Update Model and Patch docs for v0.8 (#267)

docs/make.jl

@@ -17,11 +17,11 @@ makedocs(;
     ),
     pages = [
         "Home" => "index.md",
-        "Getting Started" => "start.md",
-        "Variables" => "variables.md",
-        "Factors" => "factors.md",
-        "Build a Graph" => "buildgraph.md",
-        "Graph Solvers" => "solvers.md",
+        # "Getting Started" => "start.md",
+        # "Variables" => "variables.md",
+        # "Factors" => "factors.md",
+        # "Build a Graph" => "buildgraph.md",
+        # "Graph Solvers" => "solvers.md",
         "Index" => "summary.md",
     ],
 )

docs/src/index.md

@@ -2,8 +2,4 @@
 
 Welcome to the NavAbilitySDK documentation.  Various NavAbilitySDKs exist for different programming languages.  This particular documentation set is for the Julia language package, however, there is strong consistency between the SDKs for various languages.  All the SDKs make standard, authenticated requests to the NavAbility servers, thereby enforcing consistency of operations.
 
-Convenient links to other language NavAbilitySDKs:
-- [NavAbilitySDK.py](https://github.com/NavAbility/NavAbilitySDK.py)
-- [NavAbilitySDK.js](https://github.com/NavAbility/NavAbilitySDK.js)
-
-Next, see the [Getting Started](@ref getting_started) page.
+NavAbilitySDK.jl extends functions of [DistributedFactorGraphs.jl](https://github.com/JuliaRobotics/DistributedFactorGraphs.jl) and more documentaion is avialable [here](https://juliarobotics.org/DistributedFactorGraphs.jl/latest/).

docs/src/summary.md

@@ -9,6 +9,6 @@ Documentation for [NavAbilitySDK](https://github.com/NavAbility/NavAbilitySDK.jl
 ```@index
 ```
 
-<!-- ```@autodocs
+```@autodocs
 Modules = [NavAbilitySDK]
-``` -->
+``` 

docs/todo/index_extra.md

@@ -0,0 +1,5 @@
+Convenient links to other language NavAbilitySDKs:
+- [NavAbilitySDK.py](https://github.com/NavAbility/NavAbilitySDK.py)
+- [NavAbilitySDK.js](https://github.com/NavAbility/NavAbilitySDK.js)
+
+Next, see the [Getting Started](@ref getting_started) page.

src/NavAbilityClient.jl

@@ -19,10 +19,11 @@ function NavAbilityClient(
     auth_token::String,
     apiUrl::String = "https://api.navability.io";
     orgLabel::Union{Symbol, Nothing} = nothing,
+    introspect::Bool = false,
     kwargs...,
 )
     headers = Dict("Authorization" => "Bearer $auth_token")
-    client = GQL.Client(apiUrl; headers, kwargs...)
+    client = GQL.Client(apiUrl; headers, introspect, kwargs...)
     if isnothing(orgLabel)
         id = getOrgs(client)[1].id
     else

src/NavAbilityDFG.jl

@@ -6,6 +6,8 @@ struct NavAbilityDFG{VT<:AbstractDFGVariable, FT<:AbstractDFGFactor} <: Abstract
     blobStores::Dict{Symbol, DFG.AbstractBlobStore}
 end
 
+DFG.getLabel(dfg::NavAbilityDFG) = dfg.fg.label
+
 DFG.getTypeDFGVariables(::NavAbilityDFG{T, <:AbstractDFGFactor}) where {T} = T
 DFG.getTypeDFGFactors(::NavAbilityDFG{<:AbstractDFGVariable, T}) where {T} = T
 
@@ -77,6 +79,8 @@ function NavAbilityDFG(
         fg = getGraph(client, fgLabel)
     end
 
+    connect!(client, agent, fg)
+
     return NavAbilityDFG{DFG.Variable, DFG.PackedFactor}(
         client,
         fg,

src/entities/NvaNodes.jl

@@ -17,6 +17,8 @@ struct NvaNode{T}
     label::Symbol
 end
 
+DFG.getLabel(node::NvaNode) = node.label
+
 @kwdef struct AgentCreateInput
     # Interface
     id::UUID#!

src/entities/Variable.jl

@@ -81,7 +81,7 @@ Base.@kwdef struct BlobEntryCreateInput
     metadata::String
     _version::String
     timestamp::ZonedDateTime
-    size::Int
+    size::Union{String, Nothing} #FIXME 
     parent::Any
 end
 

src/graphql/Model.jl

@@ -5,11 +5,10 @@
 #TODO replace sesssion
 # $GQL_FRAGMENT_SESSION
 # sessions { ...session_fields }
+# $GQL_FRAGMENT_BLOBENTRY
 FRAGMENT_MODEL = """
-$GQL_FRAGMENT_BLOBENTRY
 fragment FRAGMENT_MODEL on Model {
   label
-  createdTimestamp
   namespace
 }
 """
@@ -23,27 +22,39 @@ QUERY_GET_MODEL = """
 query QUERY_GET_MODEL(\$modelId: ID!) {
   models (where: {id: \$modelId}) {
     label
-    createdTimestamp
     namespace
   }
 }
 """
 
