SDK v0.6

.JuliaFormatter.toml

@@ -0,0 +1,15 @@
+indent = 4 #
+always_for_in = false #
+whitespace_typedefs = true
+whitespace_ops_in_indices = true
+remove_extra_newlines = true
+import_to_using = false #
+pipe_to_function_call = false #
+short_to_long_function_def = true
+long_to_short_function_def = true
+always_use_return = false
+whitespace_in_kwargs = true #
+annotate_untyped_fields_with_any = true #
+conditional_to_if = true
+separate_kwargs_with_semicolon = true
+format_docstrings = true

.github/workflows/tests.yml

@@ -8,15 +8,16 @@ on:
     tags:
       - v**
   pull_request:
+  workflow_dispatch:
 
 jobs:
   test:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
         julia-version: 
-          - '1.6'
           - '1.8'
+          - '~1.9.0-0'
         julia-arch: [x64]
         os: [ubuntu-latest]
 
@@ -28,6 +29,10 @@ jobs:
           arch: ${{ matrix.julia-arch }}
       - uses: julia-actions/julia-buildpkg@v1
       - uses: julia-actions/julia-runtest@v1
+      - uses: julia-actions/julia-processcoverage@v1
+      - uses: codecov/codecov-action@v2
+        with:
+          files: lcov.info
   docs:
     name: Documentation
     runs-on: ubuntu-latest

Project.toml

@@ -3,32 +3,35 @@ uuid = "f3e6a059-199c-4ada-8143-fcefb97e6165"
 keywords = ["navability", "navigation", "slam", "sdk", "robotics", "robots"]
 desc = "NavAbility SDK: Access NavAbility Cloud factor graph features. Note that this SDK and the related API are still in development. Please let us know if you have any issues at [email protected]."
 authors = ["NavAbility <[email protected]>"]
-version = "0.5.1"
+version = "0.6.0"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
-Diana = "070d9d8b-17a7-5814-83fa-42438ba5c6e0"
+DistributedFactorGraphs = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 Downloads = "f43a241f-c20a-4ad4-852c-f6b1247861c6"
+GraphQLClient = "09d831e3-9c21-47a9-bfd8-076871817219"
 HTTP = "cd3eb016-35fb-5094-929b-558a96fad6f3"
-JSON = "682c06a0-de6a-54ab-a142-c8b1cf79cde6"
+JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
+StructTypes = "856f2bd8-1eba-4b0a-8007-ebc267875bd4"
+TimeZones = "f269a46b-ccf7-5d73-abea-4c690281aa53"
 UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 
 [compat]
-Diana = "0.2, 0.3"
+DistributedFactorGraphs = "0.21"
 DocStringExtensions = "0.8, 0.9"
 Downloads = "1"
-HTTP = "^1.7"
-JSON = "0.21"
+HTTP = "1.7"
+JSON3 = "1"
 TensorCast = "0.4"
-julia = "1.6"
+julia = "1.8"
 
 [extras]
 TensorCast = "02d47bb6-7ce6-556a-be16-bb1710789e2b"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["TensorCast","Test"]
+test = ["TensorCast", "Test"]

src/navability/entities/InferenceTypes.jl → attic/navability/entities/InferenceTypes.jl

@@ -33,6 +33,7 @@ end
 @nvaZInferenceType PriorPose2
 @nvaZInferenceType Pose2Pose2
 
+@nvaZInferenceType PriorPoint3
 @nvaZInferenceType PriorPose3
 @nvaZInferenceType Pose3Pose3
 @nvaZInferenceType Pose3Pose3Rotation

src/navability/graphql/DataBlobs.jl → attic/navability/graphql/DataBlobs.jl

@@ -59,7 +59,7 @@ mutation sdk_adddataentry(\$userId: ResourceId!, \$robotId: ResourceId!, \$sessi
         robotId: \$robotId,
         sessionId: \$sessionId
       },
-      blobStoreEntry: {
+      blobEntry: {
         id: \$dataId,
         label: \$dataLabel
         mimetype: \$mimeType

src/navability/graphql/Factor.jl → attic/navability/graphql/Factor.jl

@@ -1,12 +1,36 @@
 GQL_FRAGMENT_FACTORS = """
+fragment blobEntry_fields on BlobEntry {
+  id
+  blobId
+  originId
+  label
+  description
+  hash
+  mimeType
+  blobstore
+  origin
+  metadata
+  timestamp
+  _type
+  _version
+  createdTimestamp
+  lastUpdatedTimestamp
+}  
 fragment factor_skeleton_fields on Factor {
+  id
   label
   tags
   _variableOrderSymbols
 }
 fragment factor_summary_fields on Factor {
   timestamp
+  nstime
   _version
+  blobEntries {
+    ...blobEntry_fields
+  }
+  createdTimestamp
+  lastUpdatedTimestamp
 }
 fragment factor_full_fields on Factor {
   fnctype
@@ -89,6 +113,22 @@ query sdk_get_factors(
 }
 """
 
