Merge pull request #700 from JuliaRobotics/maint/20Q4/softTovariableType

softtype -> variableType

Author: dehann

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.10.11"
+version = "0.11.0"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

docs/extra/CoreAPI.fods

@@ -1492,7 +1492,7 @@
      </table:table-cell>
      <table:table-cell table:style-name="ce28"/>
      <table:table-cell table:style-name="ce52" office:value-type="string" calcext:value-type="string">
-      <text:p>softtypename</text:p>
+      <text:p>variableTypeName</text:p>
      </table:table-cell>
      <table:table-cell table:style-name="ce47"/>
      <table:table-cell table:style-name="ce74"/>

docs/src/GraphData.md

@@ -71,11 +71,11 @@ The solvable flag indicates whether the solver should make use of the variable o
 
 ### Variables
 
-#### Soft Type
+#### Variable Type
 
-The soft type is the underlying inference variable type, such as a Pose2.
+The `variableType` is the underlying inference variable type, such as a Pose2.
 
-- [`getSofttype`](@ref)
+- [`getVariableType`](@ref)
 
 
 #### Packed Parametric Estimates

src/CloudGraphsDFG/CloudGraphsDFG.jl

@@ -20,7 +20,7 @@ import ...DistributedFactorGraphs:  setSolverParams!,
                                     exists,
                                     isVariable,
                                     isFactor,
-                                    getSofttype,
+                                    getVariableType,
                                     getDescription,
                                     updateVariable!,
                                     updateFactor!,

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -152,11 +152,11 @@ isFactor(dfg::CloudGraphsDFG, sym::Symbol)::Bool =
     _getNodeCount(dfg.neo4jInstance, ["FACTOR", dfg.userId, dfg.robotId, dfg.sessionId, String(sym)]) == 1
 
 #Optimization
-function getSofttype(dfg::CloudGraphsDFG, lbl::Symbol; currentTransaction::Union{Nothing, Neo4j.Transaction}=nothing)
-    st = _getNodeProperty(dfg.neo4jInstance, union(_getLabelsForType(dfg, DFGVariable), [String(lbl)]), "softtype", currentTransaction=currentTransaction)
-    @debug "Trying to find softtype: $st"
-    softType = getTypeFromSerializationModule(st)
-    return softType()
+function getVariableType(dfg::CloudGraphsDFG, lbl::Symbol; currentTransaction::Union{Nothing, Neo4j.Transaction}=nothing)
+    st = _getNodeProperty(dfg.neo4jInstance, union(_getLabelsForType(dfg, DFGVariable), [String(lbl)]), "variableType", currentTransaction=currentTransaction)
+    @debug "Trying to find variableType: $st"
+    variableType = getTypeFromSerializationModule(st)
+    return variableType()
 end
 
 function addVariable!(dfg::CloudGraphsDFG, variable::DFGVariable)
@@ -177,7 +177,7 @@ function updateVariable!(dfg::CloudGraphsDFG, variable::DFGVariable; warn_if_abs
     # Create/update the base variable
     # NOTE: We are not merging the variable.tags into the labels anymore. We can index by that but not
     # going to pollute the graph with unnecessary (and potentially dangerous) labels.
-    addProps = Dict("softtype" => "\"$(DistributedFactorGraphs.typeModuleName(getSofttype(variable)))\"")
+    addProps = Dict("variableType" => "\"$(DistributedFactorGraphs.typeModuleName(getVariableType(variable)))\"")
     query = """
     MATCH (session:$(join(_getLabelsForType(dfg, Session), ":")))
     MERGE (node:$(join(_getLabelsForInst(dfg, variable), ":")))
@@ -553,23 +553,23 @@ function getPPE(dfg::CloudGraphsDFG, variablekey::Symbol, ppekey::Symbol=:defaul
     return _unpackPPE(dfg, properties)
 end
 
