Standardize Variable and Factor Levels (#1109)

* better progress in loadDFG!

* rn SkeletonDFGVariable -> VariableSkeleton

* rn DFGVariableSummary -> VariableSummary

* rn DFGVariable -> VariableCompute

* rn PackedVariable/Variable -> VariableDFG

* rn SkeletonDFGFactor -> FactorSkeleton

* rn DFGFactorSummary -> FactorSummary

* rn DFGFactor -> FactorCompute

* rn PackedFactor/Factor -> FactorDFG

Author: Affie

NEWS.md

@@ -10,6 +10,20 @@ Listing news on any major breaking changes in DFG.  For regular changes, see int
     UserLabel -> AgentLabel
     RobotLabel -> AgentLabel
     SessionLabel -> GraphLabel
+
+Variables and Factors are renamed and aliased to the old names, see #1109.
+- Factor-level noun-adjectives
+    SkeletonDFGFactor -> FactorSkeleton
+    DFGFactorSummary -> FactorSummary
+    DFGFactor -> FactorCompute
+    PackedFactor/Factor -> FactorDFG
+
+- Variable-level noun-adjectives
+    SkeletonDFGVariable -> VariableSkeleton
+    DFGVariableSummary -> VariableSummary
+    DFGVariable -> VariableCompute
+    PackedVariable/Variable -> VariableDFG
+
 - v0.24 FileDFGs can be loaded with v0.25 with the exception of the User[Label/Data/BlobEntries]
 
 # v0.24

Project.toml

@@ -56,7 +56,7 @@ Graphs = "1.4"
 InteractiveUtils = "1.10"
 JSON3 = "1"
 LinearAlgebra = "1.10"
-Manifolds = "0.9"
+Manifolds = "0.9, 0.10"
 ManifoldsBase = "0.14, 0.15"
 OrderedCollections = "1.4"
 Pkg = "1.4, 1.5"

attic/SerializationOld.jl

@@ -238,7 +238,7 @@ end
 ##==============================================================================
 ## Variable Packing and unpacking
 ##==============================================================================
-function packVariable(v::DFGVariable)
+function packVariable(v::VariableCompute)
     props = Dict{String, Any}()
     props["label"] = string(v.label)
     props["timestamp"] = v.timestamp
@@ -286,7 +286,7 @@ end
 
 """
     $SIGNATURES
-Returns a DFGVariable.
+Returns a VariableCompute.
 
 DevNotes
 - v0.19 packVariable fixed nested JSON bug on these fields, see #867:
@@ -404,11 +404,11 @@ function unpackVariable(
     else
         Dict{Symbol, VariableNodeData{variableType, pointType}}()
     end
-    # Rebuild DFGVariable using the first solver variableType in solverData
+    # Rebuild VariableCompute using the first solver variableType in solverData
     # @info "dbg Serialization 171" variableType Symbol(packedProps["label"]) timestamp nstime ppeDict solverData smallData Dict{Symbol,AbstractBlobEntry}() Ref(packedProps["solvable"])
-    # variable = DFGVariable{variableType}(Symbol(packedProps["label"]), timestamp, nstime, Set(tags), ppeDict, solverData,  smallData, Dict{Symbol,AbstractBlobEntry}(), Ref(packedProps["solvable"]))
+    # variable = VariableCompute{variableType}(Symbol(packedProps["label"]), timestamp, nstime, Set(tags), ppeDict, solverData,  smallData, Dict{Symbol,AbstractBlobEntry}(), Ref(packedProps["solvable"]))
 
-    variable = DFGVariable{variableType}(;
+    variable = VariableCompute{variableType}(;
         id,
         label = Symbol(packedProps["label"]),
         # variableType = variableType, 
@@ -562,7 +562,7 @@ end
 ## Factor Packing and unpacking
 ##==============================================================================
 
-function _packSolverData(f::DFGFactor, fnctype::AbstractFactor)
+function _packSolverData(f::FactorCompute, fnctype::AbstractFactor)
     #
     packtype = convertPackedType(fnctype)
     try
@@ -579,7 +579,7 @@ function _packSolverData(f::DFGFactor, fnctype::AbstractFactor)
 end
 