+GQL_ADD_FACTOR_PACKED = """
+  mutation sdk_add_factor_packed(
+      \$factorPackedInput: AddFactorPackedInput!, 
+      \$options: AddFactorPackedOptionsInput
+    ) {
+    addFactorPacked(factor: \$factorPackedInput, options:\$options) {
+      context {
+        eventId
+      }  
+      status {
+        state
+        progress
+      }
+    }
+  }"""
+
 GQL_DELETEFACTOR = """
   mutation sdk_delete_factor(
     \$factor: DeleteFactorInput!, 

src/navability/graphql/Variable.jl → attic/navability/graphql/Variable.jl

@@ -1,12 +1,17 @@
 GQL_FRAGMENT_VARIABLES = """
   fragment ppe_fields on Ppe {
+    id
     solveKey
     suggested
     max
     mean
+    _type
+    _version
+    createdTimestamp
     lastUpdatedTimestamp
   }
   fragment solverdata_fields on SolverData {
+    id
     solveKey
     BayesNetOutVertIDs
     BayesNetVertID
@@ -27,33 +32,46 @@ GQL_FRAGMENT_VARIABLES = """
     vecval
     _version  
   }
-  fragment dataEntry_fields on DataEntry {
-    label
+  fragment blobEntry_fields on BlobEntry {
     id
-    blobstore
-    hash
-    origin
+    blobId
+    originId
+    label
     description
+    hash
     mimeType
-    # createdTimestamp
+    blobstore
+    origin
+    metadata
+    timestamp
+    _type
+    _version
+    createdTimestamp
+    lastUpdatedTimestamp
   }  
   fragment variable_skeleton_fields on Variable {
+    id
     label
     tags
   }
   fragment variable_summary_fields on Variable {
     timestamp
+    nstime
+    variableType
     ppes {
       ...ppe_fields
     }
-    dataEntry: data {
-    ...dataEntry_fields
+    blobEntries {
+    ...blobEntry_fields
     }
-    variableType
     _version
+    _type
+    _version
+    createdTimestamp
+    lastUpdatedTimestamp
   }
-  fragment variable_full_fields on Variable{
-    smallData
+  fragment variable_full_fields on Variable {
+    metadata
     solvable
     solverData
     {

src/navability/services/Factor.jl → attic/navability/services/Factor.jl

@@ -1,27 +1,37 @@
 
-function addPackedFactor(navAbilityClient::NavAbilityClient, client::Client, factor)::String
+function addFactorPackedEvent(navAbilityClient::NavAbilityClient, client::Client, factor::Dict; options=Dict{String, Any}())::String
+    data = Dict(
+        "factorPackedInput" => Dict(
+            "session" => Dict(
+                "key" => client
+            ),
+            "packedData" => base64encode(json(factor))
+        ),
+        "options" => options
+    )
     response = navAbilityClient.mutate(MutationOptions(
-        "addFactor",
-        MUTATION_ADDFACTOR,
-        Dict(
-            "factor" => Dict(
-                "client" => client,
-                "packedData" => json(factor)
-            )
-        )
+        "sdk_add_factor_packed",
+        GQL_ADD_FACTOR_PACKED,
+        data
     )) |> fetch
+
     rootData = JSON.parse(response.Data)
     if haskey(rootData, "errors")
+        @error response
         throw("Error: $(rootData["errors"])")
     end
     data = get(rootData,"data",nothing)
     if data === nothing return "Error" end
-    addFactor = get(data,"addFactor","Error")
-    return addFactor
+    return data["addFactorPacked"]["context"]["eventId"]
+end
+
+function addFactorPacked(navAbilityClient::NavAbilityClient, client::Client, factor::Dict; options::Dict=Dict{String,Any}("force" => false))
+    return @async addFactorPackedEvent(navAbilityClient, client, factor; options)
 end
 
