Standardize more types, filters, and more cleanup

.gitignore

@@ -7,3 +7,4 @@ docs/build
 Manifest.toml
 dev
 test/sandbox.jl
+lcov.info

src/Common.jl

@@ -3,10 +3,10 @@
 _getmodule(t::T) where {T} = T.name.module
 _getname(t::T) where {T} = T.name.name
 
-function convertPackedType(t::Union{T, Type{T}}) where {T <: AbstractFactorObservation}
+function convertPackedType(t::Union{T, Type{T}}) where {T <: AbstractObservation}
     return getfield(_getmodule(t), Symbol("Packed$(_getname(t))"))
 end
-function convertStructType(::Type{PT}) where {PT <: AbstractPackedFactorObservation}
+function convertStructType(::Type{PT}) where {PT <: AbstractPackedObservation}
     # see #668 for expanded reasoning.  PT may be ::UnionAll if the type is of template type.
     ptt = PT isa DataType ? PT.name.name : PT
     moduleName = PT isa DataType ? PT.name.module : Main
@@ -64,11 +64,68 @@ Related
 
 ls, lsf
 """
-function sortDFG(vars::Vector{<:DFGNode}; by = getTimestamp, kwargs...)
+function sortDFG(vars::Vector{<:AbstractGraphNode}; by = getTimestamp, kwargs...)
     return sort(vars; by = by, kwargs...)
 end
 sortDFG(vars::Vector{Symbol}; lt = natural_lt, kwargs...) = sort(vars; lt = lt, kwargs...)
 
+##==============================================================================
+## Filtering
+##==============================================================================
+
+# std_numeric_predicates = [==, <, <=, >, >=, in]
+# std_string_predicates = [==, in, contains, startswith, endswith]
+
+# # full list
+# tags_includes(tag::Symbol) = Base.Fix1(in, tag)
+# solvable_eq(x::Int) = ==(x)
+# solvable_in(x::Vector{Int}) = in(x)
+# solvable_lt(x::Int) = <(x)
+# solvable_lte(x::Int) = <=(x)
+# solvable_gt(x::Int) = >(x)
+# solvable_gte(x::Int) = >=(x)
+# label_in(x::Vector{Symbol}) = in(x)
+# label_contains(x::String) = contains(x)
+# label_startswith(x::String) = startswith(x)
+# label_endswith(x::String) = endswith(x)
+# type_eq(x::AbstractStateType) = ==(x)
+# type_in(x::Vector{<:AbstractStateType}) = in(x)
+# type_contains(x::String) = contains(x)
+# type_startswith(x::String) = startswith(x)
+# type_endswith(x::String) = endswith(x)
+
+# Set predicates
+# collection_includes(item) = Base.Fix1(in, item) # collection includes item (item in collection)
+
+# not supported helper
+# collection_overlap(collection) = !isdisjoint(collection) # collection overlaps with another collection
+
+"""
+    $SIGNATURES
+Filter nodes in a DFG based on a predicate function.
+This function modifies the input `nodes` vector in place, removing nodes that do not satisfy the predicate.
+
+- **For cross-backend compatibility:**  
+  Use only the standard predicates (`==`, `<`, `<=`, `>`, `>=`, `in`, `contains`, `startswith`, `endswith`) 
+  when you need your code to work with both in-memory and database-backed DFGs. 
+  These are likely to be supported by database query languages and are defined in `std_numeric_predicates` and `std_string_predicates`.
+
+- **For in-memory only operations:**  
+  You can use any Julia predicate, since you have full access to the data and Julia's capabilities.
+  This is more flexible but will not work if you later switch to a database backend or another programming language.
+
+Standard predicates
+- Numeric predicates: `==`, `<`, `<=`, `>`, `>=`, `in`
+- String predicates: `==`, `contains`, `startswith`, `endswith`, `in`
+"""
+function filterDFG! end
+
+filterDFG!(nodes, predicate::Nothing, by::Function = identity) = nodes
+# function filterDFG!(nodes, predicate::Base.Fix2, by=identity)
+function filterDFG!(nodes, predicate::Function, by::Function = identity)
+    return filter!(predicate ∘ by, nodes)
+end
+
 ##==============================================================================
 ## Validation of session, robot, and user labels.
 ##==============================================================================
@@ -83,10 +140,8 @@ $(SIGNATURES)
 Returns true if the label is valid for node.
 """
 function isValidLabel(id::Union{Symbol, String})
-    if typeof(id) == Symbol
-        id = String(id)
-    end
-    return !in(uppercase(id), _invalidIds) && !isnothing(match(_validLabelRegex, id))
+    _id = string(id)
+    return occursin(_validLabelRegex, _id) && !in(uppercase(_id), _invalidIds)
 end
 
