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Merge pull request #215 from NavAbility/23Q1/enh/minorfixes
minor impr on addBlob
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -2,39 +2,39 @@ | |
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| function testExportSession( | ||
| client = NVA.NavAbilityHttpsClient(;authorize=false), | ||
| context = NVA.Client( | ||
| client = NvaSDK.NavAbilityHttpsClient(;authorize=false), | ||
| context = NvaSDK.Client( | ||
| "[email protected]", | ||
| "TESTING", | ||
| "EXPORTSESSION_"*(string(NVA.uuid4())[1:4]) | ||
| "EXPORTSESSION_"*(string(NvaSDK.uuid4())[1:4]) | ||
| ); | ||
| buildNewGraph::Bool=false | ||
| ) | ||
| # | ||
| if buildNewGraph | ||
| # build a graph | ||
| resultId = NVA.addVariable(client, context, NVA.Variable("x0", :Pose2)) |> fetch | ||
| resultId = NvaSDK.addVariable(client, context, NvaSDK.Variable("x0", :Pose2)) |> fetch | ||
| # Wait for them to be done before proceeding. | ||
| @info "Wait on addVariable eventId" resultId | ||
| NVA.waitForCompletion(client, [resultId], expectedStatuses=["Complete"], maxSeconds=180) | ||
| NvaSDK.waitForCompletion(client, [resultId], expectedStatuses=["Complete"], maxSeconds=180) | ||
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| eventId = NVA.addFactor(client, context, | ||
| NVA.Factor("x0f1", "PriorPose2", ["x0"], NVA.PriorPose2Data()) | ||
| eventId = NvaSDK.addFactor(client, context, | ||
| NvaSDK.Factor("x0f1", "PriorPose2", ["x0"], NvaSDK.PriorPose2Data()) | ||
| ) |> fetch | ||
| @info "Wait on addFactor eventId" resultId | ||
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| NVA.waitForCompletion(client, [eventId], expectedStatuses=["Complete"], maxSeconds=180) | ||
| NvaSDK.waitForCompletion(client, [eventId], expectedStatuses=["Complete"], maxSeconds=180) | ||
| end | ||
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| # export the graph | ||
| # eventId = NVA.exportSession(client, context, "testexport.tar.gz", | ||
| # options=NVA.ExportSessionOptions( | ||
| # eventId = NvaSDK.exportSession(client, context, "testexport.tar.gz", | ||
| # options=NvaSDK.ExportSessionOptions( | ||
| # format="NVA" # TODO TARGZ | ||
| # )) |> fetch | ||
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| # @info "waiting for export Session" eventId | ||
| # NVA.waitForCompletion2(client, eventId) | ||
| # blobId = NVA.getExportSessionBlobId(client, eventId) | ||
| # NvaSDK.waitForCompletion2(client, eventId) | ||
| # blobId = NvaSDK.getExportSessionBlobId(client, eventId) | ||
| # @info "Success: Here is the blobId you can use to download: $blobId" | ||
| end | ||
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| Original file line number | Diff line number | Diff line change |
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@@ -4,39 +4,39 @@ using TensorCast | |
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| function runInitVariableTests(; | ||
| client = NVA.NavAbilityHttpsClient(;authorize=false), | ||
| client = NvaSDK.NavAbilityHttpsClient(;authorize=false), | ||
| userId = "[email protected]", | ||
| robotId = "TESTING", | ||
| sessionId = "INITVARIABLE_"*(string(NVA.uuid4())[1:4]) | ||
| sessionId = "INITVARIABLE_"*(string(NvaSDK.uuid4())[1:4]) | ||
| ) | ||
| # | ||
| @testset "run initVariable tests" begin | ||
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| ## | ||
| # connections | ||
| @show context = NVA.Client(userId,robotId,sessionId) | ||
| @show context = NvaSDK.Client(userId,robotId,sessionId) | ||
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| resultId = NVA.addVariable(client, context, NVA.Variable("x0", :Pose2)) |> fetch | ||
| resultId = NvaSDK.addVariable(client, context, NvaSDK.Variable("x0", :Pose2)) |> fetch | ||
| # Wait for them to be done before proceeding. | ||
| @info "Wait on addVariable eventId" resultId | ||
| NVA.waitForCompletion(client, [resultId], expectedStatuses=["Complete"], maxSeconds=180) | ||
| NvaSDK.waitForCompletion(client, [resultId], expectedStatuses=["Complete"], maxSeconds=180) | ||
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| # init some value to variable x0 | ||
| pts = [[-rand();rand();-0.1] for _ in 1:5] | ||
| points = Dict{String,Float64}[ NVA.CartesianPointInput(;x=pt[1],y=pt[2],rotz=pt[3]) for pt in pts ] | ||
| points = Dict{String,Float64}[ NvaSDK.CartesianPointInput(;x=pt[1],y=pt[2],rotz=pt[3]) for pt in pts ] | ||
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| variableKey = NVA.VariableKey(userId,robotId,sessionId,"x0") | ||
| variableId = NVA.VariableId(variableKey) | ||
| variableKey = NvaSDK.VariableKey(userId,robotId,sessionId,"x0") | ||
| variableId = NvaSDK.VariableId(variableKey) | ||
| particleInput = Dict{String,Any}("points"=>points) | ||
| distributionInput = Dict{String,Any}("particle"=>particleInput) | ||
| initVarInp = NVA.InitVariableInput(variableId, NVA.POSE2, distributionInput) | ||
| initVarInp = NvaSDK.InitVariableInput(variableId, NvaSDK.POSE2, distributionInput) | ||
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| eventId = NVA.initVariable(client, context, initVarInp) |> fetch | ||
| eventId = NvaSDK.initVariable(client, context, initVarInp) |> fetch | ||
| @info "waitForCompletion on initVariable" eventId | ||
| completedSuccessfully = NVA.waitForCompletion2(client, eventId) #, expectedStatuses=["Complete"], maxSeconds=180) | ||
| completedSuccessfully = NvaSDK.waitForCompletion2(client, eventId) #, expectedStatuses=["Complete"], maxSeconds=180) | ||
| @test completedSuccessfully | ||
| if completedSuccessfully | ||
| res = NVA.getVariable(client, context, "x0") | ||
| res = NvaSDK.getVariable(client, context, "x0") | ||
| x0 = fetch(res) | ||
| x0_vv = reshape(x0["solverData"][1]["vecval"],3,:) | ||
| @cast refvv[i][d] := x0_vv[d,i] | ||
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