 # returns ::Dict{String, <:Any}
-function packFactor(dfg::AbstractDFG, f::DFGFactor)
+function packFactor(dfg::AbstractDFG, f::FactorCompute)
     # Construct the properties to save
     props = Dict{String, Any}()
     props["id"] = f.id !== nothing ? string(f.id) : nothing
@@ -692,7 +692,7 @@ function fncStringToData(fncType::String, data::Union{String, <:NamedTuple})
     return fncStringToData(packtype, data)
 end
 
-# Returns `::DFGFactor`
+# Returns `::FactorCompute`
 function unpackFactor(
     dfg::G,
     packedProps::Dict{String, Any};
@@ -753,9 +753,9 @@ function unpackFactor(
         Dict{Symbol, SmallDataTypes}()
     end
 
-    # Rebuild DFGFactor
+    # Rebuild FactorCompute
     #TODO use constuctor to create factor
-    factor = DFGFactor(
+    factor = FactorCompute(
         Symbol(label),
         timestamp,
         nstime,

docs/src/DataStructure.md

@@ -15,37 +15,37 @@ Accessible properties for each of the variable structures:
 
 |                     | Label | Timestamp | Tags | Estimates | Soft Type | Solvable | Solver Data | Metadata | Blob Entries |
 |---------------------|-------|-----------|------|-----------|-----------|----------|-------------|----------|--------------|
-| SkeletonDFGVariable | X     |           | X    |           |           |          |             |          |              |
-| DFGVariableSummary  | X     | X         | X    | X         | Symbol    |          |             |          | X            |
-| DFGVariable         | X     | X         | X    | X         | X         | X        | X           | X        | X            |
+| VariableSkeleton | X     |           | X    |           |           |          |             |          |              |
+| VariableSummary  | X     | X         | X    | X         | Symbol    |          |             |          | X            |
+| VariableCompute         | X     | X         | X    | X         | X         | X        | X           | X        | X            |
 
 Accessible properties for each of the factor structures:
 
 |                   | Label | Timestamp | Tags | Factor Type | Solvable | Solver Data |
 |-------------------|-------|-----------|------|-------------|----------|-------------|
-| SkeletonDFGFactor | X     |           | X    |             |          |             |
-| DFGFactorSummary  | X     | X         | X    |             |          |             |
-| DFGFactor         | X     | X         | X    | X           | X        | X           |
+| FactorSkeleton | X     |           | X    |             |          |             |
+| FactorSummary  | X     | X         | X    |             |          |             |
+| FactorCompute         | X     | X         | X    | X           | X        | X           |
 
 ## DFG Skeleton types
 
-- [`SkeletonDFGVariable`](@ref)
-- [`SkeletonDFGFactor`](@ref)
+- [`VariableSkeleton`](@ref)
+- [`FactorSkeleton`](@ref)
 
 ## DFG Summary types
 
-- [`DFGVariableSummary`](@ref)
-- [`DFGFactorSummary`](@ref)
+- [`VariableSummary`](@ref)
+- [`FactorSummary`](@ref)
 
 ## DFG Portable and Storeable types
 
-- [`Variable`](@ref)
-- [`PackedFactor`](@ref)
+- [`VariableDFG`](@ref)
+- [`FactorDFG`](@ref)
 
 ## DFG Full solvable types
 
-- [`DFGVariable`](@ref)
-- [`DFGFactor`](@ref)
+- [`VariableCompute`](@ref)
+- [`FactorCompute`](@ref)
 
 ## Additional Offloaded Data
 

src/DataBlobs/services/BlobEntry.jl

@@ -77,7 +77,7 @@ function getBlobEntry(var::AbstractDFGVariable, key::Symbol)
     return var.dataDict[key]
 end
 
-function getBlobEntry(var::PackedVariable, key::Symbol)
+function getBlobEntry(var::VariableDFG, key::Symbol)
     if !hasBlobEntry(var, key)
         throw(
             KeyError(
@@ -116,7 +116,7 @@ function getBlobEntryFirst(var::AbstractDFGVariable, key::Regex)
     )
 end
 
-function getBlobEntryFirst(var::Variable, key::Regex)
+function getBlobEntryFirst(var::VariableDFG, key::Regex)
     firstIdx = findfirst(x -> contains(string(x.label), key), var.blobEntries)
     if isnothing(firstIdx)
         throw(KeyError("$key"))
@@ -129,7 +129,7 @@ function getBlobEntryFirst(dfg::AbstractDFG, label::Symbol, key::Regex)
 end
 