 """

src/DataBlobs/services/BlobEntry.jl

@@ -65,7 +65,7 @@ Get data entry
 
 Also see: [`addBlobentry!`](@ref), [`getBlob`](@ref), [`listBlobentries`](@ref)
 """
-function getBlobentry(var::AbstractDFGVariable, key::Symbol)
+function getBlobentry(var::AbstractGraphVariable, key::Symbol)
     if !hasBlobentry(var, key)
         throw(LabelNotFoundError("Blobentry", key, collect(keys(var.dataDict))))
     end
@@ -85,7 +85,7 @@ Finds and returns the first blob entry that matches the filter.
 
 Also see: [`getBlobentry`](@ref)
 """
-function getfirstBlobentry(var::AbstractDFGVariable, blobId::UUID)
+function getfirstBlobentry(var::AbstractGraphVariable, blobId::UUID)
     for (k, v) in var.dataDict
         if blobId == v.blobId
             return v
@@ -98,7 +98,7 @@ function getfirstBlobentry(dfg::AbstractDFG, label::Symbol, blobId::UUID)
     return getfirstBlobentry(getVariable(dfg, label), blobId)
 end
 
-function getfirstBlobentry(var::AbstractDFGVariable, key::Regex)
+function getfirstBlobentry(var::AbstractGraphVariable, key::Regex)
     for (k, v) in var.dataDict
         if occursin(key, string(v.label))
             return v
@@ -152,7 +152,7 @@ Should be extended if DFG variable is not returned by reference.
 
 Also see: [`getBlobentry`](@ref), [`addBlob!`](@ref), [`mergeBlobentries!`](@ref)
 """
-function addBlobentry!(var::AbstractDFGVariable, entry::Blobentry)
+function addBlobentry!(var::AbstractGraphVariable, entry::Blobentry)
     # see https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/985
     # blobId::Union{UUID,Nothing} = (isnothing(entry.blobId) ? entry.id : entry.blobId),
     # blobSize::Int = (hasfield(Blobentry, :size) ? entry.size : -1)
@@ -182,7 +182,7 @@ Update a Blobentry in the factor graph.
 If the Blobentry does not exist, it will be added.
 Notes:
 """
-function mergeBlobentry!(var::AbstractDFGVariable, bde::Blobentry)
+function mergeBlobentry!(var::AbstractGraphVariable, bde::Blobentry)
     if !haskey(var.dataDict, bde.label)
         addBlobentry!(var, bde)
     else
@@ -203,7 +203,7 @@ Note this doesn't remove it from any data stores.
 Notes:
 - users responsibility to delete data in db before deleting entry
 """
-function deleteBlobentry!(var::AbstractDFGVariable, key::Symbol)
+function deleteBlobentry!(var::AbstractGraphVariable, key::Symbol)
     pop!(var.dataDict, key)
     return 1
 end
@@ -226,7 +226,7 @@ function deleteBlobentry!(dfg::AbstractDFG, label::Symbol, key::Symbol)
     return deleteBlobentry!(getVariable(dfg, label), key)
 end
 