-function _generateAdditionalProperties(softType::ST, ppe::P)::Dict{String, String} where {P <: AbstractPointParametricEst, ST <: InferenceVariable}
+function _generateAdditionalProperties(variableType::ST, ppe::P)::Dict{String, String} where {P <: AbstractPointParametricEst, ST <: InferenceVariable}
     addProps = Dict{String, String}()
-    # Try get the projectCartesian function for this softType
+    # Try get the projectCartesian function for this variableType
     projectCartesianFunc = nothing
     if isdefined(Main, :projectCartesian)
         # Try find a signature that matches
-        if applicable(Main.projectCartesian, softType, Vector{Float64}())
+        if applicable(Main.projectCartesian, variableType, Vector{Float64}())
             projectCartesianFunc = Main.projectCartesian
         end
     end
-    if projectCartesianFunc == nothing
-        @warn "There is no cartesianProjection function for $(typeof(softType)), so no cartesian entries will be added. Please add a projectCartesian function for this softtype."
+    if projectCartesianFunc === nothing
+        @warn "There is no cartesianProjection function for $(typeof(variableType)), so no cartesian entries will be added. Please add a projectCartesian function for this variableType."
         return addProps
     end
     for field in DistributedFactorGraphs.getEstimateFields(ppe)
         est = getfield(ppe, field)
-        cart = Main.projectCartesian(softType, est) # Assuming we've imported the variables into Main
+        cart = Main.projectCartesian(variableType, est) # Assuming we've imported the variables into Main
         addProps["$(field)_cart3"] = "point({x:$(cart[1]),y:$(cart[2]),z:$(cart[3])})" # Need to look at 3D too soon.
     end
     return addProps
@@ -583,9 +583,9 @@ function addPPE!(dfg::CloudGraphsDFG,
     if ppe.solveKey in listPPEs(dfg, variablekey, currentTransaction=currentTransaction)
         error("PPE '$(ppe.solveKey)' already exists")
     end
-    softType = getSofttype(dfg, variablekey)
+    variableType = getVariableType(dfg, variablekey)
     # Add additional properties for the PPE
-    addProps = _generateAdditionalProperties(softType, ppe)
+    addProps = _generateAdditionalProperties(variableType, ppe)
     return _unpackPPE(dfg, _matchmergeVariableSubnode!(
         dfg,
         variablekey,
@@ -606,9 +606,9 @@ function updatePPE!(
     if warn_if_absent && !(ppe.solveKey in listPPEs(dfg, variablekey, currentTransaction=currentTransaction))
         @warn "PPE '$(ppe.solveKey)' does not exist, adding"
     end
-    softType = getSofttype(dfg, variablekey, currentTransaction=currentTransaction)
+    variableType = getVariableType(dfg, variablekey, currentTransaction=currentTransaction)
     # Add additional properties for the PPE
-    addProps = _generateAdditionalProperties(softType, ppe)
+    addProps = _generateAdditionalProperties(variableType, ppe)
     return _unpackPPE(dfg, _matchmergeVariableSubnode!(
         dfg,
         variablekey,
@@ -623,11 +623,11 @@ function updatePPE!(dfg::CloudGraphsDFG, sourceVariables::Vector{<:DFGVariable},
                     currentTransaction::Union{Nothing, Neo4j.Transaction}=nothing,
                     warn_if_absent::Bool=true)
 
-    tx = currentTransaction == nothing ? transaction(dfg.neo4jInstance.connection) : currentTransaction
+    tx = currentTransaction === nothing ? transaction(dfg.neo4jInstance.connection) : currentTransaction
     for var in sourceVariables
         updatePPE!(dfg, var.label, getPPE(var, ppekey), currentTransaction=tx, warn_if_absent=warn_if_absent)
     end
-    if currentTransaction == nothing
+    if currentTransaction === nothing
         result = commit(tx)
     end
     return nothing

src/CloudGraphsDFG/services/CommonFunctions.jl

@@ -171,8 +171,8 @@ function _structToNeo4jProps(inst::Union{User, Robot, Session, PVND, N, APPE, AB
             if fieldname == :nstime
                 val = field.value
             end
-            if fieldname == :softtype
-                val = DistributedFactorGraphs.typeModuleName(getSofttype(inst))
+            if fieldname == :variableType
+                val = DistributedFactorGraphs.typeModuleName(getVariableType(inst))
             end
             # Factors
             # TODO: Consolidate with packFactor in Serialization.jl - https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/525

src/Deprecated.jl

@@ -140,4 +140,59 @@ export AbstractRelativeFactor, AbstractRelativeFactorMinimize
 const AbstractRelativeFactor = AbstractRelativeRoots
 const AbstractRelativeFactorMinimize = AbstractRelativeMinimize
 
