FactorState -> Recipestate + Recipehyper (#1199)

Author: Affie

src/Deprecated.jl

@@ -338,6 +338,12 @@ getVariablePPE(args...) = _ppe_obsolete()
 MeanMaxPPE(args...; kwargs...) = _ppe_obsolete()
 getEstimateFields(args...) = _ppe_obsolete()
 
+function getFactorState(args...)
+    return error(
+        "getFactorState is deprecated, use DFG.getRecipehyper or DFG.getRecipestate instead.",
+    )
+end
+
 ## ================================================================================
 ## Deprecated in v0.28
 ##=================================================================================

src/DistributedFactorGraphs.jl

@@ -354,7 +354,6 @@ public getStateKind
 const unstable_functions::Vector{Symbol} = [
     :getTags,
     :InMemoryBlobstore,
-    :getFactorState, # FIXME getFactorState were questioned and being reviewed again for name, other than that they are checked.
     :exists,
     :compare,
     :compareField,
@@ -441,6 +440,7 @@ const unstable_functions::Vector{Symbol} = [
     # no set on these
 
     #deprecated in v0.29
+    :getFactorState, # FIXME getFactorState were questioned and being reviewed again for name, other than that they are checked.
     :packDistribution,
     :unpackDistribution,
     :hasTagsNeighbors,

src/entities/DFGFactor.jl

@@ -20,16 +20,17 @@ const FactorCache = AbstractFactorCache #
 ##==============================================================================
 
 #TODO is this mutable
-@kwdef mutable struct FactorState
-    eliminated::Bool = false    # TODO should eliminated and potentialused be moved outside of FactorState?
-    potentialused::Bool = false # TODO ^
+@kwdef mutable struct Recipehyper
     multihypo::Vector{Float64} = Float64[] # TODO re-evaluate after refactoring w #477
-    certainhypo::Vector{Int} = Int[] #TODO mihgt be dead code?
     nullhypo::Float64 = 0.0
-    # solveInProgress::Int = 0 #TODO maybe deprecated or move to operational memory, also why Int?
     inflation::Float64 = 0.0
 end
 
+@kwdef mutable struct Recipestate
+    eliminated::Bool = false
+    potentialused::Bool = false
+end
+
 ##==============================================================================
 ## Factors
 ##==============================================================================
@@ -80,9 +81,10 @@ StructUtils.@kwarg struct FactorDFG{T <: AbstractObservation, N} <: AbstractGrap
     """Observation function or measurement for this factor.
     Accessors: [`getObservation`](@ref)(@ref)"""
     observation::T & (lower = pack_lower, choosetype = DFG.resolvePackedType)#TODO finalise serializd type
-    """Describes the current state of the factor. Persisted in serialization.
-    Accessors: [`getFactorState`](@ref)"""
-    state::FactorState = FactorState()
+    """Hyperparameters associated with this factor."""
+    hyper::Recipehyper = Recipehyper()
+    """Describes the current state of the factor. Persisted in serialization."""
+    state::Recipestate = Recipestate()
     """Temporary, non-persistent memory used internally by the solver for intermediate numerical computations and buffers.  
     `solvercache` is lazily allocated and only used during factor operations; it is not serialized or retained after solving.
     Accessors: [`getCache`](@ref), [`setCache!`](@ref)"""
@@ -96,7 +98,7 @@ end
 version(::Type{<:FactorDFG}) = v"0.29.0"
 
 ##------------------------------------------------------------------------------
-## Constructors
+## Constructors - IIF like
 function FactorDFG(
     variableorder::Union{<:Tuple, Vector{Symbol}},
     observation::AbstractObservation;
@@ -129,7 +131,8 @@ function FactorDFG(
     end
 
