getStateKind and fix tests (#1198)

* getStateKind and fix tests

* test IIF again

Author: Affie

.github/workflows/ci.yml

@@ -51,7 +51,7 @@ jobs:
 
       - name: Run tests
         env:
-          IIF_TEST: false #FIXME skipping until IIF stable again
+          IIF_TEST: true
         uses: julia-actions/julia-runtest@latest      
       - name: Process Coverage
         uses: julia-actions/julia-processcoverage@v1

NEWS.md

@@ -1,4 +1,8 @@
 Listing news on any major breaking changes in DFG.  For regular changes, see integrated Github.com project milestones for DFG.
+
+# v0.29
+- `AbstractPointParametricEst` (`MeanMaxPPE`) and related `PPE` functions are obsolete, see #1133.
+
 # v0.28
 - Reading or deserialzing of factor graphs created prior to v0.25 are no longer suppoted with the complete removal of User/Robot/Session
 - Deprecated AbstractRelativeMinimize and AbstractManifoldsMinimize

src/Deprecated.jl

@@ -85,41 +85,10 @@ function isSolveInProgress(
     return getSolveInProgress(node, solvekey) > 0
 end
 
-"""
-    $(SIGNATURES)
-Get a type from the serialization module.
-"""
-function getTypeFromSerializationModule(_typeString::AbstractString)
-    @debug "DFG converting type string to Julia type" _typeString
-    try
-        # split the type at last `.`
-        split_st = split(_typeString, r"\.(?!.*\.)")
-        #if module is specified look for the module in main, otherwise use Main        
-        if length(split_st) == 2
-            m = getfield(Main, Symbol(split_st[1]))
-        else
-            m = Main
-        end
-        noparams = split(split_st[end], r"{")
-        ret = if 1 < length(noparams)
-            # fix #671, but does not work with specific module yet
-            bidx = findfirst(r"{", split_st[end])[1]
-            error("getTypeFromSerializationModule eval obsolete")
-            # Core.eval(m, Base.Meta.parse("$(noparams[1])$(split_st[end][bidx:end])"))
-        else
-            getfield(m, Symbol(split_st[end]))
-        end
-
-        return ret
-
-    catch ex
-        @error "Unable to deserialize type $(_typeString)"
-        io = IOBuffer()
-        showerror(io, ex, catch_backtrace())
-        err = String(take!(io))
-        @error(err)
-    end
-    return nothing
+function getTypeFromSerializationModule(::AbstractString)
+    return error(
+        "getTypeFromSerializationModule is obsolete, use DFG.parseVariableType or IIF.getTypeFromSerializationModule.",
+    )
 end
 
 ## Version checking
@@ -137,8 +106,8 @@ end
 
 refMetadata(node) = node.metadata
 
-function packDistribution end
-function unpackDistribution end
+@deprecate packDistribution(d) pack(d)
+@deprecate unpackDistribution(d) unpack(d)
 
 function setDescription!(args...)
     return error("setDescription! was removed and may be implemented later.")
@@ -158,8 +127,8 @@ function _getDuplicatedEmptyDFG(
     return newDfg
 end
 
-#TODO is Type correct
-@deprecate getVariableType(args...) getStateType(args...)
+#Type gets confused with returning a DataType, Kind is an instance of StateType
+@deprecate getVariableType(args...) getStateKind(args...)
 
 function getVariableTypeName(v::VariableSummary)
     Base.depwarn("getVariableTypeName is deprecated.", :getVariableTypeName)
@@ -274,7 +243,9 @@ const PackedObservation = AbstractPackedObservation
 abstract type AbstractPackedBelief end
 const PackedBelief = AbstractPackedBelief
 
-getAddHistory(dfg::AbstractDFG) = error("getAddHistory is obsolete.")
+#TODO maybe replace with `listVariablesAddOrder` or using sort on `listVariables`
+getAddHistory(dfg::AbstractDFG) = error("getAddHistory is deprecated.")
+getAddHistory(dfg::GraphsDFG) = listVariables(dfg) #default listVariables on GraphsDFG is ordered
 
