Merge pull request #172 from NavAbility/main

v0.4.8-rc1

.github/workflows/tests.yml

@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - main
+      - release**
     tags:
       - v**
   pull_request:
@@ -15,7 +16,7 @@ jobs:
       matrix:
         julia-version: 
           - '1.6'
-          - '1.7'
+          - '1.8'
         julia-arch: [x64]
         os: [ubuntu-latest]
 

Makefile

@@ -0,0 +1,4 @@
+.PHONY: test
+
+test:
+	julia --project -e "using Pkg; Pkg.test()"

Project.toml

@@ -3,7 +3,7 @@ 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 = "0.4.7"
+version = "0.4.8"
 
 [deps]
 Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
@@ -17,15 +17,17 @@ Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 
 [compat]
-Diana = "0.2"
+Diana = "0.2, 0.3"
 DocStringExtensions = "0.8, 0.9"
 Downloads = "1"
 HTTP = "0.9, 1"
 JSON = "0.21"
+TensorCast = "0.4"
 julia = "1.6"
 
 [extras]
+TensorCast = "02d47bb6-7ce6-556a-be16-bb1710789e2b"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["Test"]
+test = ["TensorCast","Test"]

README.md

@@ -1,7 +1,15 @@
 # NavAbilitySDK.jl
 
-[![Unit tests](https://github.com/NavAbility/NavAbilitySDK.jl/actions/workflows/tests.yml/badge.svg)](https://github.com/NavAbility/NavAbilitySDK.jl/actions/workflows/tests.yml)
-[![Documentation](https://img.shields.io/badge/docs-dev-blue.svg)](https://navability.github.io/NavAbilitySDK.jl/dev/)
+
+| Stable Release | Dev branch | Documentation |
+|----------------|------------|---------------|
+| [![Unit tests stb][sdkjl-ci-std-img]][sdkjl-ci-url] | [![Unit tests dev][sdkjl-ci-dev-img]][sdkjl-ci-url] | [![Documentation][sdkjl-docs-img]][sdkjl-docs-url] |
+
+[sdkjl-ci-dev-img]: https://github.com/NavAbility/NavAbilitySDK.jl/actions/workflows/tests.yml/badge.svg?branch=main
+[sdkjl-ci-std-img]: https://github.com/NavAbility/NavAbilitySDK.jl/actions/workflows/tests.yml/badge.svg?branch=release%2Fv0.4
+[sdkjl-ci-url]: https://github.com/NavAbility/NavAbilitySDK.jl/actions/workflows/tests.yml
+[sdkjl-docs-img]: https://img.shields.io/badge/docs-dev-blue.svg
+[sdkjl-docs-url]: https://navability.github.io/NavAbilitySDK.jl/dev/
 
 Access NavAbility Cloud factor graph features from Julia.
 

src/Deprecated.jl

@@ -0,0 +1,7 @@
+
+## =========================
+## Remove below before v0.6
+## =========================
+
+@deprecate getData(client::NavAbilityClient, context::Client, fileId::AbstractString) getData(client, context, UUID(fileId))
+@deprecate getDataByLabel( client::NavAbilityClient, context::Client, vlbl::AbstractString, w...; kw...) getData(client, context, vlbl, w...; kw...)

src/NavAbilitySDK.jl

@@ -4,6 +4,7 @@ const NVA = NavAbilitySDK
 export NVA
 
 # Global imports
+using Diana
 using DocStringExtensions
 using LinearAlgebra
 using JSON
@@ -25,8 +26,11 @@ include("./navability/graphql/Factor.jl")
 include("./navability/graphql/Status.jl")
 include("./navability/graphql/Variable.jl")
 include("./navability/graphql/DataBlobs.jl")
+include("./navability/graphql/Session.jl")
+
 
