Merge pull request #900 from JuliaRobotics/22Q3/enh/blobuuids

blobs via uuids or labels

Author: dehann

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.18.5"
+version = "0.18.6"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

src/DataBlobs/services/AbstractDataEntries.jl

@@ -29,14 +29,22 @@ buildSourceString(dfg::AbstractDFG, label::Symbol) =
 Get data entry
 """
 function getDataEntry(var::AbstractDFGVariable, key::Symbol)
-    !hasDataEntry(var, key) && error("Data entry $(key) does not exist in variable $(getLabel(var))")
+    !hasDataEntry(var, key) && error("No dataEntry label $(key) found in variable $(getLabel(var))")
     return var.dataDict[key]
 end
 
-function getDataEntry(dfg::AbstractDFG, label::Symbol, key::Symbol)
-    return getDataEntry(getVariable(dfg, label), key)
+function getDataEntry(var::AbstractDFGVariable, blobId::UUID)
+    for (k,v) in var.dataDict
+        if v.id == blobId
+            return v
+        end
+    end
+    error("No dataEntry with blobId $(blobId) found in variable $(getLabel(var))")
 end
 
+getDataEntry(dfg::AbstractDFG, label::Symbol, key::Union{Symbol,UUID}) = getDataEntry(getVariable(dfg, label), key)
+
+
 """
     $(SIGNATURES)
 Add Data Entry to a DFG variable

src/DataBlobs/services/BlobStores.jl

@@ -63,7 +63,13 @@ end
 ## Store and Entry Data CRUD
 ##==============================================================================
 
-function getData(dfg::AbstractDFG, blobstore::AbstractBlobStore, label::Symbol, key::Symbol; hashfunction = sha256)
+function getData(
+    dfg::AbstractDFG, 
+    blobstore::AbstractBlobStore, 
+    label::Symbol, 
+    key::Union{Symbol,UUID}; 
+    hashfunction = sha256
+)
     de = getDataEntry(dfg, label, key)
     db = getDataBlob(blobstore, de)
     assertHash(de, db, hashfunction=hashfunction)

src/DataBlobs/services/DataEntryBlob.jl

@@ -111,8 +111,13 @@ end
 ## DFG Data CRUD
 ##==============================================================================
 
-function getData(dfg::AbstractDFG, label::Symbol, key::Symbol; hashfunction = sha256)
-    de = getDataEntry(dfg, label, key)
+function getData(
+    dfg::AbstractDFG, 
+    vlabel::Symbol, 
+    key::Union{Symbol,UUID}; 
+    hashfunction = sha256
+)
+    de = getDataEntry(dfg, vlabel, key)
     db = getDataBlob(dfg, de)
 
     assertHash(de, db, hashfunction=hashfunction)

src/services/Serialization.jl

@@ -458,25 +458,6 @@ function unpackFactor(dfg::G, packedProps::Dict{String, Any}) where G <: Abstrac
     @assert !(packedProps["_variableOrderSymbols"] isa String) "unpackFactor expecting JSON only data, packed `_variableOrderSymbols` should be a vector of strings (not a single string of elements)."
     tags = _vecSymbol(packedProps["tags"])
     _variableOrderSymbols = _vecSymbol(packedProps["_variableOrderSymbols"])
-        # if packedProps["tags"] isa String
-        #     # TODO, legacy and should be removed
-        #     tags = JSON2.read(packedProps["tags"], Vector{Symbol})
-        # else
-        #     # the preferred (and should be only) solution
-        #     tags = Symbol.(packedProps["tags"])
-        #     # If tags is empty we need to make sure it's a Vector{Symbol}
-        #     if length(tags) == 0
-        #         tags = Vector{Symbol}()
-        #     end
-        # end
-        # # Get the stored variable order
-        # _variableOrderSymbols = if packedProps["_variableOrderSymbols"] isa String
-        #     # TODO, legacy and should be removed
-        #     JSON2.read(packedProps["_variableOrderSymbols"], Vector{Symbol})
-        # else
-        #     # the preferred (and should be only) solution
-        #     Symbol.(packedProps["_variableOrderSymbols"])
-        # end
 
     data = packedProps["data"]
     datatype = packedProps["fnctype"]
@@ -487,10 +468,8 @@ function unpackFactor(dfg::G, packedProps::Dict{String, Any}) where G <: Abstrac
     packed = nothing
     fullFactorData = nothing
 
-    # @show packtype
-    # @show data
     try
-        packed = convert(GenericFunctionNodeData{packtype}, data) # JSON2.read(data, GenericFunctionNodeData{packtype})
+        packed = convert(GenericFunctionNodeData{packtype}, data) 
         decodeType = getFactorOperationalMemoryType(dfg)
         fullFactorData = decodePackedType(dfg, _variableOrderSymbols, decodeType, packed)
     catch ex