rm deprecated User/Robot/Session completely

Affie · Affie · commit 0b239b85b3f2 · 2025-07-01T13:49:35.000+02:00
diff --git a/NEWS.md b/NEWS.md
@@ -1,4 +1,6 @@
 Listing news on any major breaking changes in DFG.  For regular changes, see integrated Github.com project milestones for DFG.
+# v0.28
+- Reading or deserialzing of factor graphs created prior to v0.25 are no longer suppoted with the complete removal of User/Robot/Session
 
 # v0.27
 - `delete` returns number of nodes deleted and no longer the object that was deleted.
diff --git a/src/GraphsDFG/entities/GraphsDFG.jl b/src/GraphsDFG/entities/GraphsDFG.jl
@@ -13,17 +13,6 @@ mutable struct GraphsDFG{
 } <: AbstractDFG{T}
     g::FactorGraph{Int, V, F}
     description::String
-    # ------ deprecated fields ---------
-    userLabel::Union{Nothing, String}
-    robotLabel::Union{Nothing, String}
-    sessionLabel::Union{Nothing, String}
-    userData::Union{Nothing, Dict{Symbol, SmallDataTypes}}
-    robotData::Union{Nothing, Dict{Symbol, SmallDataTypes}}
-    sessionData::Union{Nothing, Dict{Symbol, SmallDataTypes}}
-    userBlobEntries::Union{Nothing, OrderedDict{Symbol, Blobentry}}
-    robotBlobEntries::Union{Nothing, OrderedDict{Symbol, Blobentry}}
-    sessionBlobEntries::Union{Nothing, OrderedDict{Symbol, Blobentry}}
-    # ---------------------------------
     addHistory::Vector{Symbol} #TODO: Discuss more - is this an audit trail?
     solverParams::T # Solver parameters
     blobStores::Dict{Symbol, AbstractBlobstore}
@@ -45,43 +34,6 @@ function DFG.setMetadata!(dfg::GraphsDFG, metadata::Dict{Symbol, SmallDataTypes}
     return merge!(dfg.graphMetadata, metadata)
 end
 
-deprecatedDfgFields = [
-    :userLabel,
-    :robotLabel,
-    :sessionLabel,
-    :userData,
-    :robotData,
-    :sessionData,
-    :userBlobEntries,
-    :robotBlobEntries,
-    :sessionBlobEntries,
-]
-
-function Base.propertynames(x::GraphsDFG, private::Bool = false)
-    return setdiff(fieldnames(GraphsDFG), deprecatedDfgFields)
-end
-
-# deprected in v0.25
-function Base.getproperty(dfg::GraphsDFG, f::Symbol)
-    if f in deprecatedDfgFields
-        Base.depwarn(
-            "Field $f is deprecated as part of removing user/robot/session. Replace with Agent or Factorgraph [Label/Metadata/BlobEntries].",
-            :getproperty,
-        )
-    end
-    return getfield(dfg, f)
-end
-
-function Base.setproperty!(dfg::GraphsDFG, f::Symbol, val)
-    if f in deprecatedDfgFields
-        Base.depwarn(
-            "Field $f is deprecated as part of removing user/robot/session. Replace with Agent or Factorgraph [Label/Metadata/BlobEntries].",
-            :setproperty!,
-        )
-    end
-    return setfield!(dfg, f, val)
-end
-
 """
     $(SIGNATURES)
 
@@ -115,52 +67,15 @@ function GraphsDFG{T, V, F}(
         agentMetadata,
         agentBlobEntries,
     ),
-
-    #Deprecated fields
-    userLabel::Union{Nothing, String} = nothing,
-    robotLabel::Union{Nothing, String} = nothing,
-    sessionLabel::Union{Nothing, String} = nothing,
-    userData::Union{Nothing, Dict{Symbol, SmallDataTypes}} = nothing,
-    robotData::Union{Nothing, Dict{Symbol, SmallDataTypes}} = nothing,
-    sessionData::Union{Nothing, Dict{Symbol, SmallDataTypes}} = nothing,
-    userBlobEntries::Union{Nothing, OrderedDict{Symbol, Blobentry}} = nothing,
-    robotBlobEntries::Union{Nothing, OrderedDict{Symbol, Blobentry}} = nothing,
-    sessionBlobEntries::Union{Nothing, OrderedDict{Symbol, Blobentry}} = nothing,
 ) where {T <: AbstractParams, V <: AbstractDFGVariable, F <: AbstractDFGFactor}
-    if any([
-        !isnothing(userLabel),
-        !isnothing(robotLabel),
-        !isnothing(sessionLabel),
-        !isnothing(userData),
-        !isnothing(robotData),
-        !isnothing(sessionData),
-        !isnothing(userBlobEntries),
-        !isnothing(robotBlobEntries),
-        !isnothing(sessionBlobEntries),
-    ])
-        #deprecated in v0.25
-        Base.depwarn(
-            "Kwargs with user/robot/session is deprecated. Replace with agent[Label/Metadata/BlobEntries] or graph[Label/Metadata/BlobEntries].",
-            :GraphsDFG,
-        )
-    end
 
