implement addVariables! and addFactors! (#1101)

Co-authored-by: Johannes Terblanche <[email protected]>

src/DistributedFactorGraphs.jl

@@ -105,7 +105,9 @@ export InMemoryDFGTypes, LocalDFG
 # AbstractDFG Interface
 export exists,
     addVariable!,
+    addVariables!,
     addFactor!,
+    addFactors!,
     getVariable,
     getFactor,
     updateVariable!,

src/FileDFG/services/FileDFG.jl

@@ -123,9 +123,8 @@ function loadDFG!(
     # do actual unzipping
     filename = lastdirname[1:(end - length(".tar.gz"))] |> string
     if unzip
-        @show sfolder = split(dstname, '.')
         Base.mkpath(loaddir)
-        folder = joinpath(loaddir, filename) #splitpath(string(sfolder[end-2]))[end]
+        folder = joinpath(loaddir, filename)
         @info "loadDFG! detected a gzip $dstname -- unpacking via $loaddir now..."
         Base.rm(folder; recursive = true, force = true)
         # unzip the tar file

src/entities/DFGFactor.jl

@@ -104,10 +104,11 @@ Base.@kwdef struct PackedFactor <: AbstractDFGFactor
 end
 #TODO type not in DFG PackedFactor, should it be?
 # _type::String
-
 # createdTimestamp::DateTime
 # lastUpdatedTimestamp::DateTime
 
+PackedFactor(f::PackedFactor) = f
+
 # TODO consolidate to just one type
 """
 $(TYPEDEF)

src/services/AbstractDFG.jl

@@ -279,13 +279,33 @@ function addVariable!(
 end
 
 """
-Add a DFGFactor to a DFG.
     $(SIGNATURES)
+Add a Vector{DFGVariable} to a DFG.
+"""
+function addVariables!(dfg::AbstractDFG, variables::Vector{<:AbstractDFGVariable})
+    return asyncmap(variables) do v
+        return addVariable!(dfg, v)
+    end
+end
+
+"""
+    $(SIGNATURES)
+Add a DFGFactor to a DFG.
 """
 function addFactor!(dfg::AbstractDFG, factor::F) where {F <: AbstractDFGFactor}
     return error("addFactor! not implemented for $(typeof(dfg))(dfg, factor)")
 end
 
+"""
+    $(SIGNATURES)
+Add a Vector{DFGFactor} to a DFG.
+"""
+function addFactors!(dfg::AbstractDFG, factors::Vector{<:AbstractDFGFactor})
+    return asyncmap(factors) do f
+        return addFactor!(dfg, f)
+    end
+end
+
 """
     $(SIGNATURES)
 Get a DFGVariable from a DFG using its label.