Updating CGDFG

Author: GearsAD

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -541,26 +541,16 @@ Delete the referened DFGFactor from the DFG.
 """
 deleteFactor!(dfg::CloudGraphsDFG, factor::DFGFactor)::DFGFactor = deleteFactor!(dfg, factor.label)
 
-# Returns a flat vector of the vertices, keyed by ID.
-# Assuming only variables here for now - think maybe not, should be variables+factors?
 """
     $(SIGNATURES)
 List the DFGVariables in the DFG.
 Optionally specify a label regular expression to retrieves a subset of the variables.
 """
-function ls(dfg::CloudGraphsDFG, regexFilter::Union{Nothing, Regex}=nothing)::Vector{DFGVariable}
+function getVariables(dfg::CloudGraphsDFG, regexFilter::Union{Nothing, Regex}=nothing)::Vector{DFGVariable}
     variableIds = getVariableIds(dfg, regexFilter)
     return map(vId->getVariable(dfg, vId), variableIds)
 end
 
-# Alias
-"""
-    $(SIGNATURES)
-List the DFGVariables in the DFG.
-Optionally specify a label regular expression to retrieves a subset of the variables.
-"""
-getVariables(dfg::CloudGraphsDFG, regexFilter::Union{Nothing, Regex}=nothing)::Vector{DFGVariable} = ls(dfg, regexFilter)
-
 """
     $(SIGNATURES)
 Get a list of IDs of the DFGVariables in the DFG.
@@ -575,32 +565,22 @@ function getVariableIds(dfg::CloudGraphsDFG, regexFilter::Union{Nothing, Regex}=
     end
 end
 
+# Alias
 """
     $(SIGNATURES)
-List the DFGFactors in the DFG.
-Optionally specify a label regular expression to retrieves a subset of the factors.
+List the DFGVariables in the DFG.
+Optionally specify a label regular expression to retrieves a subset of the variables.
 """
-function lsf(dfg::CloudGraphsDFG, regexFilter::Union{Nothing, Regex}=nothing)::Vector{DFGFactor}
-    factorIds = getFactorIds(dfg, regexFilter)
-    return map(vId->getFactor(dfg, vId), factorIds)
-end
+ls(dfg::CloudGraphsDFG, regexFilter::Union{Nothing, Regex}=nothing)::Vector{Symbol} = getVariableIds(dfg, regexFilter)
 
-# Alias
 """
     $(SIGNATURES)
 List the DFGFactors in the DFG.
 Optionally specify a label regular expression to retrieves a subset of the factors.
 """
-getFactors(dfg::CloudGraphsDFG, regexFilter::Union{Nothing, Regex}=nothing)::Vector{DFGFactor} = lsf(dfg, regexFilter)
-
-# Alias - getNeighbors
-#TODO: Refactor this
-"""
-    $(SIGNATURES)
-Get neighbors around a given node. TODO: Refactor this
-"""
-function lsf(dfg::CloudGraphsDFG, label::Symbol)::Vector{Symbol}
-  return getNeighbors(dfg, label)
+function getFactors(dfg::CloudGraphsDFG, regexFilter::Union{Nothing, Regex}=nothing)::Vector{DFGFactor}
+    factorIds = getFactorIds(dfg, regexFilter)
+    return map(vId->getFactor(dfg, vId), factorIds)
 end
 
 """
@@ -617,6 +597,23 @@ function getFactorIds(dfg::CloudGraphsDFG, regexFilter::Union{Nothing, Regex}=no
     end
 end
 
+# Alias
+"""
+    $(SIGNATURES)
+List the DFGFactors in the DFG.
+Optionally specify a label regular expression to retrieves a subset of the factors.
+"""
+lsf(dfg::CloudGraphsDFG, regexFilter::Union{Nothing, Regex}=nothing)::Vector{Symbol} = getFactorIds(dfg, regexFilter)
+
+# Alias - getNeighbors
+"""
+    $(SIGNATURES)
+Get neighbors around a given node. TODO: Refactor this
+"""
+function lsf(dfg::CloudGraphsDFG, label::Symbol)::Vector{Symbol}
+  return getNeighbors(dfg, label)
+end
+
 """
     $(SIGNATURES)
 Checks if the graph is fully connected, returns true if so.

test/cloudGraphsDFGTests.jl

@@ -6,6 +6,7 @@
 # Run: sudo docker run --publish=7474:7474 --publish=7687:7687 --env NEO4J_AUTH=neo4j/test neo4j
 
 using Revise
+using Neo4j
 using DistributedFactorGraphs
 using IncrementalInference
 using Test
@@ -15,7 +16,7 @@ using RoME
 @testset "Setup and clearing the existing graph" begin
     # Create connection
     # Caching: Off
-    global cgDFG = CloudGraphsDFG("localhost", 7474, "neo4j", "test",
+    global cgDFG = CloudGraphsDFG{NoSolverParams}("localhost", 7474, "neo4j", "test",
         "testUser", "testRobot", "testSession",
         nothing,
         nothing,
@@ -92,12 +93,12 @@ end
     # Not fast though, TODO: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/39
     vars = getVariables(cgDFG)
     vars2 = ls(cgDFG)
-    @test map(v->v.label, vars) == map(v->v.label, vars2)
+    @test map(v->v.label, vars) == vars2
     @test symdiff(map(v->v.label, vars), [:x1, :x2, :x3, :l1, :l2]) == []
 
     facts = getFactors(cgDFG)
     facts2 = lsf(cgDFG)
-    @test map(v->v.label, facts) == map(v->v.label, facts2)
+    @test map(v->v.label, facts) == facts2
     @test symdiff(map(f->f.label, facts), [:x1x2f1, :x1f1, :x2l1f1, :x2x3f1, :x3l2f1, :x1l1f1]) == []
 
     @test symdiff(getNeighbors(cgDFG, :x2), [:x2l1f1, :x2x3f1, :x1x2f1]) == []
@@ -168,13 +169,6 @@ end
     # clearSession!!(cgDFGCopy)
 end
 
-global cgDFG = CloudGraphsDFG("localhost", 7474, "neo4j", "test",
-    "testUser", "testRobot", "testSession",
-    nothing,
-    nothing,
-    IncrementalInference.decodePackedType)
-
-
 @testset "getAdjacencyMatrix test" begin
     adjMat = getAdjacencyMatrix(cgDFG)
     # Note that by this point, :x3 is bound to :x1x2f1, which is counterintuitive but that's tests for you