+##-------------------------------------------------------------------------------
+## softtype -> variableType deprecation
+##-------------------------------------------------------------------------------
+
+function Base.getproperty(x::VariableNodeData,f::Symbol)
+  if f == :softtype
+    Base.depwarn("`VariableNodeData` field `softtype` is deprecated, use `variableType`", :getproperty)
+    f = :variableType
+  end
+  getfield(x,f)
+end
+
+function Base.setproperty!(x::VariableNodeData, f::Symbol, val)
+  if f == :softtype
+      Base.depwarn("`VariableNodeData` field `softtype` is deprecated, use `variableType`", :getproperty)
+    f = :variableType
+  end
+  return setfield!(x, f, convert(fieldtype(typeof(x), f), val))
+end
+
+
+function Base.getproperty(x::PackedVariableNodeData,f::Symbol)
+  if f == :softtype
+    Base.depwarn("`PackedVariableNodeData` field `softtype` is deprecated, use `variableType`", :getproperty)
+    f = :variableType
+  end
+  getfield(x,f)
+end
+
+function Base.setproperty!(x::PackedVariableNodeData, f::Symbol, val)
+  if f == :softtype
+      Base.depwarn("`PackedVariableNodeData` field `softtype` is deprecated, use `variableType`", :getproperty)
+  f = :variableType
+  end
+  return setfield!(x, f, convert(fieldtype(typeof(x), f), val))
+end
+
+
+function Base.getproperty(x::DFGVariableSummary,f::Symbol)
+  if f == :softtypename
+    Base.depwarn("`DFGVariableSummary` field `softtypename` is deprecated, use `variableTypeName`", :getproperty)
+    f = :variableTypeName
+  end
+  getfield(x,f)
+end
+
+function Base.setproperty!(x::DFGVariableSummary, f::Symbol, val)
+  if f == :softtypename
+      Base.depwarn("`DFGVariableSummary` field `softtypename` is deprecated, use `variableTypeName`", :getproperty)
+  f = :variableTypeName
+  end
+  return setfield!(x, f, convert(fieldtype(typeof(x), f), val))
+end
 
+@deprecate getSofttype(args...) getVariableType(args...)
+@deprecate getSofttypename(args...) getVariableTypeName(args...)

src/DistributedFactorGraphs.jl

@@ -123,13 +123,13 @@ export InferenceVariable
 
 # accessors
 export getSolverDataDict, setSolverData!
-export getSofttype, getSofttypename
+export getVariableType, getVariableTypeName
 
 export getSolverData
 
 export getVariableType
 
-# Softtype functions
+# VariableType functions
 export getDimension, getManifolds
 
 # Small Data CRUD

src/FileDFG/services/FileDFG.jl

@@ -31,7 +31,7 @@ function saveDFG(folder::AbstractString, dfg::AbstractDFG)
     factorFolder = "$savepath/factors"
     # Folder preparations
     if !isdir(savepath)
-        @info "Folder '$savepath' doesn't exist, creating..."
+        @debug "Folder '$savepath' doesn't exist, creating..."
         mkpath(savepath)
     end
     !isdir(varFolder) && mkpath(varFolder)

