Towards removing the UserRobotSession structure (BlobEntry and Data(M…

…etadata)) (#1093) * Move Factor constructor from SDK * depr BlobEntries _type and move InferenceType from SDK * rename/deprecate node blob entries * Start Agent and Fg Metadata * BE.originId optional + start Agent type * move assembleFactorName and getFncTypeName from SDK * Deprecate [Session/Robot/User] BlobEntry -> [Agent/Graph] BlobEntry * Deprecate [Session/Robot/User] Data -> [Agent/Graph] Metadata
JuliaRobotics · Oct 16, 2024 · 250abad · 250abad
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diff --git a/NEWS.md b/NEWS.md
@@ -1,5 +1,13 @@
 Listing news on any major breaking changes in DFG.  For regular changes, see integrated Github.com project milestones for DFG.
 
+# v0.24
+- Deprecated nouns:
+    SessionBlobEntry -> GraphBlobEntry
+    RobotBlobEntry -> AgentBlobEntry
+    UserBlobEntry -> AgentBlobEntry
+    RobotData -> AgentMetadata
+    SessionData -> GraphMetadata 
+
 # v0.24
 
 - Remove `FolderStore` `.dat` legacy extension. To upgrade a legacy FolderStore remove extention with something like: `foreach(f->mv(f,split(f,".")[1]), files)`

diff --git a/docs/src/GraphData.md b/docs/src/GraphData.md
@@ -190,21 +190,19 @@ Graphs reside inside a hierarchy made up in the following way:
 
 This data can be retrieved with the follow functions:
 
-- [`getUserData`](@ref)
-- [`getRobotData`](@ref)
-- [`getSessionData`](@ref)
+- [`getAgentMetadata`](@ref)
+- [`getGraphMetadata`](@ref)
 
 
 It can be set using the following functions:
 
-- [`setUserData!`](@ref)
-- [`setRobotData!`](@ref)
-- [`setSessionData!`](@ref)
+- [`setAgentMetadata!`](@ref)
+- [`setGraphMetadata!`](@ref)
 
 
 Example of using graph-level data:
 
 ```julia
-setUserData!(dfg, Dict(:a => "Hello"))
-getUserData(dfg)
+setAgentMetadata!(dfg, Dict(:a => "Hello"))
+getAgentMetadata(dfg)
 ```
diff --git a/src/Common.jl b/src/Common.jl
@@ -70,21 +70,21 @@ end
 sortDFG(vars::Vector{Symbol}; lt = natural_lt, kwargs...) = sort(vars; lt = lt, kwargs...)
 
 ##==============================================================================
-## Validation of session, robot, and user IDs.
+## Validation of session, robot, and user labels.
 ##==============================================================================
 global _invalidIds = [
     "USER",
     "ROBOT",
     "SESSION",
+    "AGENT",
     "VARIABLE",
     "FACTOR",
-    "ENVIRONMENT",
     "PPE",
-    "DATA_ENTRY",
+    "BLOB_ENTRY",
     "FACTORGRAPH",
 ]
 
-global _validLabelRegex = r"^[a-zA-Z][-\w\.\@]*$"
+const global _validLabelRegex::Regex = r"^[a-zA-Z][-\w\.\@]*$"
 
 """
 $(SIGNATURES)
@@ -95,8 +95,7 @@ function isValidLabel(id::Union{Symbol, String})
     if typeof(id) == Symbol
         id = String(id)
     end
-    return all(t -> t != uppercase(id), _invalidIds) &&
-           match(_validLabelRegex, id) !== nothing
+    return !in(uppercase(id), _invalidIds) && !isnothing(match(_validLabelRegex, id))
 end
 
 """

diff --git a/src/DataBlobs/entities/BlobEntry.jl b/src/DataBlobs/entities/BlobEntry.jl
@@ -19,7 +19,7 @@ Base.@kwdef struct BlobEntry
     """ Machine friendly and globally unique identifier of the 'Blob', usually assigned from a common point in the system.  This can be used to guarantee unique retrieval of the large data blob. """
     blobId::Union{UUID, Nothing} = nothing
     """ Machine friendly and locally assigned identifier of the 'Blob'.  `.originId`s are mandatory upon first creation at the origin regardless of network access.  Separate from `.blobId` since some architectures do not allow edge processes to assign a uuid4 to data store elements. """
-    originId::UUID = uuid4()
+    originId::Union{UUID, Nothing} = nothing
     """ Human friendly label of the `Blob` and also used as unique identifier per node on which a `BlobEntry` is added.  E.g. do "LEFTCAM_1", "LEFTCAM_2", ... of you need to repeat a label on the same variable. """
     label::Symbol
     """ A hint about where the `Blob` itself might be stored.  Remember that a Blob may be duplicated over multiple blobstores. """
@@ -35,15 +35,13 @@ Base.@kwdef struct BlobEntry
     """ MIME description describing the format of binary data in the `Blob`, e.g. 'image/png' or 'application/json; _type=CameraModel'. """
     mimeType::String = "application/octet-stream"
     """ Additional storage for functional metadata used in some scenarios, e.g. to support advanced features such as `parsejson(base64decode(entry.metadata))['time_sync']`. """
-    metadata::String = ""
+    metadata::String = "e30="
     """ When the Blob itself was first created. """
     timestamp::ZonedDateTime = now(localzone())
     """ When the BlobEntry was created. """
     createdTimestamp::Union{ZonedDateTime, Nothing} = nothing
     """ Use carefully, but necessary to support advanced usage such as time synchronization over Blob data. """
     lastUpdatedTimestamp::Union{ZonedDateTime, Nothing} = nothing
-    """ Self type declaration for when duck-typing happens. """
-    _type::String = "DistributedFactorGraph.BlobEntry"
     """ Type version of this BlobEntry. TBD.jl consider upgrading to `::VersionNumber`. """
     _version::String = string(_getDFGVersion())
 end

