Towards Standard Variables

Author: Affie

src/Common.jl

@@ -143,7 +143,7 @@ end
 ## Validation of session, robot, and user labels.
 ##==============================================================================
 global _invalidIds =
-    ["GRAPH", "AGENT", "VARIABLE", "FACTOR", "PPE", "BLOB_ENTRY", "FACTORGRAPH"]
+    ["GRAPH", "AGENT", "VARIABLE", "FACTOR", "BLOB_ENTRY", "FACTORGRAPH"]
 
 const global _validLabelRegex::Regex = r"^[a-zA-Z][-\w\.\@]*$"
 

src/Deprecated.jl

@@ -52,8 +52,8 @@ function getSolveInProgress(
 )
     # Variable
     if var isa VariableCompute
-        if haskey(getSolverDataDict(var), solveKey)
-            return getSolverDataDict(var)[solveKey].solveInProgress
+        if haskey(refStates(var), solveKey)
+            return refStates(var)[solveKey].solveInProgress
         else
             return 0
         end
@@ -148,6 +148,9 @@ function _getDuplicatedEmptyDFG(
     # DFG.setDescription!(newDfg, "(Copy of) $(DFG.getDescription(dfg))")
     return newDfg
 end
+
+#TODO is Type correct
+@deprecate getVariableType(args...) getStateType(args...)
 ## ================================================================================
 ## Deprecated in v0.28
 ##=================================================================================
@@ -289,7 +292,7 @@ end
 
 # Related
 
-# [`listSolveKeys`](@ref), [`getSolverDataDict`](@ref), [`listVariables`](@ref)
+# [`listSolveKeys`](@ref), [`refStates`](@ref), [`listVariables`](@ref)
 # """
 function listSolveKeys(
     variable::VariableCompute,
@@ -298,7 +301,7 @@ function listSolveKeys(
 )
     Base.depwarn("listSolveKeys is deprecated, use listStates instead.", :listSolveKeys)
     #
-    for ky in keys(getSolverDataDict(variable))
+    for ky in keys(refStates(variable))
         push!(skeys, ky)
     end
 
@@ -328,7 +331,7 @@ function listSolveKeys(
     #
     skeys = Set{Symbol}()
     varList = listVariables(dfg, filterVariables; tags = tags, solvable = solvable)
-    for vs in varList  #, ky in keys(getSolverDataDict(getVariable(dfg, vs)))
+    for vs in varList  #, ky in keys(refStates(getVariable(dfg, vs)))
         listSolveKeys(dfg, vs, filterSolveKeys, skeys)
     end
 

src/DistributedFactorGraphs.jl

@@ -379,7 +379,6 @@ const unstable_functions::Vector{Symbol} = [
     :getVariableLabelNumber,# TODO somewhat used, do we deprecate?
     :getfirstBlobentry,# TODO somewhat used, do we deprecate?
     :getSolveInProgress,#TODO unused, do we deprecate?
-    :getSolverDataDict,## TODO deprecated or obsolete
     :hasTagsNeighbors,
     :isVariable,
     :isFactor,
@@ -433,6 +432,7 @@ const unstable_functions::Vector{Symbol} = [
     :setMetadata!, # no set, use add merge
     :setAgentMetadata!,
     :setGraphMetadata!,
+    # :getSolverDataDict,# obsolete
 
     #Deprecated in v0.28
     :AbstractRelativeMinimize,
@@ -469,24 +469,24 @@ const unstable_functions::Vector{Symbol} = [
     :PackedFactor,
     :Factor,
     :AbstractPointParametricEst,
-    :MeanMaxPPE,
-    :getPPEMax,
-    :getPPEMean,
-    :getPPESuggested,
-    :getLastUpdatedTimestamp,
-    :getPPEDict,
-    :getVariablePPEDict,
-    :getVariablePPE,
+    # :MeanMaxPPE,
+    # :getPPEMax,
+    # :getPPEMean,
+    # :getPPESuggested,
+    # :getLastUpdatedTimestamp,
+    # :getPPEDict,
+    # :getVariablePPEDict,
+    # :getVariablePPE,
     :listSolveKeys,
     :listSupersolves,
-    :getPPE,
-    :getPPEs,
-    :getVariablePPE,
-    :addPPE!,
-    :updatePPE!,
-    :deletePPE!,
-    :listPPEs,
-    :mergePPEs!,
+    # :getPPE,
+    # :getPPEs,
+    # :getVariablePPE,
+    # :addPPE!,
+    # :updatePPE!,
+    # :deletePPE!,
+    # :listPPEs,
+    # :mergePPEs!,
     Symbol("@defVariable"),
     :SmallDataTypes,
     :NoSolverParams,

src/entities/DFGFactor.jl

@@ -31,7 +31,7 @@ const FactorCache = AbstractFactorCache #
     eliminated::Bool = false    # TODO should eliminated and potentialused be moved outside of FactorState?
     potentialused::Bool = false # TODO ^
     multihypo::Vector{Float64} = Float64[] # TODO re-evaluate after refactoring w #477
-    certainhypo::Vector{Int} = Int[]
+    certainhypo::Vector{Int} = Int[] #TODO mihgt be dead code?
     nullhypo::Float64 = 0.0
     # solveInProgress::Int = 0 #TODO maybe deprecated or move to operational memory, also why Int?
     inflation::Float64 = 0.0