Merge pull request #1092 from JuliaRobotics/24Q3/maintanance

remove all return types and deprecate lsfWho

src/Common.jl

@@ -91,7 +91,7 @@ $(SIGNATURES)
 
 Returns true if the label is valid for a session, robot, or user ID.
 """
-function isValidLabel(id::Union{Symbol, String})::Bool
+function isValidLabel(id::Union{Symbol, String})
     if typeof(id) == Symbol
         id = String(id)
     end

src/Deprecated.jl

@@ -4,6 +4,8 @@
 ##=================================================================================
 @deprecate getBlobEntry(var::AbstractDFGVariable, key::AbstractString) getBlobEntryFirst(var, Regex(key))
 
+@deprecate lsfWho(dfg::AbstractDFG, type::Symbol) lsf(dfg, getfield(Main, type))
+
 ## ================================================================================
 ## Deprecated in v0.23
 ##=================================================================================

src/DistributedFactorGraphs.jl

@@ -286,7 +286,7 @@ export isValidLabel
 ## List
 export ls, lsf, ls2
 export lsTypes, lsfTypes, lsTypesDict, lsfTypesDict
-export lsWho, lsfWho
+export lsWho
 export isPrior, lsfPriors
 export hasTags, hasTagsNeighbors
 

src/GraphsDFG/FactorGraphs/FactorGraphs.jl

@@ -134,7 +134,7 @@ function addFactor!(
     g::FactorGraph{T, V, F},
     variableLabels::Vector{Symbol},
     factor::F,
-)::Bool where {T, V, F}
+) where {T, V, F}
     haskey(g.labels, factor.label) &&
         (@error "Label $(factor.label) already in fg"; return false)
 

src/GraphsDFG/services/GraphsDFG.jl

@@ -41,7 +41,7 @@ end
 function addVariable!(
     dfg::GraphsDFG{<:AbstractParams, V, <:AbstractDFGFactor},
     variable::V,
-)::V where {V <: AbstractDFGVariable}
+) where {V <: AbstractDFGVariable}
     #TODO should this be an error
     if haskey(dfg.g.variables, variable.label)
         error("Variable '$(variable.label)' already exists in the factor graph")
@@ -58,7 +58,7 @@ end
 function addVariable!(
     dfg::GraphsDFG{<:AbstractParams, VD, <:AbstractDFGFactor},
     variable::AbstractDFGVariable,
-)::VD where {VD <: AbstractDFGVariable}
+) where {VD <: AbstractDFGVariable}
     return addVariable!(dfg, VD(variable))
 end
 
@@ -186,7 +186,7 @@ function deleteFactor!(
     dfg::GraphsDFG,
     label::Symbol;
     suppressGetFactor::Bool = false,
-)::AbstractDFGFactor
+)
     if !haskey(dfg.g.factors, label)
         error("Factor label '$(label)' does not exist in the factor graph")
     end
@@ -285,12 +285,12 @@ function listFactors(
     return factors::Vector{Symbol}
 end
 
-function isConnected(dfg::GraphsDFG)::Bool
+function isConnected(dfg::GraphsDFG)
     return Graphs.is_connected(dfg.g)
     # return length(Graphs.connected_components(dfg.g)) == 1
 end
 
-function _isSolvable(dfg::GraphsDFG, label::Symbol, ready::Int)::Bool
+function _isSolvable(dfg::GraphsDFG, label::Symbol, ready::Int)
     haskey(dfg.g.variables, label) && (return dfg.g.variables[label].solvable >= ready)
     haskey(dfg.g.factors, label) && (return dfg.g.factors[label].solvable >= ready)
 
@@ -321,7 +321,7 @@ function listNeighbors(dfg::GraphsDFG, node::DFGNode; solvable::Int = 0)
     return neighbors_ll::Vector{Symbol}
 end
 
-function listNeighbors(dfg::GraphsDFG, label::Symbol; solvable::Int = 0)::Vector{Symbol}
+function listNeighbors(dfg::GraphsDFG, label::Symbol; solvable::Int = 0)
     if !exists(dfg, label)
         error("Variable/factor with label '$(label)' does not exist in the factor graph")
     end
@@ -345,7 +345,7 @@ function getNeighborhood(
     variableFactorLabels::Vector{Symbol},
     distance::Int;
     solvable::Int = 0,
-)::Vector{Symbol}
+)
     # find neighbors at distance to add
     nbhood = Int[]
 
@@ -375,10 +375,7 @@ function getBiadjacencyMatrix(
     solvable::Int = 0,
     varLabels = listVariables(dfg; solvable = solvable),
     factLabels = listFactors(dfg; solvable = solvable),
-)::NamedTuple{
-    (:B, :varLabels, :facLabels),
-    Tuple{Graphs.SparseMatrixCSC, Vector{Symbol}, Vector{Symbol}},
-}
+)
     varIndex = [dfg.g.labels[s] for s in varLabels]
     factIndex = [dfg.g.labels[s] for s in factLabels]
 

src/services/AbstractDFG.jl

@@ -637,7 +637,7 @@ function listFactors(
     regexFilter::Union{Nothing, Regex} = nothing;
     tags::Vector{Symbol} = Symbol[],
     solvable::Int = 0,
-)::Vector{Symbol} where {G <: AbstractDFG}
+) where {G <: AbstractDFG}
     return map(f -> f.label, getFactors(dfg, regexFilter; tags = tags, solvable = solvable))
 end
 
