Merge pull request #834 from JuliaRobotics/833/base64encode_factors

Resolving 833 with the workaround.

Author: dehann

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -270,6 +270,9 @@ function getFactor(dfg::CloudGraphsDFG, label::Union{Symbol, String})
     length(result.results[1]["data"][1]["row"]) != 1 && error("Cannot get factor '$label'")
     props = result.results[1]["data"][1]["row"][1]
 
+    # NOTE: Until we address #590, base64 decode the data to ensure robustness, #833
+    props["data"] = String(base64decode(props["data"]))
+
     return rebuildFactorMetadata!(dfg, unpackFactor(dfg, props))
 end
 
@@ -290,8 +293,6 @@ function updateFactor!(dfg::CloudGraphsDFG, factor::DFGFactor; warn_if_absent::B
         !exists(dfg, vlabel) && error("Variable '$(vlabel)' not found in graph when creating Factor '$(factor.label)'")
     end
 
-    props = packFactor(dfg, factor)
-
     # Create/update the factor
     # NOTE: We are no merging the factor tags into the labels anymore. We can index by that but not
     # going to pollute the graph with unnecessary (and potentially dangerous) labels.

src/CloudGraphsDFG/services/CommonFunctions.jl

@@ -180,7 +180,9 @@ function _structToNeo4jProps(inst::Union{<:User, <:Robot, <:Session, PVND, N, AP
             # TODO: Consolidate with packFactor in Serialization.jl - https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/525
             if fieldname == :solverData
                 fnctype = getSolverData(inst).fnc.usrfnc!
-                val = _packSolverData( inst, fnctype; replaceBackslashes=true )
+                # NOTE: Until we resolve #590, make this robust by base64 encoding this so that
+                # generic JSON-packed factors do not have issues. 
+                val = "\"$(_packSolverData( inst, fnctype; base64Encode=true ))\""
                 fieldname = :data #Keeping with FileDFG format
             end
         end

src/DistributedFactorGraphs.jl

@@ -15,6 +15,7 @@ module DistributedFactorGraphs
 ##==============================================================================
 
 using Base
+using Base64
 using DocStringExtensions
 using Requires
 using Dates

src/services/Serialization.jl

@@ -294,14 +294,15 @@ end
 function _packSolverData(
         f::DFGFactor, 
         fnctype::AbstractFactor; 
-        replaceBackslashes::Bool=false )
+        base64Encode::Bool=false )
     #
     packtype = convertPackedType(fnctype)
     try
         packed = convert( PackedFunctionNodeData{packtype}, getSolverData(f) )
         packedJson = JSON2.write(packed)
-        if replaceBackslashes
-            return "\"$(replace(packedJson, "\"" => "\\\""))\"" # Escape slashes too
+        if base64Encode
+            # 833
+            packedJson = base64encode(packedJson)
         end
         return packedJson
     catch ex