Merge pull request #638 from JuliaRobotics/master

v0.10.1-rc1

Author: Affie

.travis.yml

@@ -22,13 +22,14 @@ branches:
   - master
   - develop
   - /^release.*$/
+  - /^v\d+\.\d+(\.\d+)?([-+]\S*)?$/
 
 jobs:
   include:
     - julia: 1.4
       env:
         - IIF_TEST=true
-      if: NOT branch =~ ^release.*$
+      if: NOT branch =~ /(^v\d+\.\d+(\.\d+)?([-+]\S*)?$)|(^release.*$)/
     - arch: arm64
       env: SKIP_CGDFG_TESTS=true
       before_script:

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.10.0"
+version = "0.10.1"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

README.md

@@ -1,8 +1,8 @@
 # DistributedFactorGraphs.jl
 
-Release v0.8 | Release v0.9 | Dev | Coverage | DFG Docs | Caesar Docs |
+Release v0.9 | Release v0.10 | Dev | Coverage | DFG Docs | Caesar Docs |
 ---------|---------|-----|----------|------|------------
-[![Build Status](https://api.travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl.svg?branch=release/v0.8)](https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl) | [![Build Status](https://api.travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl.svg?branch=release/v0.9)](https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl) |  [![Build Status](https://api.travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl.svg?branch=master)](https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl) | [![Codecov Status](https://codecov.io/gh/JuliaRobotics/DistributedFactorGraphs.jl/branch/master/graph/badge.svg)](https://codecov.io/gh/JuliaRobotics/DistributedFactorGraphs.jl) | [![docs](https://img.shields.io/badge/docs-latest-blue.svg)](http://juliarobotics.github.io/DistributedFactorGraphs.jl/latest/) | [![docs](https://img.shields.io/badge/docs-latest-blue.svg)](http://juliarobotics.github.io/Caesar.jl/latest/)
+[![Build Status](https://api.travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl.svg?branch=release/v0.9)](https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl) | [![Build Status](https://api.travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl.svg?branch=release/v0.10)](https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl) |  [![Build Status](https://api.travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl.svg?branch=master)](https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl) | [![Codecov Status](https://codecov.io/gh/JuliaRobotics/DistributedFactorGraphs.jl/branch/master/graph/badge.svg)](https://codecov.io/gh/JuliaRobotics/DistributedFactorGraphs.jl) | [![docs](https://img.shields.io/badge/docs-latest-blue.svg)](http://juliarobotics.github.io/DistributedFactorGraphs.jl/latest/) | [![docs](https://img.shields.io/badge/docs-latest-blue.svg)](http://juliarobotics.github.io/Caesar.jl/latest/)
 
 DistributedFactorGraphs.jl provides a flexible factor graph API for use in the [Caesar.jl](https://github.com/JuliaRobotics/Caesar.jl) ecosystem. The package supplies:
 * A standardized API for interacting with factor graphs
@@ -24,17 +24,22 @@ add DistributedFactorGraphs
 
 The in-memory implementation is the default, using LightGraphs.jl.
 
+It is recommended to use `IncrementalInference` to create factor graphs as they will be solvable. 
 ```julia
 using DistributedFactorGraphs
+using IncrementalInference
 ```
 
 Both drivers support the same functions, so choose which you want to use when creating your initial DFG. For example:
 
 ```julia
 # In-memory DFG
-dfg = LightDFG{NoSolverParams}()
-addVariable!(dfg, DFGVariable(:a))
-addVariable!(dfg, DFGVariable(:b))
-addFactor!(dfg, [v1, v2], DFGFactor{Int, :Symbol}(:f1)) # Rather use a RoME-type factor here (e.g. Pose2Pose2) rather than an Int, this is just for demonstrative purposes.
+# Initialize the default in-memory factor graph with default solver parameters.
+dfg = initfg()
+# add 2 ContinuousScalar variable types to the new factor graph
+addVariable!(dfg, :a, ContinuousScalar)
+addVariable!(dfg, :b, ContinuousScalar)
+# add a LinearConditional factor
+addFactor!(dfg, [:a, :b], LinearConditional(Normal(10.0,1.0)))
 ```
 

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -418,24 +418,25 @@ function listFactors(dfg::CloudGraphsDFG, regexFilter::Union{Nothing, Regex}=not
 end
 