@@ -754,7 +754,7 @@ function lsf(
     dfg::G,
     label::Symbol;
     solvable::Int = 0,
-)::Vector{Symbol} where {G <: AbstractDFG}
+) where {G <: AbstractDFG}
     return listNeighbors(dfg, label; solvable = solvable)
 end
 
@@ -775,6 +775,15 @@ function ls(dfg::G, ::Type{T}) where {G <: AbstractDFG, T <: AbstractFactor}
     return map(x -> x.label, vxx)
 end
 
+"""
+    $(SIGNATURES)
+Lists the factors of a specific type in the factor graph. 
+Example, list all the Point2Point2 factors in the factor graph `dfg`:
+    lsfWho(dfg, :Point2Point2)
+
+Notes
+- Return `Vector{Symbol}`
+"""
 function lsf(dfg::G, ::Type{T}) where {G <: AbstractDFG, T <: AbstractFactor}
     return ls(dfg, T)
 end
@@ -837,32 +846,6 @@ function lsWho(dfg::AbstractDFG, type::Symbol)
     return labels
 end
 
-"""
-    $(SIGNATURES)
-Gives back all factor labels that fit the bill:
-    lsfWho(dfg, :Point2Point2)
-
-Notes
-- Returns `Vector{Symbol}`
-
-Dev Notes
-- Cloud versions will benefit from less data transfer
- - `ls(dfg::C, ::T) where {C <: CloudDFG, T <: ..}`
-
-Related
-
-ls, lsf, lsfPriors
-"""
-function lsfWho(dfg::AbstractDFG, type::Symbol)
-    facs = getFactors(dfg)
-    labels = Symbol[]
-    for f in facs
-        facType = typeof(getFactorType(f)) |> nameof
-        facType == type && push!(labels, f.label)
-    end
-    return labels
-end
-
 ## list types
 ##-----------
 

src/services/CommonAccessors.jl

@@ -88,15 +88,15 @@ Variables or factors may or may not be 'solvable', depending on a user definitio
 Related:
 - isSolveInProgress
 """
-getSolvable(var::Union{DFGVariable, DFGFactor})::Int = var.solvable
+getSolvable(var::Union{DFGVariable, DFGFactor}) = var.solvable
 #TODO DataLevel2
 
 """
     $SIGNATURES
 
 Get 'solvable' parameter for either a variable or factor.
 """
-function getSolvable(dfg::AbstractDFG, sym::Symbol)::Int
+function getSolvable(dfg::AbstractDFG, sym::Symbol)
     if isVariable(dfg, sym)
         return getVariable(dfg, sym).solvable
     elseif isFactor(dfg, sym)
@@ -110,7 +110,7 @@ end
 
 Set the `solvable` parameter for either a variable or factor.
 """
-function setSolvable!(node::N, solvable::Int)::Int where {N <: DFGNode}
+function setSolvable!(node::N, solvable::Int) where {N <: DFGNode}
     node.solvable = solvable
     return solvable
 end
@@ -120,7 +120,7 @@ end
 
 Set the `solvable` parameter for either a variable or factor.
 """
-function setSolvable!(dfg::AbstractDFG, sym::Symbol, solvable::Int)::Int
+function setSolvable!(dfg::AbstractDFG, sym::Symbol, solvable::Int)
     if isVariable(dfg, sym)
         getVariable(dfg, sym).solvable = solvable
     elseif isFactor(dfg, sym)
@@ -158,7 +158,7 @@ isSolvable
 function getSolveInProgress(
     var::Union{DFGVariable, DFGFactor},
     solveKey::Symbol = :default,
-)::Int
+)
     # Variable
     if var isa DFGVariable
         if haskey(getSolverDataDict(var), solveKey)

src/services/DFGVariable.jl

@@ -643,7 +643,7 @@ Retrieve the soft type name symbol for a DFGVariableSummary. ie :Point2, Pose2,
 """
 getVariableTypeName(v::DFGVariableSummary) = v.variableTypeName::Symbol
 
-function getVariableType(v::DFGVariableSummary)::InferenceVariable
+function getVariableType(v::DFGVariableSummary)
     @warn "Looking for type in `Main`. Only use if `variableType` has only one implementation, ie. Pose2. Otherwise use the full variable."
     return getfield(Main, v.variableTypeName)()
 end
@@ -921,7 +921,7 @@ end
     $(SIGNATURES)
 List all the solver data keys in the variable.
 """
-function listVariableSolverData(dfg::AbstractDFG, variablekey::Symbol)::Vector{Symbol}
+function listVariableSolverData(dfg::AbstractDFG, variablekey::Symbol)
     v = getVariable(dfg, variablekey)
     return collect(keys(v.solverDataDict))
 end

test/iifInterfaceTests.jl

@@ -157,7 +157,6 @@ end
 
     @test ls(dfg, LinearRelative) == [:abf1]
     @test lsf(dfg, LinearRelative) == [:abf1]
-    @test lsfWho(dfg, :LinearRelative) == [:abf1]
 
     @test getVariableType(v1) isa Position{1}
     @test getVariableType(dfg, :a) isa Position{1}

test/testBlocks.jl

@@ -1207,7 +1207,6 @@ function testGroup!(fg, v1, v2, f0, f1)
 
         @test ls(fg, TestFunctorInferenceType1) == [:abf1]
         @test lsf(fg, TestAbstractPrior) == [:af1]
-        @test lsfWho(fg, :TestFunctorInferenceType1) == [:abf1]
 
         @test getVariableType(v1) == TestVariableType1()
         @test getVariableType(fg, :a) == TestVariableType1()