standardize to dfg v0.25 Graph (#260)

Co-authored-by: Johannes Terblanche <[email protected]>

src/NavAbilityDFG.jl

@@ -19,7 +19,7 @@ function NavAbilityDFG(
     authorize = nothing,
     storeLabel = :default,
     addAgentIfAbsent = false,
-    addFgIfAbsent = false,
+    addGraphIfAbsent = false,
     addRobotIfNotExists = nothing,
     addSessionIfNotExists = nothing,
     kwargs...
@@ -36,7 +36,7 @@ function NavAbilityDFG(
         agentLabel;
         storeLabel,
         addAgentIfAbsent,
-        addFgIfAbsent,
+        addGraphIfAbsent,
         addRobotIfNotExists,
         addSessionIfNotExists
     )
@@ -48,7 +48,7 @@ function NavAbilityDFG(
     agentLabel::Symbol;
     storeLabel = :default,
     addAgentIfAbsent = false,
-    addFgIfAbsent = false,
+    addGraphIfAbsent = false,
     addRobotIfNotExists = nothing,
     addSessionIfNotExists = nothing,
 )
@@ -62,19 +62,19 @@ function NavAbilityDFG(
         addAgentIfAbsent = addRobotIfNotExists
     end
     if !isnothing(addSessionIfNotExists)
-        @warn "addSessionIfNotExists is deprecated, use addFgIfAbsent instead"
-        addFgIfAbsent = addSessionIfNotExists
+        @warn "addSessionIfNotExists is deprecated, use addGraphIfAbsent instead"
+        addGraphIfAbsent = addSessionIfNotExists
     end
 
     if addAgentIfAbsent && !in(agentLabel, listAgents(client))
         agent = addAgent!(client, agentLabel)
     else
         agent = getAgent(client, agentLabel)
     end
-    if addFgIfAbsent && !in(fgLabel, listFgs(client))
-        fg = addFg!(client, fgLabel)
+    if addGraphIfAbsent && !in(fgLabel, listGraphs(client))
+        fg = addGraph!(client, fgLabel)
     else
-        fg = getFg(client, fgLabel)
+        fg = getGraph(client, fgLabel)
     end
 
     return NavAbilityDFG{DFG.Variable, DFG.PackedFactor}(

src/NavAbilitySDK.jl

@@ -57,25 +57,19 @@ import DistributedFactorGraphs:
     addBlob!,
     deleteBlob!,
     hasBlob,
-    getSessionBlobEntry,
-    getSessionBlobEntries,
-    addSessionBlobEntry!,
-    addSessionBlobEntries!,
-    listSessionBlobEntries,
-    listRobotBlobEntries,
+    getGraphBlobEntry,
+    getGraphBlobEntries,
+    addGraphBlobEntry!,
+    addGraphBlobEntries!,
+    listGraphBlobEntries,
+    listAgentBlobEntries,
     exists,
     listNeighbors,
     findVariableNearTimestamp
 # To consider implementing 
 # setSolverParams!,
 # getSolverParams,
 # getAddHistory,
-#getUserData, # TODO should propably rename to MetaData
-#setUserData!, # TODO should propably rename to MetaData
-#getRobotData, # TODO should propably rename to MetaData
-#setRobotData!, # TODO should propably rename to MetaData
-#getSessionData, # TODO should propably rename to MetaData
-#setSessionData!, # TODO should propably rename to MetaData
 # isVariable,
 # isFactor,
 # ls,
@@ -144,12 +138,12 @@ export NavAbilityClient,
     PackedFactor
 
