VariableCompute -> VariableDFG

Author: Affie

docs/src/DataStructure.md

@@ -17,7 +17,7 @@ Accessible properties for each of the variable structures:
 |---------------------|-------|-----------|------|-----------|-----------|----------|-------------|----------|--------------|
 | VariableSkeleton | X     |           | X    |           |           |          |             |          |              |
 | VariableSummary  | X     | X         | X    | X         | Symbol    |          |             |          | X            |
-| VariableCompute         | X     | X         | X    | X         | X         | X        | X           | X        | X            |
+| VariableDFG         | X     | X         | X    | X         | X         | X        | X           | X        | X            |
 
 Accessible properties for each of the factor structures:
 

src/Deprecated.jl

@@ -58,11 +58,11 @@ end
 # isSolvable
 # """
 function getSolveInProgress(
-    var::Union{VariableCompute, FactorCompute},
+    var::Union{VariableDFG, FactorCompute},
     solveKey::Symbol = :default,
 )
     # Variable
-    if var isa VariableCompute
+    if var isa VariableDFG
         if haskey(refStates(var), solveKey)
             return refStates(var)[solveKey].solveInProgress
         else
@@ -76,7 +76,7 @@ end
 #TODO missing set solveInProgress and graph level accessor
 
 function isSolveInProgress(
-    node::Union{VariableCompute, FactorCompute},
+    node::Union{VariableDFG, FactorCompute},
     solvekey::Symbol = :default,
 )
     return getSolveInProgress(node, solvekey) > 0
@@ -321,6 +321,12 @@ function updateBlob!(args...)
     return error("updateBlob! is obsolete as blobid=>Blob pairs are immutable.")
 end
 
+function setTags!(node, tags::Union{Vector{Symbol}, Set{Symbol}})
+    Base.depwarn("setTags! is deprecated, use mergeTags! or addTags! instead.", :setTags!)
+    node.tags !== tags && empty!(node.tags)
+    return union!(node.tags, tags)
+end
+
 ## ================================================================================
 ## Deprecated in v0.28
 ##=================================================================================

src/DistributedFactorGraphs.jl

@@ -44,7 +44,7 @@ using Tables
 # used for @defStateType
 import ManifoldsBase
 using ManifoldsBase: AbstractManifold, manifold_dimension
-export AbstractManifold, manifold_dimension
+export AbstractManifold
 
 using RecursiveArrayTools: ArrayPartition
 export ArrayPartition
@@ -64,26 +64,30 @@ export AbstractBlobstore, Blobstore
 export AbstractGraphNode, GraphNode
 export AbstractGraphVariable, GraphVariable
 export AbstractGraphFactor, GraphFactor
-export AbstractPackedObservation, PackedObservation
 export AbstractObservation, Observation
 export AbstractPriorObservation, PriorObservation
 export AbstractRelativeObservation, RelativeObservation
 export AbstractFactorCache, FactorCache
 export AbstractStateType, StateType
-export AbstractPackedBelief, PackedBelief
 
 ##------------------------------------------------------------------------------
 ## Types
 ##------------------------------------------------------------------------------
 #TODO types are not yet stable - also, we might not export types such as VariableCompute
 # Variables
-export VariableCompute, VariableDFG, VariableSummary, VariableSkeleton
+export VariableDFG
+export VariableSummary
+export VariableSkeleton
 # Factors
-export FactorDFG, FactorSummary, FactorSkeleton
+export FactorDFG
+export FactorSummary
+export FactorSkeleton
 
+#TODO Still pending timestamp field name decision
 export Blobentry
 
 export State
+export Agent
 
 ##------------------------------------------------------------------------------
 ## Functions
@@ -234,19 +238,15 @@ export GraphsDFG
 # export addState!,             getState,             mergeState!,             deleteState!
 # export addStates!,            getStates,            mergeStates!,            deleteStates!
 
