Add more functions for SDK and deprecate some smalldata functions (#1107)

* Add more functions for SDK and deprecate some smalldata functions

* Update smalldata docs and tests

---------

Co-authored-by: Johannes Terblanche <Affie@users.noreply.github.com>

Author: Affie

docs/src/GraphData.md

@@ -156,15 +156,15 @@ itself, large entries will slow the graph down, so if data should exceed a
 few bytes/kb, it should rather be saved in bigData.
 
 
-- [`getSmallData`](@ref)
-- [`setSmallData!`](@ref)
+- [`getMetadata`](@ref)
+- [`setMetadata!`](@ref)
 
 
 Example:
 
 ```julia
-setSmallData!(x0, Dict("entry"=>"entry value"))
-getSmallData(x0)
+setMetadata!(x0, Dict("entry"=>"entry value"))
+getMetadata(x0)
 ```
 
 #### Big Data

src/DataBlobs/services/BlobEntry.jl

@@ -28,8 +28,6 @@ end
 # label
 # id
 
-getLabel(entry::BlobEntry) = entry.label
-getId(entry::BlobEntry) = entry.id
 getHash(entry::BlobEntry) = hex2bytes(entry.hash)
 getTimestamp(entry::BlobEntry) = entry.timestamp
 
@@ -173,6 +171,10 @@ function addBlobEntry!(dfg::AbstractDFG, vLbl::Symbol, entry::BlobEntry;)
     return addBlobEntry!(getVariable(dfg, vLbl), entry)
 end
 
+function addBlobEntries!(dfg::AbstractDFG, vLbl::Symbol, entries::Vector{BlobEntry})
+    return addBlobEntry!.(dfg, vLbl, entries)
+end
+
 """
     $(SIGNATURES)
 Update data entry

src/Deprecated.jl

@@ -39,6 +39,17 @@ export DFGSummary
 DFGSummary(args) = error("DFGSummary is deprecated")
 @deprecate getSummary(dfg::AbstractDFG) getSummaryGraph(dfg)
 
+##------------------------------------------------------------------------------
+## smallData
+##------------------------------------------------------------------------------
+@deprecate getSmallData(args...) getMetadata(args...)
+@deprecate setSmallData!(args...) setMetadata!(args...)
+@deprecate addSmallData!(args...) addMetadata!(args...)
+@deprecate updateSmallData!(args...) updateMetadata!(args...)
+@deprecate deleteSmallData!(args...) deleteMetadata!(args...)
+@deprecate listSmallData(args...) listMetadata(args...)
+@deprecate emptySmallData!(args...) emptyMetadata!(args...)
+
 ## ================================================================================
 ## Deprecated in v0.24
 ##=================================================================================

src/DistributedFactorGraphs.jl

@@ -174,14 +174,14 @@ export getDimension, getManifold, getPointType
 export getPointIdentity, getPoint, getCoordinates
 
 # Small Data CRUD
-export SmallDataTypes,
-    getSmallData,
-    addSmallData!,
-    updateSmallData!,
-    deleteSmallData!,
-    listSmallData,
-    emptySmallData!
-export getSmallData, setSmallData!
+export SmallDataTypes
+export getMetadata,
+    setMetadata!,
+    addMetadata!,
+    updateMetadata!,
+    deleteMetadata!,
+    listMetadata,
+    emptyMetadata!
 
