Merge pull request #258 from JuliaRobotics/maint/1Q20/esttoppe

estimateDict -> ppeDict and deprecation warns

Author: dehann

.travis.yml

@@ -5,12 +5,15 @@ dist: trusty
 os:
     - linux
 
+arch:
+    - amd64
+    - arm64
+
 services:
     - neo4j
 
 julia:
     - 1.0
-    - 1.1
     - 1.2
     - 1.3
     - nightly
@@ -24,7 +27,7 @@ jobs:
       env: IIF_TEST=true
       if: NOT branch =~ ^release.*$
     - stage: "Documentation"
-      julia: 1.0
+      julia: 1.2
       os: linux
       script:
         - julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
@@ -38,6 +41,7 @@ notifications:
 matrix:
   allow_failures:
   - julia: nightly
+  - arch: arm64
 # - env: IIF_TEST=true
 
 # Set the password for Neo4j to neo4j:test

src/BigData/entities/AbstractBigDataEntries.jl

@@ -17,7 +17,7 @@ Internal function to generate a unique key for the entry - userId_robotId_sessio
 Simple symbol.
 """
 function _uniqueKey(dfg::G, v::V, key::Symbol)::Symbol where {G <: AbstractDFG, V <: AbstractDFGVariable}
-    key = join(String.([dfg.userId, dfg.robotId, dfg.sessionId, label(v), String(key)]), "_")
+    key = join(String.([dfg.userId, dfg.robotId, dfg.sessionId, getLabel(v), String(key)]), "_")
     return Symbol(key)
 end
 

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -256,9 +256,9 @@ function mergeUpdateVariableSolverData!(dfg::CloudGraphsDFG, sourceVariable::DFG
         error("Source variable '$(sourceVariable.label)' doesn't exist in the graph.")
     end
     var = getVariable(dfg, sourceVariable.label)
-    newEsts = merge!(var.estimateDict, deepcopy(sourceVariable.estimateDict))
+    newEsts = merge!(var.ppeDict, deepcopy(sourceVariable.ppeDict))
     newSolveData = merge!(var.solverDataDict, sourceVariable.solverDataDict)
-    Neo4j.setnodeproperty(dfg.neo4jInstance.graph, var._internalId, "estimateDict",
+    Neo4j.setnodeproperty(dfg.neo4jInstance.graph, var._internalId, "ppeDict",
         JSON2.write(newEsts))
     Neo4j.setnodeproperty(dfg.neo4jInstance.graph, var._internalId, "solverDataDict",
         JSON2.write(Dict(keys(newSolveData) .=> map(vnd -> pack(dfg, vnd), values(newSolveData)))))

src/CommonAccessors.jl

@@ -20,18 +20,6 @@ Return the label for a variable or factor.
 """
 getLabel(v::DataLevel0) = v.label
 
-"""
-$SIGNATURES
-
-Return the label for a variable or factor.
-
-DEPRECATED label -> getLabel
-"""
-function label(v::DataLevel0)
-  @warn "Deprecated label, use getLabel instead."
-  getLabel(v)
-end
-
 
 """
 $SIGNATURES
@@ -41,18 +29,6 @@ Return the tags for a variable.
 getTags(v::DataLevel0) = v.tags
 
 
-"""
-$SIGNATURES
-
-Return the tags for a variable.
-
-DEPRECATED, tags -> getTags
-"""
-function tags(v::DataLevel0)
-  @warn "tags deprecated, use getTags instead"
-  getTags(v)
-end
-
 """
 $SIGNATURES
 

