more cleanup and unexporting functions

Author: Affie

src/DataBlobs/entities/BlobEntry.jl

@@ -48,5 +48,3 @@ end
 StructTypes.StructType(::Type{Blobentry}) = StructTypes.UnorderedStruct()
 StructTypes.idproperty(::Type{Blobentry}) = :id
 StructTypes.omitempties(::Type{Blobentry}) = (:id,)
-
-_fixtimezone(cts::NamedTuple) = ZonedDateTime(cts.utc_datetime * "+00")

src/Deprecated.jl

@@ -51,6 +51,104 @@ function mergeGraphVariableData!(args...)
     )
 end
 
+#NOTE List types funcction do not fit verb noun and will be deprecated.
+# should return types
+
+"""
+    $SIGNATURES
+
+Return `Vector{Symbol}` of all unique variable types in factor graph.
+"""
+function lsTypes(dfg::AbstractDFG)
+    vars = getVariables(dfg)
+    alltypes = Set{Symbol}()
+    for v in vars
+        varType = Symbol(typeof(getVariableType(v)))
+        push!(alltypes, varType)
+    end
+    return collect(alltypes)
+end
+
+"""
+    $SIGNATURES
+
+Return `::Dict{Symbol, Vector{Symbol}}` of all unique variable types with labels in a factor graph.
+"""
+function lsTypesDict(dfg::AbstractDFG)
+    vars = getVariables(dfg)
+    alltypes = Dict{Symbol, Vector{Symbol}}()
+    for v in vars
+        varType = Symbol(typeof(getVariableType(v)))
+        d = get!(alltypes, varType, Symbol[])
+        push!(d, v.label)
+    end
+    return alltypes
+end
+
+"""
+    $SIGNATURES
+
+Return `Vector{Symbol}` of all unique factor types in factor graph.
+"""
+function lsfTypes(dfg::AbstractDFG)
+    facs = getFactors(dfg)
+    alltypes = Set{Symbol}()
+    for f in facs
+        facType = typeof(getFactorType(f)) |> nameof
+        push!(alltypes, facType)
+    end
+    return collect(alltypes)
+end
+
+"""
+    $SIGNATURES
+
+Return `::Dict{Symbol, Vector{Symbol}}` of all unique factors types with labels in a factor graph.
+"""
+function lsfTypesDict(dfg::AbstractDFG)
+    facs = getFactors(dfg)
+    alltypes = Dict{Symbol, Vector{Symbol}}()
+    for f in facs
+        facType = typeof(getFactorType(f)) |> nameof
+        d = get!(alltypes, facType, Symbol[])
+        push!(d, f.label)
+    end
+    return alltypes
+end
+
+# solvekey is deprecated and sync!/copyto! is the better verb.
+#TODO replace with syncVariableStates! or similar
+"""
+    $SIGNATURES
+Duplicate a `solveKey`` into a destination from a source.
+
+Notes
+- Can copy between graphs, or to different solveKeys within one graph.
+"""
+function cloneSolveKey!(
+    dest_dfg::AbstractDFG,
+    dest::Symbol,
+    src_dfg::AbstractDFG,
+    src::Symbol;
+    solvable::Int = 0,
+    labels = intersect(ls(dest_dfg; solvable = solvable), ls(src_dfg; solvable = solvable)),
+    verbose::Bool = false,
+)
+    #
+    for x in labels
+        sd = deepcopy(getVariableState(getVariable(src_dfg, x), src))
+        copytoVariableState!(dest_dfg, x, dest, sd)
+    end
+
+    return nothing
+end
+
+function cloneSolveKey!(dfg::AbstractDFG, dest::Symbol, src::Symbol; kw...)
+    #
+    @assert dest != src "Must copy to a different solveKey within the same graph, $dest."
+    return cloneSolveKey!(dfg, dest, dfg, src; kw...)
+end
+
 ## ================================================================================
 ## Deprecated in v0.27
 ##=================================================================================

src/DistributedFactorGraphs.jl

@@ -218,8 +218,7 @@ export getVariableStates,
     addVariableState!,
     mergeVariableState!,
     deleteVariableState!,
-    listVariableStates,
-    cloneSolveKey!
+    listVariableStates
 
 # PPE
 ##------------------------------------------------------------------------------
@@ -245,7 +244,7 @@ export packVariableState, unpackVariableState
 export getSolvedCount,
     isSolved, setSolvedCount!, isInitialized, isMarginalized, setMarginalized!
 
-export getNeighborhood, listNeighbors, _getDuplicatedEmptyDFG
+export listNeighborhood, listNeighbors
 export findFactorsBetweenNaive
 export copyGraph!, deepcopyGraph, deepcopyGraph!, buildSubgraph, mergeGraph!
 