 ## Utility functions for getting type names and modules (from IncrementalInference)
 _getmodule(t::T) where {T} = T.name.module
@@ -342,6 +313,31 @@ function hasTagsNeighbors(
     return length(filter(x -> x in alltags, tags)) >= (matchAll ? length(tags) : 1)
 end
 
+#Obsolete PPEs
+abstract type AbstractPointParametricEst end
+function _ppe_obsolete()
+    return error(
+        "PPEs are obsolete and will be replaced soon (IIF.calcMeanMaxSuggested can be used in some cases), see #1133.",
+    )
+end
+getPPEMax(args...) = _ppe_obsolete()
+getPPEMean(args...) = _ppe_obsolete()
+getPPESuggested(args...) = _ppe_obsolete()
+getLastUpdatedTimestamp(est::AbstractPointParametricEst) = _ppe_obsolete()
+getPPE(args...) = _ppe_obsolete()
+addPPE!(args...) = _ppe_obsolete()
+addPPEs!(args...) = _ppe_obsolete()
+updatePPE!(args...) = _ppe_obsolete()
+deletePPE!(args...) = _ppe_obsolete()
+listPPEs(args...) = _ppe_obsolete()
+mergePPEs!(args...) = _ppe_obsolete()
+getPPEDict(args...) = _ppe_obsolete()
+getPPEs(args...) = _ppe_obsolete()
+getVariablePPEDict(args...) = _ppe_obsolete()
+getVariablePPE(args...) = _ppe_obsolete()
+MeanMaxPPE(args...; kwargs...) = _ppe_obsolete()
+getEstimateFields(args...) = _ppe_obsolete()
+
 ## ================================================================================
 ## Deprecated in v0.28
 ##=================================================================================
@@ -421,7 +417,7 @@ function lsWho(dfg::AbstractDFG, type::Symbol)
     vars = getVariables(dfg)
     labels = Symbol[]
     for v in vars
-        varType = typeof(getVariableType(v)) |> nameof
+        varType = typeof(getStateKind(v)) |> nameof
         varType == type && push!(labels, v.label)
     end
     return labels

src/DistributedFactorGraphs.jl

@@ -109,6 +109,8 @@ export addStates!
 export mergeStates!
 export deleteStates!
 
+export hasState
+
 ## list
 export listVariables
 export listFactors
@@ -345,6 +347,7 @@ export @format_str # exported from FileIO
 export @defStateType #TODO Should this be exported?
 
 public refStates
+public getStateKind
 
 # list of unstable functions not exported any more
 # will move to public or deprecate over time
@@ -407,13 +410,11 @@ const unstable_functions::Vector{Symbol} = [
     :printNode,
     :plotDFG,
     :pack,
-    :packDistribution,
     # :packVariable,
     # :packFactor,
     :packBlob,
     :packState,
     :unpack,
-    :unpackDistribution,
     :hasTags,
     # :unpackVariable,
     # :unpackFactor,
@@ -440,13 +441,15 @@ const unstable_functions::Vector{Symbol} = [
     # no set on these
 
     #deprecated in v0.29
+    :packDistribution,
+    :unpackDistribution,
     :hasTagsNeighbors,
     # :updateBlobstore!,## TODO deprecated or obsolete
     :emptyMetadata!, #TODO maybe deprecate for just deleteMetadata!
     # :emptyBlobstore!, #TODO maybe deprecate for just deleteBlobstore!
     :MetadataTypes, #maybe make public after metadata stable
     :getVariableTypeName,
-    :getVariableType,
+    :getStateKind,
     :setTimestamp,
     :setMetadata!, # no set, use add merge
     :setAgentMetadata!,
@@ -577,7 +580,7 @@ include("DataBlobs/services/BlobWrappers.jl")
 
