Merge pull request #386 from JuliaRobotics/2Q20/378_cloudsolving

Fixing cloud solving functions

Author: Affie

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -582,14 +582,18 @@ end
 ### Updated functions from AbstractDFG
 ### These functions write back as you add the data.
 
-function addVariableSolverData!(dfg::CloudGraphsDFG, variablekey::Symbol, vnd::VariableNodeData, solvekey::Symbol=:default)::VariableNodeData
+function addVariableSolverData!(dfg::CloudGraphsDFG,
+                                variablekey::Symbol,
+                                vnd::VariableNodeData,
+                                solvekey::Symbol=:default)::VariableNodeData
     # TODO: Switch out to their own nodes, don't get the whole variable
     var = getVariable(dfg, variablekey)
     if haskey(var.solverDataDict, solvekey)
         error("VariableNodeData '$(solvekey)' already exists")
     end
     var.solverDataDict[solvekey] = vnd
-    # TODO: Cleanup
+
+    # TODO: Cleanup and consolidate as one function.
     solverDataDict = JSON2.write(Dict(keys(var.solverDataDict) .=> map(vnd -> packVariableNodeData(dfg, vnd), values(var.solverDataDict))))
     _setNodeProperty(
         dfg.neo4jInstance,
@@ -599,28 +603,58 @@ function addVariableSolverData!(dfg::CloudGraphsDFG, variablekey::Symbol, vnd::V
     return vnd
 end
 
-function updateVariableSolverData!(dfg::CloudGraphsDFG, variablekey::Symbol, vnd::VariableNodeData, solvekey::Symbol=:default)::VariableNodeData
+function updateVariableSolverData!(dfg::CloudGraphsDFG,
+                                   variablekey::Symbol,
+                                   vnd::VariableNodeData,
+                                   solvekey::Symbol=:default,
+                                   useCopy::Bool=true,
+                                   fields::Vector{Symbol}=Symbol[])::VariableNodeData
     # TODO: Switch out to their own nodes, don't get the whole variable
     var = getVariable(dfg, variablekey)
     if !haskey(var.solverDataDict, solvekey)
         @warn "VariableNodeData '$(solvekey)' does not exist, adding"
     end
-    var.solverDataDict[solvekey] = vnd
-    # TODO: Cleanup
+
+    # Unnecessary for cloud, but (probably) being (too) conservative (just because).
+    usevnd = useCopy ? deepcopy(vnd) : vnd
+    # should just one, or many pointers be updated?
+    if haskey(var.solverDataDict, solvekey) && isa(var.solverDataDict[solvekey], VariableNodeData) && length(fields) != 0
+      # change multiple pointers inside the VND var.solverDataDict[solvekey]
+      for field in fields
+        destField = getfield(var.solverDataDict[solvekey], field)
+        srcField = getfield(usevnd, field)
+        if isa(destField, Array) && size(destField) == size(srcField)
+          # use broadcast (in-place operation)
+          destField .= srcField
+        else
+          # change pointer of destination VND object member
+          setfield!(var.solverDataDict[solvekey], field, srcField)
+        end
+      end
+    else
+      # change a single pointer in var.solverDataDict
+      var.solverDataDict[solvekey] = usevnd
+    end
+
+    # TODO: Cleanup and consolidate
     solverDataDict = JSON2.write(Dict(keys(var.solverDataDict) .=> map(vnd -> packVariableNodeData(dfg, vnd), values(var.solverDataDict))))
     _setNodeProperty(
         dfg.neo4jInstance,
         _getLabelsForInst(dfg, var),
         "solverDataDict",
         solverDataDict)
-    return vnd
+    return var.solverDataDict[solvekey]
 end
 
-function updateVariableSolverData!(dfg::CloudGraphsDFG, sourceVariables::Vector{<:DFGVariable}, solvekey::Symbol=:default)
+function updateVariableSolverData!(dfg::CloudGraphsDFG,
+                                   sourceVariables::Vector{<:DFGVariable},
+                                   solvekey::Symbol=:default,
+                                   useCopy::Bool=true,
+                                   fields::Vector{Symbol}=Symbol[] )
     # TODO: Switch out to their own nodes, don't get the whole variable
     #TODO: Do in bulk for speed.
     for var in sourceVariables
-        updateVariableSolverData!(dfg, var.label, getSolverData(var, solvekey), solvekey)
+        updateVariableSolverData!(dfg, var.label, getSolverData(var, solvekey), solvekey, useCopy, fields)
     end
 end
 
@@ -632,7 +666,7 @@ function deleteVariableSolverData!(dfg::CloudGraphsDFG, variablekey::Symbol, sol
         error("VariableNodeData '$(solvekey)' does not exist")
     end
     vnd = pop!(var.solverDataDict, solvekey)
-    # TODO: Cleanup
+    # TODO: Cleanup and consolidate... yadda yadda just do it already :)
     solverDataDict = JSON2.write(Dict(keys(var.solverDataDict) .=> map(vnd -> packVariableNodeData(dfg, vnd), values(var.solverDataDict))))
     _setNodeProperty(
         dfg.neo4jInstance,
@@ -642,6 +676,22 @@ function deleteVariableSolverData!(dfg::CloudGraphsDFG, variablekey::Symbol, sol
     return vnd
 end
 
+function mergeVariableSolverData!(dfg::CloudGraphsDFG, sourceVariable::DFGVariable)
+    # TODO: Switch out to their own nodes, don't get the whole variable
+    var = getVariable(dfg, sourceVariable.label)
+
+    merge!(var.solverDataDict, deepcopy(sourceVariable.solverDataDict))
+
+    # TODO: Cleanup and consolidate
+    solverDataDict = JSON2.write(Dict(keys(var.solverDataDict) .=> map(vnd -> packVariableNodeData(dfg, vnd), values(var.solverDataDict))))
+    _setNodeProperty(
+        dfg.neo4jInstance,
+        _getLabelsForInst(dfg, var),
+        "solverDataDict",
+        solverDataDict)
+    return var
+end
+
 function getSolvable(dfg::CloudGraphsDFG, sym::Symbol)
     prop = _getNodeProperty(
         dfg.neo4jInstance,

src/services/AbstractDFG.jl

@@ -18,9 +18,9 @@
 ##------------------------------------------------------------------------------
 """
     $(SIGNATURES)
-Convenience function to get all the matadata of a DFG
+Convenience function to get all the metadata of a DFG
 """
-getDFGInfo(dfg::AbstractDFG) = (dfg.description, dfg.userId, dfg.robotId, dfg.sessionId, dfg.userData, dfg.robotData, dfg.sessionData, dfg.solverParams)
+getDFGInfo(dfg::AbstractDFG) = (getDescription(dfg), getUserId(dfg), getRobotId(dfg), getSessionId(dfg), getUserData(dfg), getRobotData(dfg), getSessionData(dfg), getSolverParams(dfg))
 
 """
     $(SIGNATURES)

test/runtests.jl

@@ -7,8 +7,9 @@ using Dates
 
 ## To run the IIF tests, you need a local Neo4j with user/pass neo4j:test
 # To run a Docker image
-# Install: docker pull neo4j
-# Run: docker run -d --publish=7474:7474 --publish=7687:7687 --env NEO4J_AUTH=neo4j/test neo4j
+# NOTE: that Neo4j.jl doesn't currently support > Neo4j 3.x
+# Install: docker pull neo4j:3.5.6
+# Run: docker run -d --publish=7474:7474 --publish=7687:7687 --env NEO4J_AUTH=neo4j/test neo4j:3.5.6
 ##
 
 # If you want to enable debugging logging (very verbose!)