-# export addBlobentry!,         getBlobentry,         mergeBlobentry!,         deleteBlobentry! # historic for VariableBlobentry
-# export addBlobentries!,       getBlobentries,       mergeBlobentries!,       deleteBlobentries!
 # export addVariableBlobentry!,   getVariableBlobentry,   mergeVariableBlobentry!,   deleteVariableBlobentry!
 # export addVariableBlobentries!, getVariableBlobentries, mergeVariableBlobentries!, deleteVariableBlobentries!
 # export addGraphBlobentry!,    getGraphBlobentry,    mergeGraphBlobentry!,    deleteGraphBlobentry!
 # export addGraphBlobentries!,  getGraphBlobentries,  mergeGraphBlobentries!,  deleteGraphBlobentries!
 # export addAgentBlobentry!,    getAgentBlobentry,    mergeAgentBlobentry!,    deleteAgentBlobentry!
 # export addAgentBlobentries!,  getAgentBlobentries,  mergeAgentBlobentries!,  deleteAgentBlobentries!
-#TODO blob entries not implemented on factors yet
 # export addFactorBlobentry!,   getFactorBlobentry,   mergeFactorBlobentry!,   deleteFactorBlobentry!
 # export addFactorBlobentries!, getFactorBlobentries, mergeFactorBlobentries!, deleteFactorBlobentries!
 
-# TODO first pass progress
 # export addVariableBloblet!,  getVariableBloblet,  mergeVariableBloblet!,  deleteVariableBloblet!
 # export addVariableBloblets!, getVariableBloblets, mergeVariableBloblets!, deleteVariableBloblets!
 # export addFactorBloblet!,    getFactorBloblet,    mergeFactorBloblet!,    deleteFactorBloblet!
@@ -257,13 +257,45 @@ export GraphsDFG
 # export addGraphBloblets!,    getGraphBloblets,    mergeGraphBloblets!,    deleteGraphBloblets!
 
 ## list
-# export listVariables, listFactors, listStates, listBlobentries, listFactorBlobEntries, listGraphBlobentries, listAgentBlobentries
-# not implemented yet (maybe not for DFG v1.0 yet):
-# export listVariableMetadata, listFactorMetadata, listAgentMetadata, listGraphMetadata
-# export listVariableBlobentryMetadata, listFactorBlobentryMetadata, listAgentBlobentryMetadata, listGraphBlobentryMetadata
+# export listVariables, listFactors, listStates, listVariableBlobentries, listFactorBlobEntries, listGraphBlobentries, listAgentBlobentries
+# export listVariableBloblets, listFactorBloblets, listAgentBloblets, listGraphBloblets
+
+# tags
+# export listVariableTags, mergeVariableTags!, deleteVariableTags!
+# export listFactorTags, mergeFactorTags!, deleteFactorTags!
+# export listGraphTags, mergeGraphTags!, deleteGraphTags!
+# export listAgentTags, mergeAgentTags!, deleteAgentTags!
+
+# has
+# export hasVariable, hasFactor, hasState
+# export hasVariableBlobentry, hasFactorBlobentry, hasGraphBlobentry, hasAgentBlobentry
+# export hasVariableBloblet, hasFactorBloblet, hasGraphBloblet, hasAgentBloblet
+# export hasVariableTags, hasFactorTags, hasGraphTags, hasAgentTags
 
 export deleteVariables!
 export deleteFactors!
+
+# Tags
+export listVariableTags
+export mergeVariableTags!
+export deleteVariableTags!
+export hasVariableTags
+
+export listFactorTags
+export mergeFactorTags!
+export deleteFactorTags!
+export hasFactorTags
+
+export listGraphTags
+export mergeGraphTags!
+export deleteGraphTags!
+export hasGraphTags
+
+export listAgentTags
+export mergeAgentTags!
+export deleteAgentTags!
+export hasAgentTags
+
 ##==============================================================================
 ## Common Accessors 
 ##==============================================================================
@@ -286,16 +318,6 @@ public FolderStore
 ##------------------------------------------------------------------------------
 # tags is a set: get/list, merge, empty, and remove (we don't have add but merge)
 
-export listVariableTags
-export listFactorTags
-export listGraphTags
-export listAgentTags
-
-export mergeVariableTags!
-export mergeFactorTags!
-export mergeGraphTags!
-export mergeAgentTags!
-
 public listTags
 public mergeTags!
 public emptyTags!
@@ -313,17 +335,44 @@ export mergeVariableBloblet!
 export deleteVariableBloblet!
 export listVariableBloblets
 