 # TODO Consider autogenerating all methods of the form:
-# verbNoun(dfg::DFGVariable, label::Symbol, args...; kwargs...) = verbNoun(getVariable(dfg, label), args...; kwargs...)
+# verbNoun(dfg::VariableCompute, label::Symbol, args...; kwargs...) = verbNoun(getVariable(dfg, label), args...; kwargs...)
 # with something like:
 # getvariablemethod = [
 #     :getBlobEntryFirst,
@@ -160,7 +160,7 @@ function addBlobEntry!(var::AbstractDFGVariable, entry::BlobEntry;)
     return entry
 end
 
-function addBlobEntry!(var::PackedVariable, entry::BlobEntry)
+function addBlobEntry!(var::VariableDFG, entry::BlobEntry)
     entry.label in getproperty.(var.blobEntries, :label) &&
         error("blobEntry $(entry.label) already exists on variable $(getLabel(var))")
     push!(var.blobEntries, entry)
@@ -205,7 +205,7 @@ function deleteBlobEntry!(var::AbstractDFGVariable, key::Symbol)
     return pop!(var.dataDict, key)
 end
 
-function deleteBlobEntry!(var::PackedVariable, key::Symbol)
+function deleteBlobEntry!(var::VariableDFG, key::Symbol)
     if !hasBlobEntry(var, key)
         throw(
             KeyError(
@@ -238,7 +238,7 @@ Does a blob entry (element) exist with `blobLabel`.
 """
 hasBlobEntry(var::AbstractDFGVariable, blobLabel::Symbol) = haskey(var.dataDict, blobLabel)
 
-function hasBlobEntry(var::PackedVariable, label::Symbol)
+function hasBlobEntry(var::VariableDFG, label::Symbol)
     return label in getproperty.(var.blobEntries, :label)
 end
 
@@ -252,7 +252,7 @@ function getBlobEntries(var::AbstractDFGVariable)
     return collect(values(var.dataDict))
 end
 
-function getBlobEntries(var::PackedVariable)
+function getBlobEntries(var::VariableDFG)
     return var.blobEntries
 end
 
@@ -311,7 +311,7 @@ function listBlobEntries(var::AbstractDFGVariable)
     return collect(keys(var.dataDict))
 end
 
-function listBlobEntries(var::PackedVariable)
+function listBlobEntries(var::VariableDFG)
     return getproperty.(var.blobEntries, :label)
 end
 

src/DistributedFactorGraphs.jl

@@ -135,10 +135,10 @@ export getSummaryGraph
 export DFGNode, AbstractDFGVariable, AbstractDFGFactor
 
 # Variables
-export DFGVariable, DFGVariableSummary, SkeletonDFGVariable, PackedVariable
+export VariableCompute, VariableSummary, VariableSkeleton, VariableDFG
 
 # Factors
-export DFGFactor, DFGFactorSummary, SkeletonDFGFactor, PackedFactor, Factor
+export FactorCompute, FactorSummary, FactorSkeleton, FactorDFG
 
 # Common
 export getSolvable, setSolvable!, isSolvable
@@ -330,6 +330,7 @@ export plotDFG
 
 ## TODO maybe move to DFG
 # addAgent!
+# deleteAgent!
 # listAgents
 # addGraph!
 # deleteGraph!
@@ -393,4 +394,35 @@ include("Common.jl")
 
 include("weakdeps_prototypes.jl")
 
+#TODO start off as just an alias before deprecating
+# Starting Variable-level nouns-adjective standardisation 
+export SkeletonDFGVariable
+const SkeletonDFGVariable = VariableSkeleton
+
+export DFGVariableSummary
+const DFGVariableSummary = VariableSummary
+
+export DFGVariable
+const DFGVariable = VariableCompute
+
+export PackedVariable
+const PackedVariable = VariableDFG
+export Variable
+const Variable = VariableDFG
+
+# Starting Factor-level noun-adjective standardisation 
+export SkeletonDFGFactor
+const SkeletonDFGFactor = FactorSkeleton
+
+export DFGFactorSummary
+const DFGFactorSummary = FactorSummary
+
+export DFGFactor
+const DFGFactor = FactorCompute
+
+export PackedFactor
+const PackedFactor = FactorDFG
+export Factor
+const Factor = FactorDFG
+
 end

src/FileDFG/services/FileDFG.jl

@@ -146,7 +146,7 @@ function loadDFG!(
     end
 
     # extract the factor graph from fileDFG folder
-    factors = DFGFactor[]
+    factors = FactorCompute[]
     varFolder = "$folder/variables"
     factorFolder = "$folder/factors"
     # Folder preparations
@@ -155,45 +155,53 @@ function loadDFG!(
     !isdir(factorFolder) &&
         error("Can't load DFG graph - folder '$factorFolder' doesn't exist")
 
