fast forward testing

REQUIRE

@@ -1,6 +1,6 @@
 julia 0.7 1.1
 RoME 0.2.0
-IncrementalInference 0.4.2
+IncrementalInference 0.4.3
 Graphs 0.10.1
 KernelDensityEstimate 0.4.1
 Distributions 0.16.0
@@ -21,3 +21,5 @@ Reexport 0.2.0
 CloudGraphs 0.1.1
 Neo4j 2.0.0
 Mongoc 0.1.2
+Unmarshal 0.2.1
+ZMQ 1.0.0

scripts/zmqServer.config

@@ -0,0 +1,3 @@
+{
+  "enablePlottingEndpoints": "HeckYeah!"
+}

scripts/zmqServer.jl

@@ -0,0 +1,6 @@
+using Caesar;
+using Caesar.ZmqCaesar;
+fg = Caesar.initfg();
+config = Dict{String, String}();
+zmqConfig = ZmqServer(fg, config, true, "tcp://*:5555");
+start(zmqConfig)

scripts/zmqServer.sh

@@ -0,0 +1 @@
+julia -p 4 zmqServer.jl

src/Caesar.jl

@@ -27,10 +27,10 @@ using
   ImageMagick,
   ImageCore,
   DocStringExtensions,
-  CloudGraphs, # TODO: will be movedd to DFG
-  Neo4j, # TODO: will be movedd to DFG
-  Mongoc # TODO: will be movedd to DFG
-
+  CloudGraphs,
+  Neo4j,
+  Mongoc,
+  Unmarshal
 
 export
   GenericInSituSystem,  # insitu components
@@ -135,4 +135,6 @@ include("cloudgraphs/slamindb.jl")
 include("cloudgraphs/MultisessionUtils.jl")
 include("cloudgraphs/FoveationUtils.jl")
 
+# ZMQ server and endpoints
+include("zmq/ZmqCaesar.jl")
 end

src/cloudgraphs/SolverStatus.jl

@@ -1,4 +1,5 @@
 using Dates
+using UUIDs
 
 export SolverStatus
 
@@ -19,6 +20,6 @@ mutable struct SolverStatus
     detachedSessionTimestamp::String
     lastUpdatedTimestamp::String
     lastIterationDurationSeconds::Float64
-    SolverStatus() = new(string(Base.Random.uuid4()), "", false, "", "", "", 0, "", string(unix2datetime(time())), "", "", "", 0)
+    SolverStatus() = new(string(uuid4()), "", false, "", "", "", 0, "", string(unix2datetime(time())), "", "", "", 0)
     SolverStatus(id::String, host::String, isAttached::Bool, userId::String, robotId::String, sessionId::String, iteration::Int64, currentStep::String, startedUpTimestamp::String, attachedSessionTimestamp::String, detachedSessionTimestamp::String, lastUpdatedTimestamp::String, lastIterationDurationSeconds::Float64) = new(id, host, isAttached, userId, robotId, sessionId, iteration, currentStep, startedUpTimestamp, attachedSessionTimestamp, detachedSessionTimestamp, lastUpdatedTimestamp, lastIterationDurationSeconds)
 end

src/endpoints/Models.jl

@@ -0,0 +1,22 @@
+# http://juliastats.github.io/StatsBase.jl/stable/weights.html
+mutable struct Packed_AliasingScalarSampler
+  samples::Vector{Float64}
+  weights::Vector{Float64}
+end
+
+## avert your eyes, C++ below
+# class MvNormal : public Distribution {
+#   std::vector<double> mean_;
+#   std::vector<std::vector<double>> cov_;
+#
+# public:
+#   MvNormal(const std::vector<double> &mean,
+#            const std::vector<std::vector<double>> &cov)
+#       : mean_(mean), cov_(cov) {}
+#   json ToJson(void) const {
+#     json j;
+#     j["mean"] = mean_;
+#     j["cov"] = cov_;
+#     return (j);
+#   }
+# };

src/zmq/ZmqCaesar.jl

@@ -0,0 +1,19 @@
+module ZmqCaesar
+    using ZMQ, JSON
+    using Distributions, IncrementalInference, Caesar
+    using Unmarshal
+    using Dates
+
+    include("models/distributions.jl")
+    include("models/factors.jl")
+    include("models/config.jl")
+    include("models/session.jl")
+    include("models/plotting.jl")
+    include("models/ZmqServer.jl")
+    include("services/factors/distributionSerialization.jl")
+    include("services/factors/factorSerialization.jl")
+    include("services/config.jl")
+    include("services/session.jl")
+    include("services/plotting.jl")
+    include("services/ZmqServer.jl")
+end

src/zmq/models/ZmqServer.jl

@@ -0,0 +1,9 @@
+export
+    ZmqServer
+
+mutable struct ZmqServer
+    fg::IncrementalInference.FactorGraph
+    config::Dict{String, Any}
+    isServerActive::Bool
+    binding::String
+end

src/zmq/models/distributions.jl

@@ -0,0 +1,23 @@
+export
+    Packed_Normal,
+    Packed_MvNormal,
+    Packed_AliasingScalarSampler
+
+mutable struct Packed_Normal
+  mean::Float64
+  std::Float64
+  distType::String
+end
+
+mutable struct Packed_MvNormal
+  mean::Vector{Float64}
+  cov::Vector{Float64}
+  distType::String
+end
+
+mutable struct Packed_AliasingScalarSampler
+  samples::Vector{Float64}
+  weights::Vector{Float64}
+  quantile::Union{Float64, Nothing}
+  distType::String # AliasingScalarSampler
+end

src/zmq/models/factors.jl

@@ -0,0 +1,7 @@
+export
+    Packed_Factor
+
+mutable struct Packed_Factor
+    measurement::Vector{Dict{String, Any}}
+    distType::String
+end