 # Function exports
-export addRobot!,
-    addSession!,
-    deleteSession!,
-    deleteRobot!,
-    listRobots,
-    listSessions,
+export addAgent!,
+    addGraph!,
+    deleteGraph!,
+    deleteAgent!,
+    listAgents,
+    listGraphs,
     getFactor,
     getFactors,
     getFactorsSkeleton,
@@ -186,10 +180,10 @@ export addRobot!,
     addBlobEntry!,
     updateBlobEntry!,
     deleteBlobEntry!,
-    getSessionBlobEntry,
-    getSessionBlobEntries,
-    addSessionBlobEntries!,
-    listSessionBlobEntries,
+    getGraphBlobEntry,
+    getGraphBlobEntries,
+    addGraphBlobEntries!,
+    listGraphBlobEntries,
     getBlob,
     addBlob!,
     deleteBlob!,

src/graphql/BlobEntry.jl

@@ -75,7 +75,7 @@ query listBlobEntries(\$id: ID!) {
 """
 
 GQL_LIST_FACTORGRAPH_BLOBENTRIES = GQL.gql"""
-query listFgBlobEntries($id: ID!) {
+query listGraphBlobEntries($id: ID!) {
   factorgraphs(where: { id: $id }) {
     blobEntries {
       label
@@ -106,7 +106,7 @@ query listModelBlobEntries($id: ID!) {
 
 GQL_GET_FG_BLOBENTRIES = """
 $(GQL_FRAGMENT_BLOBENTRY)
-query getFgBlobEntries(\$id: ID!) {
+query getGraphBlobEntries(\$id: ID!) {
   factorgraphs(where: { id: \$id }) {
     blobEntries {
       ...blobEntry_fields

src/services/AsyncCalls.jl

@@ -5,11 +5,10 @@ methodstoasync = [
     :addFactor!,
     :addNodeBlobEntries!,
     :addPPEs!,
-    :addRobot!,
-    :addRobotBlobEntries!,
-    :addSession!,
-    :addSessionBlobEntries!,
-    :addUserBlobEntries!,
+    :addAgent!,
+    :addAgentBlobEntries!,
+    :addGraph!,
+    :addGraphBlobEntries!,
     :addVariable!,
     :addVariableSolverData!,
     #get
@@ -20,7 +19,7 @@ methodstoasync = [
     :getFactors,
     :getFncTypeName,
     :getPPE,
-    :getRobotMeta,
+    :getAgentMetadata,
     :getVariable,
     :getVariableSkeleton,
     :getVariableSolverData,

src/services/BlobEntry.jl

@@ -118,7 +118,7 @@ end
 # BlobEntry CRUD on other nodes
 # =========================================================================================
 
-function DFG.getFgBlobEntry(fgclient::NavAbilityDFG, label::Symbol)
+function DFG.getGraphBlobEntry(fgclient::NavAbilityDFG, label::Symbol)
     id = getId(fgclient.fg, label)
 
     T = Vector{DFG.BlobEntry}
@@ -134,7 +134,7 @@ function DFG.getFgBlobEntry(fgclient::NavAbilityDFG, label::Symbol)
     return handleQuery(response, "blobEntries", label)
 end
 
-function DFG.getFgBlobEntries(fgclient::NavAbilityDFG, startwith::Union{Nothing,String}=nothing)
+function DFG.getGraphBlobEntries(fgclient::NavAbilityDFG, startwith::Union{Nothing,String}=nothing)
 
     id = getId(fgclient.fg)
     T = Vector{@NamedTuple{blobEntries::Vector{DFG.BlobEntry}}}
@@ -195,7 +195,7 @@ function addBlobEntries!(
 
 end
 
-function addFgBlobEntries!(fgclient::NavAbilityDFG, entries::Vector{DFG.BlobEntry})
+function addGraphBlobEntries!(fgclient::NavAbilityDFG, entries::Vector{DFG.BlobEntry})
     return addBlobEntries!(fgclient, fgclient.fg, entries)
 end
 function addAgentBlobEntries!(fgclient::NavAbilityDFG, entries::Vector{DFG.BlobEntry})
@@ -205,7 +205,7 @@ function addModelBlobEntries!(fgclient::NavAbilityDFG, entries::Vector{DFG.BlobE
     error("Not implemented")
 end
 
