Merge pull request #105 from JuliaRobotics/feature/serializationand0_4

Feature/serializationand0 4

Author: GearsAD

src/CloudGraphsDFG/CloudGraphsDFG.jl

@@ -17,7 +17,7 @@ export getAddHistory, getDescription, getLabelDict
 export addVariable!, addFactor!
 export ls, lsf, getVariables, getFactors, getVariableIds, getFactorIds
 export getVariable, getFactor
-export updateVariable!, updateFactor!
+export updateVariable!, updateFactor!, updateVariableSolverData!
 export deleteVariable!, deleteFactor!
 export getAdjacencyMatrix
 export getNeighbors

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -255,7 +255,7 @@ function getVariable(dfg::CloudGraphsDFG, variableId::Int64)::DFGVariable
     # props["label"] = Symbol(variable.label)
     timestamp = DateTime(props["timestamp"])
     tags =  JSON2.read(props["tags"], Vector{Symbol})
-    estimateDict = JSON2.read(props["estimateDict"], Dict{Symbol, VariableEstimate})
+    estimateDict = JSON2.read(props["estimateDict"], Dict{Symbol, Dict{Symbol, VariableEstimate}})
     smallData = nothing
     smallData = JSON2.read(props["smallData"], Dict{String, String})
 
@@ -389,6 +389,20 @@ function updateVariable!(dfg::CloudGraphsDFG, variable::DFGVariable)::DFGVariabl
     return variable
 end
 
+"""
+    $(SIGNATURES)
+Update solver and estimate data for a variable (variable can be from another graph).
+"""
+function updateVariableSolverData!(dfg::CloudGraphsDFG, sourceVariable::DFGVariable)::DFGVariable
+    if !exists(dfg, sourceVariable)
+        error("Source variable '$(sourceVariable.label)' doesn't exist in the graph.")
+    end
+    nodeId = _tryGetNeoNodeIdFromNodeLabel(dfg.neo4jInstance, dfg.userId, dfg.robotId, dfg.sessionId, sourceVariable.label)
+    Neo4j.setnodeproperty(dfg.neo4jInstance.graph, nodeId, "estimateDict", JSON2.write(sourceVariable.estimateDict))
+    Neo4j.setnodeproperty(dfg.neo4jInstance.graph, nodeId, "solverDataDict", JSON2.write(Dict(keys(sourceVariable.solverDataDict) .=> map(vnd -> pack(dfg, vnd), values(sourceVariable.solverDataDict)))))
+    return sourceVariable
+end
+
 """
     $(SIGNATURES)
 Update a complete DFGFactor in the DFG.

src/Common.jl

@@ -1,6 +1,5 @@
 export sortVarNested
 export isPrior, lsfPriors
-export getData
 export getVariableType, getSofttype
 export getFactorType, getfnctype
 export lsTypes, lsfTypes
@@ -89,14 +88,6 @@ function sortVarNested(vars::Vector{Symbol})::Vector{Symbol}
 	return retvars
 end
 
-"""
-    $SIGNATURES
-
-Retrieve data structure stored in a node.
-"""
-getData(v::DFGFactor)::GenericFunctionNodeData = v.data
-getData(v::DFGVariable; solveKey::Symbol=:default)::VariableNodeData = v.solverDataDict[solveKey]
-
 """
     $SIGNATURES
 

src/DistributedFactorGraphs.jl

@@ -25,10 +25,14 @@ export InferenceType, PackedInferenceType, FunctorInferenceType, InferenceVariab
 export FunctorSingleton, FunctorPairwise, FunctorPairwiseMinimize
 
 export DFGVariable
-export label, timestamp, tags, estimates, estimate, solverData, solverDataDict, id, smallData, bigData
+export label, timestamp, tags, estimates, estimate, solverData, getData, solverDataDict, internalId, smallData, bigData
 export setSolverData
 export label, data, id
 
+# Services/AbstractDFG Exports
+export hasFactor, hasVariable, isInitialized, getFactorFunction, isVariable, isFactor
+export updateGraphSolverData!
+
 # Solver (IIF) Exports
 export VariableNodeData, PackedVariableNodeData, VariableEstimate
 export GenericFunctionNodeData#, FunctionNodeData
@@ -72,9 +76,7 @@ function __init__()
 
 end
 
-
-# not sure where to put
+# To be moved as necessary.
 include("Common.jl")
-include("NeedsAHome.jl")
 
 end

src/FileDFG/services/FileDFG.jl

@@ -16,7 +16,7 @@ function _unpackVariable(dfg::G, packedProps::Dict{String, Any})::DFGVariable wh
     label = Symbol(packedProps["label"])
     timestamp = DateTime(packedProps["timestamp"])
     tags =  JSON2.read(packedProps["tags"], Vector{Symbol})
-    estimateDict = JSON2.read(packedProps["estimateDict"], Dict{Symbol, VariableEstimate})
+    estimateDict = JSON2.read(packedProps["estimateDict"], Dict{Symbol, Dict{Symbol, VariableEstimate}})
     smallData = nothing
     smallData = JSON2.read(packedProps["smallData"], Dict{String, String})
 
@@ -137,10 +137,7 @@ function saveDFG(dfg::G, folder::String) where G <: AbstractDFG
     end
 end
 
