Add more Blobentry functions

docs/make.jl

@@ -2,6 +2,8 @@ using Documenter
 using GraphMakie
 using DistributedFactorGraphs
 
+DFG.@usingDFG true
+
 makedocs(;
     modules = [DistributedFactorGraphs],
     format = Documenter.HTML(),

src/DataBlobs/services/BlobEntry.jl

@@ -71,19 +71,21 @@ end
 """
     $(SIGNATURES)
 Finds and returns the first blob entry that matches the filter.
-
+The result is sorted by `sortby[=getLabel]` and `sortlt[=natural_lt]` before returning the first entry.
 Also see: [`getBlobentry`](@ref)
 """
 function getfirstBlobentry(
     v::AbstractGraphVariable;
     labelFilter::Union{Nothing, Function} = nothing,
     blobIdFilter::Union{Nothing, Function} = nothing,
+    sortby::Function = getLabel,
+    sortlt::Function = natural_lt,
 )
     entries = getBlobentries(v; labelFilter, blobIdFilter)
     if isempty(entries)
         return nothing
     else
-        return entries[1]
+        return sort(entries; by = sortby, lt = sortlt)[1]
     end
 end
 
@@ -184,6 +186,23 @@ function deleteBlobentry!(var::AbstractGraphVariable, entry::Blobentry)
     return deleteBlobentry!(var, entry.label)
 end
 
+##==============================================================================
+## Default bulk Agent and Graph Blobentry operations
+##==============================================================================
+function deleteAgentBlobentries!(dfg::AbstractDFG, labels::Vector{Symbol})
+    cnts = map(labels) do label
+        return deleteAgentBlobentry!(dfg, label)
+    end
+    return sum(cnts)
+end
+
+function deleteGraphBlobentries!(dfg::AbstractDFG, labels::Vector{Symbol})
+    cnts = map(labels) do label
+        return deleteGraphBlobentry!(dfg, label)
+    end
+    return sum(cnts)
+end
+
 ##==============================================================================
 ## Blobentry - Helper functions, Lists, etc
 ##==============================================================================

src/DistributedFactorGraphs.jl

@@ -116,7 +116,7 @@ export getObservation
 ##------------------------------------------------------------------------------
 export getVariable
 export hasVariable
-
+export mergeVariables!
 ##------------------------------------------------------------------------------
 ## State
 ##------------------------------------------------------------------------------
@@ -126,6 +126,7 @@ export getStates
 # Factor
 ##------------------------------------------------------------------------------
 export mergeFactor!
+export mergeFactors!
 export hasFactor
 
 ##------------------------------------------------------------------------------
@@ -144,20 +145,22 @@ export getAgentBlobentries
 
 export mergeBlobentries!
 export mergeGraphBlobentry!
+export mergeGraphBlobentries!
 export mergeAgentBlobentry!
+export mergeAgentBlobentries!
 
 export deleteGraphBlobentry!
 export deleteAgentBlobentry!
+export deleteGraphBlobentries!
+export deleteAgentBlobentries!
 
 export listBlobentries
 export listGraphBlobentries
 export listAgentBlobentries
 
 export hasBlobentry
-
-# TODO not yet implemented in DFG
-# addAgentBlobentry!
-# addGraphBlobentry!
+export hasGraphBlobentry
+export hasAgentBlobentry
 
 ##------------------------------------------------------------------------------
 ## Blobstores and Blobs
@@ -199,14 +202,15 @@ export GraphsDFG
 
 # export addBlobentry!,         getBlobentry,         mergeBlobentry!,         deleteBlobentry! # historic for VariableBlobentry
 # export addBlobentries!,       getBlobentries,       mergeBlobentries!,       deleteBlobentries!
-# TODO first pass progress
 # export addGraphBlobentry!,    getGraphBlobentry,    mergeGraphBlobentry!,    deleteGraphBlobentry!
 # export addGraphBlobentries!,  getGraphBlobentries,  mergeGraphBlobentries!,  deleteGraphBlobentries!
 # export addAgentBlobentry!,    getAgentBlobentry,    mergeAgentBlobentry!,    deleteAgentBlobentry!
 # export addAgentBlobentries!,  getAgentBlobentries,  mergeAgentBlobentries!,  deleteAgentBlobentries!
+#TODO blob entries not implemented on factors yet
 # export addFactorBlobentry!,   getFactorBlobentry,   mergeFactorBlobentry!,   deleteFactorBlobentry!
 # export addFactorBlobentries!, getFactorBlobentries, mergeFactorBlobentries!, deleteFactorBlobentries!
 
