Merge pull request #844 from JuliaRobotics/22Q1/depr/rm_old

update deprecations

Author: dehann

NEWS.md

@@ -6,6 +6,9 @@ Listing news on any major breaking changes in DFG.  For regular changes, see int
 - 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.
+- `LocalDFG` replaces `DefaultDFG` (#844).
+- Optimized creation of CGDFG / `createDfgSessionIfNotExist` (#839, #815).
+- `plotDFG` replaces `dfgplot` (#841, #844).
 
 # v0.16.0
 

attic/MetaGraphsDFG/DFGPlots.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

docs/src/DrawingGraphs.md

@@ -18,7 +18,7 @@ using GraphPlot
 using DistributedFactorGraphs
 ```
 
-Any factor graph can then be drawn by calling [`dfgplot`](@ref):
+Any factor graph can then be drawn by calling [`plotDFG`](@ref):
 
 ```@example plots
 using Cairo # hide
@@ -35,7 +35,7 @@ f1 = addFactor!(dfg, [:l0; :x0], LinearConditional(Normal(40.0,5.0)), solvable=1
 f1 = addFactor!(dfg, [:l0; :x1], LinearConditional(Normal(-10.0,5.0)), solvable=1)
 
 # Plot graph
-dfgplot(dfg)
+plotDFG(dfg)
 ```
 
 ### Rendering GraphPlot to PDF
@@ -49,7 +49,7 @@ dfg.solverParams.graphinit = false # hide
 addVariable!(dfg, :x2, ContinuousScalar);
 addFactor!(dfg, [:x1; :x2], LinearConditional(Normal(50.0,2.0)));
 # Save to SVG
-draw(SVG("graph.svg", 10cm, 10cm), dfgplot(dfg));
+draw(SVG("graph.svg", 10cm, 10cm), plotDFG(dfg));
 nothing # hide
 ```
 ![](graph.svg)

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -978,7 +978,7 @@ end
 
 export SkeletonDFG
 function SkeletonDFG(cfg::CloudGraphsDFG)
-    sfg = DefaultDFG{NoSolverParams, SkeletonDFGVariable, SkeletonDFGFactor}()
+    sfg = LocalDFG{NoSolverParams, SkeletonDFGVariable, SkeletonDFGFactor}()
     addVariable!.(sfg, _getSkeletonVariables(cfg))
     addFactor!.(sfg, _getSkeletonFactors(cfg))
     return sfg

src/DFGPlots/DFGPlots.jl

@@ -9,7 +9,7 @@ import ..GraphPlot: gplot
 using ...DistributedFactorGraphs
 
 export
-    dfgplot,
+    plotDFG,
     DFGPlotProps
 
 struct DFGPlotProps
@@ -40,15 +40,15 @@ using GraphPlot
 using DistributedFactorGraphs, DistributedFactorGraphs.DFGPlots
 # ... Make graph...
 # Using GraphViz plotting
-dfgplot(fg)
+plotDFG(fg)
 # Save to PDF
 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::GraphsDFG, p::DFGPlotProps = DFGPlotProps())
+function plotDFG(dfg::GraphsDFG, p::DFGPlotProps = DFGPlotProps())
 
     nodetypes = [haskey(dfg.g.variables, s) for s in dfg.g.labels]
 
@@ -66,11 +66,11 @@ function dfgplot(dfg::GraphsDFG, p::DFGPlotProps = DFGPlotProps())
 
 end
 
-function dfgplot(dfg::AbstractDFG, p::DFGPlotProps = DFGPlotProps())
+function plotDFG(dfg::AbstractDFG, p::DFGPlotProps = DFGPlotProps())
     # TODO implement convert functions
     ldfg = GraphsDFG{NoSolverParams}()
     copyGraph!(ldfg, dfg, listVariables(dfg), listFactors(dfg), copyGraphMetadata=false)
-    dfgplot(ldfg, p)
+    plotDFG(ldfg, p)
 end
 
