Merge pull request #233 from NavAbility/23Q2/maint/cleanup_v0.6

Use P1 and  cleanup

Author: Affie

.JuliaFormatter.toml

@@ -10,6 +10,6 @@ long_to_short_function_def = true
 always_use_return = false
 whitespace_in_kwargs = true #
 annotate_untyped_fields_with_any = true #
-conditional_to_if = true
+conditional_to_if = false
 separate_kwargs_with_semicolon = true
 format_docstrings = true

.gitignore

@@ -1 +1,4 @@
 Manifest.toml
+
+autoschemas/
+dev/

sandbox/AlternateAPICalls.jl

@@ -0,0 +1,86 @@
+GQL_GET_VARIABLE2 = """
+$(GQL_FRAGMENT_VARIABLES)
+query get_variables(
+    \$userLabel: String!
+    \$robotLabel: String!
+    \$sessionLabel: String!
+    \$variableLabel: String!
+    \$fields_summary: Boolean! = true
+    \$fields_full: Boolean! = true
+  ) {
+    variables(
+      where: {
+        userLabel: \$userLabel
+        robotLabel: \$robotLabel
+        sessionLabel: \$sessionLabel
+        label: \$variableLabel
+      }
+    ) {
+      ...variable_skeleton_fields
+      ...variable_summary_fields @include(if: \$fields_summary)
+      ...variable_full_fields @include(if: \$fields_full)
+    }
+  }
+"""
+
+GQL_GET_VARIABLES2 = """
+$(GQL_FRAGMENT_VARIABLES)
+query get_variables(
+  \$userLabel: String!
+  \$robotLabel: String!
+  \$sessionLabel: String!
+  \$fields_summary: Boolean! = true
+  \$fields_full: Boolean! = true
+) {
+  variables(
+    where: {
+      userLabel: \$userLabel
+      robotLabel: \$robotLabel
+      sessionLabel: \$sessionLabel
+    }
+  ) {
+    ...variable_skeleton_fields
+    ...variable_summary_fields @include(if: \$fields_summary)
+    ...variable_full_fields @include(if: \$fields_full)
+  }
+}
+"""
+
+function getVariable2(fgclient::DFGClient, label::Symbol)
+    variables = Dict(
+        "userLabel" => fgclient.user.label,
+        "robotLabel" => fgclient.robot.label,
+        "sessionLabel" => fgclient.session.label,
+        "variableLabel" => string(label),
+        "fields_summary" => true,
+        "fields_full" => true,
+    )
+
+    response = GQL.execute(
+        fgclient.client,
+        GQL_GET_VARIABLE2,
+        Vector{Variable};
+        variables,
+        throw_on_execution_error = true,
+    )
+    return response.data["variables"][1]
+end
+
+function getVariablesSkeleton2(fgclient::DFGClient)#, label::Symbol)
+    variables = Dict(
+        "userLabel" => fgclient.user.label,
+        "robotLabel" => fgclient.robot.label,
+        "sessionLabel" => fgclient.session.label,
+        "fields_summary" => false,
+        "fields_full" => false,
+    )
+
+    response = GQL.execute(
+        fgclient.client,
+        GQL_GET_VARIABLES2,
+        Vector{DFG.SkeletonDFGVariable};
+        variables,
+        throw_on_execution_error = true,
+    )
+    return response.data["variables"]
+end

src/NavAbilityClient.jl

@@ -18,6 +18,26 @@ function DFGClient(client::GQL.Client, context::Context)
     )
 end
 