 function isConnected(dfg::CloudGraphsDFG)::Bool
-    # If the total number of nodes == total number of distinct connected nodes, then it is fully connected
-    # Total nodes
-    varIds = listVariables(dfg)
-    factIds = listFactors(dfg)
-    length(varIds) + length(factIds) == 0 && return false
-
-    # Total distinct connected nodes - thank you Neo4j for 0..* awesomeness!!
-    # TODO: Deprecated matching technique and it's technically an expensive call - optimize.
-    query = """
-        match (n:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId):$(varIds[1]))-[FACTORGRAPH*]-(node:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId))
-        WHERE (n:VARIABLE OR n:FACTOR OR node:VARIABLE OR node:FACTOR) and not (node:SESSION or n:SESSION) and not (n:PPE) and not (node:PPE)
-        WITH collect(n)+collect(node) as nodelist
-        unwind nodelist as nodes
-        return count(distinct nodes)"""
-    @debug "[Query] $query"
-    result = _queryNeo4j(dfg.neo4jInstance, query)
-    # Neo4j.jl data structure sometimes feels brittle... like below
-    return result.results[1]["data"][1]["row"][1] == length(varIds) + length(factIds)
+    # # If the total number of nodes == total number of distinct connected nodes, then it is fully connected
+    # # Total nodes
+    # varIds = listVariables(dfg)
+    # factIds = listFactors(dfg)
+    # length(varIds) + length(factIds) == 0 && return false
+
+    # # Total distinct connected nodes - thank you Neo4j for 0..* awesomeness!!
+    # # TODO: Deprecated matching technique and it's technically an expensive call - optimize.
+    # query = """
+    #     match (n:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId):$(varIds[1]))-[FACTORGRAPH*]-(node:$(dfg.userId):$(dfg.robotId):$(dfg.sessionId))
+    #     WHERE (n:VARIABLE OR n:FACTOR OR node:VARIABLE OR node:FACTOR) and not (node:SESSION or n:SESSION) and not (n:PPE) and not (node:PPE)
+    #     WITH collect(n)+collect(node) as nodelist
+    #     unwind nodelist as nodes
+    #     return count(distinct nodes)"""
+    # @debug "[Query] $query"
+    # result = _queryNeo4j(dfg.neo4jInstance, query)
+    # # Neo4j.jl data structure sometimes feels brittle... like below
+    # return result.results[1]["data"][1]["row"][1] == length(varIds) + length(factIds)
+   return isConnected(SkeletonDFG(dfg))
 end
 
 function getNeighbors(dfg::CloudGraphsDFG, node::T; solvable::Int=0)::Vector{Symbol}  where T <: DFGNode
@@ -943,3 +944,28 @@ function emptyTags!(dfg::CloudGraphsDFG, sym::Symbol)
     return getTags(getNode(dfg, sym))
 
 end
+
+
+##==============================================================================
+## Skeleton DFG Constructor
+##==============================================================================
+# TODO tags
+function _getSkeletonFactors(dfg::CloudGraphsDFG)
+    neo4jInstance = dfg.neo4jInstance
+    query = "match (node:$(join(_getLabelsForType(dfg, DFGFactor),':'))) return distinct(node.label),node._variableOrderSymbols"
+    result = _queryNeo4j(neo4jInstance, query)
+    facs = map(node -> SkeletonDFGFactor(Symbol(node["row"][1]),Symbol.(node["row"][2])), result.results[1]["data"])
+    return facs
+end
+# TODO tags
+function _getSkeletonVariables(dfg::CloudGraphsDFG)
+    return SkeletonDFGVariable.(ls(dfg))
+end
+
+export SkeletonDFG
+function SkeletonDFG(cfg::CloudGraphsDFG)
+    sfg = LightDFG{NoSolverParams, SkeletonDFGVariable, SkeletonDFGFactor}()
+    addVariable!.(sfg, _getSkeletonVariables(cfg))
+    addFactor!.(sfg, _getSkeletonFactors(cfg))
+    return sfg
+end

src/DataBlobs/services/DataEntryBlob.jl

@@ -46,34 +46,38 @@ function listDataBlobs end
 ##==============================================================================
 
 """
-$(SIGNATURES)
 Get the data entry and blob for the specified blobstore or dfg retured as a tuple.
 Related
 [`getDataEntry`](@ref)
+
+$(METHODLIST)
 """
 function getData end
 
 """
-$(SIGNATURES)
 Add a data Entry and Blob to a distributed factor graph or BlobStore.
 Related
 [`addDataEntry!`](@ref)
+
+$(METHODLIST)
 """
 function addData! end
 
 """
-    $(SIGNATURES)
 Update a data entry or blob to the blob store or dfg.
 Related
 [`updateDataEntry!`](@ref)
+
+$(METHODLIST)
 """
 function updateData! end
 
 """
-    $(SIGNATURES)
 Delete a data entry and blob from the blob store or dfg.
 Related
 [`deleteDataEntry!`](@ref)
+
+$(METHODLIST)
 """
 function deleteData! end
 

test/interfaceTests.jl

@@ -170,12 +170,8 @@ end
 end
 
 @testset "Connectivity Test" begin
-    if testDFGAPI != CloudGraphsDFG
-        rand(5)
-        ConnectivityTest(testDFGAPI)
-    else
-        @warn "CloudGraphsDFG is currently failing with the connectivity test."
-    end
+    rand(5)
+    ConnectivityTest(testDFGAPI)
 end