Merge pull request #911 from JuliaRobotics/maint/3Q20/general

general code cleanup
JuliaRobotics · Sep 23, 2020 · 3a41031 · 3a41031
2 parents 104112b + e0cbe8f
commit 3a41031
Show file tree

Hide file tree

Showing 6 changed files with 48 additions and 102 deletions.
diff --git a/src/CanonicalGraphExamples.jl b/src/CanonicalGraphExamples.jl
@@ -79,29 +79,29 @@ Notes
 """
 function generateCanonicalFG_CaesarRing1D(;graphinit::Bool=false)
 
-  fg = initfg()
-
-  addVariable!(fg, :x0, ContinuousScalar)
-  addVariable!(fg, :x1, ContinuousScalar)
-  addVariable!(fg, :x2, ContinuousScalar)
-  addVariable!(fg, :x3, ContinuousScalar)
-  addVariable!(fg, :x4, ContinuousScalar)
-  addVariable!(fg, :x5, ContinuousScalar)
-  addVariable!(fg, :x6, ContinuousScalar)
-
-  addFactor!(fg, [:x0], Prior(Normal()), graphinit=graphinit)
-  addFactor!(fg, [:x0;:x1], LinearConditional(Normal()), graphinit=graphinit)
-  addFactor!(fg, [:x1;:x2], LinearConditional(Normal()), graphinit=graphinit)
-  addFactor!(fg, [:x2;:x3], LinearConditional(Normal()), graphinit=graphinit)
-  addFactor!(fg, [:x3;:x4], LinearConditional(Normal()), graphinit=graphinit)
-  addFactor!(fg, [:x4;:x5], LinearConditional(Normal()), graphinit=graphinit)
-  addFactor!(fg, [:x5;:x6], LinearConditional(Normal()), graphinit=graphinit)
+    fg = initfg()
+
+    addVariable!(fg, :x0, ContinuousScalar)
+    addVariable!(fg, :x1, ContinuousScalar)
+    addVariable!(fg, :x2, ContinuousScalar)
+    addVariable!(fg, :x3, ContinuousScalar)
+    addVariable!(fg, :x4, ContinuousScalar)
+    addVariable!(fg, :x5, ContinuousScalar)
+    addVariable!(fg, :x6, ContinuousScalar)
+
+    addFactor!(fg, [:x0], Prior(Normal()), graphinit=graphinit)
+    addFactor!(fg, [:x0;:x1], LinearConditional(Normal()), graphinit=graphinit)
+    addFactor!(fg, [:x1;:x2], LinearConditional(Normal()), graphinit=graphinit)
+    addFactor!(fg, [:x2;:x3], LinearConditional(Normal()), graphinit=graphinit)
+    addFactor!(fg, [:x3;:x4], LinearConditional(Normal()), graphinit=graphinit)
+    addFactor!(fg, [:x4;:x5], LinearConditional(Normal()), graphinit=graphinit)
+    addFactor!(fg, [:x5;:x6], LinearConditional(Normal()), graphinit=graphinit)
+
+    addVariable!(fg, :l1, ContinuousScalar)
+    addFactor!(fg, [:x0;:l1], LinearConditional(Normal()), graphinit=graphinit)
+    addFactor!(fg, [:x6;:l1], LinearConditional(Normal()), graphinit=graphinit)
 
-  addVariable!(fg, :l1, ContinuousScalar)
-  addFactor!(fg, [:x0;:l1], LinearConditional(Normal()), graphinit=graphinit)
-  addFactor!(fg, [:x6;:l1], LinearConditional(Normal()), graphinit=graphinit)
-
-  return fg
+    return fg
 end
 