-function DFG.listFgBlobEntries(fgclient::NavAbilityDFG)
+function DFG.listGraphBlobEntries(fgclient::NavAbilityDFG)
 
     variables = (id=getId(fgclient.fg),)
 

src/services/FactorGraph.jl

@@ -8,7 +8,7 @@ query QUERY_GET_FACTORGRAPH(\$fgId: ID!) {
 }
 """
 
-function getFg(client::NavAbilityClient, label::Symbol)
+function getGraph(client::NavAbilityClient, label::Symbol)
     fgId = getId(client.id, label)
     variables = Dict("fgId" => fgId)
 
@@ -47,7 +47,7 @@ mutation addFactorGraph(
 }
 """
 
-function addFg!(client::NavAbilityClient, label::Symbol)
+function addGraph!(client::NavAbilityClient, label::Symbol)
     @assert isValidLabel(label) "Factor graph label ($Label) is not a valid label"
 
     variables = Dict(
@@ -82,7 +82,7 @@ mutation deleteFG($id: ID!) {
 }
 """
 
-function deleteFg!(fgclient::NavAbilityDFG)
+function deleteGraph!(fgclient::NavAbilityDFG)
 
     id = getId(fgclient.fg)
     variables = Dict("id" => id)
@@ -113,7 +113,7 @@ function deleteFg!(fgclient::NavAbilityDFG)
 end
 
 QUERY_LIST_FACTORGRAPHS = GQL.gql"""
-query listFgs($id: ID!) {
+query listGraphs($id: ID!) {
     orgs(where: {id: $id}) {
         fgs {
             label
@@ -122,7 +122,7 @@ query listFgs($id: ID!) {
 }
 """
 
-function listFgs(client::NavAbilityClient)
+function listGraphs(client::NavAbilityClient)
 
     T = Vector{Dict{String, Vector{@NamedTuple{label::Symbol}}}}
 
@@ -176,7 +176,7 @@ function exists(fgclient::NavAbilityDFG, label::Symbol)
 end
 
 #TODO update to standard pattern
-function DFG.getFgMetadata(fgclient::NavAbilityDFG)
+function DFG.getGraphMetadata(fgclient::NavAbilityDFG)
     gql = """
     {
         factorgraphs(where: {id: "$(getId(fgclient.fg))"}) {
@@ -197,7 +197,7 @@ function DFG.getFgMetadata(fgclient::NavAbilityDFG)
     end
 end
 
-function DFG.setFgMetadata!(fgclient::NavAbilityDFG, smallData::Dict{Symbol, DFG.SmallDataTypes})
+function DFG.setGraphMetadata!(fgclient::NavAbilityDFG, smallData::Dict{Symbol, DFG.SmallDataTypes})
     meta = base64encode(JSON3.write(smallData))
 
     gql = """

src/services/Model.jl

@@ -100,7 +100,7 @@ function addModel!(client::GQL.Client, modelLabel::String; status = "", descript
     return response.data["addModels"]["models"][1]
 end
 
-function addFg!(client::GQL.Client, model::NvaNode{Model}, fg::NvaNode{Factorgraph})
+function addGraph!(client::GQL.Client, model::NvaNode{Model}, fg::NvaNode{Factorgraph})
     variables = Dict("modelId" => modelId, "sessionId" => sessionId)
 
     response = GQL.execute(

test/integration/testStandardAPI.jl

@@ -19,7 +19,7 @@ fgLabel = Symbol("TestSession_" * randstring(7))
         fgLabel,
         agentLabel;
         addAgentIfAbsent = true,
-        addFgIfAbsent = true,
+        addGraphIfAbsent = true,
     )
 
     a_var = NvaSDK.addVariable!(fgclient, :x0, "Pose2")
@@ -102,7 +102,7 @@ fgLabel = Symbol("TestSession_" * randstring(7))
     @test length(listFactors(fgclient)) == 10
 
     @test exists(fgclient, :x1)
-    x0_neigh = getNeighbors(fgclient, :x0)
+    x0_neigh = listNeighbors(fgclient, :x0)
     @test length(x0_neigh) == 3
     @test exists(fgclient, x0_neigh[1])