implement mergeStates! (#1145)

Author: Affie

src/services/DFGVariable.jl

@@ -733,6 +733,20 @@ function mergeState!(v::VariableCompute, vnd::State)
     return 1
 end
 
+function mergeStates!(dfg::AbstractDFG, varLabel_state_pairs::Vector{Pair{Symbol, State}})
+    cnt = asyncmap(varLabel_state_pairs) do (varLabel, state)
+        return mergeState!(dfg, varLabel, state)
+    end
+    return sum(cnt)
+end
+
+function mergeStates!(dfg::AbstractDFG, variableLabel::Symbol, states::Vector{<:State})
+    cnt = asyncmap(states) do state
+        return mergeState!(dfg, variableLabel, state)
+    end
+    return sum(cnt)
+end
+
 function copytoState!(
     dfg::AbstractDFG,
     variableLabel::Symbol,

test/testBlocks.jl

@@ -787,6 +787,9 @@ function VSDTestBlock!(fg, v1)
     # Bulk copy update x0
     @test DFG.copytoState!(fg, v1.label, :default, getState(fg, v1.label, :default)) == 1
 
+    @test DFG.mergeStates!(fg, Vector{Pair{Symbol, State}}([:a=>vnd])) == 1
+    @test DFG.mergeStates!(fg, [:a=>vnd]) == 1
+    @test DFG.mergeStates!(fg, :a, [vnd]) == 1
     altVnd = vnd |> deepcopy
     keepVnd = getState(getVariable(fg, :a), :parametric) |> deepcopy