+export addVariableBloblets!
+export getVariableBloblets
+export mergeVariableBloblets!
+export deleteVariableBloblets!
+
 export getAgentBloblet
 export addAgentBloblet!
 export mergeAgentBloblet!
 export deleteAgentBloblet!
 export listAgentBloblets
 
+export addAgentBloblets!
+export getAgentBloblets
+export mergeAgentBloblets!
+export deleteAgentBloblets!
+
 export getGraphBloblet
 export addGraphBloblet!
 export mergeGraphBloblet!
 export deleteGraphBloblet!
 export listGraphBloblets
+
+export addGraphBloblets!
+export getGraphBloblets
+export mergeGraphBloblets!
+export deleteGraphBloblets!
+
+export addFactorBloblet!
+export getFactorBloblet
+export mergeFactorBloblet!
+export deleteFactorBloblet!
+export listFactorBloblets
+
+export addFactorBloblets!
+export getFactorBloblets
+export mergeFactorBloblets!
+export deleteFactorBloblets!
+
 ##------------------------------------------------------------------------------
 ## FileDFG
 ##------------------------------------------------------------------------------
@@ -344,9 +393,6 @@ export lsf # alias for listFactors
 ## Other utility functions
 ##------------------------------------------------------------------------------
 
-export listNeighborhood
-export listNeighbors
-
 ## TODO maybe move to DFG from SDK
 # addAgent!
 # deleteAgent!
@@ -371,7 +417,8 @@ public getStateKind
 # list of unstable functions not exported any more
 # will move to public or deprecate over time
 const unstable_functions::Vector{Symbol} = [
-    :getTags,
+    :listNeighborhood,
+    :listNeighbors,
     :InMemoryBlobstore,
     :exists,
     :compare,
@@ -451,12 +498,17 @@ const unstable_functions::Vector{Symbol} = [
     :setSolverParams!,
     :setDescription!,
     :setSolvable!,
-    :setTags!,
     :setSolvedCount!,
     :setMarginalized!,
     # no set on these
 
     #deprecated in v0.29
+    :setTags!,
+    :VariableCompute,
+    :AbstractPackedBelief,
+    :PackedBelief,
+    :AbstractPackedObservation,
+    :PackedObservation,
     :updateMetadata!,## TODO deprecated or obsolete
     :updateBlob!,## TODO deprecated or obsolete
     :getFactorState, # FIXME getFactorState were questioned and being reviewed again for name, other than that they are checked.

src/FileDFG/services/FileDFG.jl

@@ -118,7 +118,7 @@ function loadDFG!(
     # extract the factor graph from fileDFG folder
     variablefiles = readdir(joinpath(loaddir, "variables"); sort = false, join = true)
 
-    # type instability on `variables` as either `::Vector{Variable}` or `::Vector{VariableCompute{<:}}` (vector of abstract)
+    # type instability on `variables` as either `::Vector{Variable}` or `::Vector{VariableDFG{<:}}` (vector of abstract)
     variables = @showprogress dt=1 desc = "loading variables" asyncmap(
         variablefiles,
     ) do file

src/GraphsDFG/entities/GraphsDFG.jl

@@ -82,26 +82,18 @@ function GraphsDFG{T, V, F}(
     return GraphsDFG{T, V, F}(g, solverParams, blobStores, graph, agent)
 end
 
-# GraphsDFG{T}(; kwargs...) where T <: AbstractDFGParams = GraphsDFG{T,VariableCompute,FactorDFG}(;kwargs...)
+# GraphsDFG{T}(; kwargs...) where T <: AbstractDFGParams = GraphsDFG{T,VariableDFG,FactorDFG}(;kwargs...)
 function GraphsDFG{T}(
-    g::FactorGraph{Int, VariableCompute, FactorDFG} = FactorGraph{
-        Int,
-        VariableCompute,
-        FactorDFG,
-    }();
+    g::FactorGraph{Int, VariableDFG, FactorDFG} = FactorGraph{Int, VariableDFG, FactorDFG}();
     kwargs...,
 ) where {T <: AbstractDFGParams}
-    return GraphsDFG{T, VariableCompute, FactorDFG}(g; kwargs...)
+    return GraphsDFG{T, VariableDFG, FactorDFG}(g; kwargs...)
 end
 
