Merge pull request #124 from NavAbility/main

v 0.4.5-rc1

Project.toml

@@ -3,12 +3,14 @@ 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 = "0.4.4"
+version = "0.4.5"
 
 [deps]
 Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
 Diana = "070d9d8b-17a7-5814-83fa-42438ba5c6e0"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
+Downloads = "f43a241f-c20a-4ad4-852c-f6b1247861c6"
+HTTP = "cd3eb016-35fb-5094-929b-558a96fad6f3"
 JSON = "682c06a0-de6a-54ab-a142-c8b1cf79cde6"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
@@ -17,6 +19,8 @@ UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 [compat]
 Diana = "0.2"
 DocStringExtensions = "0.8"
+Downloads = "1"
+HTTP = "0.9"
 JSON = "0.21"
 julia = "1.6"
 

src/NavAbilitySDK.jl

@@ -1,10 +1,15 @@
 module NavAbilitySDK
 
+const NVA = NavAbilitySDK
+export NVA
+
 # Global imports
 using DocStringExtensions
 using LinearAlgebra
 using JSON
 using UUIDs
+using Downloads
+using HTTP
 
 # for overloading with visualization helpers
 import Base: show
@@ -18,6 +23,7 @@ export uuid4
 include("./navability/graphql/Factor.jl")
 include("./navability/graphql/Status.jl")
 include("./navability/graphql/Variable.jl")
+include("./navability/graphql/DataBlobs.jl")
 
 include("./navability/graphql/QueriesDeprecated.jl")
 export QUERY_VARIABLE_LABELS
@@ -53,6 +59,8 @@ include("./navability/services/Factor.jl")
 include("./navability/services/Solve.jl")
 include("./navability/services/Status.jl")
 include("./navability/services/Utils.jl")
+include("./navability/services/StandardAPI.jl")
+include("./navability/services/DataBlobs.jl")
 export getVariable, getVariables, listVariables, ls
 export addVariable, addPackedVariable
 export getFactor, getFactors, listFactors, lsf
@@ -62,4 +70,5 @@ export getStatusMessages, getStatusLatest, getStatusesLatest
 export waitForCompletion
 export GraphVizApp, MapVizApp
 
+
 end

src/navability/entities/Factor.jl

@@ -40,8 +40,8 @@ Create a prior factor for a ContinuousScalar (a.k.a. Pose1) with a distribution
 
 Default value of Z = `Normal(0.0, 0.1)`.
 """
-function PriorData(;Z::Distribution = Normal(0.0, 0.1))::FactorData
-    data = FactorData(fnc = ZInferenceType(Z), certainhypo = [1])
+function PriorData(;Z::Distribution = Normal(0.0, 0.1), kwargs...)::FactorData
+    data = FactorData(;fnc = ZInferenceType(Z), certainhypo = [1], kwargs...)
     return data
 end
 
@@ -52,8 +52,8 @@ Create a prior factor for a Pose2 with a distribution Z representing (x,y,theta)
 
 Default value of Z = `FullNormal([0.0, 0.0, 0.0], diagm([0.01, 0.01, 0.01]))`.
 """
-function PriorPose2Data(;Z::Distribution = FullNormal([0.0, 0.0, 0.0], diagm([0.01, 0.01, 0.01])))::FactorData
-    data = FactorData(fnc = ZInferenceType(Z), certainhypo = [1])
+function PriorPose2Data(;Z::Distribution = FullNormal([0.0, 0.0, 0.0], diagm([0.01, 0.01, 0.01])), kwargs...)::FactorData
+    data = FactorData(;fnc = ZInferenceType(Z), certainhypo = [1], kwargs...)
     return data
 end
 
@@ -64,8 +64,8 @@ Create a prior factor for a Point2 with a distribution Z representing (x,y) prio
 
