Merge pull request #863 from JuliaRobotics/master

v0.18.1-rc1

Author: Affie

NEWS.md

@@ -2,15 +2,15 @@ Listing news on any major breaking changes in DFG.  For regular changes, see int
 
 # v0.18.0
 
-- Unpack of GenericFactorNodeData now get `dfg::AbstractDFG` and `varOrder::Vector{Symbol}`, deprecating previous use of `convert` without the graph context (#832).
+- 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.
+- 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)

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.18.0"
+version = "0.18.1"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

README.md

@@ -2,14 +2,14 @@
 
 Click on badges to follow links:
 
-| Release v0.17 | 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%2Fv0.17
+[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

src/Neo4jDFG/services/CommonFunctions.jl

@@ -315,8 +315,8 @@ function _matchmergeVariableSubnode!(
         result = commit(tx)
     end
     length(result.errors) > 0 && error(string(result.errors))
-    length(result.results[1]["data"]) != 1 && error("Cannot find subnode '$(ppe.solveKey)' for variable '$variablekey'")
-    length(result.results[1]["data"][1]["row"]) != 1 && error("Cannot find subnode '$(ppe.solveKey)' for variable '$variablekey'")
+    length(result.results[1]["data"]) != 1 && error("Cannot find desired subnode::'$(typeof(subnode))' for variable '$variablekey'")
+    length(result.results[1]["data"][1]["row"]) != 1 && error("Cannot find desired subnode '$(typeof(subnode))' for variable '$variablekey'")
     return result.results[1]["data"][1]["row"][1]
 end
 

src/services/CustomPrinting.jl

@@ -73,8 +73,8 @@ function printVariable( io::IO, vert::DFGVariable;
         end
         printstyled(ioc, "  VariableType: ", color=:blue, bold=true)
         println(ioc, vari)
-        # println(ioc, "kde max: $(round.(getKDEMax(getKDE(vnd)),digits=4))")
-        # println(ioc, "kde max: $(round.(getKDEMax(getKDE(vnd)),digits=4))")
+        # println(ioc, "kde max: $(round.(getKDEMax(getBelief(vnd)),digits=4))")
+        # println(ioc, "kde max: $(round.(getKDEMax(getBelief(vnd)),digits=4))")
     else
 
         printstyled(ioc, summary(vert), bold=true, color=:blue)

src/services/Serialization.jl

@@ -379,22 +379,33 @@ function unpackFactor(dfg::G, packedProps::Dict{String, Any}) where G <: Abstrac
     # Parse it
     timestamp = ZonedDateTime(packedProps["timestamp"])
     nstime = Nanosecond(get(packedProps, "nstime", 0))
-    if packedProps["tags"] isa String
-        tags = JSON2.read(packedProps["tags"], Vector{Symbol})
-    else
-        tags = Symbol.(packedProps["tags"])
-        # If tags is empty we need to make sure it's a Vector{Symbol}
-        if length(tags) == 0
-            tags = Vector{Symbol}()
-        end
-    end
-    
-    # Get the stored variable order
-    _variableOrderSymbols = if packedProps["_variableOrderSymbols"] isa String
-        JSON2.read(packedProps["_variableOrderSymbols"], Vector{Symbol})
-    else
-        Symbol.(packedProps["_variableOrderSymbols"])
-    end
+
+    _vecSymbol(vecstr) = Symbol[map(x->Symbol(x),vecstr)...]
+
+    # Get the stored tags and variable order
+    @assert !(packedProps["tags"] isa String) "unpackFactor expecting JSON only data, packed `tags` should be a vector of strings (not a single string of elements)."
+    @assert !(packedProps["_variableOrderSymbols"] isa String) "unpackFactor expecting JSON only data, packed `_variableOrderSymbols` should be a vector of strings (not a single string of elements)."
+    tags = _vecSymbol(packedProps["tags"])
+    _variableOrderSymbols = _vecSymbol(packedProps["_variableOrderSymbols"])
+        # if packedProps["tags"] isa String
+        #     # TODO, legacy and should be removed
+        #     tags = JSON2.read(packedProps["tags"], Vector{Symbol})
+        # else
+        #     # the preferred (and should be only) solution
+        #     tags = Symbol.(packedProps["tags"])
+        #     # If tags is empty we need to make sure it's a Vector{Symbol}
+        #     if length(tags) == 0
+        #         tags = Vector{Symbol}()
+        #     end
+        # end
+        # # Get the stored variable order
+        # _variableOrderSymbols = if packedProps["_variableOrderSymbols"] isa String
+        #     # TODO, legacy and should be removed
+        #     JSON2.read(packedProps["_variableOrderSymbols"], Vector{Symbol})
+        # else
+        #     # the preferred (and should be only) solution
+        #     Symbol.(packedProps["_variableOrderSymbols"])
+        # end
 
     data = packedProps["data"]
     datatype = packedProps["fnctype"]

test/attic/HexagonalCloud.jl

@@ -56,7 +56,7 @@ for variable in getVariables(localFg)
     # variable.ppeDict[:default] = Dict{Symbol, VariableEstimate}(:Mean => VariableEstimate(:default, :Mean, means, now()))
 end
 
-bel = getKDE(getVariable(localFg, :x0))
+bel = getBelief(getVariable(localFg, :x0))
 bel
 
 # Push updates back to cloud.