 
@@ -111,21 +111,21 @@ end
 Continuous, linear scalar and multivariate test graph generation. Follows a line
 with the pose id equal to the ground truth.
 """
-function generateCanonicalFG_lineStep(lineLength::Int;
-                    poseEvery::Int=2,
-                    landmarkEvery::Int=4,
-                    posePriorsAt = Int[0],
-                    landmarkPriorsAt = Int[],
-                    sightDistance::Int=4,
-                    vardims = 1,
-                    noisy = false,
-                    graphinit = false,
-                    σ_pose_prior = 0.1,
-                    σ_lm_prior = 0.1,
-                    σ_pose_pose = 0.1,
-                    σ_pose_lm = 0.1,
-                    solverParams=SolverParams())
-                    # solverParams=SolverParams(algorithms=[:default, :parametric]))
+function generateCanonicalFG_lineStep(  lineLength::Int;
+                                        poseEvery::Int=2,
+                                        landmarkEvery::Int=4,
+                                        posePriorsAt = Int[0],
+                                        landmarkPriorsAt = Int[],
+                                        sightDistance::Int=4,
+                                        vardims = 1,
+                                        noisy = false,
+                                        graphinit = false,
+                                        σ_pose_prior = 0.1,
+                                        σ_lm_prior = 0.1,
+                                        σ_pose_pose = 0.1,
+                                        σ_pose_lm = 0.1,
+                                        solverParams=SolverParams())
+                                        # solverParams=SolverParams(algorithms=[:default, :parametric]))
 
     vtype = (vardims == 1) ? ContinuousScalar() : ContinuousEuclid(vardims)
 

diff --git a/src/CliqStateMachine.jl b/src/CliqStateMachine.jl
@@ -278,13 +278,13 @@ function checkUpsolveFinished_StateMachine(csmc::CliqStateMachineContainer)
 
     # remove any solvable upward cached data -- TODO will have to be changed for long down partial chains
     # assuming maximally complte up solved cliq at this point
-    lockUpStatus!(csmc.cliq, csmc.cliq.index, true, csmc.logger, true, "9.finishCliqSolveCheck")
+    # lockUpStatus!(csmc.cliq, csmc.cliq.index, true, csmc.logger, true, "9.finishCliqSolveCheck")
     sdims = Dict{Symbol,Float64}()
     for varid in getCliqAllVarIds(csmc.cliq)
       sdims[varid] = 0.0
     end
     updateCliqSolvableDims!(csmc.cliq, sdims, csmc.logger)
-    unlockUpStatus!(csmc.cliq)
+    # unlockUpStatus!(csmc.cliq)
 
     # go to 10
     return canCliqDownSolve_StateMachine # IncrementalInference.exitStateMachine

diff --git a/src/Deprecated.jl b/src/Deprecated.jl
@@ -47,45 +47,11 @@ messages(clique::TreeClique) = getCliqueData(clique).messages
 
 @deprecate lockUpStatus!(x...) ()->nothing
 
-# # lockUpStatus!(cdat::BayesTreeNodeData, idx::Int=1, verbose::Bool=false, logger=SimpleLogger(stdout), flushLogger::Bool=false, msg::AbstractString="") = put!(cdat.lockUpStatus, idx)
-# # lockUpStatus!(cliq::TreeClique, idx::Int=1, verbose::Bool=false, logger=SimpleLogger(stdout), flushLogger::Bool=false, msg::AbstractString="") = lockUpStatus!(getCliqueData(cliq), idx, verbose, logger, flushLogger, msg)
-# function lockUpStatus!( cdat::BayesTreeNodeData,
-#                         owner::Int=1,
-#                         idx::Int=1,
-#                         verbose::Bool=false,
-#                         logger=SimpleLogger(stdout),
-#                         flushLogger::Bool=false,
-#                         msg::AbstractString="")
-# #
-#   with_logger(logger) do
-#     tt = now()
-#     verbose ? @info("$(tt) -- Lock $owner, UP from $idx | $msg") : nothing
-#     verbose && isready(cdat.lockUpStatus) ? @info("$(tt) -- Lock $owner, UP from $idx blocked by $(fetch(cdat.lockUpStatus))") : nothing
-#   end
-#   flushLogger ? (flush(logger.stream); sleep(0.01)) : nothing
-#   put!(cdat.lockUpStatus, idx)
-# end
-# lockUpStatus!(cliq::TreeClique, idx::Int=cliq.index, verbose::Bool=false, logger=SimpleLogger(stdout), flushLogger::Bool=false, msg::AbstractString="") = lockUpStatus!(getCliqueData(cliq), cliq.index, idx, verbose, logger, flushLogger, msg)
-
 @deprecate unlockUpStatus!(cdat::BayesTreeNodeData) ()->nothing
-# unlockUpStatus!(cdat::BayesTreeNodeData) = take!(cdat.lockUpStatus)
 unlockUpStatus!(cliq::TreeClique) = unlockUpStatus!(getCliqueData(cliq))
 
