fix dynamic layer bindings and node removal (#74)

Co-authored-by: Nathan Hughes <nathan.h.hughes@gmail.com>

(fix) emplace agent nodes correctly when loading json, and fix dynamic node python iter

clear dynamic node when removing and set python iter to first valid node

Author: nathanhhughes

python/bindings/scene_graph_iterators.h

@@ -61,12 +61,19 @@ class NodeIter {
 class DynamicNodeIter {
  public:
   DynamicNodeIter(const DynamicSceneGraphLayer::Nodes& container)
-      : curr_iter_(container.begin()), end_iter_(container.end()) {}
+      : curr_iter_(container.begin()), end_iter_(container.end()) {
+    while (*curr_iter_ == nullptr && curr_iter_ != end_iter_) {
+      ++curr_iter_;
+    }
+  }
 
   const DynamicSceneGraphLayer::Node* operator*() const { return curr_iter_->get(); }
 
   DynamicNodeIter& operator++() {
     ++curr_iter_;
+    while (*curr_iter_ == nullptr && curr_iter_ != end_iter_) {
+      ++curr_iter_;
+    }
     return *this;
   }
 

src/dynamic_scene_graph_layer.cpp

@@ -268,6 +268,7 @@ bool DynamicSceneGraphLayer::removeNode(NodeId node) {
   // TODO(nathan) this is slightly brittle, maybe consider std::map instead
   node_status_[index] = NodeStatus::DELETED;
   times_.erase(nodes_.at(index)->timestamp.count());
+  nodes_[index].reset();
   return true;
 }
 

src/graph_json_serialization.cpp

@@ -55,8 +55,8 @@ using nlohmann::json;
 using EdgesPtr = std::unique_ptr<SceneGraphLayer::Edges>;
 using NodeSet = std::unordered_set<NodeId>;
 using NodeCallback = std::function<void(NodeId, LayerId, NodeAttributes::Ptr&&)>;
-using DynamicNodeCallback =
-    std::function<void(LayerId, char, std::chrono::nanoseconds, NodeAttributes::Ptr&&)>;
+using DynamicNodeCallback = std::function<
+    void(LayerId, NodeId, std::chrono::nanoseconds, NodeAttributes::Ptr&&)>;
 using EdgeCallback = std::function<void(NodeId, NodeId, EdgeAttributes::Ptr&&)>;
 
 void to_json(json& record, const MeshEdge& edge) {
@@ -94,11 +94,12 @@ void read_node_from_json(const json& record, NodeCallback callback) {
 
 void read_node_from_json(const json& record, DynamicNodeCallback callback) {
   auto layer = record.at("layer").get<LayerId>();
-  auto prefix = record.at("prefix").get<char>();
+  // auto prefix = record.at("prefix").get<char>();
+  auto node_id = record.at("id").get<NodeId>();
   auto timestamp = record.at("timestamp").get<uint64_t>();
   JsonConverter converter(&record.at("attributes"));
   auto attrs = JsonNodeFactory::get_default().create(converter);
-  callback(layer, prefix, std::chrono::nanoseconds(timestamp), std::move(attrs));
+  callback(layer, node_id, std::chrono::nanoseconds(timestamp), std::move(attrs));
 }
 
 void read_edge_from_json(const json& record, EdgeCallback callback) {
@@ -176,7 +177,7 @@ std::string DynamicSceneGraph::serialize(bool include_mesh) const {
   record["layer_ids"] = layer_ids;
   record["mesh_layer_id"] = mesh_layer_id;
 
-  for (const auto& id_layer_pair : layers_) {
+  for (const auto& id_layer_pair : layers_){
     for (const auto& id_node_pair : id_layer_pair.second->nodes_) {
       record["nodes"].push_back(*id_node_pair.second);
     }
@@ -198,8 +199,16 @@ std::string DynamicSceneGraph::serialize(bool include_mesh) const {
     for (const auto& prefix_layer_pair : id_layer_group_pair.second) {
       const DynamicSceneGraphLayer& layer = *prefix_layer_pair.second;
 
-      for (const auto& node : layer.nodes_) {
-        record["nodes"].push_back(*node);
+      for (size_t i = 0; i < layer.nodes_.size(); ++i) {
+        if (!layer.node_status_.count(i)) {
+          continue;
+        }
+
+        if (layer.node_status_.at(i) == NodeStatus::DELETED) {
+          continue;
+        }
+
+        record["nodes"].push_back(*layer.nodes_.at(i));
       }
 
       for (const auto& id_edge_pair : layer.edges_.edges) {
@@ -251,20 +260,29 @@ DynamicSceneGraph::Ptr DynamicSceneGraph::deserialize(const std::string& content
   }
 
   for (const auto& id_content_pair : dynamic_contents) {
-    read_node_from_json(id_content_pair.second,
-                        [graph](LayerId layer,
-                                char prefix,
-                                std::chrono::nanoseconds time,
-                                NodeAttributes::Ptr&& attrs) {
-                          graph->emplaceNode(
-                              layer, prefix, time, std::move(attrs), false);
-                        });
+    read_node_from_json(
+        id_content_pair.second,
+        [graph](LayerId layer,
+                NodeId node,
+                std::chrono::nanoseconds time,
+                NodeAttributes::Ptr&& attrs) {
+          if (!graph->emplacePrevDynamicNode(layer, node, time, std::move(attrs))) {
+            std::stringstream ss;
+            ss << "failed to add " << NodeSymbol(node).getLabel();
+            throw std::runtime_error(ss.str());
+          }
+        });
   }
 
   for (const auto& edge : record.at("edges")) {
     read_edge_from_json(
         edge, [graph](NodeId source, NodeId target, EdgeAttributes::Ptr&& attrs) {
-          graph->insertEdge(source, target, std::move(attrs));
+          if (!graph->insertEdge(source, target, std::move(attrs))) {
+            std::stringstream ss;
+            ss << "failed to add " << NodeSymbol(source).getLabel() << " →  "
+               << NodeSymbol(target).getLabel();
+            throw std::runtime_error(ss.str());
+          }
         });
   }