 include("./navability/graphql/QueriesDeprecated.jl")
+# TODO remove GQL exports, since users can easily just use NVA.QUERY___
 export QUERY_VARIABLE_LABELS
 export QUERY_FILES, QUERY_CALIBRATION
 export MUTATION_ADDVARIABLE, MUTATION_ADDFACTOR, MUTATION_ADDSESSIONDATA
@@ -45,6 +49,7 @@ include("./navability/entities/Variable.jl")
 include("./navability/entities/InferenceTypes.jl")
 include("./navability/entities/Factor.jl")
 include("./navability/entities/Solve.jl")
+include("./navability/entities/Session.jl")
 export NavAbilityClient, NavAbilityWebsocketClient, NavAbilityHttpsClient, QueryOptions, MutationOptions
 export Client, Scope
 export QueryDetail, LABEL, SKELETON, SUMMARY, FULL
@@ -56,6 +61,7 @@ export PriorPose3, Pose3Pose3
 export ScatterAlignPose2Data
 export FactorType, Factor
 export SolveOptions
+export SessionKey, SessionId, ExportSessionInput, ExportSessionOptions
 
 # Services
 include("./navability/services/Variable.jl")
@@ -65,14 +71,20 @@ include("./navability/services/Status.jl")
 include("./navability/services/Utils.jl")
 include("./navability/services/StandardAPI.jl")
 include("./navability/services/DataBlobs.jl")
+include("./navability/services/Session.jl")
 export getVariable, getVariables, listVariables, ls
 export addVariable, addPackedVariable
 export getFactor, getFactors, listFactors, lsf
-export addFactor, addPackedFactor
+export addFactor, addPackedFactor, deleteFactor
+export initVariable
+export listDataEntries
+export getDataEntry, getData
 export solveSession, solveFederated
 export getStatusMessages, getStatusLatest, getStatusesLatest
 export waitForCompletion
+export exportSession, getExportSessionBlobId
 export GraphVizApp, MapVizApp
 
+include("Deprecated.jl")
 
 end

src/navability/entities/Client.jl

@@ -5,8 +5,11 @@ $(TYPEDEF)
 The context for a session, made from a user, robot, and session.
 Users can have multiple robots and robots can have multiple sessions.
 So this indicates a unique session.
+
+DevNotes
+- Rename to [`SessionKey`](@ref)
 """
-struct Client
+Base.@kwdef struct Client
     userId::String
     robotId::String
     sessionId::String

src/navability/entities/Factor.jl

@@ -115,7 +115,19 @@ between the variables, e.g. `FullNormal([1;zeros(5)], diagm(0.01*ones(6)))`.
 Default value of Z = `FullNormal(zeros(6), diagm(0.01*ones(6)))`.
 """
 function Pose3Pose3Data(;Z::Distribution = FullNormal(zeros(6), diagm(0.01*ones(6))), kwargs...)::FactorData
-    data = FactorData(;fnc = ZInferenceType(Z), certainhypo = [1], kwargs...)
+    data = FactorData(;fnc = ZInferenceType(Z), certainhypo = [1,2], kwargs...)
+    return data
+end
+
+"""
+$(SIGNATURES)
+Create a partial factor on Rotation only on Pose3->Pose3 with a distribution Z representing the relationship
+between the variables.
+
+Default value of Z = `FullNormal(zeros(3), diagm(0.01*ones(3)))`.
+"""
+function Pose3Pose3RotationData(;Z::Distribution = FullNormal(zeros(3), diagm(0.01*ones(3))), kwargs...)
+    data = FactorData(;fnc = ZInferenceType(Z), certainhypo = [1,2], kwargs...)
     return data
 end
 

src/navability/entities/InferenceTypes.jl

@@ -29,6 +29,7 @@ end
 
 @nvaZInferenceType PriorPose3
 @nvaZInferenceType Pose3Pose3
+@nvaZInferenceType Pose3Pose3Rotation
 
 
 """

src/navability/entities/NavAbilityClient.jl

@@ -1,4 +1,3 @@
-using Diana
 
 struct QueryOptions
     name::String
@@ -22,33 +21,70 @@ function NavAbilityWebsocketClient( apiUrl::String="wss://api.navability.io/grap
 end
 
 function NavAbilityHttpsClient(
-        apiUrl::String="https://api.navability.io";
-        authorize::Bool=false 
+        apiUrl::String = "https://api.navability.io";
+        auth_token::String = "",
+        authorize::Bool = 0!==length(auth_token)
     )::NavAbilityClient
     #
     dianaClient = GraphQLClient(apiUrl)
 
