fix formatting

Author: Affie

src/Deprecated.jl

@@ -11,7 +11,7 @@ function getHash(entry::Blobentry)
 end
 
 function getMetadata(node)
-    error(
+    return error(
         "getMetadata(node::$(typeof(node))) is deprecated; metadata is now stored in bloblets. Use getBloblets instead.",
     )
     # return JSON.parse(base64decode(f.metadata), Dict{Symbol, MetadataTypes})
@@ -20,8 +20,14 @@ end
 # getTimestamp
 
 # setTimestamp is deprecated for now we can implement setTimestamp!(dfg, lbl, ts) later.
-setTimestamp(args...; kwargs...) = error("setTimestamp is obsolete, use addVariable!(..., timestamp=...) instead.")
-setTimestamp!(args...; kwargs...) = error("setTimestamp! is not implemented, use addVariable!(..., timestamp=...) instead.")
+function setTimestamp(args...; kwargs...)
+    return error("setTimestamp is obsolete, use addVariable!(..., timestamp=...) instead.")
+end
+function setTimestamp!(args...; kwargs...)
+    return error(
+        "setTimestamp! is not implemented, use addVariable!(..., timestamp=...) instead.",
+    )
+end
 
 ##------------------------------------------------------------------------------
 ## solveInProgress
@@ -125,16 +131,15 @@ setAgentMetadata!(args...) = error("setAgentMetadata! is obsolete, use Bloblets
 getGraphMetadata(args...) = error("getGraphMetadata is obsolete, use Bloblets instead.")
 setGraphMetadata!(args...) = error("setGraphMetadata! is obsolete, use Bloblets instead.")
 
-setDescription!(args...) = error("setDescription! was removed and may be implemented later.")
+function setDescription!(args...)
+    return error("setDescription! was removed and may be implemented later.")
+end
 
 # TODO find replacement.
 function _getDuplicatedEmptyDFG(
     dfg::GraphsDFG{P, V, F},
 ) where {P <: AbstractDFGParams, V <: AbstractGraphVariable, F <: AbstractGraphFactor}
-    Base.depwarn(
-        "_getDuplicatedEmptyDFG is deprecated.",
-        :_getDuplicatedEmptyDFG,
-    )
+    Base.depwarn("_getDuplicatedEmptyDFG is deprecated.", :_getDuplicatedEmptyDFG)
     newDfg = GraphsDFG{P, V, F}(;
         agentLabel = getAgentLabel(dfg),
         graphLabel = getGraphLabel(dfg),

src/DistributedFactorGraphs.jl

@@ -426,7 +426,7 @@ const unstable_functions::Vector{Symbol} = [
     :setSolvedCount!,
     :setMarginalized!,
     # no set on these
-    
+
     #deprecated in v0.29
     :setTimestamp,
     :setMetadata!, # no set, use add merge

src/GraphsDFG/entities/GraphsDFG.jl

@@ -74,17 +74,12 @@ function GraphsDFG{T, V, F}(
     end
 
     # Validate the graphLabel and agentLabel
-    !DFG.isValidLabel(graphLabel) && throw(ArgumentError("'$graphLabel' is not a valid label"))
-    !DFG.isValidLabel(agentLabel) && throw(ArgumentError("'$agentLabel' is not a valid label"))
+    !DFG.isValidLabel(graphLabel) &&
+        throw(ArgumentError("'$graphLabel' is not a valid label"))
+    !DFG.isValidLabel(agentLabel) &&
+        throw(ArgumentError("'$agentLabel' is not a valid label"))
 
-    return GraphsDFG{T, V, F}(
-        g,
-        addHistory,
-        solverParams,
-        blobStores,
-        graph,
-        agent,
-    )
+    return GraphsDFG{T, V, F}(g, addHistory, solverParams, blobStores, graph, agent)
 end
 
