Add some missing functions, Blobentry and merge

Author: Affie

docs/src/GraphData.md

@@ -161,6 +161,6 @@ Agent and Graph bloblets are useful for storing data that is related to the enti
 Example of using graph-level data:
 
 ```julia
-setAgentMetadata!(dfg, Dict(:a => "Hello"))
-getAgentMetadata(dfg)
+addAgentBloblet!(dfg, Bloblet(:status, "ready"))
+getAgentBloblet(dfg, :status)
 ```

src/DataBlobs/services/BlobEntry.jl

@@ -13,11 +13,11 @@ end
 function getBlobentries(
     node;
     labelFilter::Union{Nothing, Function} = nothing,
-    blobIdFilter::Union{Nothing, Function} = nothing,
+    blobidFilter::Union{Nothing, Function} = nothing,
 )
     entries = collect(values(refBlobentries(node)))
     filterDFG!(entries, labelFilter, getLabel)
-    filterDFG!(entries, blobIdFilter, x -> string(x.blobid))
+    filterDFG!(entries, blobidFilter, x -> string(x.blobid))
     return entries
 end
 
@@ -195,6 +195,52 @@ function listModelBlobentries end
 function hasGraphBlobentry end
 function hasAgentBlobentry end
 function hasModelBlobentry end
+
+##==============================================================================
+## Default Variable/Factor implementations
+##==============================================================================
+
+function getVariableBlobentry(dfg::AbstractDFG, variableLabel::Symbol, label::Symbol)
+    return getBlobentry(getVariable(dfg, variableLabel), label)
+end
+
+function getVariableBlobentries(
+    dfg::AbstractDFG,
+    variableLabel::Symbol;
+    labelFilter::Union{Nothing, Function} = nothing,
+    blobidFilter::Union{Nothing, Function} = nothing,
+)
+    return getBlobentries(getVariable(dfg, variableLabel); labelFilter, blobidFilter)
+end
+
+function listVariableBlobentries(dfg::AbstractDFG, variableLabel::Symbol)
+    return listBlobentries(getVariable(dfg, variableLabel))
+end
+
+function hasVariableBlobentry(dfg::AbstractDFG, variableLabel::Symbol, label::Symbol)
+    return hasBlobentry(getVariable(dfg, variableLabel), label)
+end
+
+function getFactorBlobentry(dfg::AbstractDFG, factorLabel::Symbol, label::Symbol)
+    return getBlobentry(getFactor(dfg, factorLabel), label)
+end
+
+function getFactorBlobentries(
+    dfg::AbstractDFG,
+    factorLabel::Symbol;
+    labelFilter::Union{Nothing, Function} = nothing,
+    blobidFilter::Union{Nothing, Function} = nothing,
+)
+    return getBlobentries(getFactor(dfg, factorLabel); labelFilter, blobidFilter)
+end
+
+function listFactorBlobentries(dfg::AbstractDFG, factorLabel::Symbol)
+    return listBlobentries(getFactor(dfg, factorLabel))
+end
+
+function hasFactorBlobentry(dfg::AbstractDFG, factorLabel::Symbol, label::Symbol)
+    return hasBlobentry(getFactor(dfg, factorLabel), label)
+end
 ##==============================================================================
 ## Blobentry [default] bulk operations
 ##==============================================================================
@@ -280,19 +326,10 @@ end
 ## Blobentry - Helper functions, Lists, etc
 ##==============================================================================
 
-function getVariableBlobentries(
-    dfg::AbstractDFG,
-    variableLabel::Symbol;
-    labelFilter::Union{Nothing, Function} = nothing,
-    blobIdFilter::Union{Nothing, Function} = nothing,
-)
-    return getBlobentries(getVariable(dfg, variableLabel); labelFilter, blobIdFilter)
-end
-
 function gatherBlobentries(
     dfg::AbstractDFG;
     labelFilter::Union{Nothing, Function} = nothing,
-    blobIdFilter::Union{Nothing, Function} = nothing,
+    blobidFilter::Union{Nothing, Function} = nothing,
     solvableFilter::Union{Nothing, Function} = nothing,
     tagsFilter::Union{Nothing, Function} = nothing,
     typeFilter::Union{Nothing, Function} = nothing,
@@ -306,15 +343,11 @@ function gatherBlobentries(
         labelFilter = variableLabelFilter,
     )
     return map(vls) do vl
-        return vl => getVariableBlobentries(dfg, vl; labelFilter, blobIdFilter)
+        return vl => getVariableBlobentries(dfg, vl; labelFilter, blobidFilter)
     end
 end
 const collectBlobentries = gatherBlobentries
 