 Default value of Z = `FullNormal([0.0, 0.0], diagm([0.01, 0.01]))`.
 """
-function PriorPoint2Data(;Z::Distribution = FullNormal([0.0, 0.0], diagm([0.01, 0.01])))::FactorData
-    data = FactorData(fnc = ZInferenceType(Z), certainhypo = [1])
+function PriorPoint2Data(;Z::Distribution = FullNormal([0.0, 0.0], diagm([0.01, 0.01])), kwargs...)::FactorData
+    data = FactorData(;fnc = ZInferenceType(Z), certainhypo = [1], kwargs...)
     return data
 end
 
@@ -76,8 +76,8 @@ between the variables, e.g. `Normal(1.0, 0.1)`.
 
 Default value of Z = `Normal(1.0, 0.1)`.
 """
-function LinearRelativeData(;Z::Distribution = Normal(1.0, 0.1))::FactorData
-    data = FactorData(fnc = ZInferenceType(Z), certainhypo = [1, 2])
+function LinearRelativeData(;Z::Distribution = Normal(1.0, 0.1), kwargs...)::FactorData
+    data = FactorData(;fnc = ZInferenceType(Z), certainhypo = [1, 2], kwargs...)
     return data
 end
 
@@ -88,8 +88,8 @@ between the variables, e.g. `FullNormal([1,0,0.3333*π], diagm([0.01,0.01,0.01])
 
 Default value of Z = `FullNormal([1,0,0.3333*π], diagm([0.01,0.01,0.01]))`.
 """
-function Pose2Pose2Data(;Z::Distribution = FullNormal([1,0,0.3333*π], diagm([0.01, 0.01, 0.01])))::FactorData
-    data = FactorData(fnc = ZInferenceType(Z), certainhypo = [1, 2])
+function Pose2Pose2Data(;Z::Distribution = FullNormal([1,0,0.3333*π], diagm([0.01, 0.01, 0.01])), kwargs...)::FactorData
+    data = FactorData(;fnc = ZInferenceType(Z), certainhypo = [1, 2], kwargs...)
     return data
 end
 
@@ -99,8 +99,8 @@ Create a Pose2->Point2 bearing+range factor with 1D distributions:
 - bearing: The bearing from the pose to the point, default `Normal(0, 1)`.
 - range: The range from the pose to the point, default `Normal(1, 1)`.
 """
-function Pose2Point2BearingRangeData(;bearing::Distribution = Normal(0, 1), range::Distribution = Normal(1, 1))::FactorData
-    data = FactorData(fnc = Pose2Point2BearingRangeInferenceType(bearing, range), certainhypo = [1, 2])
+function Pose2Point2BearingRangeData(;bearing::Distribution = Normal(0, 1), range::Distribution = Normal(1, 1), kwargs...)::FactorData
+    data = FactorData(;fnc = Pose2Point2BearingRangeInferenceType(bearing, range), certainhypo = [1, 2], kwargs...)
     return data
 end
 
@@ -109,8 +109,8 @@ $(SIGNATURES)
 Create a Point2->Point2 range factor with a 1D distribution:
 - range: The range from the pose to the point, default `Normal(1, 1)`.
 """
-function Point2Point2RangeData(;range::Distribution = Normal(1, 1))::FactorData
-    data = FactorData(fnc = ZInferenceType(range), certainhypo = [1, 2])
+function Point2Point2RangeData(;range::Distribution = Normal(1, 1), kwargs...)::FactorData
+    data = FactorData(;fnc = ZInferenceType(range), certainhypo = [1, 2], kwargs...)
     return data
 end
 