 # GraphsDFG{T}(; kwargs...) where T <: AbstractDFGParams = GraphsDFG{T,VariableCompute,FactorDFG}(;kwargs...)

src/entities/DFGFactor.jl

@@ -71,33 +71,33 @@ StructUtils.@kwarg struct FactorDFG{T <: AbstractObservation, N} <: AbstractGrap
     tags::Set{Symbol} = Set{Symbol}([:FACTOR])
     """Ordered list of the neighbor variables.
     Accessors: [`getVariableOrder`](@ref)"""
-    variableorder::NTuple{N, Symbol} &(choosetype=x->NTuple{length(x), Symbol},) # NOTE v0.29 renamed from _variableOrderSymbols
+    variableorder::NTuple{N, Symbol} & (choosetype = x->NTuple{length(x), Symbol},) # NOTE v0.29 renamed from _variableOrderSymbols
     """Variable timestamp.
     Accessors: [`getTimestamp`](@ref)"""
-    timestamp::NanoDate = ndnow(UTC) &(lower = timestamp,) # NOTE v0.29 changed from ZonedDateTime
+    timestamp::NanoDate = ndnow(UTC) & (lower = timestamp,) # NOTE v0.29 changed from ZonedDateTime
     # TODO
     # """(Optional) Steady (monotonic) time in nanoseconds `Nanosecond` (`Int64``)"""
     # nstime::Nanosecond #NOTE v0.29 REMOVED as not used, add when needed, or now as steadytime.
     """Solvable flag for the factor.
     Accessors: [`getSolvable`](@ref), [`setSolvable!`](@ref)"""
-    solvable::Base.RefValue{Int} = Ref(1) &(lower = getindex, lift = Ref)
+    solvable::Base.RefValue{Int} = Ref(1) & (lower = getindex, lift = Ref)
     """Dictionary of small data associated with this variable.
     Accessors: [`getBloblet`](@ref), [`addBloblet!`](@ref)"""
     bloblets::Bloblets = Bloblets() #NOTE v0.29 changed from smallData::Dict{Symbol, MetadataTypes} = Dict{Symbol, MetadataTypes}()
     """Observation function or measurement for this factor.
     Accessors: [`getObservation`](@ref)(@ref)"""
-    observation::T &(lower = pack_lower, choosetype=DFG.resolvePackedType)#TODO finalise serializd type
+    observation::T & (lower = pack_lower, choosetype = DFG.resolvePackedType)#TODO finalise serializd type
     """Describes the current state of the factor. Persisted in serialization.
     Accessors: [`getFactorState`](@ref)"""
     state::FactorState = FactorState()
     """Temporary, non-persistent memory used internally by the solver for intermediate numerical computations and buffers.  
     `solvercache` is lazily allocated and only used during factor operations; it is not serialized or retained after solving.
     Accessors: [`getCache`](@ref), [`setCache!`](@ref)"""
-    solvercache::Base.RefValue{<:FactorCache} = Ref{FactorCache}() &(ignore = true, )#TODO easy of use vs. performance as container is abstract in any case.
+    solvercache::Base.RefValue{<:FactorCache} = Ref{FactorCache}() & (ignore = true,)#TODO easy of use vs. performance as container is abstract in any case.
     """Blobentries associated with this factor."""
     blobentries::Blobentries = Blobentries() #NOTE v0.29 added
     """Internal: used for automatic type metadata generation."""
-    _autotype::Nothing = nothing &(name = :type, lower = _ -> TypeMetadata(FactorDFG), )
+    _autotype::Nothing = nothing & (name = :type, lower = _ -> TypeMetadata(FactorDFG))
 end
 
 version(::Type{<:FactorDFG}) = v"0.29.0"
@@ -131,7 +131,10 @@ function FactorDFG(
     end
 
     if timestamp isa ZonedDateTime
-        Base.depwarn("`FactorDFG` timestamp as `ZonedDateTime` is deprecated, use `NanoDate` instead", :FactorDFG)
+        Base.depwarn(
+            "`FactorDFG` timestamp as `ZonedDateTime` is deprecated, use `NanoDate` instead",
+            :FactorDFG,
+        )
         timestamp = NanoDate(timestamp.utc_datetime)
     end
 