-function listVariableBlobentries(dfg::AbstractDFG, label::Symbol)
-    return listBlobentries(getVariable(dfg, label))
-end
-
 """
     $(SIGNATURES)
 Finds and returns the first blob entry that matches the filter.
@@ -324,11 +357,11 @@ Also see: [`getBlobentry`](@ref)
 function getfirstBlobentry(
     node;
     labelFilter::Union{Nothing, Function} = nothing,
-    blobIdFilter::Union{Nothing, Function} = nothing,
+    blobidFilter::Union{Nothing, Function} = nothing,
     sortby::Function = getLabel,
     sortlt::Function = natural_lt,
 )
-    entries = getBlobentries(node; labelFilter, blobIdFilter)
+    entries = getBlobentries(node; labelFilter, blobidFilter)
     if isempty(entries)
         return nothing
     else
@@ -340,9 +373,9 @@ function getfirstVariableBlobentry(
     dfg::AbstractDFG,
     label::Symbol;
     labelFilter::Union{Nothing, Function} = nothing,
-    blobIdFilter::Union{Nothing, Function} = nothing,
+    blobidFilter::Union{Nothing, Function} = nothing,
 )
-    return getfirstBlobentry(getVariable(dfg, label); labelFilter, blobIdFilter)
+    return getfirstBlobentry(getVariable(dfg, label); labelFilter, blobidFilter)
 end
 
 ## =============================================================================

src/Deprecated.jl

@@ -629,18 +629,18 @@ end
 
 function getfirstBlobentry(var::AbstractGraphVariable, blobId::UUID)
     Base.depwarn(
-        "getfirstBlobentry(var, blobId) is deprecated, use getfirstBlobentry(var; blobIdFilter = ==(string(blobId))) instead.",
+        "getfirstBlobentry(var, blobId) is deprecated, use getfirstBlobentry(var; blobidFilter = ==(string(blobId))) instead.",
         :getfirstBlobentry,
     )
-    return getfirstBlobentry(var; blobIdFilter = ==(string(blobId)))
+    return getfirstBlobentry(var; blobidFilter = ==(string(blobId)))
 end
 
 function getfirstBlobentry(dfg::AbstractDFG, label::Symbol, blobId::UUID)
     Base.depwarn(
-        "getfirstBlobentry(dfg, label, blobId) is deprecated, use getfirstBlobentry(dfg, label; blobIdFilter = ==(string(blobId))) instead.",
+        "getfirstBlobentry(dfg, label, blobId) is deprecated, use getfirstBlobentry(dfg, label; blobidFilter = ==(string(blobId))) instead.",
         :getfirstBlobentry,
     )
-    return getfirstBlobentry(dfg, label; blobIdFilter = ==(string(blobId)))
+    return getfirstBlobentry(dfg, label; blobidFilter = ==(string(blobId)))
 end
 
 function getfirstBlobentry(var::AbstractGraphVariable, key::Regex)

src/DistributedFactorGraphs.jl

@@ -601,7 +601,6 @@ const LocalDFG = GraphsDFG
 
 include("services/Tags.jl")
 include("services/Bloblet.jl")
-include("services/Blobentry.jl")
 
 # Common includes
 include("services/DFGVariable.jl")

src/GraphsDFG/services/GraphsDFG.jl

@@ -91,11 +91,6 @@ function mergeVariable!(dfg::GraphsDFG, variable::AbstractGraphVariable)
     return 1
 end
 
-function DFG.mergeVariables!(dfg::GraphsDFG, variables)
-    cnts = map(v -> mergeVariable!(dfg, v), variables)
-    return sum(cnts)
-end
-
 function mergeFactor!(dfg::GraphsDFG, factor::AbstractGraphFactor)
     if !haskey(dfg.g.factors, factor.label)
         addFactor!(dfg, factor)
@@ -112,11 +107,6 @@ function mergeFactor!(dfg::GraphsDFG, factor::AbstractGraphFactor)
     return 1
 end
 
-function DFG.mergeFactors!(dfg::GraphsDFG, factors)
-    cnts = map(f -> mergeFactor!(dfg, f), factors)
-    return sum(cnts)
-end
-
 function deleteVariable!(dfg::GraphsDFG, label::Symbol)#::Tuple{AbstractGraphVariable, Vector{<:AbstractGraphFactor}}
     if !haskey(dfg.g.variables, label)
         throw(LabelNotFoundError("Variable", label))
@@ -653,6 +643,42 @@ function DFG.mergeAgentBlobentries!(dfg::GraphsDFG, entries::Vector{Blobentry})
     return sum(cnts)
 end
 
+##=============================================================================
+## Variable Blobentries
+##=============================================================================
+
+function DFG.addVariableBlobentry!(dfg::GraphsDFG, label::Symbol, entry::Blobentry)
+    variable = getVariable(dfg, label)
+    addBlobentry!(variable, entry)
+    return entry
+end
+
+function DFG.mergeVariableBlobentry!(dfg::GraphsDFG, label::Symbol, entry::Blobentry)
+    return mergeBlobentry!(getVariable(dfg, label), entry)
+end
+
+function DFG.deleteVariableBlobentry!(dfg::GraphsDFG, label::Symbol, entryLabel::Symbol)
+    return deleteBlobentry!(getVariable(dfg, label), entryLabel)
+end
+
+##=============================================================================
+## Factor Blobentries
+##=============================================================================
+
+function DFG.addFactorBlobentry!(dfg::GraphsDFG, label::Symbol, entry::Blobentry)
+    factor = getFactor(dfg, label)
+    addBlobentry!(factor, entry)
+    return entry
+end
+
+function DFG.mergeFactorBlobentry!(dfg::GraphsDFG, label::Symbol, entry::Blobentry)
+    return mergeBlobentry!(getFactor(dfg, label), entry)
+end
+
+function DFG.deleteFactorBlobentry!(dfg::GraphsDFG, label::Symbol, entryLabel::Symbol)
+    return deleteBlobentry!(getFactor(dfg, label), entryLabel)
+end
+
 function DFG.deleteGraphBlobentry!(dfg::GraphsDFG, label::Symbol)
     if !haskey(dfg.graph.blobentries, label)
         throw(LabelNotFoundError("Blobentry", label))