-function loadDFG(folder::String,
-                 iifModule,
-                 dfgLoadInto::G=GraphsDFG{NoSolverParams}()) where G <: AbstractDFG
-    #
+function loadDFG(folder::String, iifModule, dfgLoadInto::G=GraphsDFG{NoSolverParams}()) where G <: AbstractDFG
     variables = DFGVariable[]
     factors = DFGFactor[]
     varFolder = "$folder/variables"

src/GraphsDFG/GraphsDFG.jl

@@ -13,7 +13,7 @@ export getAddHistory, getDescription, getLabelDict
 export addVariable!, addFactor!
 export ls, lsf, getVariables, getFactors, getVariableIds, getFactorIds
 export getVariable, getFactor
-export updateVariable!, updateFactor!
+export updateVariable!, updateFactor!, updateVariableSolverData!
 export deleteVariable!, deleteFactor!
 export getAdjacencyMatrix
 export getNeighbors

src/NeedsAHome.jl

@@ -49,10 +49,17 @@ end
 
 label(f::F) where F <: DFGFactor = f.label
 data(f::F) where F <: DFGFactor = f.data
-id(f::F) where F <: DFGFactor = f._internalId
+internalId(f::F) where F <: DFGFactor = f._internalId
 
 # Simply for convenience - don't export
 const PackedFunctionNodeData{T} = GenericFunctionNodeData{T, <: AbstractString}
 PackedFunctionNodeData(x1, x2, x3, x4, x5::S, x6::T, x7::String="", x8::Vector{Int}=Int[]) where {T <: PackedInferenceType, S <: AbstractString} = GenericFunctionNodeData(x1, x2, x3, x4, x5, x6, x7, x8)
 const FunctionNodeData{T} = GenericFunctionNodeData{T, Symbol}
 FunctionNodeData(x1, x2, x3, x4, x5::Symbol, x6::T, x7::String="", x8::Vector{Int}=Int[]) where {T <: Union{FunctorInferenceType, ConvolutionObject}}= GenericFunctionNodeData{T, Symbol}(x1, x2, x3, x4, x5, x6, x7, x8)
+
+"""
+    $SIGNATURES
+
+Retrieve data structure stored in a node.
+"""
+getData(v::DFGFactor)::GenericFunctionNodeData = v.data

src/entities/DFGFactor.jl

@@ -72,9 +72,11 @@ mutable struct PackedVariableNodeData
 end
 
 struct VariableEstimate
-  estimate::Vector{Float64}
+  solverKey::Symbol
   type::Symbol
-  key::Symbol
+  estimate::Vector{Float64}
+  lastUpdatedTimestamp::DateTime
+  VariableEstimate(solverKey::Symbol, type::Symbol, estimate::Vector{Float64}, lastUpdatedTimestamp::DateTime=now()) = new(solverKey, type, estimate, lastUpdatedTimestamp)
 end
 
 """
@@ -85,14 +87,14 @@ mutable struct DFGVariable <: DFGNode
     label::Symbol
     timestamp::DateTime
     tags::Vector{Symbol}
-    estimateDict::Dict{Symbol, VariableEstimate}
+    estimateDict::Dict{Symbol, Dict{Symbol, VariableEstimate}}
     solverDataDict::Dict{Symbol, VariableNodeData}
     smallData::Dict{String, String}
     bigData::Any
     ready::Int
     backendset::Int
     _internalId::Int64
-    DFGVariable(label::Symbol, _internalId::Int64) = new(label, now(), Symbol[], Dict{Symbol, VariableEstimate}(), Dict{Symbol, VariableNodeData}(:default => VariableNodeData()), Dict{String, String}(), nothing, 0, 0, _internalId)
+    DFGVariable(label::Symbol, _internalId::Int64) = new(label, now(), Symbol[], Dict{Symbol, Dict{Symbol, VariableEstimate}}(), Dict{Symbol, VariableNodeData}(:default => VariableNodeData()), Dict{String, String}(), nothing, 0, 0, _internalId)
     DFGVariable(label::Symbol) = new(label, now(), Symbol[], Dict{Symbol, VariableEstimate}(), Dict{Symbol, VariableNodeData}(:default => VariableNodeData()), Dict{String, String}(), nothing, 0, 0, 0)
 end
 
@@ -102,11 +104,11 @@ timestamp(v::DFGVariable) = v.timestamp
 tags(v::DFGVariable) = v.tags
 estimates(v::DFGVariable) = v.estimateDict
 estimate(v::DFGVariable, key::Symbol=:default) = haskey(v.estimateDict, key) ? v.estimateDict[key] : nothing
-#solverData(v::DFGVariable) = haskey(v.solverDataDict, :default) ? v.solverDataDict[:default] : nothing
 solverData(v::DFGVariable, key::Symbol=:default) = haskey(v.solverDataDict, key) ? v.solverDataDict[key] : nothing
+getData(v::DFGVariable; solveKey::Symbol=:default)::VariableNodeData = v.solverDataDict[solveKey]
 setSolverData(v::DFGVariable, data::VariableNodeData, key::Symbol=:default) = v.solverDataDict[key] = data
 solverDataDict(v::DFGVariable) = v.solverDataDict
-id(v::DFGVariable) = v._internalId
+internalId(v::DFGVariable) = v._internalId
 # Todo: Complete this.
 smallData(v::DFGVariable) = v.smallData
 bigData(v::DFGVariable) = v.bigData