+# TODO first pass progress
 # export addVariableMetadata!,  getVariableMetadata,  mergeVariableMetadata!,  deleteVariableMetadata!
 # export addFactorMetadata!,    getFactorMetadata,    mergeFactorMetadata!,    deleteFactorMetadata!
 # export addAgentMetadata!,     getAgentMetadata,     mergeAgentMetadata!,     deleteAgentMetadata!
@@ -546,31 +550,6 @@ include("services/DFGFactor.jl")
 include("Deprecated.jl")
 include("services/CompareUtils.jl")
 
-#FIXME move 
-function mergeGraphBlobentry!(dfg::GraphsDFG, entry::Blobentry)
-    refBlobentries(dfg.graph)[getLabel(entry)] = entry
-    return 1
-end
-
-function mergeAgentBlobentry!(dfg::GraphsDFG, entry::Blobentry)
-    refBlobentries(dfg.agent)[getLabel(entry)] = entry
-    return 1
-end
-
-function mergeGraphBlobentries!(dfg::GraphsDFG, entries::Vector{Blobentry})
-    cnts = map(entries) do entry
-        return mergeGraphBlobentry!(dfg, entry)
-    end
-    return sum(cnts)
-end
-
-function mergeAgentBlobentries!(dfg::GraphsDFG, entries::Vector{Blobentry})
-    cnts = map(entries) do entry
-        return mergeAgentBlobentry!(dfg, entry)
-    end
-    return sum(cnts)
-end
-
 # include("services/Sync.jl")
 
 # Include the FilesDFG API.

src/GraphsDFG/services/GraphsDFG.jl

@@ -91,8 +91,8 @@ function mergeVariable!(dfg::GraphsDFG, variable::AbstractGraphVariable)
     return 1
 end
 
-function mergeVariables!(dfg::GraphsDFG, variables)
-    cnts = map(mergeVariable!, variables)
+function DFG.mergeVariables!(dfg::GraphsDFG, variables)
+    cnts = map(v -> mergeVariable!(dfg, v), variables)
     return sum(cnts)
 end
 
@@ -112,6 +112,11 @@ function mergeFactor!(dfg::GraphsDFG, factor::AbstractGraphFactor)
     return 1
 end
 