 # CRUD & SET
 export getVariableSolverData,
@@ -239,6 +239,7 @@ export getBlobEntriesVariables
 # aliases
 export addBlob!
 export packBlob, unpackBlob
+export @format_str
 
 ##------------------------------------------------------------------------------
 # Factors
@@ -326,6 +327,18 @@ export getData, addData!, updateData!, deleteData!
 
 export plotDFG
 
+## TODO maybe move to DFG
+# addAgent!
+# listAgents
+# addGraph!
+# deleteGraph!
+# listGraphs
+# getAgents
+# getModel
+# getModels
+# addModel!
+# getGraphs
+
 ##==============================================================================
 ## Files Includes
 ##==============================================================================

src/entities/Agent.jl

@@ -5,6 +5,3 @@
     metadata::Dict{Symbol, SmallDataTypes} = Dict{Symbol, SmallDataTypes}()
     blobEntries::OrderedDict{Symbol, BlobEntry} = OrderedDict{Symbol, BlobEntry}()
 end
-
-getLabel(a::Agent) = a.label
-getMetadata(a::Agent) = a.metadata

src/entities/DFGFactor.jl

@@ -207,7 +207,7 @@ Base.@kwdef struct DFGFactor{T, N} <: AbstractDFGFactor
     Accessors: [`getSolvable`](@ref), [`setSolvable!`](@ref)"""
     solvable::Base.RefValue{Int}
     """Dictionary of small data associated with this variable.
-    Accessors: [`getSmallData`](@ref), [`setSmallData!`](@ref)"""
+    Accessors: [`getMetadata`](@ref), [`setMetadata!`](@ref)"""
     smallData::Dict{Symbol, SmallDataTypes}
     # Inner constructor
     function DFGFactor{T}(

src/entities/DFGVariable.jl

@@ -263,6 +263,15 @@ StructTypes.StructType(::Type{Variable}) = StructTypes.UnorderedStruct()
 StructTypes.idproperty(::Type{Variable}) = :id
 StructTypes.omitempties(::Type{Variable}) = (:id,)
 
+function getMetadata(v::Variable)
+    return JSON3.read(base64decode(v.metadata), Dict{Symbol, SmallDataTypes})
+end
+
+function setMetadata!(v::Variable, metadata::Dict{Symbol, SmallDataTypes})
+    return error("FIXME: Metadata is not currently mutable in a Variable")
+    # v.metadata = base64encode(JSON3.write(metadata))
+end
+
 ##------------------------------------------------------------------------------
 ## DFGVariable lv2
 ##------------------------------------------------------------------------------
@@ -297,7 +306,7 @@ Base.@kwdef struct DFGVariable{T <: InferenceVariable, P, N} <: AbstractDFGVaria
     solverDataDict::Dict{Symbol, VariableNodeData{T, P, N}} =
         Dict{Symbol, VariableNodeData{T, P, N}}()
     """Dictionary of small data associated with this variable.
-    Accessors: [`getSmallData`](@ref), [`setSmallData!`](@ref)"""
+    Accessors: [`getMetadata`](@ref), [`setMetadata!`](@ref)"""
     smallData::Dict{Symbol, SmallDataTypes} = Dict{Symbol, SmallDataTypes}()
     """Dictionary of large data associated with this variable.
     Accessors: [`addBlobEntry!`](@ref), [`getBlobEntry`](@ref), [`updateBlobEntry!`](@ref), and [`deleteBlobEntry!`](@ref)"""
@@ -352,6 +361,13 @@ Base.setproperty!(x::DFGVariable, f::Symbol, val) = begin
     end
 end
 
+getMetadata(v::DFGVariable) = v.smallData
+
+function setMetadata!(v::DFGVariable, metadata::Dict{Symbol, SmallDataTypes})
+    v.smallData !== metadata && empty!(v.smallData)
+    return merge!(v.smallData, metadata)
+end
+
 ##------------------------------------------------------------------------------
 ## DFGVariableSummary lv1
 ##------------------------------------------------------------------------------

