some code cleanup

dehann · dehann · commit d3d8ab3977a6 · 2023-03-11T08:58:17.000-08:00
diff --git a/src/beamforming/SASBearing2D.jl b/src/beamforming/SASBearing2D.jl
@@ -227,8 +227,45 @@ mutable struct PackedSASBearing2D <: DFG.AbstractPackedFactor
     waveformsInReal::Vector{Float64}
     waveformsInIm::Vector{Float64}
     PackedSASBearing2D() = new()
-    PackedSASBearing2D(rangemodel::String, tp::Int, wavedataRawV::Vector{Float64}, wavedataRawV_dim::Int, cfgJson::String, cfgTotal::String, cfgLIE::String, waveformsInReal::Vector{Float64}, waveformsInIm::Vector{Float64}) = new(rangemodel, tp, wavedataRawV, wavedataRawV_dim, cfgJson, cfgTotal, cfgLIE, waveformsInReal, waveformsInIm)
-    PackedSASBearing2D(rangemodel::String, tp::Int, wd::Array{Float64,2}, cf::Dict, cfgTotal::String, cfgLIE::String, waveformsInReal::Vector{Float64}, waveformsInIm::Vector{Float64}) = new(rangemodel, tp, wd[:], size(wd,1), JSON2.write(cf), cfgTotal, cfgLIE, waveformsInReal, waveformsInIm)
+    PackedSASBearing2D(
+      rangemodel::String, 
+      tp::Int, 
+      wavedataRawV::Vector{Float64}, 
+      wavedataRawV_dim::Int, 
+      cfgJson::String, 
+      cfgTotal::String, 
+      cfgLIE::String, 
+      waveformsInReal::Vector{Float64}, 
+      waveformsInIm::Vector{Float64}) = new(
+        rangemodel, 
+        tp, 
+        wavedataRawV, 
+        wavedataRawV_dim, 
+        cfgJson, 
+        cfgTotal, 
+        cfgLIE, 
+        waveformsInReal, 
+        waveformsInIm
+      )
+    PackedSASBearing2D(
+      rangemodel::String, 
+      tp::Int, 
+      wd::Array{Float64,2}, 
+      cf::Dict, 
+      cfgTotal::String, 
+      cfgLIE::String, 
+      waveformsInReal::Vector{Float64}, 
+      waveformsInIm::Vector{Float64}) = new(
+        rangemodel, 
+        tp, 
+        wd[:], 
+        size(wd,1), 
+        JSON2.write(cf), 
+        cfgTotal, 
+        cfgLIE, 
+        waveformsInReal, 
+        waveformsInIm
+      )
 end
 
 # Note: Need this otherwise it uses a default converter and causes type conversion issues.
diff --git a/test/ICRA2022_tests/insufficient_data.jl b/test/ICRA2022_tests/insufficient_data.jl
@@ -2,7 +2,7 @@
 
 using RoME
 using Test
-using JSON, JSON2
+using JSON3
 
 
 ##
@@ -30,17 +30,16 @@ refFdr = joinpath(@__DIR__, "test_data", "tut3")
 
 function storeDistribution(file::AbstractString, bel::MKD)
   bel_ = packDistribution(bel)
-  bel_s = JSON.json(bel_)
-  fid = open(file, "w")
-  println(fid, bel_s)
-  close(fid)
+  # write to file
+  open(file, "w") do f
+    JSON3.write(f, bel_)
+    println(f)
+  end
 end
 
 function loadDistribution(file::AbstractString)
-  fid = open(file, "r")
-  # bel_s = read(fid)
-  bel_s = JSON2.read(fid, PackedManifoldKernelDensity)
-  close(fid)
+  jstr = read(file, String)
+  bel_s = JSON3.read(jstr, PackedManifoldKernelDensity)
   unpackDistribution(bel_s)
 end
 
diff --git a/test/testScatterAlignParched.jl b/test/testScatterAlignParched.jl
@@ -6,7 +6,7 @@ using Downloads
 using DelimitedFiles
 using TensorCast
 using Images
-using JSON
+using JSON3
 
 ##
 
@@ -66,7 +66,7 @@ deb0 = addData!(
   :default_folder_store, 
   :x0, 
   :pointcloud, 
-  Vector{UInt8}(JSON.json( data )), 
+  Vector{UInt8}(JSON3.write( data )), 
   mimeType="application/json/octet-stream"  
 )
 data = packDistribution(bel_m)
@@ -75,7 +75,7 @@ deb1 = addData!(
   :default_folder_store, 
   :x1, 
   :pointcloud, 
-  Vector{UInt8}(JSON.json( data )), 
+  Vector{UInt8}(JSON3.write( data )), 
   mimeType="application/json/octet-stream"  
 )
 
@@ -101,7 +101,7 @@ meas = sampleFactor(fg, getLabel(f1), 1)
 
 pf = DFG.packFactor(fg, getFactor(fg, getLabel(f1)))
 
-jpf = JSON.json(pf)
+jpf = JSON3.write(pf)
 
 # check that the massive point clouds are not stored in the packed factor object
 @test length(jpf) < 1500
diff --git a/test/testStashing_SAP.jl b/test/testStashing_SAP.jl
@@ -2,7 +2,6 @@
 
 using Test
 using Caesar
-using JSON, JSON2
 using Images
 using Manifolds
 import Rotations as _Rot
@@ -99,11 +98,11 @@ sap = ScatterAlignPose2(bIM1, bIM2, (x,y);
 
 de, db_ = getData(fg, :x0, :hgd_stash_x0)
 
-# myData = JSON2.read(IOBuffer(db), PackedHeatmapGridDensity)
+# myData = JSON3.read(String(db), PackedHeatmapGridDensity)
 
-# JSON.parse(String(take!(IOBuffer(db))))["_type"] |> DFG.getTypeFromSerializationModule
+# JSON.parse(String(db))["_type"] |> DFG.getTypeFromSerializationModule
 
-# convert(SamplableBelief, String(take!(IOBuffer(db))))
+# convert(SamplableBelief, String(db))
 
 
 ##