src/services/AbstractDFG.jl

@@ -238,7 +238,11 @@ otherwise, the variable will be added to the graph.
 Implement `mergeVariable!(dfg::AbstractDFG, variable::AbstractGraphVariable)`
 """
 function mergeVariable! end
-function mergeVariables! end
+
+function mergeVariables!(dfg::AbstractDFG, variables::Vector{<:AbstractGraphVariable})
+    counts = asyncmap(v->mergeVariable!(dfg, v), variables)
+    return sum(counts)
+end
 
 """
     $(SIGNATURES)
@@ -247,7 +251,11 @@ otherwise, the factor will be added to the graph.
 Implement `mergeFactor!(dfg::AbstractDFG, factor::AbstractGraphFactor)`
 """
 function mergeFactor! end
-function mergeFactors! end
+
+function mergeFactors!(dfg::AbstractDFG, factors::Vector{<:AbstractGraphFactor})
+    counts = asyncmap(f->mergeFactor!(dfg, f), factors)
+    return sum(counts)
+end
 
 """
     $(SIGNATURES)
@@ -436,7 +444,7 @@ Common function for copying nodes from one graph into another graph.
 This is overridden in specialized implementations for performance.
 Orphaned factors are not added, with a warning if verbose.
 Set `overwriteDest` to overwrite existing variables and factors in the destination DFG.
-NOTE: copyGraphMetadata not supported yet.
+NOTE: `copyGraphMetadata` is deprecated – use agent/graph Bloblets instead.
 Related:
 - [`deepcopyGraph`](@ref)
 - [`deepcopyGraph!`](@ref)
@@ -498,8 +506,10 @@ function copyGraph!(
     end
 
     if copyGraphMetadata
-        setAgentMetadata(destDFG, getAgentMetadata(sourceDFG))
-        setGraphMetadata(destDFG, getGraphMetadata(sourceDFG))
+        error(
+            "copyGraphMetadata keyword has been removed – metadata APIs were replaced by Bloblets. " *
+            "Copy agent/graph Bloblets manually before calling copyGraph!",
+        )
     end
     return nothing
 end

src/services/Blobentry.jl

@@ -197,14 +197,13 @@ end
 
     @test_throws LabelNotFoundError isInitialized(v2, :second)
 
-    # Session, robot, and user small data tests
-    #FIXME change to Bloblets
-    # smallRobotData = Dict{Symbol, MetadataTypes}(:a => "43", :b => "Hello")
-    # smallSessionData = Dict{Symbol, MetadataTypes}(:a => "44", :b => "Hello")
-    # setAgentMetadata!(dfg, deepcopy(smallRobotData))
-    # setGraphMetadata!(dfg, deepcopy(smallSessionData))
-    # @test getAgentMetadata(dfg) == smallRobotData
-    # @test getGraphMetadata(dfg) == smallSessionData
+    # Graph and Agent small data tests
+    agentBloblets = [Bloblet(:a, "43"), Bloblet(:b, "Hello")]
+    graphBloblets = [Bloblet(:c, "44"), Bloblet(:d, "Hello")]
+    DFG.addAgentBloblets!(dfg, agentBloblets)
+    DFG.addGraphBloblets!(dfg, graphBloblets)
+    @test DFG.listAgentBloblets(dfg) == [:a, :b]
+    @test DFG.listGraphBloblets(dfg) == [:c, :d]
 end
 
 @testset "Data Entries" begin

test/iifInterfaceTests.jl

@@ -7,6 +7,7 @@ if false
     using UUIDs
     using TimeZones
     using TimesDates
+    using DistributedFactorGraphs: OrderedDict
 
     include("testBlocks.jl")
 
@@ -33,13 +34,13 @@ end
 end
 
 # User, Robot, Session Data
-# @testset "User, Robot, Session Data" begin
-#     GraphAgentMetadata!(fg1)
-# end
+@testset "User, Robot, Session Data" begin
+    GraphAgentBloblets!(fg1)
+end
 
-# @testset "User, Robot, Session Blob Entries" begin
-#     GraphAgentBlobentries!(fg1)
-# end
+@testset "User, Robot, Session Blob Entries" begin
+    GraphAgentBlobentries!(fg1)
+end
 
 # VariableCompute structure construction and accessors
 @testset "DFG Variable" begin