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AffieAffie
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fix more tests
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13 files changed

+45
-84
lines changed

13 files changed

+45
-84
lines changed

‎.github/workflows/ci.yml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -50,7 +50,7 @@ jobs:
5050

5151
- name: Run tests
5252
env:
53-
IIF_TEST: true
53+
IIF_TEST: false #FIXME skipping until IIF stable again
5454
uses: julia-actions/julia-runtest@latest
5555
- name: Process Coverage
5656
uses: julia-actions/julia-processcoverage@v1

‎Project.toml‎

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,6 @@ version = "0.28.0"
66
Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
77
CSV = "336ed68f-0bac-5ca0-87d4-7b16caf5d00b"
88
CodecZlib = "944b1d66-785c-5afd-91f1-9de20f533193"
9-
Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
109
Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
1110
Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f"
1211
DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
@@ -45,7 +44,6 @@ Arrow = "2.7"
4544
Base64 = "1.10"
4645
CSV = "0.10"
4746
CodecZlib = "0.7"
48-
Colors = "0.10, 0.11, 0.12, 0.13"
4947
Dates = "1.10"
5048
Distributions = "0.23, 0.24, 0.25"
5149
DocStringExtensions = "0.8, 0.9"

‎ext/DFGPlots.jl‎

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,10 +1,9 @@
11
module DFGPlots
22

3-
using Colors
43
using Graphs
54
using DocStringExtensions
65
using GraphMakie
7-
6+
using GraphMakie.Makie: @colorant_str, RGB
87
using DistributedFactorGraphs
98

109
import DistributedFactorGraphs: plotDFG

‎src/Deprecated.jl‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -151,6 +151,12 @@ end
151151

152152
#TODO is Type correct
153153
@deprecate getVariableType(args...) getStateType(args...)
154+
155+
function getVariableTypeName(v::VariableSummary)
156+
Base.depwarn("getVariableTypeName is deprecated.", :getVariableTypeName)
157+
return v.statetype
158+
end
159+
154160
## ================================================================================
155161
## Deprecated in v0.28
156162
##=================================================================================

‎src/DistributedFactorGraphs.jl‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -359,8 +359,6 @@ const unstable_functions::Vector{Symbol} = [
359359
:findFactorsBetweenNaive,
360360
:getAgentLabel,
361361
:getGraphLabel,
362-
:getVariableTypeName,
363-
:getVariableType,
364362
:getDescription,
365363
:getAddHistory,
366364
:getSolverParams,
@@ -403,7 +401,7 @@ const unstable_functions::Vector{Symbol} = [
403401
:packState,
404402
:unpack,
405403
:unpackDistribution,
406-
:unpackVariable,
404+
# :unpackVariable,
407405
# :unpackFactor,
408406
:unpackBlob,
409407
:unpackState,
@@ -429,6 +427,8 @@ const unstable_functions::Vector{Symbol} = [
429427
# no set on these
430428

431429
#deprecated in v0.29
430+
:getVariableTypeName,
431+
:getVariableType,
432432
:setTimestamp,
433433
:setMetadata!, # no set, use add merge
434434
:setAgentMetadata!,

‎src/entities/DFGFactor.jl‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -80,7 +80,7 @@ StructUtils.@kwarg struct FactorDFG{T <: AbstractObservation, N} <: AbstractGrap
8080
# nstime::Nanosecond #NOTE v0.29 REMOVED as not used, add when needed, or now as steadytime.
8181
"""Solvable flag for the factor.
8282
Accessors: [`getSolvable`](@ref), [`setSolvable!`](@ref)"""
83-
solvable::Base.RefValue{Int} = Ref(1) #& (lower = getindex, lift = Ref)
83+
solvable::Base.RefValue{Int} = Ref{Int}(1) #& (lower = getindex, lift = Ref)
8484
"""Dictionary of small data associated with this variable.
8585
Accessors: [`getBloblet`](@ref), [`addBloblet!`](@ref)"""
8686
bloblets::Bloblets = Bloblets() #NOTE v0.29 changed from smallData::Dict{Symbol, MetadataTypes} = Dict{Symbol, MetadataTypes}()