-    # Validate the userLabel, robotLabel, and sessionLabel
+    # Validate the graphLabel and agentLabel
     !isValidLabel(graphLabel) && error("'$graphLabel' is not a valid label")
     !isValidLabel(agentLabel) && error("'$agentLabel' is not a valid label")
 
     return GraphsDFG{T, V, F}(
         g,
         graphDescription,
-        userLabel,
-        robotLabel,
-        sessionLabel,
-        userData,
-        robotData,
-        sessionData,
-        userBlobEntries,
-        robotBlobEntries,
-        sessionBlobEntries,
         addHistory,
         solverParams,
         blobStores,
@@ -196,64 +111,3 @@ function GraphsDFG(
 ) where {T}
     return GraphsDFG{T, VariableCompute, FactorCompute}(g; solverParams, kwargs...)
 end
-
-function GraphsDFG(
-    description::String,
-    userLabel::String,
-    robotLabel::String,
-    sessionLabel::String,
-    userData::Dict{Symbol, SmallDataTypes},
-    robotData::Dict{Symbol, SmallDataTypes},
-    sessionData::Dict{Symbol, SmallDataTypes},
-    solverParams::AbstractParams,
-    blobStores = Dict{Symbol, AbstractBlobstore}(),
-)
-    #deprecated in v0.25
-    Base.depwarn(
-        "user/robot/session is deprecated. Replace with agent[Label/Metadata/BlobEntries] or graph[Label/Metadata/BlobEntries].",
-        :GraphsDFG,
-    )
-    return GraphsDFG{typeof(solverParams), VariableCompute, FactorCompute}(
-        FactorGraph{Int, VariableCompute, FactorCompute}();
-        description,
-        userLabel,
-        robotLabel,
-        sessionLabel,
-        userData,
-        robotData,
-        sessionData,
-        solverParams,
-        blobStores,
-    )
-end
-
-function GraphsDFG{T, V, F}(
-    description::String,
-    userLabel::String,
-    robotLabel::String,
-    sessionLabel::String,
-    userData::Dict{Symbol, SmallDataTypes},
-    robotData::Dict{Symbol, SmallDataTypes},
-    sessionData::Dict{Symbol, SmallDataTypes},
-    solverParams::T,
-    blobStores = Dict{Symbol, AbstractBlobstore}(),
-) where {T <: AbstractParams, V <: AbstractDFGVariable, F <: AbstractDFGFactor}
-
-    #deprecated in v0.25
-    Base.depwarn(
-        "user/robot/session is deprecated. Replace with agent[Label/Metadata/BlobEntries] or graph[Label/Metadata/BlobEntries].",
-        :GraphsDFG,
-    )
-    return GraphsDFG{T, V, F}(
-        FactorGraph{Int, V, F}();
-        description,
-        userLabel,
-        robotLabel,
-        sessionLabel,
-        userData,
-        robotData,
-        sessionData,
-        solverParams,
-        blobStores,
-    )
-end
diff --git a/src/GraphsDFG/services/GraphsDFGSerialization.jl b/src/GraphsDFG/services/GraphsDFGSerialization.jl
@@ -2,31 +2,17 @@ using InteractiveUtils
 
 @kwdef struct PackedGraphsDFG{T <: AbstractParams}
     description::String
-    # ------ deprecated fields v0.25 ---------
-    userLabel::Union{Nothing, String} = nothing
-    robotLabel::Union{Nothing, String} = nothing
-    sessionLabel::Union{Nothing, String} = nothing
-    userData::Union{Nothing, Dict{Symbol, SmallDataTypes}} = nothing
-    robotData::Union{Nothing, Dict{Symbol, SmallDataTypes}} = nothing
-    sessionData::Union{Nothing, Dict{Symbol, SmallDataTypes}} = nothing
-    userBlobEntries::Union{Nothing, OrderedDict{Symbol, Blobentry}} = nothing
-    robotBlobEntries::Union{Nothing, OrderedDict{Symbol, Blobentry}} = nothing
-    sessionBlobEntries::Union{Nothing, OrderedDict{Symbol, Blobentry}} = nothing
-    # ---------------------------------
     addHistory::Vector{Symbol}
     solverParams::T
     solverParams_type::String = string(nameof(typeof(solverParams)))
     typePackedVariable::Bool = false # Are variables packed or full
     typePackedFactor::Bool = false # Are factors packed or full
     blobStores::Union{Nothing, Dict{Symbol, FolderStore{Vector{UInt8}}}}
-
-    # new structure to replace URS
-    #TODO remove union nothing after v0.25
-    graphLabel::Union{Nothing, Symbol}
-    graphTags::Union{Nothing, Vector{Symbol}}
-    graphMetadata::Union{Nothing, Dict{Symbol, SmallDataTypes}}
-    graphBlobEntries::Union{Nothing, OrderedDict{Symbol, Blobentry}}
-    agent::Union{Nothing, Agent}
+    graphLabel::Symbol
+    graphTags::Vector{Symbol}
+    graphMetadata::Dict{Symbol, SmallDataTypes}
+    graphBlobEntries::OrderedDict{Symbol, Blobentry}
+    agent::Agent
 end
 
