Update for removed deprecations from DFG v0.29 (#1900)

Author: Affie

IncrementalInference/src/ExportAPI.jl

@@ -19,19 +19,17 @@ export AbstractDFG,
   getSolvedCount,
   isSolved,
   setSolvedCount!,
-  listSupersolves,
   listStates,
   diagm,
   listBlobEntries,
   FolderStore,
   addBlobstore!,
   addData!,
   addBlob!,
-  getData,
   VariableCompute,
   VariableSummary,
   FactorCompute,
-  DFGFactorSummary,
+  FactorSummary,
   deleteVariableSolverData!
 # listDataBlobs  # ERROR: LightDFG{} doesn't override 'listDataBlobs'.
 

IncrementalInference/src/IncrementalInference.jl

@@ -124,8 +124,6 @@ import DistributedFactorGraphs: isSolvable
 
 # TODO using all interal functions of DFG as a transition step, remove true
 DFG.@usingDFG true
-# TODO remove these deprecated functions/types from DFG
-using DistributedFactorGraphs: AbstractRelativeMinimize, AbstractManifoldMinimize
 
 # must be moved to their own repos
 const KDE = KernelDensityEstimate
@@ -156,8 +154,9 @@ include("ExportAPI.jl")
 ## =============================
 # Source code
 
-# FIXME, move up to DFG
-# abstract type AbstractManifoldMinimize <: AbstractRelativeObservation end
+# TODO deprecate, moved here from DFG, replace with traits
+abstract type AbstractRelativeMinimize <: RelativeObservation end
+abstract type AbstractManifoldMinimize <: RelativeObservation end
 
 # regular
 

IncrementalInference/src/services/FGOSUtils.jl

@@ -437,7 +437,7 @@ end
 Fetch and unpack JSON dictionary stored as a data blob.
 """
 function fetchDataJSON(dfg::AbstractDFG, varsym::Symbol, lbl::Symbol)
-  gde, rawData = getData(dfg, varsym, lbl)
+  gde, rawData = DFG.loadBlob_Variable(dfg, varsym, lbl)
   if gde.mimeType == "application/json/octet-stream"
     JSON3.read(IOBuffer(rawData))
   else

IncrementalInference/src/services/TreeMessageUtils.jl

@@ -163,16 +163,12 @@ function _findSubgraphsFactorType(
     # search connectivity throughout remaining variables, some duplicate computation occurring
     for key2 in setdiff(keys(sepsCount), keys(subClassify))
       defaultFct = selectFactorType(dfg_, key1, key2)
-      # @show key1, key2, defaultFct
-      # TODO validate getfield Main here
-      # resname = defaultFct isa UnionAll ? getfield(Main, defaultFct.body.name |> Symbol) : defaultFct
-      resname =
-        defaultFct isa UnionAll ? getfield(Main, nameof(defaultFct.body)) : defaultFct
+
       pth = findShortestPathDijkstra(
         dfg_,
         key1,
         key2;
-        typeFactors = [resname;],
+        typeFilterFactors = x -> x <: defaultFct,
         initialized = true,
       )
       # check if connected to existing subClass

IncrementalInference/test/testJointEnforcement.jl

@@ -46,11 +46,11 @@ tp2_ = [ :x0;:x0x3f1;:x3;:x2x3f1;:x2]
 pth = findShortestPathDijkstra(fg, :x0, :x2)
 @test pth == tp1_ || pth == tp2_
 
-pth = findShortestPathDijkstra(fg, :x0, :x2, typeFactors=[LinearRelative;])
+pth = findShortestPathDijkstra(fg, :x0, :x2, typeFilterFactors = x -> x <: LinearRelative)
 @test pth == tp1_
 
 # different path
-pth = findShortestPathDijkstra(fg, :x0, :x2, typeFactors=[EuclidDistance;])
+pth = findShortestPathDijkstra(fg, :x0, :x2, typeFilterFactors = x -> x <: EuclidDistance)
 @test pth == tp2_
 
 
@@ -160,11 +160,11 @@ tp2_ = [ :x0;:x0x3f1;:x3;:x2x3f1;:x2]
 pth = findShortestPathDijkstra(fg, :x0, :x2)
 @test pth == tp1_ || pth == tp2_
 
-pth = findShortestPathDijkstra(fg, :x0, :x2, typeFactors=[LinearRelative;])
+pth = findShortestPathDijkstra(fg, :x0, :x2, typeFilterFactors = x -> x <: LinearRelative)
 @test pth == tp1_ || pth == tp2_
 
 # different path
-pth = findShortestPathDijkstra(fg, :x0, :x2, typeFactors=[EuclidDistance;])
+pth = findShortestPathDijkstra(fg, :x0, :x2, typeFilterFactors = x -> x <: EuclidDistance)
 @test pth == Symbol[]