Merge pull request #260 from JuliaRobotics/feature/setlocalonly

adding local memory only feature,
JuliaRobotics · Feb 18, 2019 · d2408c6 · d2408c6
2 parents 76b33a2 + 05d117c
commit d2408c6
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Showing 2 changed files with 26 additions and 5 deletions.
diff --git a/examples/marine/rov/highend/synchronySDKIntegration.jl b/examples/marine/rov/highend/synchronySDKIntegration.jl
@@ -40,14 +40,21 @@ $(SIGNATURES)
 Get  Graff configuration, default filepath location assumed as `~/Documents/graffConfig.json`.
 """
 function loadGraffConfig(;
+            console::Vector{Symbol}=[],
             filepath::AS=joinpath(ENV["HOME"],"Documents","graffConfig.json")
          ) where {AS <: AbstractString}
   #
   println(" - Retrieving Graff Configuration...")
   configFile = open(filepath)
   configData = JSON.parse(readstring(configFile))
   close(configFile)
-  Unmarshal.unmarshal(GraffConfig, configData) # graffConfig =
+  cfg = Unmarshal.unmarshal(GraffConfig, configData) # graffConfig =
+
+  :userId in console ? (println("userId: "); cfg.userId = readline(stdin);) : nothing
+  :robotId in console ? (println("robotId: "); cfg.robotId = readline(stdin);) : nothing
+  :sessionId in console ? (println("sessionId: "); cfg.sessionId = readline(stdin);) : nothing
+
+  return cfg
 end
 
 """
@@ -119,7 +126,7 @@ function initialize!(sslaml::GraffSLAM;
   if isSessionExisting(slam_client.graffconf, sslaml.robotId, sslaml.sessionId)
       @warn "There is already a session named '$sessionId' for robot '$robotId'. This example will fail if it tries to add duplicate nodes. We strongly recommend providing a new session name."
       print(" Should we delete it? [Y/N] - ")
-      if lowercase(strip(readline(STDIN))) == "y"
+      if lowercase(strip(readline(stdin))) == "y"
           deleteSession(sslaml.graffconf, sslaml.robotId, sslaml.sessionId)
           println(" -- Session '$sessionId' deleted!")
       else

diff --git a/src/cloudgraphs/CloudGraphIntegration.jl b/src/cloudgraphs/CloudGraphIntegration.jl
@@ -328,6 +328,19 @@ function usecloudgraphsdatalayer!()
   nothing
 end
 
+function uselocalmemoryonly!()
+  IIF.setdatalayerAPI!(
+    addvertex= IIF.localapi.addvertex!,
+    getvertex= IIF.localapi.getvertex,
+    makeaddedge= IIF.localapi.makeaddedge!,
+    getedge= IIF.localapi.getedge,
+    outneighbors= IIF.localapi.outneighbors,
+    updatevertex= IIF.localapi.updatevertex!,
+    deletevertex= IIF.localapi.deletevertex!,
+    deleteedge= IIF.localapi.deleteedge!,
+    cgEnabled= false )
+  nothing
+end
 
 
 
@@ -360,6 +373,7 @@ Get all Neo4j node IDs in current session.
 function getAllExVertexNeoIDs(conn::Neo4j.Connection;
         ready::Int=1,
         backendset::Int=1,
+
         sessionname::AS="",
         robotname::AS="",
         username::AS="",
@@ -738,7 +752,7 @@ function askneo4jcredentials!(;addrdict=Dict{AbstractString,AbstractString}() )
   info("Please enter information for Neo4j DB:")
   for n in need
     info(n)
-    str = readline(STDIN)
+    str = readline(stdin)
     addrdict[n] = str
     if length(str) > 0
       if str[end] == "\n"
@@ -760,7 +774,7 @@ function askmongocredentials!(;addrdict=Dict{AbstractString,AbstractString}() )
   for n in need
     info(n)
     n == "mongoHost" && haskey(addrdict, "neo4jHost") ? print(string("[",addrdict["neo4jHost"],"]: ")) : nothing
-    str = readline(STDIN)
+    str = readline(stdin)
     addrdict[n] = str
     if length(str) > 0
       if str[end] == "\n"
@@ -809,7 +823,7 @@ function consoleaskuserfordb(;nparticles=false, drawdepth=false, clearslamindb=f
     n == "user" ? print("[]: ") : nothing
     n == "robot" ? print("[]: ") : nothing
     n == "multisession" ? print("comma separated list session names/[n]: ") : nothing
-    str = readline(STDIN)
+    str = readline(stdin)
     addrdict[n] = str
     if length(str) > 0
       if str[end] == "\n"