 function GraphsDFG(
-    g::FactorGraph{Int, VariableCompute, FactorDFG} = FactorGraph{
-        Int,
-        VariableCompute,
-        FactorDFG,
-    }();
+    g::FactorGraph{Int, VariableDFG, FactorDFG} = FactorGraph{Int, VariableDFG, FactorDFG}();
     solverParams::T = NoSolverParams(),
     kwargs...,
 ) where {T}
-    return GraphsDFG{T, VariableCompute, FactorDFG}(g; solverParams, kwargs...)
+    return GraphsDFG{T, VariableDFG, FactorDFG}(g; solverParams, kwargs...)
 end

src/GraphsDFG/services/GraphsDFG.jl

@@ -304,14 +304,6 @@ function isConnected(dfg::GraphsDFG)
     # return length(Graphs.connected_components(dfg.g)) == 1
 end
 
-_isSolvable(dfg::GraphsDFG, label::Symbol, ready::Nothing) = true
-
-function _isSolvable(dfg::GraphsDFG, label::Symbol, ready::Int)
-    haskey(dfg.g.variables, label) && (return dfg.g.variables[label].solvable[] >= ready)
-    haskey(dfg.g.factors, label) && (return dfg.g.factors[label].solvable[] >= ready)
-    throw(LabelNotFoundError(label))
-end
-
 function listNeighbors(
     dfg::GraphsDFG,
     node::AbstractGraphNode;

src/entities/DFGVariable.jl

@@ -327,7 +327,7 @@ end
 ## Conversion constructors
 ##==============================================================================
 
-function VariableSummary(v::VariableCompute{T}) where {T}
+function VariableSummary(v::VariableDFG{T}) where {T}
     return VariableSummary(
         v.label,
         v.timestamp,

src/services/AbstractDFG.jl

@@ -144,14 +144,14 @@ function hasFactor end
 
 """
     $(SIGNATURES)
-Add a VariableCompute to a DFG.
+Add a VariableDFG to a DFG.
 Implement `addVariable!(dfg::AbstractDFG, variable::AbstractGraphVariable)`
 """
 function addVariable! end
 
 """
     $(SIGNATURES)
-Add a Vector{VariableCompute} to a DFG.
+Add a Vector{VariableDFG} to a DFG.
 Implement `addVariables!(dfg::AbstractDFG, variables::Vector{<:AbstractGraphVariable})`
 """
 function addVariables!(dfg::AbstractDFG, variables::Vector{<:AbstractGraphVariable})
@@ -179,7 +179,7 @@ end
 
 """
     $(SIGNATURES)
-Get a VariableCompute from a DFG using its label.
+Get a VariableDFG from a DFG using its label.
 Implement `getVariable(dfg::AbstractDFG, label::Symbol)`
 """
 function getVariable end
@@ -259,7 +259,7 @@ end
 
 """
     $(SIGNATURES)
-Delete a VariableCompute from the DFG.
+Delete a VariableDFG from the DFG.
 Implement `deleteVariable!(dfg::AbstractDFG, label::Symbol)`
 """
 function deleteVariable! end
@@ -315,7 +315,7 @@ end
 
 Return whether `sym::Symbol` represents a variable vertex in the graph DFG.
 Checks whether it both exists in the graph and is a variable.
-(If you rather want a quick for type, just do node isa VariableCompute)
+(If you rather want a quick for type, just do node isa VariableDFG)
 Implement `isVariable(dfg::AbstractDFG, label::Symbol)`
 """
 function isVariable end
@@ -358,7 +358,7 @@ function listNeighbors end
 #TODO should this signiture be standardized or removed?
 """
     $(SIGNATURES)
-Get a VariableCompute with a specific solver key.
+Get a VariableDFG with a specific solver key.
 In memory types still return a reference, other types returns a variable with only solveKey.
 """
 function getVariable(dfg::AbstractDFG, label::Symbol, solveKey::Symbol)

src/services/CompareUtils.jl

@@ -246,8 +246,8 @@ end
 Compare that all fields are the same in a `::FactorGraph` variable.
 """
 function compareVariable(
-    A::VariableCompute,
-    B::VariableCompute;
+    A::VariableDFG,
+    B::VariableDFG;
     skip::Vector{Symbol} = Symbol[],
     show::Bool = true,
     skipsamples::Bool = true,