 function gplot(dfg::GraphsDFG; keyargs...)
@@ -79,14 +79,14 @@ end
 
 #TODO decide if we want to overload show for display in juno, It's a bit annoying with development
 # function Base.show(io::IO, ::MIME"application/prs.juno.plotpane+html", dfg::AbstractDFG)
-function dfgplot(io::IO, ::MIME"application/prs.juno.plotpane+html", dfg::AbstractDFG)
+function plotDFG(io::IO, ::MIME"application/prs.juno.plotpane+html", dfg::AbstractDFG)
 
     if length(ls(dfg)) != 0
         size = get(io, :juno_plotsize, [100, 100])
 
         plot_output = IOBuffer()
         GraphPlot.draw(GraphPlot.SVGJS(plot_output, GraphPlot.Compose.default_graphic_width,
-                   GraphPlot.Compose.default_graphic_width, false), dfgplot(dfg))
+                   GraphPlot.Compose.default_graphic_width, false), plotDFG(dfg))
         plotsvg = String(take!(plot_output))
 
         print(io,

src/Deprecated.jl

@@ -1,131 +1,14 @@
-##==============================================================================
-# deprecation staging area
-##==============================================================================
-##==============================================================================
-## Deprecated in v0.9 Remove in the v0.10 cycle
-##==============================================================================
-
-@deprecate listSolvekeys(x...) listSolveKeys(x...)
-
-##==============================================================================
-## Deprecated in v0.10 Remove in 0.11
-##==============================================================================
-
-@deprecate getMaxPPE(est::AbstractPointParametricEst) getPPEMax(est)
-@deprecate getMeanPPE(est::AbstractPointParametricEst) getPPEMean(est)
-@deprecate getSuggestedPPE(est::AbstractPointParametricEst) getPPESuggested(est)
-
-@deprecate addVariableSolverData!(dfg::AbstractDFG, variablekey::Symbol, vnd::VariableNodeData, solveKey::Symbol) addVariableSolverData!(dfg, variablekey, vnd)
-
-@deprecate updatePPE!(dfg::AbstractDFG, variablekey::Symbol, ppe::AbstractPointParametricEst, ppekey::Symbol) updatePPE!(dfg, variablekey, ppe)
-
-@deprecate addPPE!(dfg::AbstractDFG, variablekey::Symbol, ppe::AbstractPointParametricEst, ppekey::Symbol) addPPE!(dfg, variablekey, ppe)
-
-
-export AbstractDataStore
-abstract type AbstractDataStore end
-struct GeneralDataEntry <: AbstractDataEntry end
-GeneralDataEntry(args...; kwargs...) = error("`GeneralDataEntry` is deprecated, use `BlobStoreEntry`")
-
-export InMemoryDataStore, FileDataStore
-
-struct FileDataStore <: AbstractDataStore end
-FileDataStore(args...; kwargs...) = error("`FileDataStore` is deprecated, use `FolderStore`")
-
-struct InMemoryDataStore <: AbstractDataStore end
-InMemoryDataStore(args...; kwargs...) = error("`InMemoryDataStore` is deprecated, use TBD")#TODO
-
-_uniqueKey(dfg::AbstractDFG, v::AbstractDFGVariable, key::Symbol)::Symbol = error("_uniqueKey is deprecated")
-
-getDataBlob(store::AbstractDataStore, entry::AbstractDataEntry) = error("AbstractDataStore $(typeof(store)) is deprecated.")
-addDataBlob!(store::AbstractDataStore, entry::AbstractDataEntry, data) = error("AbstractDataStore $(typeof(store)) is deprecated.")
-updateDataBlob!(store::AbstractDataStore, entry::AbstractDataEntry, data)  = error("AbstractDataStore $(typeof(store)) is deprecated.")
-deleteDataBlob!(store::AbstractDataStore, entry::AbstractDataEntry) = error("AbstractDataStore $(typeof(store)) is deprecated.")
-listDataBlobs(store::AbstractDataStore) = error("AbstractDataStore $(typeof(store)) is deprecated.")
-
-
-addData!(dfg::AbstractDFG,
-         lbl::Symbol,
-         datastore::Union{FileDataStore, InMemoryDataStore},
-         descr::Symbol,
-         mimeType::AbstractString,
-         data::Vector{UInt8} ) = error("This API, FileDataStore and in MemoryDataStore is deprecated use new api parameter order and FolderStore")
-
-export addDataElement!
-addDataElement!(dfg::AbstractDFG,
-                lbl::Symbol,
-                datastore::Union{FileDataStore, InMemoryDataStore},
-                descr::Symbol,
-                mimeType::AbstractString,
-                data::Vector{UInt8} ) = error("This API, FileDataStore and in MemoryDataStore is deprecated use addData! and FolderStore")
-
-
-
-export getDataEntryBlob
-getDataEntryBlob(dfg::AbstractDFG,
-                 dfglabel::Symbol,
-                 datastore::Union{FileDataStore, InMemoryDataStore},
-                 datalabel::Symbol) = error("This API, FileDataStore and in MemoryDataStore is deprecated use getData and FolderStore")
-
-export fetchDataEntryElement
-const fetchDataEntryElement = getDataEntryBlob
-export fetchData
-const fetchData = getDataEntryBlob
-
-#
-
-## softtype deprections
-function Base.getproperty(x::InferenceVariable, f::Symbol)
-  if f==:dims
-      Base.depwarn("varType $(typeof(x)), field dims is deprecated, extend and use `getDimension` instead",:getproperty)
-  elseif f==:manifolds
-      Base.depwarn("varType $(typeof(x)), field manifolds is deprecated, extend and use `getManifold` instead",:getproperty)
-  else
-    if !(@isdefined softtypeFieldsWarnOnce)
-      Base.depwarn("varType $(typeof(x)), will be required to be a singleton type in the future and can no longer have fields. *.$f called. Further warnings are suppressed",:getproperty)
-      global softtypeFieldsWarnOnce = true
-    end
-  end
-  return getfield(x,f)
-end
-
+## ================================================================================
+## LEGACY ON TIMESTAMPS, TODO DEPRECATE
+##=================================================================================
 