-    varFiles = sort(readdir(varFolder; sort = false); lt = natural_lt)
-    factorFiles = sort(readdir(factorFolder; sort = false); lt = natural_lt)
+    # varFiles = sort(readdir(varFolder; sort = false); lt = natural_lt)
+    # factorFiles = sort(readdir(factorFolder; sort = false); lt = natural_lt)
+    varFiles = readdir(varFolder; sort = false)
+    factorFiles = readdir(factorFolder; sort = false)
 
-    packedvars = @showprogress 1 "loading variables" asyncmap(varFiles) do varFile
-        jstr = read("$varFolder/$varFile", String)
-        return JSON3.read(jstr, PackedVariable)
-    end
     # FIXME, why is this treated different from VariableSkeleton, VariableSummary?
-    # FIXME, still creates type instability on `variables` as either `::Variable` or `::DFGVariable`
-    if isa(dfgLoadInto, GraphsDFG) && getTypeDFGVariables(dfgLoadInto) == Variable
-        variables = packedvars
-    else
-        variables = unpackVariable.(packedvars)
+
+    usePackedVariable =
+        isa(dfgLoadInto, GraphsDFG) && getTypeDFGVariables(dfgLoadInto) == VariableDFG
+    # type instability on `variables` as either `::Vector{Variable}` or `::Vector{VariableCompute{<:}}` (vector of abstract)
+    variables = @showprogress 1 "loading variables" asyncmap(varFiles) do varFile
+        jstr = read("$varFolder/$varFile", String)
+        packedvar = JSON3.read(jstr, VariableDFG)
+        if usePackedVariable
+            return packedvar
+        else
+            return unpackVariable(packedvar)
+        end
     end
 
     @info "Loaded $(length(variables)) variables"#- $(map(v->v.label, variables))"
     @info "Inserting variables into graph..."
     # Adding variables
     map(v -> addVariable!(dfgLoadInto, v), variables)
 
-    packedfacts = @showprogress 1 "loading factors" asyncmap(factorFiles) do factorFile
+    usePackedFactor =
+        isa(dfgLoadInto, GraphsDFG) && getTypeDFGFactors(dfgLoadInto) == FactorDFG
+
+    # `factors` is not type stable `::Vector{Factor}` or `::Vector{FactorCompute{<:}}` (vector of abstract)
+    factors = @showprogress 1 "loading factors" asyncmap(factorFiles) do factorFile
         jstr = read("$factorFolder/$factorFile", String)
-        return JSON3.read(jstr, PackedFactor)
-    end
-    # FIXME, still creates type instability on `variables` as either `::Factor` or `::DFGFactor{<:}`
-    if isa(dfgLoadInto, GraphsDFG) && getTypeDFGFactors(dfgLoadInto) == PackedFactor
-        factors = packedfacts
-    else
-        factors = unpackFactor.(dfgLoadInto, packedfacts)
+        packedfact = JSON3.read(jstr, FactorDFG)
+        if usePackedFactor
+            return packedfact
+        else
+            return unpackFactor(dfgLoadInto, packedfact)
+        end
     end
 
     @info "Loaded $(length(factors)) factors"# - $(map(f->f.label, factors))"
     @info "Inserting factors into graph..."
     # # Adding factors
     map(f -> addFactor!(dfgLoadInto, f), factors)
 
-    if isa(dfgLoadInto, GraphsDFG) && getTypeDFGFactors(dfgLoadInto) != PackedFactor
+    if isa(dfgLoadInto, GraphsDFG) && getTypeDFGFactors(dfgLoadInto) != FactorDFG
         # Finally, rebuild the CCW's for the factors to completely reinflate them
-        # NOTE CREATES A NEW DFGFactor IF  CCW TYPE CHANGES
+        # NOTE CREATES A NEW FactorCompute IF  CCW TYPE CHANGES
         @info "Rebuilding CCW's for the factors..."
         @showprogress 1 "build factor operational memory" for factor in factors
             rebuildFactorMetadata!(dfgLoadInto, factor)