-# function lockDwnStatus!(cdat::BayesTreeNodeData, idx::Int=1; logger=ConsoleLogger())
-#   with_logger(logger) do
-#     @info "lockDwnStatus! isready=$(isready(cdat.lockDwnStatus)) with data $(cdat.lockDwnStatus.data)"
-#   end
-#   flush(logger.stream)
-#   stf =  put!(cdat.lockDwnStatus, idx)
-#   with_logger(logger) do
-#     @info "lockDwnStatus! DONE: isready=$(isready(cdat.lockDwnStatus)) with data $(cdat.lockDwnStatus.data)"
-#   end
-#   flush(logger.stream)
-#   stf
-# end
 @deprecate lockDwnStatus!(cdat::BayesTreeNodeData, idx::Int=1; logger=ConsoleLogger()) ()->nothing
 
-# unlockDwnStatus!(cdat::BayesTreeNodeData) = take!(cdat.lockDwnStatus)
 @deprecate unlockDwnStatus!(cdat::BayesTreeNodeData) ()->nothing
 
 

diff --git a/src/IncrementalInference.jl b/src/IncrementalInference.jl
@@ -134,11 +134,6 @@ export *,
   animateCliqStateMachines,
   csmAnimate,
   makeCsmMovie,
-  lockUpStatus!,
-  unlockUpStatus!,
-  lockDwnStatus!,
-  unlockDwnStatus!,
-  # getSiblingsDelayOrder,
   areSiblingsRemaingNeedDownOnly,
 
   # general types for softtyping of variable nodes
@@ -169,14 +164,12 @@ export *,
   listFactors,
   exists,
   sortDFG,
-  # getVariableIds,
   getVariableOrder,
   getPPE,
   getPPEDict,
   getVariablePPE,
   isVariable,
   isFactor,
-  # from dfg
   getFactorType,
   getSofttype,
   getVariableType,
@@ -274,7 +267,6 @@ export *,
   doCliqInitDown!,
   cycleInitByVarOrder!,
   prepCliqInitMsgsUp,
-  # prepCliqInitMsgsDown!, # obsolete
   getOutNeighbors,
   BayesTree,
   TreeBelief,
@@ -326,7 +318,6 @@ export *,
   drawCliqSubgraphUpMocking,
   drawTree,
   drawTreeAsyncLoop,
-  # printgraphmax,
 
   # Bayes (Junction) Tree
   evalFactor2,
@@ -359,7 +350,6 @@ export *,
   CommonConvWrapper,
 
   getCliqVarInitOrderUp,
-  # getCliqInitVarOrderDown,
   fetchChildrenStatusUp,
   getCliqNumAssocFactorsPerVar,
 
@@ -417,7 +407,6 @@ export *,
 
   #internal dev functions for recycling cliques on tree
   attemptTreeSimilarClique,
-  # getCliqSiblingsPartialNeeds,
 
   # some utils
   compare,

diff --git a/src/JunctionTreeTypes.jl b/src/JunctionTreeTypes.jl
@@ -108,6 +108,7 @@ function MetaBayesTree(tree::BayesTree)
     set_prop!(mtree.bt, v.index, :clique, deepcopy(v))
   end
 