src/zmq/models/plotting.jl

@@ -0,0 +1,8 @@
+export
+    PlotRequest
+
+struct PlotRequest
+    widthPx::Int
+    heightPx::Int
+    encoding::String
+end

src/zmq/models/session.jl

@@ -0,0 +1,32 @@
+
+import Base: convert
+
+export
+    VariableRequest,
+    FactorRequest,
+    lsRequest,
+    SetReadyRequest
+
+struct VariableRequest
+    label::String
+    variableType::String
+    N::Union{Int64, Nothing}
+    labels::Vector{String}
+end
+
+mutable struct FactorRequest
+    # factorType::String # This is now in the factor itself.
+    variables::Vector{String}
+    factorType::String
+    factor::Dict{String, Any}
+end
+
+struct lsRequest
+    variables::String
+    factors::String
+end
+
+struct SetReadyRequest
+    variables::Union{Vector{String}, Nothing}
+    isReady::Int
+end

src/zmq/services/ZmqServer.jl

@@ -0,0 +1,130 @@
+using ZMQ
+using Caesar, Caesar.ZmqCaesar
+
+export
+    start
+
+import Base: start
+
+global systemverbs = Symbol[
+    :shutdown
+]
+global configverbs = Symbol[
+    :initDfg;
+    :toggleMockServer;
+    :registerRobot;
+    :registerSession;
+]
+
+global sessionverbs = [
+    :addVariable;
+    :addFactor;
+    :addOdometry2D;
+    :addLandmark2D;
+    :addFactorBearingRangeNormal;
+    :ls;
+    :getNode;
+    :setReady;
+    :batchSolve;
+    # per variable
+    :setVarKDE; # needed for workaround on bad autoinit -- sorry
+    :getVarMAPKDE; # marginal belief points (KDE)
+    :getVarMAPMean;
+    # fancy future stuff
+    :getVarMAPMax; # Future, how many maxes should you get?
+    :getVarMAPFit; # default=Normal
+]
+
+plottingVerbs = [];
+try
+    # Test - if passed, declare verbs
+    getfield(Main, :RoMEPlotting)
+    global plottingVerbs = [
+        :plotKDE;
+        :plotPose;
+        :drawPoses;
+        :drawPosesLandms
+    ];
+catch ex
+    @info "[ZMQ Server] Plotting is disabled!"
+end
+
+function shutdown(zmqServer, request)::Dict{String, Any}
+    @info "Shutting down ZMQ server on request..."
+    zmqServer.isServerActive  = false
+    return Dict{String, Any}("status" => "OK")
+end
+
+function Base.isopen(socket::Socket)
+    return getfield(socket, :data) != C_NULL
+end
+
+function start(zmqServer::ZmqServer)
+    # set up a context for zmq
+    ctx=Context()
+    s1=Socket(ctx, REP)
+    ZMQ.bind(s1, "tcp://*:5555")
+
+    try
+        while zmqServer.isServerActive
+            println("waiting to receive...")
+            msg = ZMQ.recv(s1)
+            out = ZMQ.convert(IOStream, msg)
+            str = String(take!(out))
+            request = JSON.parse(str)
+
+            cmdtype = haskey(request, "request") ? Symbol(request["request"]) : :ERROR_NOCOMMANDPROVIDED
+            @info "[ZMQ Server] REQUEST: Received request '$cmdtype' in payload '$str'..."
+            if cmdtype in union(configverbs, sessionverbs)
+                resp = Dict{String, Any}()
+                try
+                    # Mocking server
+                    if haskey(zmqServer.config, "isMockServer") && zmqServer.config["isMockServer"] == "true" && cmdtype != :toggleMockServer
+                        @warn "[ZMQ Server] MOCKING ENABLED - Ignoring request!"
+                    else
+                        # Otherwise actually perform the command
+                        @show cmd = getfield(Caesar.ZmqCaesar, cmdtype)
+                        resp = cmd(zmqServer.config, zmqServer.fg, request)
+                    end
+                    if !haskey(resp, "status")
+                        resp["status"] = "OK"
+                    end
+                catch ex
+                    io = IOBuffer()
+                    showerror(io, ex, catch_backtrace())
+                    err = String(take!(io))
+                    @warn "[ZMQ Server] Exception: $err"
+                    resp["status"] = "ERROR"
+                    resp["error"] = err
+                end
+                @info "[ZMQ Server] RESPONSE: $(JSON.json(resp))"
+                ZMQ.send(s1, JSON.json(resp))
+            elseif cmdtype in systemverbs
+                if cmdtype == :shutdown
+                    #TODO: Call shutdown from here.
+                    @info "Shutting down ZMQ server on request..."
+                    zmqServer.isServerActive  = false
+                    resp = Dict{String, Any}("status" => "OK")
+                    # Send response before shutting down.
+                    ZMQ.send(s1, JSON.json(resp))
+                end
+            else
+                @warn "[ZMQ Server] Received invalid command $cmdtype"
+                d = Dict{String, String}("status" => "ERROR", "error" => "Command '$cmdtype' not a valid command.")
+                oks = json(d)
+                ZMQ.send(s1, oks)
+            end
+        end
+    catch ex
+        @warn "[ZMQ Server] Something in the zmq/json/rest pipeline broke"
+        showerror(stderr, ex, catch_backtrace())
+    finally
+        @warn "[ZMQ Server] Shutting down server"
+        # TODO: Figure out why I can't use Base.isopen here...
+        if Base.isopen(s1)
+            ZMQ.close(s1)
+        end
+        ZMQ.close(ctx)
+        @warn "[ZMQ Server] Shut down!"
+    end
+end