     # create factor data
-    state = FactorState(; multihypo, nullhypo, inflation)
+    hyper = Recipehyper(; multihypo, nullhypo, inflation)
+    state = Recipestate()
 
     union!(tags, [:FACTOR])
     # create factor 
@@ -140,6 +143,7 @@ function FactorDFG(
         timestamp,
         solvable = Ref(solvable),
         bloblets,
+        hyper,
         state,
         observation,
     )
@@ -152,7 +156,8 @@ function FactorDFG(
     label::Symbol,
     variableorder::Union{Vector{Symbol}, Tuple},
     observation::AbstractObservation,
-    state::FactorState = FactorState(),
+    hyper::Recipehyper = Recipehyper(),
+    state::Recipestate = Recipestate(),
     cache = nothing;
     tags::Set{Symbol} = Set{Symbol}([:FACTOR]),
     timestamp::Union{DateTime, ZonedDateTime, TimeDateZone} = TimeDateZone(
@@ -194,6 +199,7 @@ function FactorDFG(
         Ref(solvable),
         bloblets,
         observation,
+        hyper,
         state,
         solvercache,
         blobentries,

src/services/CompareUtils.jl

@@ -26,7 +26,8 @@ const GeneratedCompareUnion = Union{
     VariableSkeleton,
     FactorSummary,
     FactorSkeleton,
-    FactorState,
+    Recipehyper,
+    Recipestate,
 }
 
 @generated function ==(x::T, y::T) where {T <: GeneratedCompareUnion}
@@ -252,16 +253,7 @@ function compareVariable(
     skipsamples::Bool = true,
 )
     #
-    skiplist = union(
-        [
-            :states;
-            :atzone;
-            :inzone;
-            :blobentries;
-            :bloblets
-        ],
-        skip,
-    )
+    skiplist = union([:states, :atzone, :inzone, :blobentries, :bloblets], skip)
     TP = compareAll(A, B; skip = skiplist, show = show)
     varskiplist = skipsamples ? [:val; :bw] : Symbol[]
     skiplist = union([:variableType;], varskiplist)
@@ -303,13 +295,8 @@ function compareFactor(
     )
     TP = compareAll(A, B; skip = skip_, show = show)
     @debug "compareFactor 1/5" TP
-    TP =
-        TP & compareAll(
-            getFactorState(A),
-            getFactorState(B);
-            skip = union([:fnc; :_gradients], skip),
-            show = show,
-        )
+    TP &= compareAll(A.state, B.state; skip, show)
+    TP &= compareAll(A.hyper, B.hyper; skip, show)
     @debug "compareFactor 2/5" TP
     if !TP || :fnc in skip
         return TP

src/services/CustomPrinting.jl

@@ -112,8 +112,8 @@ function printFactor(
         println(ioc)
         println(ioc, "  solvable:      ", getSolvable(vert))
         println(ioc, "  VariableOrder: ", vert.variableorder)
-        println(ioc, "  multihypo:     ", getFactorState(vert).multihypo) # FIXME #477
-        println(ioc, "  nullhypo:      ", getFactorState(vert).nullhypo)
+        println(ioc, "  multihypo:     ", vert.hyper.multihypo) # FIXME #477
+        println(ioc, "  nullhypo:      ", vert.hyper.nullhypo)
         println(ioc, "  tags:          ", vert.tags)
         printstyled(ioc, "  FactorType: "; bold = true, color = :blue)
         println(ioc, fctt)

src/services/DFGFactor.jl

@@ -6,14 +6,22 @@
 # getSolveInProgress
 # isSolveInProgress
 
-#TODO `FactorState` is no longer the correct noun, update getFactorState.
 """
     $SIGNATURES
 
-Return factor state from factor graph.
+Return factor recipe state from factor graph.
 """
-getFactorState(f::AbstractGraphFactor) = f.state
-getFactorState(dfg::AbstractDFG, lbl::Symbol) = getFactorState(getFactor(dfg, lbl))
+getRecipestate(f::AbstractGraphFactor) = f.state
+getRecipestate(dfg::AbstractDFG, lbl::Symbol) = getRecipestate(getFactor(dfg, lbl))
+
+"""
+    $SIGNATURES
+Return the hyperparameters associated with a factor in the factor graph.
+These hyperparameters may include settings such as multi-hypothesis handling,
+null hypothesis thresholds, and inflation factors that influence the behavior of the factor during optimization.
+"""
+getRecipehyper(f::AbstractGraphFactor) = f.hyper
+getRecipehyper(dfg::AbstractDFG, lbl::Symbol) = getRecipehyper(getFactor(dfg, lbl))
 
 """
     $SIGNATURES

test/compareTests.jl

@@ -33,9 +33,9 @@ setSolvable!(v2, 0)
     VariableCompute(:x1, TestVariableType1()) == VariableCompute(:x1, TestVariableType2())
 )
 