 #FIXME
 function getSolvable end
-function getVariableType end
+function getStateKind end
 function isInitialized end
 function listTags end
 # In Memory Types

src/GraphsDFG/GraphsDFG.jl

@@ -17,7 +17,7 @@ using ...DistributedFactorGraphs:
     NoSolverParams,
     filterDFG!,
     getSolvable,
-    getVariableType,
+    getStateKind,
     getAgentLabel,
     getGraphLabel,
     isInitialized,

src/GraphsDFG/services/GraphsDFG.jl

@@ -187,7 +187,7 @@ function getVariables(
     filterDFG!(variables, labelFilter, getLabel)
     filterDFG!(variables, solvableFilter, getSolvable)
     filterDFG!(variables, tagsFilter, refTags)
-    filterDFG!(variables, typeFilter, getVariableType)
+    filterDFG!(variables, typeFilter, getStateKind)
 
     return variables
 end

src/entities/Bloblet.jl

@@ -65,7 +65,7 @@ function addBloblet!(node, bloblet::Bloblet)
 end
 
 function addBloblets!(node, bloblets::Vector{Bloblet})
-    addBloblet!.(node, bloblets)
+    foreach(bl -> addBloblet!(node, bl), bloblets)
     return bloblets
 end
 

src/entities/DFGVariable.jl

@@ -78,12 +78,12 @@ end
 function State{T}(; kwargs...) where {T <: StateType}
     return State{T, getPointType(T), getDimension(T)}(; kwargs...)
 end
-function State(label, variableType::StateType; kwargs...)
+function State(label::Symbol, variableType::StateType; kwargs...)
     return State{typeof(variableType)}(; label, kwargs...)
 end
 
 function State(state::State; kwargs...)
-    return State{typeof(getVariableType(state))}(;
+    return State{typeof(getStateKind(state))}(;
         (key => deepcopy(getproperty(state, key)) for key in fieldnames(State))...,
         kwargs...,
     )
@@ -255,7 +255,7 @@ end
 function VariableDFG(label::Symbol, state::State; kwargs...)
     return VariableDFG(
         label,
-        getStateType(state);
+        getStateKind(state);
         states = OrderedDict(state.label => state),
         kwargs...,
     )
@@ -299,8 +299,7 @@ $(TYPEDFIELDS)
     """Variable tags, e.g [:POSE, :VARIABLE, and :LANDMARK].
     Accessors: [`getTags`](@ref), [`mergeTags!`](@ref), and [`deleteTags!`](@ref)"""
     tags::Set{Symbol}
-    """Symbol for the state type for the underlying variable.
-    Accessor: [`getStateType`](@ref)"""
+    """Symbol for the state type for the underlying variable."""
     statetype::Symbol
     """Dictionary of large data associated with this variable.
     Accessors: [`addBlobentry!`](@ref), [`getBlobentry`](@ref), [`mergeBlobentry!`](@ref), and [`deleteBlobentry!`](@ref)"""

src/serialization/PackedSerialization.jl

@@ -67,6 +67,15 @@ function resolvePackedType(obj::JSON.Object)
     return Packed{getfield(pkg, Symbol(type.name))}
 end
 
+function resolveType(obj::DFG.JSON.Object)
+    type = obj.type
+    pkg = Base.require(Main, Symbol(type.pkg))
+    if !isdefined(Main, Symbol(type.pkg))
+        throw(SerializationError("Module $(pkg) is available, but not loaded in `Main`."))
+    end
+    return getfield(pkg, Symbol(type.name))
+end
+
 @choosetype Packed resolvePackedType
 
 # Stash optional TypeMetadata expansion function.

src/serialization/StateSerialization.jl

@@ -99,7 +99,7 @@ function packState(state::State{T}) where {T <: StateType}
         vecbw = state.bw[:],
         dimbw = size(state.bw, 1),
         separator = state.separator,
-        statetype = stringVariableType(getStateType(state)),
+        statetype = stringVariableType(getStateKind(state)),
         initialized = state.initialized,
         observability = state.observability,
         marginalized = state.marginalized,