Merge pull request #41 from JuliaRobotics/feature/cloudgraphdfg

CloudGraphsDFG implementation

Author: GearsAD

.travis.yml

@@ -3,6 +3,9 @@ language: julia
 os:
     - linux
 
+services:
+    - neo4j
+
 julia:
     - 1.0
     - 1.1

Project.toml

@@ -8,6 +8,8 @@ Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
 Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
+JSON2 = "2535ab7d-5cd8-5a07-80ac-9b1792aadce3"
+Neo4j = "d2adbeaf-5838-5367-8a2f-e46d570981db"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 
@@ -21,6 +23,8 @@ julia = "0.7, 1"
 
 [extras]
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
+IncrementalInference = "904591bb-b899-562f-9e6f-b8df64c7d480"
+RoME = "91fb55c2-4c03-5a59-ba21-f4ea956187b8"
 
 [targets]
 test = ["Test"]

src/CloudGraphsDFG/CloudGraphsDFG.jl

@@ -0,0 +1,29 @@
+using Neo4j
+using JSON2
+
+# Entities
+include("entities/CloudGraphsDFG.jl")
+
+# Services
+include("services/CommonFunctions.jl")
+include("services/CloudGraphsDFG.jl")
+
+# Exports
+export Neo4jInstance, CloudGraphsDFG
+export exists
+export clearSession!
+export getLabelDict, getDescription, setDescription, getInnerGraph, getAddHistory, getSolverParams, setSolverParams
+
+export getAddHistory, getDescription, getLabelDict
+export addVariable!, addFactor!
+export ls, lsf, getVariables, getFactors, getVariableIds, getFactorIds
+export getVariable, getFactor
+export updateVariable!, updateFactor!
+export deleteVariable!, deleteFactor!
+export getAdjacencyMatrix
+export getAdjacencyMatrixDataFrame
+export getNeighbors
+export getSubgraphAroundNode
+export getSubgraph
+export isFullyConnected, hasOrphans
+export toDot, toDotFile

src/CloudGraphsDFG/entities/CloudGraphsDFG.jl

@@ -0,0 +1,30 @@
+import Base.show
+
+mutable struct Neo4jInstance
+  connection::Neo4j.Connection
+  graph::Neo4j.Graph
+end
+
+mutable struct CloudGraphsDFG{T <: AbstractParams} <: AbstractDFG
+    neo4jInstance::Neo4jInstance
+    description::String
+    userId::String
+    robotId::String
+    sessionId::String
+    encodePackedTypeFunc
+    getPackedTypeFunc
+    decodePackedTypeFunc
+    labelDict::Dict{Symbol, Int64}
+    variableCache::Dict{Symbol, DFGVariable}
+    factorCache::Dict{Symbol, DFGFactor}
+    addHistory::Vector{Symbol} #TODO: Discuss more - is this an audit trail?
+    solverParams::T # Solver parameters
+    useCache::Bool
+end
+
+function show(io::IO, c::CloudGraphsDFG)
+    println("CloudGraphsDFG:")
+    println(" - Neo4J instance: $(c.neo4jInstance.connection.host)")
+    println(" - Session: $(c.userId):$(c.robotId):$(c.sessionId)")
+    println(" - Caching: $(c.useCache)")
+end