 
-# SmallData is now a Symbol Dict
-function createSymbolDict(d::Dict{String, String})
-  newsmalld = Dict{Symbol,SmallDataTypes}() 
-  for p in pairs(d)
-    push!(newsmalld, Symbol(p.first) => p.second)
-  end
-  return newsmalld
-end
-
-@deprecate setSmallData!(v::DFGVariable, smallData::Dict{String, String}) setSmallData!(v, createSymbolDict(smallData)) 
-
-#update deprecation with warn_if_absent
-function updateVariableSolverData!(dfg::AbstractDFG,
-                                   variablekey::Symbol,
-                                   vnd::VariableNodeData,
-                                   useCopy::Bool,
-                                   fields::Vector{Symbol},
-                                   verbose::Bool)
-  Base.depwarn("updateVariableSolverData! argument verbose is deprecated in favor of keyword argument `warn_if_absent`, see #643", :updateVariableSolverData!)
-  updateVariableSolverData!(dfg, variablekey, vnd, useCopy, fields; warn_if_absent = verbose)
-end
-
-function updateVariableSolverData!(dfg::AbstractDFG,
-                                   variablekey::Symbol,
-                                   vnd::VariableNodeData,
-                                   solveKey::Symbol,
-                                   useCopy::Bool,
-                                   fields::Vector{Symbol},
-                                   verbose::Bool)
-  Base.depwarn("updateVariableSolverData! argument verbose is deprecated in favor of keyword argument `warn_if_absent`, see #643", :updateVariableSolverData!)
-  updateVariableSolverData!(dfg, variablekey, vnd, solveKey, useCopy, fields; warn_if_absent = verbose)
+Base.promote_rule(::Type{DateTime}, ::Type{ZonedDateTime}) = DateTime
+function Base.convert(::Type{DateTime}, ts::ZonedDateTime)
+    @warn "DFG now uses ZonedDateTime, temporary promoting and converting to DateTime local time"
+    return DateTime(ts, Local)
 end
 