+function DFGClient(
+    userLabel::String,
+    robotLabel::String,
+    sessionLabel::String;
+    apiUrl::String = "https://api.navability.io",
+    auth_token::String = "",
+    authorize::Bool = 0 !== length(auth_token),
+    addRobotIfNotExists = false,
+    addSessionIfNotExists = false,
+)
+    return DFGClient(
+        NavAbilityClient(apiUrl; auth_token, authorize),
+        userLabel,
+        robotLabel,
+        sessionLabel;
+        addRobotIfNotExists,
+        addSessionIfNotExists,
+    )
+end
+
 function DFGClient(
     client::GQL.Client,
     userLabel::String,
@@ -58,7 +78,7 @@ function Base.show(io::IO, ::MIME"text/plain", c::DFGClient)
 end
 
 function NavAbilityClient(
-    apiUrl::String = "https://api.d1.navability.io";
+    apiUrl::String = "https://api.navability.io";
     auth_token::String = "",
     authorize::Bool = 0 !== length(auth_token),
     kwargs...,

src/NavAbilitySDK.jl

@@ -17,10 +17,10 @@ using DistributedFactorGraphs.ProgressMeter
 
 import GraphQLClient as GQL
 
-# explicitly use any DFG function to make it easier if it needs to be removed
 import DistributedFactorGraphs as DFG
 using DistributedFactorGraphs:
-    Variable, PackedVariableNodeData, MeanMaxPPE, BlobEntry, PackedFactor, hasBlob
+    Variable, PackedVariableNodeData, MeanMaxPPE, BlobEntry, PackedFactor, hasBlob,
+    getBlobStore
 
 import DistributedFactorGraphs:
     getFactor,
@@ -55,9 +55,11 @@ import DistributedFactorGraphs:
     getBlob,
     addBlob!,
     deleteBlob!,
+    hasBlob,
     exists,
     getNeighbors,
     findVariableNearTimestamp
+# To consider implementing 
 # setSolverParams!,
 # getSolverParams,
 # getAddHistory,
@@ -76,11 +78,6 @@ import DistributedFactorGraphs:
 # copyGraph!,
 # getBiadjacencyMatrix,
 
-# # LinearAlgebra pass through exports
-# export diagm, norm
-# # UUIDs pass through exports
-# export uuid4
-
 # Graphql
 include("graphql/BlobEntry.jl")
 include("graphql/UserRobotSession.jl")
@@ -90,6 +87,7 @@ include("graphql/BlobStore.jl")
 
 include("entities/Distributions.jl")
 include("entities/InferenceTypes.jl")
+include("entities/VariableTypes.jl")
 include("entities/UserRobotSession.jl")
 include("entities/Variable.jl")
 include("entities/Factor.jl")
@@ -111,12 +109,30 @@ include("services/AsyncCalls.jl")
 
 include("Deprecated.jl")
 
-export NavAbilityClient, DFGClient, NavAbilityBlobStore
+# LinearAlgebra pass through exports
+export I, diagm, norm
+
+# UUIDs pass through exports
+export UUID, uuid4
+
+# DFG poss through exports
+export getBlobStore
+
+# Type exports
+export NavAbilityClient,
+    DFGClient,
+    NavAbilityBlobStore,
+    Variable,
+    Factor,
+    MeanMaxPPE,
+    BlobEntry,
+    FactorData,
+    PackedVariableNodeData,
+    PackedFactor
 
-export addVariables!
-#DFG exports
-export 
-    addRobot!,
+
+# Function exports
+export addRobot!,
     addSession!,
     deleteSession!,
     deleteRobot!,
@@ -136,6 +152,7 @@ export
     getVariablesSummary,
     getVariablesSkeleton,
     addVariable!,
+    addVariables!,
     updateVariable!,
     deleteVariable!,
     listVariables,
@@ -158,6 +175,7 @@ export
     updateBlobEntry!,
     deleteBlobEntry!,
     getSessionBlobEntry,
+    getSessionBlobEntries,
     addSessionBlobEntries!,
     listSessionBlobEntries,
     getBlob,
@@ -170,30 +188,15 @@ export
     listFactorNeighbors,
     findVariableNearTimestamp
 