diff --git a/src/DataBlobs/services/BlobEntry.jl b/src/DataBlobs/services/BlobEntry.jl
@@ -43,7 +43,7 @@ function assertHash(de::BlobEntry, db; hashfunction::Function = sha256)
 end
 
 function Base.show(io::IO, ::MIME"text/plain", entry::BlobEntry)
-    println(io, "_type=BlobEntry {")
+    println(io, "BlobEntry {")
     println(io, "  id:            ", entry.id)
     println(io, "  blobId:        ", entry.blobId)
     println(io, "  originId:      ", entry.originId)

diff --git a/src/DataBlobs/services/HelpersDataWrapEntryBlob.jl b/src/DataBlobs/services/HelpersDataWrapEntryBlob.jl
@@ -57,7 +57,6 @@ function BlobEntry(
     timestamp::ZonedDateTime = entry.timestamp,
     createdTimestamp = entry.createdTimestamp,
     lastUpdatedTimestamp = entry.lastUpdatedTimestamp,
-    _type::String = entry._type,
     _version::String = entry._version,
 )
     return BlobEntry(;
@@ -75,7 +74,6 @@ function BlobEntry(
         timestamp,
         createdTimestamp,
         lastUpdatedTimestamp,
-        _type,
         _version,
     )
 end

diff --git a/src/Deprecated.jl b/src/Deprecated.jl
@@ -1,3 +1,40 @@
+## ================================================================================
+## Deprecated in v0.25
+##=================================================================================
+@deprecate getSessionBlobEntry(args...) getGraphBlobEntry(args...)
+@deprecate getSessionBlobEntries(args...) getGraphBlobEntries(args...)
+@deprecate addSessionBlobEntry!(args...) addGraphBlobEntry!(args...)
+@deprecate addSessionBlobEntries!(args...) addGraphBlobEntries!(args...)
+@deprecate updateSessionBlobEntry!(args...) updateGraphBlobEntry!(args...)
+@deprecate deleteSessionBlobEntry!(args...) deleteGraphBlobEntry!(args...)
+@deprecate getRobotBlobEntry(args...) getAgentBlobEntry(args...)
+@deprecate getRobotBlobEntries(args...) getAgentBlobEntries(args...)
+@deprecate addRobotBlobEntry!(args...) addAgentBlobEntry!(args...)
+@deprecate addRobotBlobEntries!(args...) addAgentBlobEntries!(args...)
+@deprecate updateRobotBlobEntry!(args...) updateAgentBlobEntry!(args...)
+@deprecate deleteRobotBlobEntry!(args...) deleteAgentBlobEntry!(args...)
+@deprecate getUserBlobEntry(args...) getAgentBlobEntry(args...)
+@deprecate getUserBlobEntries(args...) getAgentBlobEntries(args...)
+@deprecate addUserBlobEntry!(args...) addAgentBlobEntry!(args...)
+@deprecate addUserBlobEntries!(args...) addAgentBlobEntries!(args...)
+@deprecate updateUserBlobEntry!(args...) updateAgentBlobEntry!(args...)
+@deprecate deleteUserBlobEntry!(args...) deleteAgentBlobEntry!(args...)
+@deprecate listSessionBlobEntries(args...) listGraphBlobEntries(args...)
+@deprecate listRobotBlobEntries(args...) listAgentBlobEntries(args...)
+@deprecate listUserBlobEntries(args...) listAgentBlobEntries(args...)
+
+@deprecate getUserData(args...) getAgentMetadata(args...)
+@deprecate getRobotData(args...) getAgentMetadata(args...)
+@deprecate getSessionData(args...) getGraphMetadata(args...)
+
+@deprecate setUserData!(args...) setAgentMetadata!(args...)
+@deprecate setRobotData!(args...) setAgentMetadata!(args...)
+@deprecate setSessionData!(args...) setGraphMetadata!(args...)
+
+#TODO 
+# @deprecate getUserLabel(dfg) getAgentLabel(dfg)
+# @deprecate getRobotLabel(dfg) getAgentLabel(dfg)
+# @deprecate getSessionLabel(dfg) getGraphLabel(dfg)
 