-function addFactor(navAbilityClient::NavAbilityClient, client::Client, factor::Factor)
-    return @async addPackedFactor(navAbilityClient, client, factor)
+function addFactor(navAbilityClient::NavAbilityClient, client::Client, factor::Variable)
+    @warn "This function signature will change during 0.6, please use addFactorPacked."
+    return @async addVariablePackedEvent(navAbilityClient, client, factor; options)
 end
 
 function _getFactorEvent(navAbilityClient::NavAbilityClient, client::Client, label::String)::Dict{String,Any}

src/navability/services/Variable.jl → attic/navability/services/Variable.jl

@@ -22,7 +22,7 @@ function Variable(
     return result
 end
 
-function addPackedVariableEvent(navAbilityClient::NavAbilityClient, client::Client, variable::Dict; options=Dict{String, Any}())::String
+function addVariablePackedEvent(navAbilityClient::NavAbilityClient, client::Client, variable::Dict; options=Dict{String, Any}())::String
     data = Dict(
         "variablePackedInput" => Dict(
             "session" => Dict(
@@ -50,43 +50,21 @@ end
 
 
 function addVariablePacked(navAbilityClient::NavAbilityClient, client::Client, variable::Dict; options::Dict=Dict{String,Any}("force" => false))
-    return @async addPackedVariableEvent(navAbilityClient, client, variable; options)
+    return @async addVariablePackedEvent(navAbilityClient, client, variable; options)
 end
 
 function updateVariablePacked(navAbilityClient::NavAbilityClient, client::Client, variable::Dict; options::Dict=Dict{String,Any}("force" => true))
-    return @async addPackedVariableEvent(navAbilityClient, client, variable; options)
-end
-
-function addPackedVariableOld(navAbilityClient::NavAbilityClient, client::Client, variable)::String
-    response = navAbilityClient.mutate(MutationOptions(
-        "addVariable",
-        MUTATION_ADDVARIABLE,
-        Dict(
-            "variable" => Dict(
-                "client" => client,
-                "packedData" => json(variable)
-            )
-        )
-    )) |> fetch
-    rootData = JSON.parse(response.Data)
-    if haskey(rootData, "errors")
-        @error response
-        throw("Error: $(rootData["errors"])")
-    end
-    data = get(rootData,"data",nothing)
-    if data === nothing return "Error" end
-    addVariable = get(data,"addVariable","Error")
-    return addVariable
+    return @async addVariablePackedEvent(navAbilityClient, client, variable; options)
 end
 
 function addVariable(navAbilityClient::NavAbilityClient, client::Client, variable::Variable)
-    # TODO: Use new
-    # return @async addPackedVariable(navAbilityClient, client, json(variable))
-    return @async addPackedVariableOld(navAbilityClient, client, variable)
+    @warn "This function signature will change during 0.6, please use addVariablePacked."
+    return @async addVariablePackedEvent(navAbilityClient, client, JSON3.read(JSON3.write(variable), Dict{string, Any}); options)
 end
 
 function updateVariable(navAbilityClient::NavAbilityClient, client::Client, variable::Variable)
-    return @async updatePackedVariable(navAbilityClient, client, json(variable))
+    @warn "This function signature will change during 0.6, please use updateVariablePacked."
+    return @async updateVariablePacked(navAbilityClient, client, json(variable))
 end
 
 function getVariableEvent(

docs/make.jl

@@ -3,20 +3,19 @@ using Documenter
 
 const NvaSDK = NavAbilitySDK
 
-
-DocMeta.setdocmeta!(NavAbilitySDK, :DocTestSetup, :(using NavAbilitySDK); recursive=true)
+DocMeta.setdocmeta!(NavAbilitySDK, :DocTestSetup, :(using NavAbilitySDK); recursive = true)
 
 makedocs(;
-    modules=[NavAbilitySDK],
-    authors="NavAbility",
-    repo="https://github.com/NavAbility/NavAbilitySDK.jl/blob/{commit}{path}#{line}",
-    sitename="NavAbilitySDK.jl",
-    format=Documenter.HTML(;
-        prettyurls=get(ENV, "CI", "false") == "true",
-        canonical="https://NavAbility.github.io/NavAbilitySDK.jl",
-        assets=String[],
+    modules = [NavAbilitySDK],
+    authors = "NavAbility",
+    repo = "https://github.com/NavAbility/NavAbilitySDK.jl/blob/{commit}{path}#{line}",
+    sitename = "NavAbilitySDK.jl",
+    format = Documenter.HTML(;
+        prettyurls = get(ENV, "CI", "false") == "true",
+        canonical = "https://NavAbility.github.io/NavAbilitySDK.jl",
+        assets = String[],
     ),
-    pages=[
+    pages = [
         "Home" => "index.md",
         "Getting Started" => "start.md",
         "Variables" => "variables.md",
@@ -27,7 +26,4 @@ makedocs(;
     ],
 )
 
-deploydocs(;
-    repo="github.com/NavAbility/NavAbilitySDK.jl",
-    devbranch="main",
-)
+deploydocs(; repo = "github.com/NavAbility/NavAbilitySDK.jl", devbranch = "main")