@@ -174,7 +177,10 @@ function FactorDFG(
         Base.depwarn("`FactorDFG` nstime is deprecated", :FactorDFG)
     end
     if !isnothing(smallData)
-        Base.depwarn("`FactorDFG` smallData is deprecated, use bloblets instead", :FactorDFG)
+        Base.depwarn(
+            "`FactorDFG` smallData is deprecated, use bloblets instead",
+            :FactorDFG,
+        )
     end
 
     if isnothing(cache)
@@ -185,7 +191,10 @@ function FactorDFG(
 
     # deprecated in v0.29
     if timestamp isa ZonedDateTime
-        Base.depwarn("`FactorDFG` timestamp as `ZonedDateTime` is deprecated, use `NanoDate(timestamp.utc_datetime)` instead", :FactorDFG)
+        Base.depwarn(
+            "`FactorDFG` timestamp as `ZonedDateTime` is deprecated, use `NanoDate(timestamp.utc_datetime)` instead",
+            :FactorDFG,
+        )
         nd_timestamp = NanoDate(timestamp.utc_datetime)
     else
         nd_timestamp = timestamp
@@ -282,18 +291,9 @@ end
 ##==============================================================================
 
 function FactorSummary(f::FactorDFG)
-    return FactorSummary(
-        f.label,
-        copy(f.tags),
-        f.variableorder,
-        f.timestamp,
-    )
+    return FactorSummary(f.label, copy(f.tags), f.variableorder, f.timestamp)
 end
 
 function FactorSkeleton(f::AbstractGraphFactor)
-    return FactorSkeleton(
-        f.label,
-        copy(f.tags),
-        f.variableorder,
-    )
+    return FactorSkeleton(f.label, copy(f.tags), f.variableorder)
 end

src/serialization/PackedSerialization.jl

@@ -1,7 +1,7 @@
 function pack end
 function unpack end
 
-version(::Type{T}) where T = pkgversion(parentmodule(T))
+version(::Type{T}) where {T} = pkgversion(parentmodule(T))
 # version(node) = node.version
 
 # Type for storing packed type information
@@ -11,18 +11,18 @@ struct TypeMetadata
     version::Union{Nothing, VersionNumber}
 end
 
-function TypeMetadata(::Type{T}) where T 
-    TypeMetadata(fullname(parentmodule(T))[1], nameof(T), version(T))
+function TypeMetadata(::Type{T}) where {T}
+    return TypeMetadata(fullname(parentmodule(T))[1], nameof(T), version(T))
 end
 
 StructUtils.@nonstruct struct Packed{T}
     type::TypeMetadata
     packed::T
 end
 
-function Packed(x) 
+function Packed(x)
     packedx = pack(x)
-    Packed(TypeMetadata(typeof(packedx)), packedx)
+    return Packed(TypeMetadata(typeof(packedx)), packedx)
 end
 
 function StructUtils.lower(x::Packed)
@@ -31,12 +31,12 @@ function StructUtils.lower(x::Packed)
     return d
 end
 
-function StructUtils.lift(::Type{<:Packed{T}}, x) where T
+function StructUtils.lift(::Type{<:Packed{T}}, x) where {T}
     r = unpack(StructUtils.make(T, x))
     return r
 end
 
-function pack_lower(x) 
+function pack_lower(x)
     px = Packed(x)
     d = StructUtils.make(OrderedDict{Symbol, Any}, px.packed)
     push!(d, :type => px.type)
@@ -69,10 +69,9 @@ end
 
 @choosetype Packed resolvePackedType
 
-
 # Stash optional TypeMetadata expansion function.
 # function expandTypeMetadata(;kwargs...)
 #     md = StructUtils.make(OrderedDict{Symbol, Any}, TypeMetadata(FactorDFG))
 #     push!(md, kwargs...)
 #     return md
-# end 
+# end 

src/services/AbstractDFG.jl

@@ -433,7 +433,6 @@ function listNeighbors end
 ## copy and duplication
 ##------------------------------------------------------------------------------
 