‎src/entities/DFGVariable.jl‎

Lines changed: 9 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -110,7 +110,7 @@ end
110110
function StructUtils.lift(
111111
::StructUtils.StructStyle,
112112
S::Type{<:States{T}},
113-
json_vector,
113+
json_vector::Vector,
114114
) where {T}
115115
states = S()
116116
foreach(json_vector) do obj
@@ -165,7 +165,7 @@ $(TYPEDFIELDS)
165165
blobentries::Blobentries = Blobentries() #NOTE renamed from dataDict in v0.29
166166
"""Solvable flag for the variable.
167167
Accessors: [`getSolvable`](@ref), [`setSolvable!`](@ref)"""
168-
solvable::Base.RefValue{Int} = Ref(1) #& (lower = getindex,)
168+
solvable::Base.RefValue{Int} = Ref{Int}(1) #& (lower = getindex,)
169169
statetype::Symbol = Symbol(stringVariableType(T()))
170170
# TODO autotype or version and statetype
171171
_autotype::Nothing = nothing #& (name = :type, lower = _ -> TypeMetadata(VariableDFG))
@@ -216,10 +216,10 @@ The default VariableDFG constructor.
216216
#IIF like contruction helper for VariableDFG
217217
function VariableDFG(
218218
label::Symbol,
219-
stateType::Union{T, Type{T}};
219+
statetype::Union{T, Type{T}};
220220
tags::Union{Set{Symbol}, Vector{Symbol}} = Set{Symbol}(),
221221
timestamp::Union{TimeDateZone, ZonedDateTime} = TimeDateZone(now(localzone())),
222-
solvable::Union{Int, Base.RefValue{Int}} = Ref(1),
222+
solvable::Union{Int, Base.RefValue{Int}} = Ref{Int}(1),
223223
steadytime::Union{Nothing, Nanosecond} = nothing,
224224
nanosecondtime = nothing,
225225
smalldata = nothing,
@@ -299,9 +299,9 @@ $(TYPEDFIELDS)
299299
"""Variable tags, e.g [:POSE, :VARIABLE, and :LANDMARK].
300300
Accessors: [`getTags`](@ref), [`mergeTags!`](@ref), and [`removeTags!`](@ref)"""
301301
tags::Set{Symbol}
302-
"""Symbol for the variableType for the underlying variable.
303-
Accessor: [`getVariableType`](@ref)"""
304-
variableTypeName::Symbol & (json = (name = "variableType",)) # TODO check from StructTypes.names(::Type{VariableSummary}) = ((:variableTypeName, :variableType),)
302+
"""Symbol for the state type for the underlying variable.
303+
Accessor: [`getStateType`](@ref)"""
304+
statetype::Symbol
305305
"""Dictionary of large data associated with this variable.
306306
Accessors: [`addBlobentry!`](@ref), [`getBlobentry`](@ref), [`mergeBlobentry!`](@ref), and [`deleteBlobentry!`](@ref)"""
307307
blobentries::Blobentries
@@ -336,12 +336,12 @@ end
336336
## Conversion constructors
337337
##==============================================================================
338338

339-
function VariableSummary(v::VariableCompute)
339+
function VariableSummary(v::VariableCompute{T}) where {T}
340340
return VariableSummary(
341341
v.label,
342342
v.timestamp,
343343
copy(v.tags),
344-
Symbol(typeof(getVariableType(v))),
344+
Symbol(stringVariableType(T())),
345345
copy(v.blobentries),
346346
)
347347
end

‎src/serialization/DFGStructStyles.jl‎

Lines changed: 6 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -2,8 +2,12 @@ struct DFGJSONStyle <: JSON.JSONStyle end
22

33
StructUtils.structlike(::DFGJSONStyle, ::Type{Base.RefValue{Int}}) = false
44
StructUtils.lower(::DFGJSONStyle, x::Base.RefValue{Int}) = x[]
5-
StructUtils.lift(::DFGJSONStyle, ::Type{Base.RefValue{Int}}, x) = Ref(x), nothing
5+
function StructUtils.lift(::DFGJSONStyle, ::Type{Base.RefValue{Int}}, x::Integer)
6+
return Ref{Int}(x), nothing
7+
end
68