-facstate1 = DFG.FactorState(; eliminated = true, potentialused = true)
+facstate1 = DFG.Recipestate(; eliminated = true, potentialused = true)
 facstate2 = deepcopy(facstate1)
-facstate3 = DFG.FactorState(; eliminated = true, potentialused = false)
+facstate3 = DFG.Recipestate(; eliminated = true, potentialused = false)
 
 @test facstate1 == facstate2
 @test !(facstate1 == facstate3)

test/fileDFGTests.jl

@@ -61,8 +61,8 @@ using UUIDs
             1:(numNodes - 1),
         )
         map(f -> setSolvable!(f, Int(round(rand()))), facts)
-        map(f -> DFG.getFactorState(f).eliminated = rand() > 0.5, facts)
-        map(f -> DFG.getFactorState(f).potentialused = rand() > 0.5, facts)
+        map(f -> f.state.eliminated = rand() > 0.5, facts)
+        map(f -> f.state.potentialused = rand() > 0.5, facts)
         mergeFactor!.(dfg, facts)
 
         #test multihypo

test/iifInterfaceTests.jl

@@ -185,7 +185,7 @@ end
 
     @test getLabel(f1) == f1.label
     @test getTags(f1) == f1.tags
-    @test getFactorState(f1) === f1.state
+    @test DFG.getRecipestate(f1) === f1.state
     @test getObservation(f1) === f1.observation
 
     @test getSolverParams(dfg) !== nothing

test/testBlocks.jl

@@ -100,8 +100,8 @@ function DFGStructureAndAccessors(
     des = "description for runtest"
     rId = :testRobotId
     sId = :testSessionId
-    rd = DFG.Bloblets(:rd=>DFG.Bloblet(:rd, "rdEntry"))
-    sd = DFG.Bloblets(:sd=>DFG.Bloblet(:sd, "sdEntry"))
+    rd = DFG.Bloblets(:rd => DFG.Bloblet(:rd, "rdEntry"))
+    sd = DFG.Bloblets(:sd => DFG.Bloblet(:sd, "sdEntry"))
     fg = T(;
         graphDescription = des,
         agentLabel = rId,
@@ -434,6 +434,7 @@ function VariablesandFactorsCRUD_SET!(fg, v1, v2, v3, f0, f1, f2)
             f2.label,
             (:a,),
             f2.observation,
+            f2.hyper,
             f2.state;
             timestamp = f2.timestamp,
             tags = f2.tags,
@@ -1236,13 +1237,8 @@ function connectivityTestGraph(
         setSolvable!(dfg, :x8, 0)
         setSolvable!(dfg, :x9, 0)
 
-        facstate = DFG.FactorState(;
-            eliminated = true,
-            potentialused = true,
-            multihypo = Float64[],
-            certainhypo = Int[],
-            inflation = 1.0,
-        )
+        state = DFG.Recipestate(; eliminated = true, potentialused = true)
+        hyper = DFG.Recipehyper(; multihypo = Float64[], inflation = 1.0)
         f_tags = Set([:FACTOR])
 
         facs = map(
@@ -1252,8 +1248,9 @@ function connectivityTestGraph(
                     Symbol("x$(n)x$(n+1)f1"),
                     [vars[n].label, vars[n + 1].label],
                     TestFunctorInferenceType1(),
-                    facstate;
-                    tags = deepcopy(f_tags),
+                    deepcopy(hyper),
+                    deepcopy(state);
+                    tags = copy(f_tags),
                 ),
             ),
             1:(length(vars) - 1),
@@ -1616,13 +1613,11 @@ function FileDFGTestBlock(testDFGAPI; kwargs...)
     mergeVariable!(dfg, v4)
 
     f45 = getFactor(dfg, :x4x5f1)
-    fsd = getFactorState(f45)
     # set some factor solver data
-    push!(fsd.certainhypo, 2)
-    fsd.eliminated = true
-    push!(fsd.multihypo, 4.0)
-    fsd.nullhypo = 5.0
-    fsd.potentialused = true
+    f45.state.eliminated = true
+    push!(f45.hyper.multihypo, 4.0)
+    f45.hyper.nullhypo = 5.0
+    f45.state.potentialused = true
     #update factor
     mergeFactor!(dfg, f45)