 StructTypes.StructType(::Type{PackedGraphsDFG}) = StructTypes.AbstractType()
@@ -49,7 +35,7 @@ Packing function to serialize DFG metadata from.
 function packDFGMetadata(fg::GraphsDFG)
     commonfields = intersect(fieldnames(PackedGraphsDFG), fieldnames(GraphsDFG))
 
-    setdiff!(commonfields, [deprecatedDfgFields; :blobStores])
+    setdiff!(commonfields, [:blobStores])
     blobStores = Dict{Symbol, FolderStore{Vector{UInt8}}}()
     foreach(values(fg.blobStores)) do store
         if store isa FolderStore{Vector{UInt8}}
@@ -76,57 +62,13 @@ function unpackDFGMetadata(packed::PackedGraphsDFG)
     # blobStores = Dict{Symbol, AbstractBlobstore}()
     # !isnothing(packed.blobStores) && merge!(blobStores, packed.blobStores)
 
-    setdiff!(commonfields, [deprecatedDfgFields; :blobStores])
+    setdiff!(commonfields, [:blobStores])
     blobStores = packed.blobStores
 
-    if isnothing(packed.agent)
-        agentBlobEntries = nothing
-        agentMetadata = nothing
-        agentLabel = nothing
-        graphBlobEntries = nothing
-        graphMetadata = nothing
-        graphLabel = nothing
-
-        for f in deprecatedDfgFields
-            if !isnothing(getproperty(packed, f))
-                if f == :robotBlobEntries
-                    agentBlobEntries = getproperty(packed, f)
-                    @warn "Converting deprecated $f to agentBlobEntries"
-                elseif f == :robotData
-                    agentMetadata = getproperty(packed, f)
-                    @warn "Converting deprecated $f to agentMetadata"
-                elseif f == :robotLabel
-                    agentLabel = Symbol(getproperty(packed, f))
-                    @warn "Converting deprecated $f to agentLabel"
-                elseif f == :sessionBlobEntries
-                    graphBlobEntries = getproperty(packed, f)
-                    @warn "Converting deprecated $f to graphBlobEntries"
-                elseif f == :sessionData
-                    graphMetadata = getproperty(packed, f)
-                    @warn "onverting deprecated $f to graphMetadata"
-                elseif f == :sessionLabel
-                    graphLabel = Symbol(getproperty(packed, f))
-                    @warn "Converting deprecated $f to graphLabel"
-                else
-                    @warn """
-                    Field $f is deprecated as part of removing user/robot/session. Replace with Agent or Factorgraph [Label/Metadata/BlobEntries]
-                        No conversion done for $f
-                    """
-                end
-            end
-        end
-
-        agent = Agent(;
-            label = agentLabel,
-            blobEntries = agentBlobEntries,
-            metadata = agentMetadata,
-        )
-    else
-        agent = packed.agent
-        graphBlobEntries = packed.graphBlobEntries
-        graphMetadata = packed.graphMetadata
-        graphLabel = packed.graphLabel
-    end
+    agent = packed.agent
+    graphBlobEntries = packed.graphBlobEntries
+    graphMetadata = packed.graphMetadata
+    graphLabel = packed.graphLabel
 
     _isfolderstorepath(s) = false
     _isfolderstorepath(s::FolderStore) = ispath(s.folder)
@@ -170,9 +112,7 @@ end
 function unpackDFGMetadata!(dfg::GraphsDFG, packed::PackedGraphsDFG)
     commonfields = intersect(fieldnames(GraphsDFG), fieldnames(PackedGraphsDFG))
 