     # auth
     if authorize
-        # FIXME, use Base.getpass instead of readline once VSCode supports getpass.
-            # st = Base.getpass("Copy-paste auth token")
-            # seekstart(st)
-            # tok = read(st, String)
-            # Base.shred!(st)
-        println("  > VSCode ONLY WORKAROUND, input issue, see https://github.com/julia-vscode/julia-vscode/issues/785")
-        println("  >  Workaround: first press 0 then enter, and then paste the token and hit enter a second time.")
-        println("Copy-paste auth token: ")
-        tok = readline(stdin)
+        tok = if 0===length(auth_token)
+            # FIXME, use Base.getpass instead of readline once VSCode supports getpass.
+                # st = Base.getpass("Copy-paste auth token")
+                # seekstart(st)
+                # tok = read(st, String)
+                # Base.shred!(st)
+            println("  > VSCode ONLY WORKAROUND, input issue, see https://github.com/julia-vscode/julia-vscode/issues/785")
+            println("  >  Workaround: first press 0 then enter, and then paste the token and hit enter a second time.")
+            println("Copy-paste auth token: ")
+            readline(stdin)
+        else
+            auth_token
+        end
         dianaClient.serverAuth("Bearer "*tok)
     end
 
     function query(options::QueryOptions)
         # NOTE, the query client library used is synchronous, locally converted to async for package consistency
-        @async dianaClient.Query(options.query, operationName=options.name, vars=options.variables)
+        @async begin
+            attempts = 0
+            while true
+                try
+                    return dianaClient.Query(options.query, operationName=options.name, vars=options.variables)
+                catch err
+                    if attempts < 3
+                        @warn "[Test Client] WARN Client saw an exception. Retrying!" exception=(err, catch_backtrace())
+                        sleep(2)
+                        attempts += 1
+                    else
+                        rethrow()
+                    end
+                end
+            end
+        end
     end
+
     function mutate(options::MutationOptions)
         # NOTE, the query client library used is synchronous, locally converted to async for package consistency
-        @async dianaClient.Query(options.mutation, operationName=options.name, vars=options.variables)
+        @async begin
+            attempts = 0
+                while true
+                try
+                    return dianaClient.Query(options.mutation, operationName=options.name, vars=options.variables)
+                catch err
+                    if attempts < 3
+                        @warn "[Test Client] WARN Client saw an exception. Retrying!" exception=(err, catch_backtrace())
+                        sleep(2)
+                        attempts += 1
+                    else
+                        rethrow()
+                    end
+                end
+            end
+        end
     end
+
     return NavAbilityClient(query, mutate)
 end

src/navability/entities/Session.jl

@@ -0,0 +1,49 @@
+
+# @enum BagFormat begin
+#   NVA # FIXME TARGZ
+#   ROS1BAG
+#   MCAP
+# end
+
+
+Base.@kwdef struct SessionKey
+  userId::String
+  robotId::String
+  sessionId::String
+end
+
+# dictionary since either fields can be used
+function SessionId(;
+    id::Union{<:AbstractString,Nothing}=nothing,
+    key::Union{SessionKey,Nothing}=nothing
+  )
+  #
+  _idorkeys = id isa Nothing
+  Dict(
+    (_idorkeys ? () : ("id"=>id,))...,
+    (!_idorkeys ? () : ("key"=>key,))...
+  )
+end
+
+
+# function SessionKey(
+#   userId::AbstractString,
+#   robotId::AbstractString,
+#   sessionId::AbstractString
+# )
+# #
+# Dict{String,String}(
+#   "userId" => userId,
+#   "robotId" => robotId,
+#   "sessionId" => sessionId,
+# )
+# end
+
+Base.@kwdef struct ExportSessionInput
+  id::Dict
+  filename::String
+end
+
+Base.@kwdef struct ExportSessionOptions
+  format::String
+end

src/navability/entities/Solve.jl

@@ -5,7 +5,7 @@ Solver options including the solve key and whether the
 parametric solver should be used.
 """
 Base.@kwdef struct SolveOptions
-    key::Union{String, Nothing}
+    key::Union{String, Nothing} = nothing
     useParametric::Bool = false
 end