+function DFG.mergeFactors!(dfg::GraphsDFG, factors)
+    cnts = map(f -> mergeFactor!(dfg, f), factors)
+    return sum(cnts)
+end
+
 function deleteVariable!(dfg::GraphsDFG, label::Symbol)#::Tuple{AbstractGraphVariable, Vector{<:AbstractGraphFactor}}
     if !haskey(dfg.g.variables, label)
         throw(LabelNotFoundError("Variable", label))
@@ -592,3 +597,81 @@ function addGraphBlobentries!(fg::GraphsDFG, entries::Vector{Blobentry})
         return addGraphBlobentry!(fg, entry)
     end
 end
+
+function DFG.addAgentBlobentry!(fg::GraphsDFG, entry::Blobentry)
+    if haskey(fg.agent.blobEntries, entry.label)
+        throw(LabelExistsError("Blobentry", entry.label))
+    end
+    push!(fg.agent.blobEntries, entry.label => entry)
+    return entry
+end
+
+function DFG.addAgentBlobentries!(fg::GraphsDFG, entries::Vector{Blobentry})
+    return map(entries) do entry
+        return addAgentBlobentry!(fg, entry)
+    end
+end
+
+function DFG.getAgentBlobentry(fg::GraphsDFG, label::Symbol)
+    if !haskey(fg.agent.blobEntries, label)
+        throw(LabelNotFoundError("Blobentry", label))
+    end
+    return fg.agent.blobEntries[label]
+end
+
+function DFG.getAgentBlobentries(
+    fg::GraphsDFG;
+    labelFilter::Union{Nothing, Function} = nothing,
+)
+    entries = collect(values(fg.agent.blobEntries))
+    filterDFG!(entries, labelFilter, getLabel)
+    return entries
+end
+
+function DFG.mergeGraphBlobentry!(dfg::GraphsDFG, entry::Blobentry)
+    DFG.refBlobentries(dfg.graph)[getLabel(entry)] = entry
+    return 1
+end
+
+function DFG.mergeAgentBlobentry!(dfg::GraphsDFG, entry::Blobentry)
+    DFG.refBlobentries(dfg.agent)[getLabel(entry)] = entry
+    return 1
+end
+
+function DFG.mergeGraphBlobentries!(dfg::GraphsDFG, entries::Vector{Blobentry})
+    cnts = map(entries) do entry
+        return mergeGraphBlobentry!(dfg, entry)
+    end
+    return sum(cnts)
+end
+
+function DFG.mergeAgentBlobentries!(dfg::GraphsDFG, entries::Vector{Blobentry})
+    cnts = map(entries) do entry
+        return mergeAgentBlobentry!(dfg, entry)
+    end
+    return sum(cnts)
+end
+
+function DFG.deleteGraphBlobentry!(dfg::GraphsDFG, label::Symbol)
+    if !haskey(dfg.graph.blobEntries, label)
+        throw(LabelNotFoundError("Blobentry", label))
+    end
+    delete!(dfg.graph.blobEntries, label)
+    return 1
+end
+
+function DFG.deleteAgentBlobentry!(dfg::GraphsDFG, label::Symbol)
+    if !haskey(dfg.agent.blobEntries, label)
+        throw(LabelNotFoundError("Blobentry", label))
+    end
+    delete!(dfg.agent.blobEntries, label)
+    return 1
+end
+
+function DFG.hasGraphBlobentry(dfg::GraphsDFG, label::Symbol)
+    return haskey(dfg.graph.blobEntries, label)
+end
+
+function DFG.hasAgentBlobentry(dfg::GraphsDFG, label::Symbol)
+    return haskey(dfg.agent.blobEntries, label)
+end

src/services/AbstractDFG.jl

@@ -202,13 +202,15 @@ function getGraphBlobentries end
 function addGraphBlobentry! end
 function addGraphBlobentries! end
 function mergeGraphBlobentry! end
+function mergeGraphBlobentries! end
 function deleteGraphBlobentry! end
 
 function getAgentBlobentry end
 function getAgentBlobentries end
 function addAgentBlobentry! end
 function addAgentBlobentries! end
 function mergeAgentBlobentry! end
+function mergeAgentBlobentries! end
 function deleteAgentBlobentry! end
 
 function getModelBlobentry end
@@ -222,6 +224,10 @@ function listGraphBlobentries end
 function listAgentBlobentries end
 function listModelBlobentries end
 
+function hasGraphBlobentry end
+function hasAgentBlobentry end
+function hasModelBlobentry end
+
 ##==============================================================================
 ## AbstractBlobstore  CRUD
 ##==============================================================================
@@ -369,6 +375,7 @@ otherwise, the variable will be added to the graph.
 Implement `mergeVariable!(dfg::AbstractDFG, variable::AbstractGraphVariable)`
 """
 function mergeVariable! end
+function mergeVariables! end
 
 """
     $(SIGNATURES)
@@ -377,6 +384,7 @@ otherwise, the factor will be added to the graph.
 Implement `mergeFactor!(dfg::AbstractDFG, factor::AbstractGraphFactor)`
 """
 function mergeFactor! end
+function mergeFactors! end
 
 """
     $(SIGNATURES)

test/testBlocks.jl

@@ -194,20 +194,63 @@ function GraphAgentBlobentries!(fg::AbstractDFG)
         metadata = "",
     )
 