src/Deprecated.jl

@@ -0,0 +1,133 @@
+# deprecation staging area
+
+## quick deprecation handle
+import Base: propertynames, getproperty
+
+Base.propertynames(x::VariableDataLevel1, private::Bool=false) = private ? (:estimateDict, :ppeDict) : (:ppeDict,)
+
+Base.getproperty(x::VariableDataLevel1,f::Symbol) = begin
+    if f == :estimateDict
+      @warn "estimateDict is deprecated, use ppeDict instead"
+      getfield(x, :ppeDict)
+    else
+      getfield(x,f)
+    end
+  end
+
+
+
+"""
+$SIGNATURES
+
+Return the estimates for a variable.
+"""
+function getEstimates(v::VariableDataLevel1)
+  @warn "Deprecated getEstimates, use getVariablePPE/getPPE instead."
+  getVariablePPEs(vari)
+end
+
+"""
+  $SIGNATURES
+
+Return the estimates for a variable.
+
+DEPRECATED, estimates -> getVariablePPEs/getPPEs
+"""
+function estimates(v::VariableDataLevel1)
+  @warn "Deprecated estimates, use getVariablePPEs/getPPE instead."
+  getVariablePPEs(v)
+end
+
+"""
+  $SIGNATURES
+
+Return a keyed estimate (default is :default) for a variable.
+
+DEPRECATED use getVariablePPE/getPPE instead.
+"""
+function getEstimate(v::VariableDataLevel1, key::Symbol=:default)
+@warn "Deprecated getEstimate, use getVariablePPE/getPPE instead."
+getVariablePPE(v, key)
+end
+
+"""
+$SIGNATURES
+
+Return a keyed estimate (default is :default) for a variable.
+"""
+function estimate(v::VariableDataLevel1, key::Symbol=:default)
+  @warn "DEPRECATED estimate, use getVariablePPE/getPPE instead."
+  getVariablePPE(v, key)
+end
+
+
+"""
+$SIGNATURES
+
+Return the softtype for a variable.
+
+DEPRECATED, softtype -> getSofttype
+"""
+function softtype(v::VariableDataLevel1)
+    @warn "Deprecated softtype, use getSofttype instead."
+    getSofttype(v)
+end
+
+
+"""
+$SIGNATURES
+
+Return the label for a variable or factor.
+
+DEPRECATED label -> getLabel
+"""
+function label(v::DataLevel0)
+  @warn "Deprecated label, use getLabel instead."
+  getLabel(v)
+end
+
+
+"""
+$SIGNATURES
+
+Return the tags for a variable.
+
+DEPRECATED, tags -> getTags
+"""
+function tags(v::DataLevel0)
+  @warn "tags deprecated, use getTags instead"
+  getTags(v)
+end
+
+
+"""
+    $SIGNATURES
+
+Retrieve data structure stored in a variable.
+"""
+function getData(v::DFGVariable; solveKey::Symbol=:default)::VariableNodeData
+  @warn "getData is deprecated, please use solverData()"
+  return v.solverDataDict[solveKey]
+end
+
+
+"""
+    $SIGNATURES
+
+Set solver data structure stored in a variable.
+"""
+function setSolverData(v::DFGVariable, data::VariableNodeData, key::Symbol=:default)
+    @warn "Deprecated setSolverData, use setSolverData! instead."
+    setSolverData!(v, data, key)
+end
+
+
+"""
+    $SIGNATURES
+
+Retrieve solver data structure stored in a factor.
+"""
+function data(f::DFGFactor)::GenericFunctionNodeData
+  @warn "data() is deprecated, please use solverData()"
+  return f.data
+end

src/DistributedFactorGraphs.jl

@@ -21,8 +21,7 @@ export AbstractParams, NoSolverParams
 export DFGNode, DFGVariable, DFGFactor, AbstractDFGVariable, AbstractDFGFactor
 export InferenceType, PackedInferenceType, FunctorInferenceType, InferenceVariable, ConvolutionObject
 export FunctorSingleton, FunctorPairwise, FunctorPairwiseMinimize
-export getMaxPPE, getMeanPPE, getSuggestedPPE, getEstimates
-export getVariablePPE
+export getMaxPPE, getMeanPPE, getSuggestedPPE, getVariablePPE, getPPE, getVariablePPEs, getPPEs #, getEstimates
 export timestamp # DEPRECATED
 export label, getTimestamp, setTimestamp!, tags, setTags!, estimates, estimate, data, softtype, solverData, getData, solverDataDict, setSolverData, setSolverData!, internalId, smallData, setSmallData!, bigData
 export DFGVariableSummary, DFGFactorSummary, AbstractDFGSummary
@@ -81,6 +80,7 @@ include("services/AbstractDFG.jl")
 include("services/DFGVariable.jl")
 include("services/DFGFactor.jl")
 include("CommonAccessors.jl")
+include("Deprecated.jl")
 include("services/CompareUtils.jl")
 
 # Include the Graphs.jl API.

src/entities/DFGFactor.jl

@@ -103,15 +103,7 @@ Retrieve solver data structure stored in a factor.
 function solverData(f::F) where F <: DFGFactor
   return f.data
 end
-"""
-    $SIGNATURES
 
-Retrieve solver data structure stored in a factor.
-"""
-function data(f::DFGFactor)::GenericFunctionNodeData
-  @warn "data() is deprecated, please use solverData()"
-  return f.data
-end
 """
     $SIGNATURES