-
 ##------------------------------------------------------------------------------
 ## CRUD Aliases
 ##------------------------------------------------------------------------------

src/services/CompareUtils.jl

@@ -241,7 +241,14 @@ function compareVariable(
 )
     #
     skiplist = union(
-        [:attributes; :solverDataDict; :createdTimestamp; :lastUpdatedTimestamp; :timezone; :zone],
+        [
+            :attributes;
+            :solverDataDict;
+            :createdTimestamp;
+            :lastUpdatedTimestamp;
+            :timezone;
+            :zone
+        ],
         skip,
     )
     TP = compareAll(A, B; skip = skiplist, show = show)
@@ -281,14 +288,7 @@ function compareFactor(
 )
     #
     skip_ = union(
-        [
-            :attributes,
-            :solverData,
-            :observation,
-            :solvercache,
-            :variableorder,
-            :_gradients,
-        ],
+        [:attributes, :solverData, :observation, :solvercache, :variableorder, :_gradients],
         skip,
     )
     TP = compareAll(A, B; skip = skip_, show = show)

src/services/DFGFactor.jl

@@ -97,11 +97,10 @@ macro defObservationType(structname, factortype, manifold)
                                                          ") is not an `AbstractObservation`"
 
             Base.@__doc__ DFG.@tags struct $structname{T} <: $factortype
-                Z::T &(lower = DFG.Packed, choosetype=DFG.resolvePackedType)
+                Z::T & (lower = DFG.Packed, choosetype = DFG.resolvePackedType)
             end
 
             DFG.getManifold(::Type{<:$structname}) = $manifold
-
         end,
     )
 end
@@ -139,7 +138,6 @@ getManifold(f::AbstractGraphFactor) = getManifold(getObservation(f))
 
 ## COMMON
 
-
 ##------------------------------------------------------------------------------
 ## solvable
 ##------------------------------------------------------------------------------

src/services/DFGVariable.jl

@@ -391,8 +391,6 @@ end
 ## COMMON
 # getTimestamp
 
-
-
 ##------------------------------------------------------------------------------
 ## solvable
 ##------------------------------------------------------------------------------

test/interfaceTests.jl

@@ -65,8 +65,8 @@ end
           nothing
 
     @test String(take!(iobuf)) ==
-        "VariableCompute{TestVariableType1, Vector{Float64}, 1}\nid:\nnothing\nlabel:\n:a\ntags:\nSet([:VARIABLE, :POSE])\nsmallData:\nDict{Symbol, Union{Bool, Float64, Int64, Vector{Bool}, Vector{Float64}, Vector{Int64}, Vector{String}, String}}()\ndataDict:\nDict{Symbol, Blobentry}()\nsolvable:\nRefValue{Int64}(0)\n"
-        # "VariableCompute{TestVariableType1, Vector{Float64}, 1}\nid:\nnothing\nlabel:\n:a\ntags:\nSet([:VARIABLE, :POSE])\nsmallData:\nDict{Symbol, Union{Bool, Float64, Int64, Vector{Bool}, Vector{Float64}, Vector{Int64}, Vector{String}, String}}(:small=>\"data\")\ndataDict:\nDict{Symbol, Blobentry}()\nsolvable:\n0\n"
+          "VariableCompute{TestVariableType1, Vector{Float64}, 1}\nid:\nnothing\nlabel:\n:a\ntags:\nSet([:VARIABLE, :POSE])\nsmallData:\nDict{Symbol, Union{Bool, Float64, Int64, Vector{Bool}, Vector{Float64}, Vector{Int64}, Vector{String}, String}}()\ndataDict:\nDict{Symbol, Blobentry}()\nsolvable:\nRefValue{Int64}(0)\n"
+    # "VariableCompute{TestVariableType1, Vector{Float64}, 1}\nid:\nnothing\nlabel:\n:a\ntags:\nSet([:VARIABLE, :POSE])\nsmallData:\nDict{Symbol, Union{Bool, Float64, Int64, Vector{Bool}, Vector{Float64}, Vector{Int64}, Vector{String}, String}}(:small=>\"data\")\ndataDict:\nDict{Symbol, Blobentry}()\nsolvable:\n0\n"
 
     @test printVariable(iobuf, var1; short = true) === nothing
     varstr = String(take!(iobuf))