Adding a getVariable with a specific solvekey function

Author: GearsAD

src/CommonAccessors.jl

@@ -57,4 +57,4 @@ $SIGNATURES
 
 Return the internal ID for a variable.
 """
-getInternalId(v::DataLevel1) = v._internalId
+getInternalId(v::DataLevel1) = v._dfgNodeParams._internalId

src/DistributedFactorGraphs.jl

@@ -52,7 +52,7 @@ export getLabel, getTimestamp, setTimestamp!, getTags, setTags!
 export getEstimates, getEstimate, getSofttype
 export getMaxPPE, getMeanPPE, getSuggestedPPE
 # Level 2
-export getSolverData, solverData, getData, solverDataDict, setSolverData, setSolverData!, getInternalId, smallData, setSmallData!, bigData
+export getSolverData, solverData, getData, getSolverDataDict, setSolverData!, getInternalId, smallData, setSmallData!, bigData
 export addBigDataEntry!, getBigDataEntry, updateBigDataEntry!, deleteBigDataEntry!, getBigDataEntries, getBigDataKeys
 
 # Find a home

src/LightDFG/services/LightDFG.jl

@@ -113,8 +113,17 @@ function addFactor!(dfg::LightDFG{<:AbstractParams, <:AbstractDFGVariable, F}, f
     return FactorGraphs.addFactor!(dfg.g, variableLabels, factor)
 end
 
-function getVariable(dfg::LightDFG, label::Symbol)::AbstractDFGVariable
-    return dfg.g.variables[label]
+function getVariable(dfg::LightDFG, label::Symbol; solveKey::Union{Nothing, Symbol})::Union{Nothing, AbstractDFGVariable}
+	!(label in dfg.g.variables) && return nothing
+    solveKey == nothing && return dfg.g.variables[label]
+	# Requesting a single solvekey
+	if solveKey in dfg.g.variables[label]
+		v = copy(dfg.g.variables[label]) # Shallow copy
+		v.solverDataDict = [solveKey=>v.solverDataDict[solveKey]]
+		return v
+	else
+		return nothing
+	end
 end
 
 function getFactor(dfg::LightDFG, label::Symbol)::AbstractDFGFactor

src/entities/DFGVariable.jl

@@ -33,10 +33,6 @@ struct DFGVariable{T<:InferenceVariable} <: AbstractDFGVariable
     """Dictionary of large data associated with this variable.
     Accessors: `addBigDataEntry!`, `getBigDataEntry`, `updateBigDataEntry!`, and `deleteBigDataEntry!`"""
     bigData::Dict{Symbol, AbstractBigDataEntry}
-    """Solvable flag for the variable.
-    Accessors: `getSolvable`, `setSolvable!`
-    TODO: Switch to `DFGNodeParams`"""
-    solvable::Int
     """Mutable parameters for the variable. We suggest using accessors to get to this data.
     Accessors: `getSolvable`, `setSolvable!`"""
     _dfgNodeParams::DFGNodeParams
@@ -54,4 +50,10 @@ DFGVariable(label::Symbol, softtype::T;
             bigData::Dict{Symbol, AbstractBigDataEntry}=Dict{Symbol,AbstractBigDataEntry}(),
             solvable::Int=1,
             _internalId::Int64=0) where {T <: InferenceVariable} =
-    DFGVariable{T}(label, now(), tags, estimateDict, solverDataDict, smallData, bigData, solvable, DFGNodeParams(solvable, _internalId))
+    DFGVariable{T}(label, now(), tags, estimateDict, solverDataDict, smallData, bigData, DFGNodeParams(solvable, _internalId))
+
+function Base.copy(o::DFGVariable)::DFGVariable
+    return DFGVariable(o.label, getSofttype(o)(), tags=copy(o.tags), estimateDict=copy(o.estimateDict),
+                        solverDataDict=copy(o.solverDataDict), smallData=copy(o.smallData),
+                        bigData=copy(o.bigData), solvable=getSolvable(o), _internalId=getInternalId(o))
+end

src/services/AbstractDFG.jl

@@ -5,7 +5,7 @@
 """
     $(SIGNATURES)
 
-De-serialization of IncrementalInference objects require discovery of foreign types.
+Deserialization of IncrementalInference objects require discovery of foreign types.
 
