code maintenance toward #913

src/CliqStateMachine.jl

@@ -1654,65 +1654,6 @@ end
 
 
 
-## ==============================================================================================
-# Launch the FSM
-## ==============================================================================================
-
-"""
-    $SIGNATURES
-
-Perform upward inference using a state machine solution approach.
-
-Notes:
-- will call on values from children or parent cliques
-- can be called multiple times
-- Assumes all cliques in tree are being solved simultaneously and in similar manner.
-- State machine rev.1 -- copied from first TreeBasedInitialization.jl.
-- Doesn't do partial initialized state properly yet.
-"""
-function cliqInitSolveUpByStateMachine!(dfg::G,
-                                        tree::AbstractBayesTree,
-                                        cliq::TreeClique,
-                                        timeout::Union{Nothing, <:Real}=nothing;
-                                        N::Int=100,
-                                        verbose::Bool=false,
-                                        verbosefid=stdout,
-                                        oldcliqdata::BayesTreeNodeData=BayesTreeNodeData(),
-                                        drawtree::Bool=false,
-                                        show::Bool=false,
-                                        incremental::Bool=true,
-                                        limititers::Int=-1,
-                                        upsolve::Bool=true,
-                                        downsolve::Bool=true,
-                                        recordhistory::Bool=false,
-                                        delay::Bool=false,
-                                        injectDelayBefore::Union{Nothing,Pair{<:Function, <:Real}}=nothing,
-                                        store_in_task::Bool=false,
-                                        logger::SimpleLogger=SimpleLogger(Base.stdout)) where {G <: AbstractDFG, AL <: AbstractLogger}
-  #
-  children = getChildren(tree, cliq)#Graphs.out_neighbors(cliq, tree.bt)
-
-  prnt = getParent(tree, cliq)
-
-  destType = (G <: InMemoryDFGTypes) ? G : InMemDFGType
-
-  csmc = CliqStateMachineContainer(dfg, initfg(destType, solverParams=getSolverParams(dfg)), tree, cliq, prnt, children, incremental, drawtree, downsolve, delay, getSolverParams(dfg), Dict{Symbol,String}(), oldcliqdata, logger)
-
-  nxt = upsolve ? canCliqMargRecycle_StateMachine : (downsolve ? canCliqMargRecycle_StateMachine : error("must attempt either up or down solve"))
-
-  csmiter_cb = getSolverParams(dfg).drawCSMIters ? ((st::StateMachine)->(cliq.attributes["xlabel"] = st.iter)) : ((st)->())
-
-  statemachine = StateMachine{CliqStateMachineContainer}(next=nxt, name="cliq$(cliq.index)")
-
-  # store statemachine and csmc in task
-  if store_in_task
-    task_local_storage(:statemachine, statemachine)
-    task_local_storage(:csmc, csmc)
-  end
-
-  while statemachine(csmc, timeout, verbose=verbose, verbosefid=verbosefid, verboseXtra=getCliqueStatus(csmc.cliq), iterlimit=limititers, recordhistory=recordhistory, housekeeping_cb=csmiter_cb, injectDelayBefore=injectDelayBefore); end
-  statemachine.history
-end
 
 
 

src/CliqStateMachineUtils.jl

@@ -2,6 +2,86 @@
 export setVariablePosteriorEstimates!
 export attachCSM!
 
+
+
+
+"""
+    $SIGNATURES
+
+Set all up `upsolved` and `downsolved` cliq data flags `to::Bool=false`.
+"""
+function setAllSolveFlags!(treel::AbstractBayesTree, to::Bool=false)::Nothing
+  for (id, cliq) in getCliques(treel)
+    cliqdata = getCliqueData(cliq)
+    setCliqueStatus!(cliqdata, :null)
+    cliqdata.upsolved = to
+    cliqdata.downsolved = to
+  end
+  nothing
+end
+
+"""
+    $SIGNATURES
+
+Return true or false depending on whether the tree has been fully initialized/solved/marginalized.
+"""
+function isTreeSolved(treel::AbstractBayesTree; skipinitialized::Bool=false)
+  acclist = Symbol[:upsolved; :downsolved; :marginalized]
+  skipinitialized ? nothing : push!(acclist, :initialized)
+  for (clid, cliq) in getCliques(treel)
+    if !(getCliqueStatus(cliq) in acclist)
+      return false
+    end
+  end
+  return true
+end
+
+function isTreeSolvedUp(treel::AbstractBayesTree)
+  for (clid, cliq) in getCliques(treel)
+    if getCliqueStatus(cliq) != :upsolved
+      return false
+    end
+  end
+  return true
+end
+
+
+"""
+    $SIGNATURES
+
+Return `::Bool` on whether all variables in this `cliq` are marginalzed.
+"""
+function isCliqMarginalizedFromVars(subfg::AbstractDFG, cliq::TreeClique)
+  for vert in getCliqVars(subfg, cliq)
+    if !isMarginalized(vert)
+      return false
+    end
+  end
+  return true
+end
+
+
+"""
+    $SIGNATURES
+
+Reset the Bayes (Junction) tree so that a new upsolve can be performed.
+
+Notes
+- Will change previous clique status from `:downsolved` to `:initialized` only.
+- Sets the color of tree clique to `lightgreen`.
+"""
+function resetTreeCliquesForUpSolve!(treel::AbstractBayesTree)::Nothing
+  acclist = Symbol[:downsolved;]
+  for (clid, cliq) in getCliques(treel)
+    if getCliqueStatus(cliq) in acclist
+      setCliqueStatus!(cliq, :initialized)
+      setCliqDrawColor(cliq, "sienna")
+    end
+  end
+  nothing
+end
+
+
 """
     $SIGNATURES
 