-function deleteBlobentry!(var::AbstractDFGVariable, entry::Blobentry)
+function deleteBlobentry!(var::AbstractGraphVariable, entry::Blobentry)
     #users responsibility to delete data in db before deleting entry
     return deleteBlobentry!(var, entry.label)
 end
@@ -240,7 +240,8 @@ end
 
 Does a blob entry exist with `blobLabel`.
 """
-hasBlobentry(var::AbstractDFGVariable, blobLabel::Symbol) = haskey(var.dataDict, blobLabel)
+hasBlobentry(var::AbstractGraphVariable, blobLabel::Symbol) =
+    haskey(var.dataDict, blobLabel)
 
 function hasBlobentry(var::VariableDFG, label::Symbol)
     return label in getproperty.(var.blobEntries, :label)
@@ -251,7 +252,7 @@ end
 
 Get blob entries, Vector{Blobentry}
 """
-function getBlobentries(var::AbstractDFGVariable)
+function getBlobentries(var::AbstractGraphVariable)
     #or should we return the iterator, Base.ValueIterator{Dict{Symbol,Blobentry}}?
     return collect(values(var.dataDict))
 end
@@ -311,7 +312,7 @@ end
     $(SIGNATURES)
 List the blob entries associated with a particular variable.
 """
-function listBlobentries(var::AbstractDFGVariable)
+function listBlobentries(var::AbstractGraphVariable)
     return collect(keys(var.dataDict))
 end
 

src/DataBlobs/services/BlobStores.jl

@@ -7,6 +7,8 @@ Get the data blob for the specified blobstore or dfg.
 
 Related
 [`getBlobentry`](@ref)
+Implement 
+`getBlob(store::AbstractBlobstore, blobId::UUID)`
 
 $(METHODLIST)
 """
@@ -17,67 +19,31 @@ Adds a blob to the blob store or dfg with the blobId.
 
 Related
 [`addBlobentry!`](@ref)
-
+Implement
+`addBlob!(store::AbstractBlobstore, blobId::UUID, data)`
 $(METHODLIST)
 """
 function addBlob! end
 
-"""
-Update a blob to the blob store or dfg with the given entry.
-Related
-[`mergeBlobentry!`](@ref)
-
-$(METHODLIST)
-
-DevNotes
-- TODO TBD update verb on data since data blobs and entries are restricted to immutable only.
-"""
-function updateBlob! end
-
 """
 Delete a blob from the blob store or dfg with the given entry.
 
 Related
 [`deleteBlobentry!`](@ref)
-
+Implement
+`deleteBlob!(store::AbstractBlobstore, blobId::UUID)`
 $(METHODLIST)
 """
 function deleteBlob! end
 
 """
     $(SIGNATURES)
-List all ids in the blob store.
+List all `blobId`s in the blob store.
+Implement
+`listBlobs(store::AbstractBlobstore)`
 """
 function listBlobs end
 
-##==============================================================================
-## AbstractBlobstore CRUD Interface
-##==============================================================================
-
-function getBlob(store::AbstractBlobstore, ::UUID)
-    return error("$(typeof(store)) doesn't override 'getBlob'.")
-end
-
-function addBlob!(store::AbstractBlobstore{T}, ::UUID, ::T) where {T}
-    return error("$(typeof(store)) doesn't override 'addBlob!'.")
-end
-
-function updateBlob!(store::AbstractBlobstore{T}, ::UUID, ::T) where {T}
-    return error("$(typeof(store)) doesn't override 'updateBlob!'.")
-end
-
-function deleteBlob!(store::AbstractBlobstore, ::UUID)
-    return error("$(typeof(store)) doesn't override 'deleteBlob!'.")
-end
-
-function listBlobs(store::AbstractBlobstore)
-    return error("$(typeof(store)) doesn't override 'listBlobs'.")
-end
-
-function hasBlob(store::AbstractBlobstore, ::UUID)
-    return error("$(typeof(store)) doesn't override 'hasBlob'.")
-end
-
 ##==============================================================================
 ## AbstractBlobstore derived CRUD for Blob 
 ##==============================================================================