 Example:
 
@@ -138,16 +138,16 @@ end
     $(SIGNATURES)
 Get a DFGVariable from a DFG using its underlying integer ID.
 """
-function getVariable(dfg::G, variableId::Int64)::AbstractDFGVariable where G <: AbstractDFG
+function getVariable(dfg::G, variableId::Int64)::Union{Nothing, AbstractDFGVariable} where G <: AbstractDFG
     error("getVariable not implemented for $(typeof(dfg))")
 end
 
 """
     $(SIGNATURES)
 Get a DFGVariable from a DFG using its label.
 """
-function getVariable(dfg::G, label::Union{Symbol, String})::AbstractDFGVariable where G <: AbstractDFG
-    return getVariable(dfg, Symbol(label))
+function getVariable(dfg::G, label::Union{Symbol, String}; solveKey::Union{Nothing, Symbol})::Union{Nothing, AbstractDFGVariable} where G <: AbstractDFG
+    return getVariable(dfg, Symbol(label); solveKey=solveKey)
 end
 
 """
@@ -543,7 +543,7 @@ Related
 
 isSolveInProgress
 """
-isSolvable(var::Union{DFGVariable, DFGFactor})::Int = var.solvable
+isSolvable(var::Union{DFGVariable, DFGFactor})::Int = var._dfgNodeParams.solvable
 
 """
     $SIGNATURES
@@ -553,7 +553,7 @@ Variables or factors may or may not be 'solvable', depending on a user definitio
 Related:
 - isSolveInProgress
 """
-getSolvable(var::Union{DFGVariable, DFGFactor})::Int = var.solvable
+getSolvable(var::Union{DFGVariable, DFGFactor})::Int = var._dfgNodeParams.solvable
 
 """
     $SIGNATURES
@@ -562,9 +562,9 @@ Get 'solvable' parameter for either a variable or factor.
 """
 function getSolvable(dfg::AbstractDFG, sym::Symbol)
   if isVariable(dfg, sym)
-    return getVariable(dfg, sym).solvable
+    return getVariable(dfg, sym)._dfgNodeParams.solvable
   elseif isFactor(dfg, sym)
-    return getFactor(dfg, sym).solvable
+    return getFactor(dfg, sym)._dfgNodeParams.solvable
   end
 end
 
@@ -594,9 +594,9 @@ Set the `solvable` parameter for either a variable or factor.
 """
 function setSolvable!(dfg::AbstractDFG, sym::Symbol, solvable::Int)::Int
   if isVariable(dfg, sym)
-    getVariable(dfg, sym).solvable = solvable
+    getVariable(dfg, sym)._dfgNodeParams.solvable = solvable
   elseif isFactor(dfg, sym)
-    getFactor(dfg, sym).solvable = solvable
+    getFactor(dfg, sym)._dfgNodeParams.solvable = solvable
   end
   return solvable
 end
@@ -607,7 +607,7 @@ end
 Set the `solvable` parameter for either a variable or factor.
 """
 function setSolvable!(node::N, solvable::Int)::Int where N <: DFGNode
-  node.solvable = solvable
+  node._dfgNodeParams.solvable = solvable
   return solvable
 end
 

src/services/DFGVariable.jl

@@ -282,8 +282,8 @@ getVariableType
 function getSofttype(vnd::VariableNodeData)
   return vnd.softtype
 end
-function getSofttype(v::DFGVariable; solveKey::Symbol=:default)
-  return getSofttype(solverData(v, solveKey))
+function getSofttype(v::DFGVariable)
+  return typeof(v).parameters[1] # Get the parameter of the DFGVariable
 end
 
 """
@@ -316,12 +316,6 @@ end
 """
     $SIGNATURES
 
-Set solver data structure stored in a variable.
-"""
-setSolverData(v::DFGVariable, data::VariableNodeData, key::Symbol=:default) = v.solverDataDict[key] = data
-"""
-    $SIGNATURES
-
 Set solver data structure stored in a variable.
 """
 setSolverData!(v::DFGVariable, data::VariableNodeData, key::Symbol=:default) = setSolverData(v, data, key)
@@ -331,7 +325,7 @@ setSolverData!(v::DFGVariable, data::VariableNodeData, key::Symbol=:default) = s
 
 Get solver data dictionary for a variable.
 """
-solverDataDict(v::DFGVariable) = v.solverDataDict
+getSolverDataDict(v::DFGVariable) = v.solverDataDict
 
 """
 $SIGNATURES