-    # User Blob Entries
-    #TODO
-
-    # Robot Blob Entries
-    #TODO
-
-    # Session Blob Entries
+    # Agent Blob Entries
+    ae = addAgentBlobentry!(fg, be)
+    @test ae == be
+    @test_throws DFG.LabelExistsError addAgentBlobentry!(fg, be)
+    ge = getAgentBlobentry(fg, :key1)
+    @test ge == be
+    @test hasAgentBlobentry(fg, :key1)
+    me = mergeAgentBlobentry!(fg, be)
+    @test me == 1
+    de = deleteAgentBlobentry!(fg, :key1)
+    @test de == 1
+    @test hasAgentBlobentry(fg, :key1) == false
+    @test_throws DFG.LabelNotFoundError getAgentBlobentry(fg, :key1)
+    @test_throws DFG.LabelNotFoundError deleteAgentBlobentry!(fg, :key1)
+
+    # Graph Blob Entries
     ae = addGraphBlobentry!(fg, be)
     @test ae == be
+    @test_throws DFG.LabelExistsError addGraphBlobentry!(fg, be)
     ge = getGraphBlobentry(fg, :key1)
     @test ge == be
-
-    #TODO
-
+    @test hasGraphBlobentry(fg, :key1)
+    me = mergeGraphBlobentry!(fg, be)
+    @test me == 1
+    de = deleteGraphBlobentry!(fg, :key1)
+    @test de == 1
+    @test hasGraphBlobentry(fg, :key1) == false
+    @test_throws DFG.LabelNotFoundError getGraphBlobentry(fg, :key1)
+    @test_throws DFG.LabelNotFoundError deleteGraphBlobentry!(fg, :key1)
+
+    be2 = Blobentry(; blobId = uuid4(), label = :key2, blobstore = :b)
+
+    bes = [be, be2]
+
+    ae = addAgentBlobentries!(fg, bes)
+    @test length(ae) == 2
+    @test_throws DFG.LabelExistsError addAgentBlobentries!(fg, bes)
+    besr = getAgentBlobentries(fg)
+    @test length(besr) == 2
+    me = mergeAgentBlobentries!(fg, bes)
+    @test me == 2
+    de = deleteAgentBlobentries!(fg, [:key1, :key2])
+    @test de == 2
+    @test_throws DFG.LabelNotFoundError getAgentBlobentry(fg, :key1)
+    @test_throws DFG.LabelNotFoundError getAgentBlobentry(fg, :key2)
+
+    ae = addGraphBlobentries!(fg, bes)
+    @test length(ae) == 2
+    @test_throws DFG.LabelExistsError addGraphBlobentries!(fg, bes)
+    besr = getGraphBlobentries(fg)
+    @test length(besr) == 2
+    me = mergeGraphBlobentries!(fg, bes)
+    @test me == 2
+    de = deleteGraphBlobentries!(fg, [:key1, :key2])
+    @test de == 2
+    @test_throws DFG.LabelNotFoundError getGraphBlobentry(fg, :key1)
+    @test_throws DFG.LabelNotFoundError getGraphBlobentry(fg, :key2)
 end
 
 function DFGVariableSCA()
@@ -400,11 +443,11 @@ function VariablesandFactorsCRUD_SET!(fg, v1, v2, v3, f0, f1, f2)
     @test getLabel(fg[getLabel(f1)]) == getLabel(f1)
 
     @test mergeVariable!(fg, v3) == 1
-    @test mergeVariable!(fg, v3) == 1
+    @test mergeVariables!(fg, [v3]) == 1
     @test_throws LabelExistsError addVariable!(fg, v3)
 
     @test mergeFactor!(fg, f2) == 1
-    @test mergeFactor!(fg, f2) == 1
+    @test mergeFactors!(fg, [f2]) == 1
     @test_throws LabelExistsError addFactor!(fg, f2)
     #TODO Graphs.jl, but look at refactoring absract @test_throws LabelExistsError addFactor!(fg, f2)