+# $FRAGMENT_MODEL
+# ...FRAGMENT_MODEL
 QUERY_GET_MODELS_ALL = """
-$FRAGMENT_MODEL
 {
+  models {
+    label
+    namespace
+  }
+}
+"""
+
+GQL_ADD_MODELS = GQL.gql"""
+mutation addModels($input: [ModelCreateInput!]!) {
+  addModels(input: $input) {
     models {
-        ...FRAGMENT_MODEL
+        label
+        namespace
     }
+  }
 }
 """
 
-GQL_ADD_MODEL = """
-$FRAGMENT_MODEL
-mutation addModel(\$label: String!, \$status: String = "", \$description: String = "") {
-  addModels(input: {label: \$label, status: \$status, description: \$description}) {
-    models {
-        ...FRAGMENT_MODEL
+QUERY_GET_MODEL_GRAPHS = GQL.gql"""
+query getGraphs_Model($id: ID!) {
+  models(where: {id: $id}) {
+    fgs {
+      label
+      namespace
     }
   }
 }

src/services/BlobEntry.jl

@@ -191,6 +191,7 @@ function addBlobEntries!(
             getCommonProperties(BlobEntryCreateInput, entry)...,
             id = getId(fgclient, parent, entry.label),
             parent = createConnect(fgclient, parent),
+            size = isnothing(entry.size) ? "" : entry.size, #FIXME remove once size is "required"
         )
     end
 

src/services/Common.jl

@@ -11,9 +11,13 @@ function executeGql(cfg::NavAbilityDFG, query::AbstractString, variables,  T::Ty
     executeGql(cfg.client, query, variables, T; kwargs...)
 end
 
-function executeGql(client::NavAbilityClient, query::AbstractString, variables,  T::Type = Any; throw_on_execution_error = true, kwargs...)
+function executeGql(cfg::NavAbilityClient, query::AbstractString, variables,  T::Type = Any; kwargs...)
+    executeGql(cfg.client, query, variables, T; kwargs...)
+end
+
+function executeGql(client::GQL.Client, query::AbstractString, variables,  T::Type = Any; throw_on_execution_error = true, kwargs...)
     return GQL.execute(
-        client.client,
+        client,
         query,
         T;
         variables,

src/services/FactorGraph.jl

@@ -218,4 +218,75 @@ function DFG.setGraphMetadata!(fgclient::NavAbilityDFG, smallData::Dict{Symbol,
         base64decode(response.data["updateFactorgraphs"]["factorgraphs"][1]["metadata"]),
         Dict{Symbol, DFG.SmallDataTypes},
     )
+end
+
+
+## =======================================================================================
+## Connect Factorgraph to other nodes
+## =======================================================================================
+
+
+GQL_CONNECT_GRAPH_TO_MODEL = GQL.gql"""
+mutation connectGraphModel($modelId: ID!, $fgId: ID!) {
+  updateModels(
+    where: { id: $modelId }
+    update: { fgs: { connect: { where: { node: { id: $fgId } } } } }
+  ) {
+    info {
+      relationshipsCreated
+    }
+  }
+}
+"""
+
+function connect!(client, model::NvaNode{Model}, fg::NvaNode{Factorgraph})
+    variables = Dict("modelId" => getId(model), "fgId" => getId(fg))
+
+    response = executeGql(client, GQL_CONNECT_GRAPH_TO_MODEL, variables)
+
+    return response.data["updateModels"]["info"]["relationshipsCreated"]
+end
+
+
+GQL_CONNECT_GRAPH_TO_AGENT = GQL.gql"""
+mutation connectGraphModel($agentId: ID!, $fgId: ID!) {
+  updateAgents(
+    where: { id: $agentId }
+    update: { fgs: { connect: { where: { node: { id: $fgId } } } } }
+  ) {
+    info {
+      relationshipsCreated
+    }
+  }
+}
+"""
+
+function connect!(client, agent::NvaNode{Agent}, fg::NvaNode{Factorgraph})
+    variables = Dict("agentId" => getId(agent), "fgId" => getId(fg))
+
+    response = executeGql(client, GQL_CONNECT_GRAPH_TO_AGENT, variables)
+
+    return response.data["updateAgents"]["info"]["relationshipsCreated"]
+end
+
+
+QUERY_GET_GRAPHS_AGENTS = GQL.gql"""
+query getAgents_Graph($id: ID!) {
+  factorgraphs(where: {id: $id}) {
+    agents {
+      label
+      namespace
+    }
+  }
+}
+"""
+
+function getAgents(client::NavAbilityClient, fg::NvaNode{Factorgraph})
+    response = executeGql(
+        client,
+        QUERY_GET_GRAPHS_AGENTS,
+        Dict("id" => getId(fg)),
+        Vector{Dict{Symbol, Vector{NvaNode{Agent}}}},
+    )
+    return handleQuery(response, "factorgraphs")[1][:agents]
 end