use schema for serialization types / contracts

[dehann]

Edited

TAC

• PackedVariable and PackedFactor generated or implemented from a schema to be more rigid and specific about interchange types.
• Care must be taken on null types / empty fields / default values (easier in currently duck typing via Dicts)

Probably StructTypes.jl JSON3.jl etc performance benefits also.

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Original comment

For ZMQ and other JSON related serialization, we should consider using contract definitions. I suggest we place them in Caesar/src/schema/*.json.

For example, see:

• http://json-schema.org/understanding-json-schema/structuring.html
• https://github.com/OAI/OpenAPI-Specification

cc @pvazteixeira @nicrip @GearsAD

[dehann]

https://github.com/fredo-dedup/JSONSchema.jl

[dehann]

see first examples:

• SamplableBelief.json,
• Request.json

[dehann]

added step-by-step guide to Caesar.jl docs faq: https://github.com/JuliaRobotics/Caesar.jl/pull/312

[dehann]

We decided against this, and will soon meet to make sure we can close this and related issues.