Merge pull request #23 from rpl-cmu/easton/printing

Printing Upgrades

Cargo.toml

@@ -25,6 +25,7 @@ paste = "1.0.15"
 downcast-rs = "1.2.1"
 log = "0.4.22"
 factrs-proc = { version = "0.1.0", path = "./factrs-proc" }
+pad-adapter = "0.1.1"
 
 # numerical 
 faer = { version = "0.19.4", default-features = false, features = [

examples/serde.rs

@@ -24,7 +24,7 @@ fn main() {
 
     // Convert the JSON string back to a Point.
     let deserialized: Values = serde_json::from_str(&serialized).unwrap();
-    println!("deserialized = {:#?}", deserialized);
+    println!("deserialized = {:#}", deserialized);
 
     // ------------------------- Serialize graph ------------------------- //
     let prior = PriorResidual::new(x);

src/containers/factor.rs

@@ -1,4 +1,6 @@
-use super::{Symbol, TypedSymbol};
+use pad_adapter::PadAdapter;
+
+use super::{DefaultSymbolHandler, KeyFormatter, Symbol, TypedSymbol};
 use crate::{
     containers::{Key, Values},
     dtype,
@@ -9,6 +11,11 @@ use crate::{
     robust::{RobustCost, L2},
 };
 
+use std::{
+    fmt::{self, Write},
+    marker::PhantomData,
+};
+
 /// Main structure to represent a factor in the graph.
 ///
 /// $$ \blue{\rho_i}(||\purple{r_i}(\green{\Theta})||_{\red{\Sigma_i}} ) $$
@@ -48,7 +55,6 @@ use crate::{
 /// let factor = FactorBuilder::new1(residual,
 ///     X(0)).noise(noise).robust(robust).build();
 /// ```
-#[derive(Debug)]
 #[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct Factor {
     keys: Vec<Key>,
@@ -107,6 +113,69 @@ impl Factor {
     }
 }
 
+impl fmt::Debug for Factor {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        FactorFormatter::<DefaultSymbolHandler>::new(self).fmt(f)
+    }
+}
+
+/// Formatter for a factor
+///
+/// Specifically, this can be used if custom symbols are desired. See `tests/custom_key` for examples.
+pub struct FactorFormatter<'f, KF> {
+    factor: &'f Factor,
+    kf: PhantomData<KF>,
+}
+
+impl<'f, KF> FactorFormatter<'f, KF> {
+    pub fn new(factor: &'f Factor) -> Self {
+        Self {
+            factor,
+            kf: Default::default(),
+        }
+    }
+}
+
+impl<'f, KF: KeyFormatter> fmt::Debug for FactorFormatter<'f, KF> {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        if f.alternate() {
+            f.write_str("Factor {\n")?;
+            let mut pad = PadAdapter::new(f);
+            // Keys
+            pad.write_str("key: [")?;
+            for (i, key) in self.factor.keys().iter().enumerate() {
+                if i > 0 {
+                    pad.write_str(", ")?;
+                }
+                KF::fmt(&mut pad, *key)?;
+            }
+            pad.write_str("]\n")?;
+            // Residual
+            writeln!(pad, "res: {:#?}", self.factor.residual)?;
+            // Noise
+            writeln!(pad, "noi: {:#?}", self.factor.noise)?;
+            // Robust
+            writeln!(pad, "rob: {:#?}", self.factor.robust)?;
+            f.write_str("}")?;
+        } else {
+            f.write_str("Factor { ")?;
+            for (i, key) in self.factor.keys().iter().enumerate() {
+                if i > 0 {
+                    f.write_str(", ")?;
+                }
+                KF::fmt(f, *key)?;
+            }
+            write!(
+                f,
+                "], residual: {:?}, noise: {:?}, robust: {:?} }}",
+                self.factor.residual, self.factor.noise, self.factor.robust
+            )?;
+        }
+
+        Ok(())
+    }
+}
+
 /// Builder for a factor.
 ///
 /// If the noise model or robust kernel aren't set, they default to [UnitNoise]

src/containers/graph.rs

@@ -1,6 +1,17 @@
+use pad_adapter::PadAdapter;
+use std::{
+    fmt::{Debug, Write},
+    marker::PhantomData,
+};
+
+// Once "debug_closure_helpers" is stabilized, we won't need this anymore
+// Need custom debug to handle pretty key printing at the moment
+// Pad adapter helps with the pretty printing
+use crate::containers::factor::FactorFormatter;
+
 use faer::sparse::SymbolicSparseColMat;
 
-use super::{Idx, Values, ValuesOrder};
+use super::{DefaultSymbolHandler, Idx, KeyFormatter, Values, ValuesOrder};
 use crate::{containers::Factor, dtype, linear::LinearGraph};
 
 /// Structure to represent a nonlinear factor graph
@@ -27,7 +38,7 @@ use crate::{containers::Factor, dtype, linear::LinearGraph};
 /// let mut graph = Graph::new();
 /// graph.add_factor(factor);
 /// ```
-#[derive(Default, Debug)]
+#[derive(Default)]
 #[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct Graph {
     factors: Vec<Factor>,
@@ -97,6 +108,48 @@ impl Graph {
     }
 }
 
+impl Debug for Graph {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        GraphFormatter::<DefaultSymbolHandler>::new(self).fmt(f)
+    }
+}
+
+/// Formatter for a graph
+///
+/// Specifically, this can be used if custom symbols are desired. See `tests/custom_key` for examples.
+pub struct GraphFormatter<'g, KF> {
+    graph: &'g Graph,
+    kf: PhantomData<KF>,
+}
+
+impl<'g, KF> GraphFormatter<'g, KF> {
+    pub fn new(graph: &'g Graph) -> Self {
+        Self {
+            graph,
+            kf: Default::default(),
+        }
+    }
+}
+
+impl<'g, KF: KeyFormatter> Debug for GraphFormatter<'g, KF> {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        if f.alternate() {
+            f.write_str("Graph [\n")?;
+            let mut pad = PadAdapter::new(f);
+            for factor in self.graph.factors.iter() {
+                writeln!(pad, "{:#?},", FactorFormatter::<KF>::new(factor))?;
+            }
+            f.write_str("]")
+        } else {
+            f.write_str("Graph [ ")?;
+            for factor in self.graph.factors.iter() {
+                write!(f, "{:?}, ", FactorFormatter::<KF>::new(factor))?;
+            }
+            f.write_str("]")
+        }
+    }
+}
+
 /// Simple structure to hold the order of the graph
 ///
 /// Specifically this is used to cache linearization results such as the order

src/containers/mod.rs

@@ -1,16 +1,16 @@
 //! Various containers for storing variables, residuals, factors, etc.
 
 mod symbol;
-pub use symbol::{DefaultSymbol, Key, Symbol, TypedSymbol};
+pub use symbol::{DefaultSymbolHandler, Key, KeyFormatter, Symbol, TypedSymbol};
 
 mod values;
-pub use values::Values;
+pub use values::{Values, ValuesFormatter};
 
 mod order;
 pub use order::{Idx, ValuesOrder};
 
 mod graph;
-pub use graph::{Graph, GraphOrder};
+pub use graph::{Graph, GraphFormatter, GraphOrder};
 
 mod factor;
-pub use factor::{Factor, FactorBuilder};
+pub use factor::{Factor, FactorBuilder, FactorFormatter};