 ## ================================================================================
 ## Deprecated in v0.24
@@ -14,39 +51,3 @@
 ##=================================================================================
 #NOTE free up getNeighbors to return the variables or factors
 @deprecate getNeighbors(args...; kwargs...) listNeighbors(args...; kwargs...)
-
-## ================================================================================
-## Deprecated in v0.22
-##=================================================================================
-@deprecate BlobEntry(
-    id,
-    blobId,
-    originId::UUID,
-    label::Symbol,
-    blobstore::Symbol,
-    hash::String,
-    origin::String,
-    description::String,
-    mimeType::String,
-    metadata::String,
-    timestamp::ZonedDateTime,
-    _type::String,
-    _version::String,
-) BlobEntry(
-    id,
-    blobId,
-    originId,
-    label,
-    blobstore,
-    hash,
-    origin,
-    -1,
-    description,
-    mimeType,
-    metadata,
-    timestamp,
-    nothing,
-    nothing,
-    _type,
-    _version,
-)
diff --git a/src/DistributedFactorGraphs.jl b/src/DistributedFactorGraphs.jl
@@ -70,47 +70,34 @@ export getDescription,
     setDescription!,
     getSolverParams,
     setSolverParams!,
-    getUserData,
-    setUserData!,
-    getRobotData,
-    setRobotData!,
-    getSessionData,
-    setSessionData!,
+    getAgentMetadata,
+    setAgentMetadata!,
+    getGraphMetadata,
+    setGraphMetadata!,
     getAddHistory
 
-export getSessionBlobEntry,
-    getSessionBlobEntries,
-    addSessionBlobEntry!,
-    addSessionBlobEntries!,
-    updateSessionBlobEntry!,
-    deleteSessionBlobEntry!,
-    getRobotBlobEntry,
-    getRobotBlobEntries,
-    addRobotBlobEntry!,
-    addRobotBlobEntries!,
-    updateRobotBlobEntry!,
-    deleteRobotBlobEntry!,
-    getUserBlobEntry,
-    getUserBlobEntries,
-    addUserBlobEntry!,
-    addUserBlobEntries!,
-    updateUserBlobEntry!,
-    deleteUserBlobEntry!,
-    listSessionBlobEntries,
-    listRobotBlobEntries,
-    listUserBlobEntries
+export getGraphBlobEntry,
+    getGraphBlobEntries,
+    addGraphBlobEntry!,
+    addGraphBlobEntries!,
+    updateGraphBlobEntry!,
+    deleteGraphBlobEntry!,
+    getAgentBlobEntry,
+    getAgentBlobEntries,
+    addAgentBlobEntry!,
+    addAgentBlobEntries!,
+    updateAgentBlobEntry!,
+    deleteAgentBlobEntry!,
+    listGraphBlobEntries,
+    listAgentBlobEntries
 
 export getBlobStore,
     addBlobStore!, updateBlobStore!, deleteBlobStore!, emptyBlobStore!, listBlobStores
 
 # TODO Not sure these are needed or should work everywhere, implement in cloud?
-export updateUserData!,
-    updateRobotData!,
-    updateSessionData!,
-    deleteUserData!,
-    deleteRobotData!,
-    deleteSessionData!
-export emptyUserData!, emptyRobotData!, emptySessionData!
+export updateAgentMetadata!,
+    updateGraphMetadata!, deleteAgentMetadata!, deleteGraphMetadata!
+export emptyAgentMetadata!, emptyGraphMetadata!
 
 # Graph Types: exported from modules or @reexport
 export InMemoryDFGTypes, LocalDFG
@@ -356,6 +343,8 @@ include("entities/DFGVariable.jl")
 
 include("entities/AbstractDFGSummary.jl")
 
+include("entities/Agent.jl")
+
 include("services/AbstractDFG.jl")
 
 #Blobs

diff --git a/src/GraphsDFG/GraphsDFG.jl b/src/GraphsDFG/GraphsDFG.jl
@@ -16,12 +16,10 @@ import ...DistributedFactorGraphs:
     setSolverParams!,
     getFactor,
     # getLabelDict,
-    getUserData,
-    setUserData!,
-    getRobotData,
-    setRobotData!,
-    getSessionData,
-    setSessionData!,
+    getAgentMetadata,
+    setAgentMetadata!,
+    getGraphMetadata,
+    setGraphMetadata!,
     addVariable!,
     getVariable,
     getAddHistory,
@@ -49,13 +47,12 @@ import ...DistributedFactorGraphs:
     toDot,
     toDotFile,
     findShortestPathDijkstra,
-    getSessionBlobEntry,
-    getSessionBlobEntries,
-    addSessionBlobEntry!,
-    addSessionBlobEntries!,
-    listSessionBlobEntries,
-    listRobotBlobEntries,
-    listUserBlobEntries,
+    getGraphBlobEntry,
+    getGraphBlobEntries,
+    addGraphBlobEntry!,
+    addGraphBlobEntries!,
+    listGraphBlobEntries,
+    listAgentBlobEntries,
     getTypeDFGVariables,
     getTypeDFGFactors