src/services/AbstractDFG.jl

@@ -28,6 +28,25 @@ Base.Broadcast.broadcastable(dfg::AbstractDFG) = Ref(dfg)
 ##------------------------------------------------------------------------------
 ## Getters
 ##------------------------------------------------------------------------------
+"""
+    $(SIGNATURES)
+Get the id of the node.
+"""
+getId(node) = node.id
+
+"""
+    $(SIGNATURES)
+Get the label of the node.
+"""
+getLabel(node) = node.label
+
+"""
+$SIGNATURES
+
+Get the metadata of the node.
+"""
+getMetadata(node) = node.metadata
+
 """
     $(SIGNATURES)
 Convenience function to get all the metadata of a DFG
@@ -120,6 +139,15 @@ function getTypeDFGFactors end
 ##------------------------------------------------------------------------------
 ## Setters
 ##------------------------------------------------------------------------------
+"""
+    $SIGNATURES
+Set the metadata of the node.
+"""
+function setMetadata!(node, metadata::Dict{Symbol, SmallDataTypes})
+    # with set old data should be removed, but care is taken to make sure its not the same object
+    node.metadata !== metadata && empty!(node.metadata)
+    return merge!(node.metadata, metadata)
+end
 
 """
     $(SIGNATURES)
@@ -140,24 +168,6 @@ end
 """
 $SIGNATURES
 
-Get the metadata of the node.
-"""
-getMetadata(node) = node.metadata
-
-"""
-$SIGNATURES
-
-Set the metadata of the node.
-"""
-function setMetadata!(node, metadata::Dict{Symbol, SmallDataTypes})
-    # with set old data should be removed, but care is taken to make sure its not the same object
-    node.metadata !== metadata && empty!(node.metadata)
-    return merge!(node.metadata, metadata)
-end
-
-"""
-$SIGNATURES
-
 Get the metadata from the agent in the AbstractDFG.
 """
 getAgentMetadata(dfg::AbstractDFG) = getMetadata(getAgent(dfg))
@@ -212,7 +222,7 @@ emptyGraphMetadata!(dfg::AbstractDFG) = empty!(dfg.graphMetadata)
 #TODO add__Data!?
 
 ##==============================================================================
-## Agent/Graph Blob Entries CRUD
+## Agent/Graph/Model Blob Entries CRUD
 ##==============================================================================
 
 function getGraphBlobEntry end
@@ -229,8 +239,16 @@ function addAgentBlobEntries! end
 function updateAgentBlobEntry! end
 function deleteAgentBlobEntry! end
 
+function getModelBlobEntry end
+function getModelBlobEntries end
+function addModelBlobEntry! end
+function addModelBlobEntries! end
+function updateModelBlobEntry! end
+function deleteModelBlobEntry! end
+
 function listGraphBlobEntries end
 function listAgentBlobEntries end
+function listModelBlobEntries end
 
 ##==============================================================================
 ## AbstractBlobStore  CRUD
@@ -315,6 +333,30 @@ function getVariable(dfg::G, label::Union{Symbol, String}) where {G <: AbstractD
     return error("getVariable not implemented for $(typeof(dfg))")
 end
 
+"""
+    $(SIGNATURES)
+Get a VariableSummary from a DFG.
+"""
+function getVariableSummary end
+
+"""
+    $(SIGNATURES)
+Get the variables from a DFG as a Vector{VariableSummary}.
+"""
+function getVariablesSummary end
+
+"""
+    $(SIGNATURES)
+Get a VariableSkeleton from a DFG.
+"""
+function getVariableSkeleton end
+
+"""
+    $(SIGNATURES)
+Get the variables from a DFG as a Vector{VariableSkeleton}.
+"""
+function getVariablesSkeleton end
+
 """
     $(SIGNATURES)
 Get a DFGFactor from a DFG using its label.
@@ -323,6 +365,12 @@ function getFactor(dfg::G, label::Union{Symbol, String}) where {G <: AbstractDFG
     return error("getFactor not implemented for $(typeof(dfg))")
 end
 
+"""
+    $(SIGNATURES)
+Get the skeleton factors from a DFG as a Vector{FactorSkeleton}.
+"""
+function getFactorsSkeleton end
+
 function Base.getindex(dfg::AbstractDFG, lbl::Union{Symbol, String})
     if isVariable(dfg, lbl)
         getVariable(dfg, lbl)