vertices(dfg.g)]
     if p.drawlabels