-    #FIXME Deprecate remove Nothing union in DFG v0.24
-    #FIXME also remove deprectedDFG fields depr in v0.25
-    setdiff!(commonfields, [deprecatedDfgFields; :blobStores])
+    setdiff!(commonfields, [:blobStores])
     !isnothing(packed.blobStores) && merge!(dfg.blobStores, packed.blobStores)
 
     props = (k => getproperty(packed, k) for k in commonfields)
diff --git a/src/services/AbstractDFG.jl b/src/services/AbstractDFG.jl
@@ -11,15 +11,9 @@ Base.Broadcast.broadcastable(dfg::AbstractDFG) = Ref(dfg)
 ##==============================================================================
 ## Interface for an AbstractDFG
 ##==============================================================================
-# TODO update to remove URS
+# TODO update to include graph and agent extras.
 # Standard recommended fields to implement for AbstractDFG
 # - `description::String`
-# - `userLabel::String`
-# - `robotLabel::String`
-# - `sessionLabel::String`
-# - `userData::Dict{Symbol, String}`
-# - `robotData::Dict{Symbol, String}`
-# - `sessionData::Dict{Symbol, String}`
 # - `solverParams::T<:AbstractParams`
 # - `addHistory::Vector{Symbol}`
 # - `blobStores::Dict{Symbol, AbstractBlobstore}`
@@ -1582,9 +1576,8 @@ function getSummaryGraph(dfg::G) where {G <: AbstractDFG}
     #TODO fix deprecated constructor
     summaryDfg = GraphsDFG{NoSolverParams, VariableSummary, FactorSummary}(;
         description = "Summary of $(getDescription(dfg))",
-        userLabel = dfg.userLabel,
-        robotLabel = dfg.robotLabel,
-        sessionLabel = dfg.sessionLabel,
+        agent = dfg.agent,
+        graphLabel = Symbol(getGraphLabel(dfg), "_summary_$(string(uuid4())[1:6])"),
     )
     deepcopyGraph!(summaryDfg, dfg)
     # for v in getVariables(dfg)
diff --git a/test/data/archive/0_24_0.tar.gz b/test/data/archive/0_24_0.tar.gz
diff --git a/test/iifInterfaceTests.jl b/test/iifInterfaceTests.jl
@@ -58,7 +58,7 @@ end
     # dfg to copy to
     # creating a whole new graph with the same labels
     T = typeof(dfg)
-    dfg2 = T(; solverParams = SolverParams(), userLabel = "test@navability.io")
+    dfg2 = T(; solverParams = SolverParams(), graphLabel = :testGraph)
 
     # Build a new in-memory IIF graph to transfer into the new graph.
     iiffg = initfg()
diff --git a/test/interfaceTests.jl b/test/interfaceTests.jl
@@ -150,7 +150,7 @@ end
 # order up to here is important, TODO maybe make independant
 ##
 @testset "Adjacency Matrices" begin
-    fg = testDFGAPI(; userLabel = "test@navability.io")
+    fg = testDFGAPI(; graphLabel = :testGraph)
     addVariable!(fg, var1)
     setSolvable!(fg, :a, 1)
     addVariable!(fg, var2)
@@ -192,7 +192,7 @@ end
 
 @testset "Copy Functions" begin
     rand(6)
-    fg = testDFGAPI(; userLabel = "test@navability.io")
+    fg = testDFGAPI(; graphLabel = :testGraph)
     addVariable!(fg, var1)
     addVariable!(fg, var2)
     addVariable!(fg, var3)
@@ -203,7 +203,7 @@ end
     # @test getVariableOrder(fg,:f1) == getVariableOrder(fgcopy,:f1)
 
     #test copyGraph, deepcopyGraph[!]
-    fgcopy = testDFGAPI(; userLabel = "test@navability.io")
+    fgcopy = testDFGAPI(; graphLabel = :testGraph)
     DFG.deepcopyGraph!(fgcopy, fg)
     @test getVariableOrder(fg, :abf1) == getVariableOrder(fgcopy, :abf1)
 
diff --git a/test/runtests.jl b/test/runtests.jl
@@ -63,10 +63,22 @@ end
 if get(ENV, "IIF_TEST", "true") == "true"
 
     # Switch to our upstream test branch.
+    #FIXME This is a temporary fix to use the develop branch of IIF.
+    # Pkg.add(PackageSpec(; name = "IncrementalInference", rev = "upstream/dfg_integration_test"))
+    # Pkg.add(PackageSpec(; name = "IncrementalInference", rev = "develop"))
     Pkg.add(
-        #FIXME This is a temporary fix to use the refactored factor branch.
-        # PackageSpec(; name = "IncrementalInference", rev = "upstream/dfg_integration_test"),
-        PackageSpec(; name = "IncrementalInference", rev = "develop"),
+        PackageSpec(;
+            url = "https://github.com/JuliaRobotics/IncrementalInference.jl.git",
+            subdir = "IncrementalInferenceTypes",
+            rev = "develop",
+        ),
+    )
+    Pkg.add(
+        PackageSpec(;
+            url = "https://github.com/JuliaRobotics/IncrementalInference.jl.git",
+            subdir = "IncrementalInference",
+            rev = "develop",
+        ),
     )
     @info "------------------------------------------------------------------------"
     @info "These tests are using IncrementalInference to do additional driver tests"
diff --git a/test/testBlocks.jl b/test/testBlocks.jl