-export Variable, Factor, MeanMaxPPE, BlobEntry
-
-#exports
-# export NavAbilityClient, NavAbilityWebsocketClient, NavAbilityHttpsClient, QueryOptions, MutationOptions
-# export Client, Scope
-# export QueryDetail, LABEL, SKELETON, SUMMARY, FULL
+#old exports
 # export Distribution, Normal, Rayleigh, FullNormal, Uniform, Categorical
 # export ManifoldKernelDensity
-# export Variable
-# export FactorData, PriorData, PriorPose2Data, PriorPoint2Data, LinearRelativeData, Pose2Pose2Data, Pose2AprilTag4CornersData, Pose2Point2BearingRangeData, Point2Point2RangeData, MixtureData
 # export PriorPose3, Pose3Pose3
-# export ScatterAlignPose2Data
-# export FactorType, Factor
 # export SolveOptions
 # export SessionKey, SessionId, ExportSessionInput, ExportSessionOptions
-
-# export getVariable, getVariables, listVariables, ls
-# export addVariable, updateVariable, addVariablePacked, updateVariablePacked, addPackedVariable, addPackedVariableOld
-# export getFactor, getFactors, listFactors, lsf
-# export addFactor, addPackedFactor, deleteFactor
+# export ls
+# export lsf
 # export initVariable
-# export listBlobEntries
-# export getBlobEntry, getBlob
-# export addBlobEntry, addBlob
 # export solveSession, solveFederated
 # export getStatusMessages, getStatusLatest, getStatusesLatest
 # export waitForCompletion

src/entities/InferenceTypes.jl

@@ -31,6 +31,7 @@ end
 
 @nvaZInferenceType PriorPoint3
 @nvaZInferenceType PriorPose3
+@nvaZInferenceType PriorPose3XYYaw
 @nvaZInferenceType Pose3Pose3
 @nvaZInferenceType Pose3Pose3Rotation
 

src/entities/VariableTypes.jl

@@ -0,0 +1,39 @@
+abstract type VariableType end
+
+macro defSDKVariable(modulename, structname)
+    return esc(quote
+        Base.@__doc__ struct $structname <: VariableType end
+        Base.string(::Type{$structname}) = $modulename*"."*string(nameof($structname))
+    end)
+end
+
+
+"""
+$(TYPEDEF)
+General 1 dimensional variable.
+"""
+@defSDKVariable "IncrementalInference" ContinuousScalar
+
+"""
+$(TYPEDEF)
+XY Euclidean manifold variable.
+"""
+@defSDKVariable "RoME" Point2
+
+"""
+$(TYPEDEF)
+XYZ Euclidean manifold variable..
+"""
+@defSDKVariable "RoME" Point3
+
+"""
+$(TYPEDEF)
+SpecialEuclidean(2) manifold, two Euclidean translations and one Circular rotation, used for general 2D SLAM.
+"""
+@defSDKVariable "RoME" Pose2
+
+"""
+$(TYPEDEF)
+SpecialEuclidean(3) manifold used for 3D SLAM.
+"""
+@defSDKVariable "RoME" Pose3

src/graphql/BlobEntry.jl

@@ -170,6 +170,26 @@ query getSessionBlobEntry(
 }
 """
 
+GQL_GET_SESSION_BLOBENTRIES = """
+$(GQL_FRAGMENT_BLOBENTRY)
+query getSessionBlobEntries(
+  \$userLabel: EmailAddress!
+  \$robotLabel: String!
+  \$sessionLabel: String!
+  \$startwith: String
+) {
+  users(where: { label: \$userLabel }) {
+    robots(where: { label: \$robotLabel }) {
+      sessions(where: { label: \$sessionLabel }) {
+        blobEntries(where: { label_STARTS_WITH: \$startwith }) {
+          ...blobEntry_fields
+        }
+      }
+    }
+  }
+}
+"""
+
 # GQL_UPDATE_BLOBENTRY = """
 # $(GQL_FRAGMENT_BLOBENTRY)
 # mutation updateBlobEntry(\$blobEntry: BlobEntryUpdateInput!, \$uniqueKey: String!) {