@@ -298,7 +297,6 @@ export isValidLabel
 
 ## List
 export ls, lsf, ls2
-export lsTypes, lsfTypes, lsTypesDict, lsfTypesDict
 export lsWho
 export isPrior, lsfPriors
 export hasTags, hasTagsNeighbors

src/GraphsDFG/services/GraphsDFG.jl

@@ -1,11 +1,3 @@
-
-function getDFGMetadata(fg::GraphsDFG)
-    metafields = Set(fieldnames(GraphsDFG))
-    setdiff!(metafields, [:g, :solverParams])
-    metaprops = NamedTuple(k => getproperty(fg, k) for k in metafields)
-    return metaprops
-end
-
 function hasVariable(dfg::GraphsDFG, label::Symbol)
     return haskey(dfg.g.variables, label)
 end
@@ -51,43 +43,6 @@ function addVariable!(
     return addVariable!(dfg, VD(variable))
 end
 
-#moved to abstract
-# function addFactor!(dfg::GraphsDFG{<:AbstractParams, V, F}, variables::Vector{<:V}, factor::F)::F where {V <: AbstractDFGVariable, F <: AbstractDFGFactor}
-#
-#     #TODO should this be an error
-#     if haskey(dfg.g.factors, factor.label)
-#         error("Factor '$(factor.label)' already exists in the factor graph")
-#     end
-#     # for v in variables
-#     #     if !(v.label in keys(dfg.g.metaindex[:label]))
-#     #         error("Variable '$(v.label)' not found in graph when creating Factor '$(factor.label)'")
-#     #     end
-#     # end
-#
-#     variableLabels = map(v->v.label, variables)
-#
-#     resize!(factor._variableOrderSymbols, length(variableLabels))
-#     factor._variableOrderSymbols .= variableLabels
-#     # factor._variableOrderSymbols = copy(variableLabels)
-#
-#     @assert FactorGraphs.addFactor!(dfg.g, variableLabels, factor)
-#     return factor
-# end
-#
-# function addFactor!(dfg::GraphsDFG{<:AbstractParams, <:AbstractDFGVariable, F}, variableLabels::Vector{Symbol}, factor::F)::F where F <: AbstractDFGFactor
-#     #TODO should this be an error
-#     if haskey(dfg.g.factors, factor.label)
-#         error("Factor '$(factor.label)' already exists in the factor graph")
-#     end
-#
-#     resize!(factor._variableOrderSymbols, length(variableLabels))
-#     factor._variableOrderSymbols .= variableLabels
-#
-#     @assert FactorGraphs.addFactor!(dfg.g, variableLabels, factor)
-#
-#     return factor
-# end
-
 function addFactor!(
     dfg::GraphsDFG{<:AbstractParams, <:AbstractDFGVariable, F},
     factor::F,

src/entities/DFGFactor.jl

@@ -359,15 +359,6 @@ end
 ##------------------------------------------------------------------------------
 ## Constructors
 
-#NOTE I feel like a want to force a variableOrderSymbols
-function FactorSkeleton(
-    id::Union{UUID, Nothing},
-    label::Symbol,
-    variableOrderSymbols::Vector{Symbol} = Symbol[],
-)
-    @warn "FactorSkeleton(id::Union{UUID, Nothing}...) is deprecated, use FactorSkeleton(label, variableOrderSymbols) instead"
-    return FactorSkeleton(id, label, Set{Symbol}(), variableOrderSymbols)
-end
 function FactorSkeleton(
     label::Symbol,
     variableOrderSymbols::Vector{Symbol};
@@ -377,10 +368,6 @@ function FactorSkeleton(
     return FactorSkeleton(id, label, tags, variableOrderSymbols)
 end
 
-StructTypes.StructType(::Type{FactorSkeleton}) = StructTypes.OrderedStruct()
-StructTypes.idproperty(::Type{FactorSkeleton}) = :id
-StructTypes.omitempties(::Type{FactorSkeleton}) = (:id,)
-
 ##==============================================================================
 ## Define factor levels
 ##==============================================================================

src/entities/DFGVariable.jl

@@ -89,6 +89,13 @@ function VariableState(variableType::VariableStateType; kwargs...)
     return VariableState{typeof(variableType)}(; kwargs...)
 end
 
+
+function VariableState(state::VariableState; kwargs...)
+    return VariableState{typeof(getVariableType(state))}(;
+        (key => deepcopy(getproperty(state, key)) for key in fieldnames(VariableState))...,
+        kwargs...,
+    )
+end
 ##==============================================================================
 ## PackedVariableState.jl
 ##==============================================================================
@@ -452,10 +459,6 @@ function VariableSkeleton(
     return VariableSkeleton(id, label, tags)
 end
 
-StructTypes.StructType(::Type{VariableSkeleton}) = StructTypes.UnorderedStruct()
-StructTypes.idproperty(::Type{VariableSkeleton}) = :id
-StructTypes.omitempties(::Type{VariableSkeleton}) = (:id,)
-
 ##==============================================================================
 # Define variable levels
 ##==============================================================================
@@ -473,13 +476,13 @@ function VariableSummary(v::VariableCompute)
         v.id,
         v.label,
         v.timestamp,
-        deepcopy(v.tags),
+        copy(v.tags),
         deepcopy(v.ppeDict),
         Symbol(typeof(getVariableType(v))),
         v.dataDict,
     )
 end
 
 function VariableSkeleton(v::VariableDataLevel1)
-    return VariableSkeleton(v.id, v.label, deepcopy(v.tags))
+    return VariableSkeleton(v.id, v.label, copy(v.tags))
 end