@@ -1083,11 +1163,11 @@ Special function to add a few variables and factors to the clique sub graph requ
 Dev Notes
 - There is still some disparity on whether up and down solves of tree should use exactly the same subgraph...  'between for up and frontal connected for down'
 """
-function addDownVariableFactors!(dfg::G1,
-                                 subfg::G2,
-                                 cliq::TreeClique,
-                                 logger=ConsoleLogger();
-                                 solvable::Int=1  ) where {G1 <: AbstractDFG, G2 <: InMemoryDFGTypes}
+function addDownVariableFactors!( dfg::G1,
+                                  subfg::G2,
+                                  cliq::TreeClique,
+                                  logger=ConsoleLogger();
+                                  solvable::Int=1  ) where {G1 <: AbstractDFG, G2 <: InMemoryDFGTypes}
   #
   # determine which variables and factors needs to be added
   currsyms = ls(subfg)

src/Deprecated.jl

@@ -22,21 +22,49 @@ end
 
 
 ##==============================================================================
-## Delete when tree message consolidation is complete
+## Delete at end v0.16.x
 ##==============================================================================
 
 
-function messages(btnd::BayesTreeNodeData)
-  @warn("btnd.messages will be deprecated")
-  btnd.messages
+#global pidx
+global pidx = 1
+global pidl = 1
+global pidA = 1
+global thxl = nprocs() > 4 ? floor(Int,nprocs()*0.333333333) : 1
+
+# upploc to control processes done local to this machine and separated from other
+# highly loaded processes. upploc() should be used for dispatching short and burst
+# of high bottle neck computations. Use upp2() for general multiple dispatch.
+function upploc()
+    @warn "upploc is deprecated, use WorkerPool instead"
+    global pidl, thxl
+    N = nprocs()
+    pidl = (thxl > 1 ? ((pidl < thxl && pidl != 0 && thxl > 2) ? (pidl+1)%(thxl+1) : 2) : (N == 1 ? 1 : 2))
+    return pidl
+end
+
+# upp2() may refer to processes on a different machine. Do not associate upploc()
+# with processes on a separate computer -- this will be become more complicated when
+# remote processes desire their own short fast 'local' burst computations. We
+# don't want all the data traveling back and forth for shorter jobs
+function upp2()
+  @warn "upploc is deprecated, use WorkerPool instead"
+  global pidx, thxl
+  N = nprocs()
+  pidx = (N > 1 ? ((pidx < N && pidx != 0) ? (pidx+1)%(N+1) : thxl+1) : 1) #2 -- thxl+1
+  return pidx
+end
+
+function uppA()
+  @warn "upploc is deprecated, use WorkerPool instead"
+  global pidA
+  N = nprocs()
+  pidA = (N > 1 ? ((pidA < N && pidA != 0) ? (pidA+1)%(N+1) : 2) : 1) #2 -- thxl+1
+  return pidA
 end
 
-messages(clique::TreeClique) = getCliqueData(clique).messages
 
 
-##==============================================================================
-## Delete at end v0.16.x
-##==============================================================================
 
 @deprecate wipeBuildNewTree!(dfg::AbstractDFG; kwargs...) resetBuildTree!(dfg; kwargs...)
 
@@ -57,9 +85,8 @@ messages(clique::TreeClique) = getCliqueData(clique).messages
 
 
 
-## =============================================================================
-## Clique condition locks
-## =============================================================================
+# =============================================================================
+# Clique condition locks
 
 @deprecate lockUpStatus!(x...) ()->nothing
 
@@ -117,13 +144,11 @@ function Base.setproperty!(obj::BayesTreeNodeData, sym::Symbol, val)
 end
 
 
-## ============================================================================
-## .initDownChannel, MUST BE REMOVED
-## ============================================================================
+# ============================================================================
+# .initDownChannel, MUST BE REMOVED
 
-## ============================================================================
-## .downInitMsg, MUST BE REMOVED
-## ============================================================================
+# ============================================================================
+# .downInitMsg, MUST BE REMOVED
 
 
 @deprecate putMsgDwnInitChannel!(btnd::BayesTreeNodeData, msg::LikelihoodMessage) putDwnMsgConsolidated!(btnd, msg)
@@ -560,6 +585,8 @@ function updateTreeCliquesAsMarginalizedFromVars!(fgl::AbstractDFG, tree::Abstra
 end
 
 
+
+
 ##==============================================================================
 ## Delete at end v0.15.x
 ##==============================================================================

src/IncrementalInference.jl

@@ -293,8 +293,7 @@ export *,
   getNumCliqs,
   getBelief, getKDE,
   CliqStateMachineContainer,
-  solveTree!,
-  solveGraph!,
+
   solveCliq!,
   fifoFreeze!,
 

src/JunctionTreeTypes.jl

@@ -513,6 +513,22 @@ end
 
 
 
+
+##==============================================================================
+## Must consolideate tree message
+##==============================================================================
+
+
+function messages(btnd::BayesTreeNodeData)
+  @warn("btnd.messages will be deprecated")
+  btnd.messages
+end
+
+messages(clique::TreeClique) = getCliqueData(clique).messages
+
+
+
+
 ## ===========================================================================================
 ## MUST DEPRECATE BELOW
 ## ===========================================================================================