Merge pull request #906 from JuliaRobotics/22Q4/enh/copydataentry

add mergeDataEntries!

Author: dehann

src/DataBlobs/services/AbstractDataEntries.jl

@@ -27,6 +27,8 @@ buildSourceString(dfg::AbstractDFG, label::Symbol) =
 """
     $(SIGNATURES)
 Get data entry
+
+Also see: [`addDataEntry`](@ref), [`getDataBlob`](@ref), [`listDataEntries`](@ref)
 """
 function getDataEntry(var::AbstractDFGVariable, key::Symbol)
     !hasDataEntry(var, key) && error("No dataEntry label $(key) found in variable $(getLabel(var))")
@@ -42,25 +44,23 @@ function getDataEntry(var::AbstractDFGVariable, blobId::UUID)
     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)
+getDataEntry(dfg::AbstractDFG, label::Symbol, key::UUID) = getDataEntry(getVariable(dfg, label), key)
+getDataEntry(dfg::AbstractDFG, label::Symbol, key::Symbol) = getDataEntry(getVariable(dfg, label), key)
 
 
 """
     $(SIGNATURES)
 Add Data Entry to a DFG variable
+Should be extended if DFG variable is not returned by reference.
+
+Also see: [`getDataEntry`](@ref), [`addDataBlob`](@ref), [`mergeDataEntries!`](@ref)
 """
 function addDataEntry!(var::AbstractDFGVariable, bde::AbstractDataEntry)
     haskey(var.dataDict, bde.label) && error("Data entry $(bde.label) already exists in variable $(getLabel(var))")
     var.dataDict[bde.label] = bde
     return bde
 end
 
-
-"""
-    $(SIGNATURES)
-Add Data Entry to distributed factor graph.
-Should be extended if DFG variable is not returned by reference.
-"""
 function addDataEntry!(dfg::AbstractDFG, label::Symbol, bde::AbstractDataEntry)
     return addDataEntry!(getVariable(dfg, label), bde)
 end
@@ -173,3 +173,46 @@ function listDataEntrySequence( dfg::AbstractDFG,
     entMsk = entReg .!== nothing
     ents_[findall(entMsk)] |> _sort
 end
+
+"""
+    $SIGNATURES
+
+Add a data entry into the destination variable which already exists 
+in a source variable.
+
+See also: [`addDataEntry!`](@ref), [`getDataEntry`](@ref), [`listDataEntries`](@ref), [`getDataBlob`](@ref)
+"""
+function mergeDataEntries!(
+    dst::AbstractDFG, 
+    dlbl::Symbol, 
+    src::AbstractDFG, 
+    slbl::Symbol, 
+    bllb::Union{Symbol, UUID, <:AbstractString, Regex}
+)
+    #
+    _makevec(s) = [s;]
+    _makevec(s::AbstractVector) = s
+    des_ = getDataEntry(src, slbl, bllb)
+    des = _makevec(des_)
+    # don't add data entries that already exist 
+    dde = listDataEntries(dst, dlbl)
+    uids = (s->s.id).(dde)
+    filter!(s -> !(s.id in uids), des)
+    # add any data entries not already in the destination variable, by uuid
+    addDataEntry!.(dst, dlbl, des)
+end
+
+function mergeDataEntries!(
+    dst::AbstractDFG, 
+    dlbl::Symbol, 
+    src::AbstractDFG, 
+    slbl::Symbol, 
+    ::Colon=:
+)
+    des = listDataEntries(src, slbl)
+    # don't add data entries that already exist 
+    dde = listDataEntries(dst, dlbl)
+    uids = (s->s.id).(dde)
+    filter!(s -> !(s.id in uids), des)
+    union(((s->mergeDataEntries!(dst, dlbl, src, slbl, s.id)).(des))...)
+end

src/DistributedFactorGraphs.jl

@@ -197,7 +197,7 @@ export copyGraph!, deepcopyGraph, deepcopyGraph!, buildSubgraph, mergeGraph!
 export addDataEntry!, getDataEntry, updateDataEntry!, deleteDataEntry!, getDataEntries, listDataEntries, hasDataEntry, hasDataEntry
 export listDataEntrySequence
 # convenience wrappers
-export addDataEntry!
+export addDataEntry!, mergeDataEntries!
 # aliases
 export addData!
 

test/consol_DataEntryBlobTests.jl

@@ -45,8 +45,23 @@ ade3,adb3 = updateData!(dfg, :x2, deepcopy(ade))
 @test ade == ade2 == ade3
 @test adb == adb2 == adb3
 
+
+@test :random in listDataEntries(dfg, :x2)
+@test length(listDataEntries(dfg, :x1)) === 0
+@test length(listDataEntries(dfg, :x2)) === 1
+
+mergeDataEntries!(dfg, :x1, dfg, :x2, :random)
+
+@test length(listDataEntries(dfg, :x1)) === 1
+@test :random in listDataEntries(dfg, :x1)
+@test length(listDataEntries(dfg, :x2)) === 1
+
+deleteData!(dfg, :x1, :random)
 deleteData!(dfg, :x2, :random)
 
+@test length(listDataEntries(dfg, :x1)) === 0
+@test length(listDataEntries(dfg, :x2)) === 0
+
 ##==============================================================================
 ## FileDataEntry
 ##==============================================================================