src/entities/DFGVariable.jl

@@ -25,7 +25,7 @@ mutable struct VariableNodeData{T<:InferenceVariable}
     eliminated::Bool
     BayesNetVertID::Symbol #  Union{Nothing, }
     separator::Array{Symbol,1}
-    softtype::T
+    variableType::T
     initialized::Bool
     inferdim::Float64
     ismargin::Bool
@@ -43,7 +43,7 @@ mutable struct VariableNodeData{T<:InferenceVariable}
                         dims::Int,eliminated::Bool,
                         BayesNetVertID::Symbol,
                         separator::Array{Symbol,1},
-                        softtype::T,
+                        variableType::T,
                         initialized::Bool,
                         inferdim::Float64,
                         ismargin::Bool,
@@ -54,7 +54,7 @@ mutable struct VariableNodeData{T<:InferenceVariable}
                         events::Dict{Symbol,Threads.Condition}=Dict{Symbol,Threads.Condition}()) where T <: InferenceVariable =
                             new{T}(val,bw,BayesNetOutVertIDs,dimIDs,dims,
                                    eliminated,BayesNetVertID,separator,
-                                   softtype::T,initialized,inferdim,ismargin,
+                                   variableType::T,initialized,inferdim,ismargin,
                                    dontmargin, solveInProgress, solvedCount, solveKey, events)
 end
 
@@ -68,7 +68,7 @@ VariableNodeData(val::Array{Float64,2},
                  dims::Int,eliminated::Bool,
                  BayesNetVertID::Symbol,
                  separator::Array{Symbol,1},
-                 softtype::T,
+                 variableType::T,
                  initialized::Bool,
                  inferdim::Float64,
                  ismargin::Bool,
@@ -79,13 +79,13 @@ VariableNodeData(val::Array{Float64,2},
                  ) where T <: InferenceVariable =
                    VariableNodeData{T}(val,bw,BayesNetOutVertIDs,dimIDs,dims,
                                        eliminated,BayesNetVertID,separator,
-                                       softtype::T,initialized,inferdim,ismargin,
+                                       variableType::T,initialized,inferdim,ismargin,
                                        dontmargin, solveInProgress, solvedCount,
                                        solveKey)
 
 
-VariableNodeData(softtype::T; solveKey::Symbol=:default) where T <: InferenceVariable =
-    VariableNodeData{T}(zeros(1,1), zeros(1,1), Symbol[], Int[], 0, false, :NOTHING, Symbol[], softtype, false, 0.0, false, false, 0, 0, solveKey)
+VariableNodeData(variableType::T; solveKey::Symbol=:default) where T <: InferenceVariable =
+    VariableNodeData{T}(zeros(1,1), zeros(1,1), Symbol[], Int[], 0, false, :NOTHING, Symbol[], variableType, false, 0.0, false, false, 0, 0, solveKey)
 
 ##==============================================================================
 ## PackedVariableNodeData.jl
@@ -110,7 +110,7 @@ mutable struct PackedVariableNodeData
     eliminated::Bool
     BayesNetVertID::Symbol # Int
     separator::Array{Symbol,1} # Int
-    softtype::String
+    variableType::String
     initialized::Bool
     inferdim::Float64
     ismargin::Bool
@@ -256,7 +256,7 @@ end
     $SIGNATURES
 The default DFGVariable constructor.
 """
-function DFGVariable(label::Symbol, softtype::T;
+function DFGVariable(label::Symbol, variableType::T;
             timestamp::Union{DateTime,ZonedDateTime}=now(localzone()),
             nstime::Nanosecond = Nanosecond(0),
             tags::Set{Symbol}=Set{Symbol}(),
@@ -309,7 +309,7 @@ end
 ##------------------------------------------------------------------------------
 # TODO: can't see the reason to overwrite copy, leaving it here for now
 # function Base.copy(o::DFGVariable)::DFGVariable
-#     return DFGVariable(o.label, getSofttype(o)(), tags=copy(o.tags), estimateDict=copy(o.estimateDict),
+#     return DFGVariable(o.label, getVariableType(o)(), tags=copy(o.tags), estimateDict=copy(o.estimateDict),
 #                         solverDataDict=copy(o.solverDataDict), smallData=copy(o.smallData),
 #                         dataDict=copy(o.dataDict), solvable=getSolvable(o))
 # end
@@ -339,9 +339,9 @@ struct DFGVariableSummary <: AbstractDFGVariable
     """Dictionary of parametric point estimates keyed by solverDataDict keys
     Accessors: [`addPPE!`](@ref), [`updatePPE!`](@ref), and [`deletePPE!`](@ref)"""
     ppeDict::Dict{Symbol, <:AbstractPointParametricEst}
-    """Symbol for the softtype for the underlying variable.
-    Accessor: [`getSofttype`](@ref)"""
-    softtypename::Symbol
+    """Symbol for the variableType for the underlying variable.
+    Accessor: [`getVariableType`](@ref)"""
+    variableTypeName::Symbol
     """Dictionary of large data associated with this variable.
     Accessors: [`addDataEntry!`](@ref), [`getDataEntry`](@ref), [`updateDataEntry!`](@ref), and [`deleteDataEntry!`](@ref)"""
     dataDict::Dict{Symbol, AbstractDataEntry}
@@ -383,7 +383,7 @@ const VariableDataLevel2 = Union{DFGVariable}
 ##==============================================================================
 
