Merge pull request #588 from JuliaRobotics/bug/3Q20/560_timestamp_issue_2

Fix for non-millisecond timestamps

Author: dehann

src/services/Serialization.jl

@@ -30,6 +30,9 @@ function unpackVariable(dfg::G,
         unpackBigData::Bool=true)::DFGVariable where G <: AbstractDFG
     @debug "Unpacking variable:\r\n$packedProps"
     label = Symbol(packedProps["label"])
+    # Make sure that the timestamp is correctly formatted with subseconds
+    packedProps["timestamp"] = replace(packedProps["timestamp"], r":(\d)(\d)(Z|z|\+|-)" => s":\1\2.000\3")
+    # Parse it
     timestamp = ZonedDateTime(packedProps["timestamp"])
     nstime = Nanosecond(get(packedProps, "nstime", 0))
     # Supporting string serialization using packVariable and CGDFG serialization (Vector{String})
@@ -166,6 +169,9 @@ end
 
 function unpackFactor(dfg::G, packedProps::Dict{String, Any})::DFGFactor where G <: AbstractDFG
     label = packedProps["label"]
+    # Make sure that the timestamp is correctly formatted with subseconds
+    packedProps["timestamp"] = replace(packedProps["timestamp"], r":(\d)(\d)(Z|z|\+|-)" => s":\1\2.000\3")
+    # Parse it
     timestamp = ZonedDateTime(packedProps["timestamp"])
     nstime = Nanosecond(get(packedProps, "nstime", 0))
     if packedProps["tags"] isa String

test/testBlocks.jl

@@ -245,7 +245,7 @@ function DFGVariableSCA()
     # Constructors
     v1 = DFGVariable(v1_lbl, TestSofttype1(), tags=v1_tags, solvable=0, solverDataDict=Dict(:default=>VariableNodeData{TestSofttype1}()))
     v2 = DFGVariable(:b, VariableNodeData{TestSofttype2}(), tags=Set([:VARIABLE, :LANDMARK]))
-    v3 = DFGVariable(:c, VariableNodeData{TestSofttype2}())
+    v3 = DFGVariable(:c, VariableNodeData{TestSofttype2}(), timestamp=ZonedDateTime("2020-08-11T00:12:03.000-05:00"))
 
     vorphan = DFGVariable(:orphan, TestSofttype1(), tags=v1_tags, solvable=0, solverDataDict=Dict(:default=>VariableNodeData{TestSofttype1}()))
 
@@ -327,7 +327,7 @@ function  DFGFactorSCA()
     f1 = DFGFactor{TestCCW{TestFunctorInferenceType1}}(f1_lbl, [:a,:b])
     f1 = DFGFactor(f1_lbl, [:a,:b], gfnd, tags = f1_tags, solvable=0)
 
-    f2 = DFGFactor{TestCCW{TestFunctorInferenceType1}}(:bcf1, [:b, :c])
+    f2 = DFGFactor{TestCCW{TestFunctorInferenceType1}}(:bcf1, [:b, :c], ZonedDateTime("2020-08-11T00:12:03.000-05:00"))
     #TODO add tests for mutating vos in updateFactor and orphan related checks.
     # we should perhaps prevent an empty vos