+  ##  FIXME: Use common location for channels #675 (DF, asking for BTND)
   ##  TODO: placeholder for edge stored Channels
   ## set message passing properties,
   # for e in MetaGraphs.edges(mtree.bt)
@@ -339,10 +340,6 @@ mutable struct BayesTreeNodeData
   # keep the Condition and Channel{Int}'s for now
   solveCondition::Condition
 
-  # FIXME evaluate if the locks are still necessary -- likely not.
-  # lockUpStatus::Channel{Int}
-  # lockDwnStatus::Channel{Int}
-
   # FIXME consolidate Dict with LikelihoodMessage, (pull model #674)
   solvableDims::Channel{Dict{Symbol, Float64}}
 
@@ -378,8 +375,6 @@ function BayesTreeNodeData(;frontalIDs=Symbol[],
                             downsolved=false,
                             isCliqReused=false,
                             solveCondition=Condition(),
-                            # lockUpStatus=Channel{Int}(1),
-                            # lockDwnStatus=Channel{Int}(1),
                             solvableDims=Channel{Dict{Symbol,Float64}}(1),
                             upMsgChannel=Channel{LikelihoodMessage}(1),
                             dwnMsgChannel=Channel{LikelihoodMessage}(1),
@@ -408,8 +403,6 @@ function BayesTreeNodeData(;frontalIDs=Symbol[],
                         downsolved,
                         isCliqReused,
                         solveCondition,
-                        # lockUpStatus,
-                        # lockDwnStatus,
                         solvableDims,
                         upMsgChannel,
                         dwnMsgChannel,
@@ -451,8 +444,6 @@ function compare( c1::BayesTreeNodeData,
   TP = TP && c1.isCliqReused == c2.isCliqReused
   TP = TP && getMsgUpThis(c1) == getMsgUpThis(c2)
   # TP = TP && c1.solveCondition == c2.solveCondition
-  # TP = TP && c1.lockUpStatus == c2.lockUpStatus
-  # TP = TP && c1.lockDwnStatus == c2.lockDwnStatus
   TP = TP && c1.solvableDims == c2.solvableDims
   TP = TP && getMsgUpChannel(c1) == getMsgUpChannel(c2)
   TP = TP && c1.dwnMsgChannel == c2.dwnMsgChannel
@@ -546,11 +537,11 @@ const ExploreTreeType{T} = FullExploreTreeType{T, BayesTree}
 const ExploreTreeTypeLight{T} = FullExploreTreeType{T, Nothing}
 
 
-function ExploreTreeType(fgl::G,
-                         btl::AbstractBayesTree,
-                         vertl::TreeClique,
-                         prt::T,
-                         msgs::Array{LikelihoodMessage,1} ) where {G <: AbstractDFG, T}
+function ExploreTreeType( fgl::G,
+                          btl::AbstractBayesTree,
+                          vertl::TreeClique,
+                          prt::T,
+                          msgs::Array{LikelihoodMessage,1} ) where {G <: AbstractDFG, T}
   #
   ExploreTreeType{T}(fgl, btl, vertl, prt, msgs)
 end
diff --git a/src/TreeMsgDwnConsolidation.jl b/src/TreeMsgDwnConsolidation.jl
@@ -154,7 +154,7 @@ function notifyCliqDownInitStatus!( cliq::TreeClique,
   end
 
   # take lock for atomic transaction
-  lockDwnStatus!(cdat, cliq.index, logger=logger)
+  # lockDwnStatus!(cdat, cliq.index, logger=logger)
 
   setCliqueStatus!(cdat, status)
 
@@ -165,8 +165,8 @@ function notifyCliqDownInitStatus!( cliq::TreeClique,
 
 
   # unlock for others to proceed
-  unlockDwnStatus!(cdat)
-    with_logger(logger) do
+  # unlockDwnStatus!(cdat)
+  with_logger(logger) do
     @info "$(now()), cliq=$(cliq.index), notifyCliqDownInitStatus! -- unlocked, $(getCliqueStatus(cliq))"
   end