 DFGVariableSummary(v::DFGVariable) =
-        DFGVariableSummary(v.label, v.timestamp, deepcopy(v.tags), deepcopy(v.ppeDict), Symbol(typeof(getSofttype(v))), v.dataDict)
+        DFGVariableSummary(v.label, v.timestamp, deepcopy(v.tags), deepcopy(v.ppeDict), Symbol(typeof(getVariableType(v))), v.dataDict)
 
 SkeletonDFGVariable(v::VariableDataLevel1) =
             SkeletonDFGVariable(v.label, deepcopy(v.tags))

src/services/CompareUtils.jl

@@ -163,7 +163,7 @@ function compare(a::VariableNodeData, b::VariableNodeData)
     a.ismargin != b.ismargin && @debug("ismargin is not equal")==nothing && return false
     a.dontmargin != b.dontmargin && @debug("dontmargin is not equal")==nothing && return false
     a.solveInProgress != b.solveInProgress && @debug("solveInProgress is not equal")==nothing && return false
-    typeof(a.softtype) != typeof(b.softtype) && @debug("softtype is not equal")==nothing && return false
+    typeof(a.variableType) != typeof(b.variableType) && @debug("variableType is not equal")==nothing && return false
     return true
 end
 
@@ -181,19 +181,19 @@ function compareVariable(A::DFGVariable,
   skiplist = union([:attributes;:solverDataDict;:createdTimestamp;:lastUpdatedTimestamp],skip)
   TP = compareAll(A, B, skip=skiplist, show=show)
   varskiplist = skipsamples ? [:val; :bw] : Symbol[]
-  skiplist = union([:softtype;],varskiplist)
+  skiplist = union([:variableType;],varskiplist)
   union!(skiplist, skip)
   TP = TP && compareAll(A.solverDataDict, B.solverDataDict, skip=skiplist, show=show)
 
   Ad = getSolverData(A)
   Bd = getSolverData(B)
 
-  # TP = TP && compareAll(A.attributes, B.attributes, skip=[:softtype;], show=show)
-  varskiplist = union(varskiplist, [:softtype])
+  # TP = TP && compareAll(A.attributes, B.attributes, skip=[:variableType;], show=show)
+  varskiplist = union(varskiplist, [:variableType])
   union!(varskiplist, skip)
   TP = TP && compareAll(Ad, Bd, skip=varskiplist, show=show)
-  TP = TP && typeof(Ad.softtype) == typeof(Bd.softtype)
-  TP = TP && compareAll(Ad.softtype, Bd.softtype, show=show, skip=skip)
+  TP = TP && typeof(Ad.variableType) == typeof(Bd.variableType)
+  TP = TP && compareAll(Ad.variableType, Bd.variableType, show=show, skip=skip)
   return TP
 end
 

src/services/CustomPrinting.jl

@@ -14,8 +14,8 @@ function printVariable( io::IO, vert::DFGVariable;
     ioc = IOContext(io, :limit=>limit, :compact=>compact)
 
     if short
-        # opmemt = (getSofttype(vert) |> typeof ).name
-        vari = getSofttype(vert) |> typeof
+        # opmemt = (getVariableType(vert) |> typeof ).name
+        vari = getVariableType(vert) |> typeof
         printstyled(ioc, typeof(vert).name, "{",vari.name,"...}","\n", bold=true)
         # printstyled(ioc, summary(vert),"\n", bold=true)