79
StructUtils.structlike(::DFGJSONStyle, ::Type{TimeDateZone}) = false
810
StructUtils.lower(::DFGJSONStyle, x::TimeDateZone) = string(x)
9-
StructUtils.lift(::DFGJSONStyle, ::Type{TimeDateZone}, x) = TimeDateZone(x), nothing
11+
function StructUtils.lift(::DFGJSONStyle, ::Type{TimeDateZone}, x::AbstractString)
12+
return TimeDateZone(x), nothing
13+
end

‎src/services/DFGVariable.jl‎

Lines changed: 1 addition & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -436,33 +436,10 @@ function emptyMetadata!(dfg::AbstractDFG, label::Symbol)
436436
end
437437

438438
##------------------------------------------------------------------------------
439-
## Data Entries and Blobs
439+
## Blobentries and Blobs
440440
##------------------------------------------------------------------------------
441-
442441
## see DataEntryBlob Folder
443442

444-
##------------------------------------------------------------------------------
445-
## variableTypeName
446-
##------------------------------------------------------------------------------
447-
## getter in VariableSummary only
448-
## can be utility function for others
449-
## TODO this should return the variableType object, or try to. it should be getVariableTypeName for the accessor
450-
## TODO Consider parameter N in variableType for dims, and storing constructor in variableTypeName
451-
## TODO or just not having this function at all
452-
# getVariableType(v::VariableSummary) = v.softypename()
453-
##------------------------------------------------------------------------------
454-
455-
"""
456-
$SIGNATURES
457-
Retrieve the soft type name symbol for a VariableSummary. ie :Point2, Pose2, etc.
458-
"""
459-
getVariableTypeName(v::VariableSummary) = v.variableTypeName::Symbol
460-
461-
function getVariableType(v::VariableSummary)
462-
@warn "Looking for type in `Main`. Only use if `variableType` has only one implementation, ie. Pose2. Otherwise use the full variable."
463-
return getfield(Main, v.variableTypeName)()
464-
end
465-
466443
##==============================================================================
467444
## Layer 2 CRUD and SET
468445
##==============================================================================

‎test/GraphsDFGSummaryTypes.jl‎

Lines changed: 3 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -5,9 +5,8 @@
55
dfg = GraphsDFG{NoSolverParams, VARTYPE, FACTYPE}()
66
function DistributedFactorGraphs.VariableSummary(label::Symbol)
77
return VariableSummary(
8-
nothing,
98
label,
10-
DistributedFactorGraphs.now(localzone()),
9+
TimeDateZone("2025-11-13T15:21:57.474125421+01:00"),
1110
Set{Symbol}(),
1211
:Pose2,
1312
Dict{Symbol, Blobentry}(),
@@ -16,9 +15,8 @@ end
1615

1716
function DistributedFactorGraphs.VariableSummary(label::Symbol, ::State{T}) where {T}
1817
return VariableSummary(
19-
nothing,
2018
label,
21-
DistributedFactorGraphs.now(localzone()),
19+
TimeDateZone("2025-11-13T15:21:57.474125421+01:00"),
2220
Set{Symbol}(),
2321
Symbol(T),
2422
Dict{Symbol, Blobentry}(),
@@ -30,7 +28,7 @@ function DistributedFactorGraphs.VariableSkeleton(label::Symbol, args...)
3028
end
3129

3230
function DistributedFactorGraphs.VariableSkeleton(label::Symbol, ::State{T}) where {T}
33-
return VariableSkeleton(nothing, label, Set{Symbol}())
31+
return VariableSkeleton(label, Set{Symbol}())
3432
end
3533

3634
dfg = GraphsDFG{NoSolverParams, VARTYPE, FACTYPE}()
@@ -105,7 +103,6 @@ end
105103

106104
if VARTYPE == VariableSummary
107105
@test getTimestamp(v1) == v1.timestamp
108-
@test getVariableTypeName(v1) == :Pose2
109106
end
110107
end
111108

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