-
-
 ## ================================================================================
 ## Deprecate before v0.17
 ##=================================================================================
@@ -202,13 +85,19 @@ end
 ## Deprecate before v0.19
 ##=================================================================================
 
+@deprecate dfgplot(w...;kw...) plotDFG(w...;kw...)
+
+export FunctorInferenceType, PackedInferenceType
+
 const FunctorInferenceType = AbstractFactor       # will eventually deprecate
 const PackedInferenceType = AbstractPackedFactor  # will eventually deprecate
 
-Base.promote_rule(::Type{DateTime}, ::Type{ZonedDateTime}) = DateTime
-function Base.convert(::Type{DateTime}, ts::ZonedDateTime)
-    @warn "DFG now uses ZonedDateTime, temporary promoting and converting to DateTime local time"
-    return DateTime(ts, Local)
-end
+## ================================================================================
+## Deprecate before v0.20
+##=================================================================================
+
+export DefaultDFG
+
+const DefaultDFG = LightDFG
 
 #

src/DistributedFactorGraphs.jl

@@ -72,7 +72,7 @@ export updateUserData!, updateRobotData!, updateSessionData!, deleteUserData!, d
 export emptyUserData!, emptyRobotData!, emptySessionData!
 
 # Graph Types: exported from modules or @reexport
-export InMemoryDFGTypes, DefaultDFG
+export InMemoryDFGTypes, LocalDFG
 
 # AbstractDFG Interface
 export exists,
@@ -205,7 +205,6 @@ export addData!
 # Factor Data
 export GenericFunctionNodeData, PackedFunctionNodeData, FunctionNodeData
 export AbstractFactor, AbstractPackedFactor
-export FunctorInferenceType, PackedInferenceType # NOTE might be deprecated in the future (const aliases)
 export AbstractPrior, AbstractRelative, AbstractRelativeRoots, AbstractRelativeMinimize, AbstractManifoldMinimize
 export FactorOperationalMemory
 
@@ -297,9 +296,10 @@ include("GraphsDFG/GraphsDFG.jl")
 
 include("LightDFG/LightDFG.jl")
 @reexport using .LightDFGs
+
 #supported in Memory fg types
 const InMemoryDFGTypes = Union{GraphsDFG, LightDFG}
-const DefaultDFG = LightDFG
+const LocalDFG = GraphsDFG
 
 # Common includes
 include("services/CommonAccessors.jl")

src/services/AbstractDFG.jl

@@ -1198,7 +1198,7 @@ function buildSubgraph(dfg::AbstractDFG,
                        variableFactorLabels::Vector{Symbol},
                        distance::Int=0;
                        kwargs...)
-    return buildSubgraph(DefaultDFG, dfg, variableFactorLabels, distance; kwargs...)
+    return buildSubgraph(LocalDFG, dfg, variableFactorLabels, distance; kwargs...)
 end
 
 """

src/services/DFGVariable.jl

@@ -812,6 +812,9 @@ addPPE!(dfg::AbstractDFG, sourceVariable::DFGVariable, ppekey::Symbol=:default)
 """
     $(SIGNATURES)
 Update PPE data if it exists, otherwise add it -- one call per `key::Symbol=:default`.
+
+Notes
+- uses `ppe.solveKey` as solveKey.
 """
 function updatePPE!(dfg::AbstractDFG, variablekey::Symbol, ppe::AbstractPointParametricEst; warn_if_absent::Bool=true)
     var = getVariable(dfg, variablekey)

test/attic/IIF4DoorsTests.jl

@@ -67,7 +67,7 @@ mlc = MixturePrior(Normal.(doors[1,:], bws[1]), 0.25*ones(4))
 addFactor!(fg,[:x7], mlc )
 
 
-dfgplot(fg)
+plotDFG(fg)
 
 tree = solveTree!(fg)