Test unpackOldState, lower/lift Complex

Author: Affie

src/serialization/DFGStructStyles.jl

@@ -43,3 +43,23 @@ function StructUtils.lift(
     end
     return AP(parts), nothing
 end
+
+# Complex Serialization
+StructUtils.structlike(::DFGJSONStyle, ::Type{<:Complex}) = false
+StructUtils.lower(::DFGJSONStyle, x::Complex) = (real(x), imag(x))
+function StructUtils.lift(::DFGJSONStyle, ::Type{T}, x::JSON.LazyValue) where T <: Complex 
+    return T(x[1][], x[2][]), nothing
+end
+
+# Above does not work for Arrya{ComplexF64, 0}
+StructUtils.lower(::DFGJSONStyle, x::AbstractArray{<:Complex, 0}) = (real(x), imag(x))
+function StructUtils.lift(::DFGJSONStyle, ::Type{A}, x::JSON.LazyValue) where A <: AbstractArray{T,0} where T <: Complex 
+    m = A(undef)
+    m[] = (T(x[1][], x[2][]))
+    return m, nothing
+end
+
+# if serialized as an Struct
+# function StructUtils.lift(::DFGJSONStyle, ::Type{T}, x::JSON.LazyValue) where T <: Complex 
+#     return T(x.re[], x.im[]), nothing
+# end

src/serialization/StateSerialization.jl

@@ -43,25 +43,9 @@ StructUtils.lower(T::AbstractStateType) = lowerStateKind(T)
 StructUtils.lift(::Type{AbstractStateType}, s) = liftStateKind(s)
 
 ##==============================================================================
-## OLD State Packing and unpacking
+## OLD State Packing and unpacking - Deprecated v0.29 - kept for migration
 ##==============================================================================
 
-# State Kind is handled seperately because it includes the N parameter.
-function stringStateKind(varT::AbstractStateType{N}) where {N}
-    T = typeof(varT)
-    if N == Any
-        return string(parentmodule(T), ".", nameof(T))
-    elseif N isa Integer
-        return string(parentmodule(T), ".", nameof(T), "{", join(N, ","), "}")
-    else
-        throw(
-            SerializationError(
-                "Serializing Variable State type only supports an integer parameter, got '$(T)'.",
-            ),
-        )
-    end
-end
-
 function parseStateKind(_typeString::AbstractString)
     m = match(r"{(\d+)}", _typeString)
     if !isnothing(m) #parameters in type
@@ -156,7 +140,7 @@ function unpackOldState(d)
             bandwidth = BW,
         )
     end
-    return State{T, getPointType(T)}(;
+    return State{typeof(T), getPointType(T)}(;
         label,
         belief,
         separator = Symbol.(d.separator),

test/testSerializingVariables.jl

@@ -102,3 +102,12 @@ end
         @test vsk.tags == v.tags
     end
 end
+
+# TODO deprecated v0.29, remove this test and unpackOldState
+@testset "Serializing Old State" begin
+    Pose2 = Pose{2}
+    oldstates = JSON.parsefile(@__DIR__() * "/data/oldstate.json")
+    states = DFG.unpackOldState.(oldstates)
+    # just a spot check
+    @test issetequal(getLabel.(states), [:default, :parametric, :graphinit])
+end