@@ -119,9 +119,9 @@ $(SIGNATURES)
 Create a AprilTags factor that directly relates a Pose2 to the information from an AprilTag reading.
 Corners need to be provided, homography and tag length are defaulted and can be overwritten.
 """
-function Pose2AprilTag4CornersData(id, corners::Vector{Float64}, homography::Vector{Float64}; K::Vector{Float64}=[300.0,0.0,0.0,0.0,300.0,0.0,180.0,120.0,1.0], taglength::Float64=0.25)::FactorData
+function Pose2AprilTag4CornersData(id, corners::Vector{Float64}, homography::Vector{Float64}; K::Vector{Float64}=[300.0,0.0,0.0,0.0,300.0,0.0,180.0,120.0,1.0], taglength::Float64=0.25, kwargs...)::FactorData
     fnc = Pose2AprilTag4CornersInferenceType(;corners,homography,K,taglength,id)
-    data = FactorData(fnc = fnc, certainhypo = [1, 2])
+    data = FactorData(; fnc, certainhypo = [1, 2], kwargs...)
     return data
 end
 
@@ -138,12 +138,13 @@ function ScatterAlignPose2Data(
         bw2::AbstractVector{<:Real}=Float64[];
         mkd1 = ManifoldKernelDensity(; varType, pts=cloud1, bw=bw1 ),
         mkd2 = ManifoldKernelDensity(; varType, pts=cloud2, bw=bw2 ),
-        kw_sap...
+        kw_sap::NamedTuple=(;),
+        kwargs...
     )
     #
 
     fnc = ScatterAlignPose2InferenceType(; cloud1=mkd1, cloud2=mkd2, kw_sap...)
-    data = FactorData(fnc = fnc, certainhypo = [1, 2])
+    data = FactorData(; fnc, certainhypo = [1, 2], kwargs...)
     return data
 end
 
@@ -170,7 +171,7 @@ function MixtureData(
         probabilities::Vector{Float64},
         dims::Integer  # TODO: Confirming we can remove.
         )::FactorData #where T<:FactorData
-    data = FactorData(
+    data = FactorData(;
         fnc = MixtureInferenceType(
             N = length(components),
             # @jim-hill-r this is why I don't like the Data suffix.
@@ -183,21 +184,26 @@ function MixtureData(
     return data
 end
 
+
 function Factor(
         label::String, 
         fncType::String, 
         variableOrderSymbols::Vector{String}, 
         data::FactorData; 
         tags::Vector{String}=["FACTOR"], 
         timestamp::String = string(now(Dates.UTC))*"Z", 
-        multihypo=Float64[],
-        nullhypo::Real=0
+        multihypo=nothing,
+        nullhypo=nothing
     )::Factor
     #
     # TODO: Remove independent updates of this and set certainhypo here.
     data.certainhypo = Vector{Int}(1:size(variableOrderSymbols)[1])
-    data.multihypo = multihypo
-    data.nullhypo = float(nullhypo)
+    if multihypo !== nothing
+        data.multihypo = multihypo
+    end
+    if nullhypo !== nothing
+        data.nullhypo = float(nullhypo)
+    end
 
     result = Factor(
         label,

src/navability/entities/InferenceTypes.jl

@@ -8,6 +8,23 @@ functions inside of factors.
 """
 abstract type InferenceType end
 
+macro nvaZInferenceType(inferencetype)
+  return esc(quote
+      Base.@__doc__ struct $inferencetype <: NVA.InferenceType 
+          Z::Distribution
+      end
+      $inferencetype(;Z) = $inferencetype(Z)
+  end)
+end
+
+@nvaZInferenceType Prior
+@nvaZInferenceType LinearRelative
+@nvaZInferenceType PriorPose2
+@nvaZInferenceType Pose2Pose2
+@nvaZInferenceType PriorPoint2
+@nvaZInferenceType Point2Point2
+@nvaZInferenceType Point2Point2Range
+
 """
 $(TYPEDEF)
 ZInferenceType is used by many factors as a common inference
@@ -25,16 +42,18 @@ $(TYPEDEF)
 Pose2Point2BearingRangeInferenceType is used to represent a bearing
 + range measurement.
 """
-Base.@kwdef struct Pose2Point2BearingRangeInferenceType <: InferenceType
+Base.@kwdef struct Pose2Point2BearingRange <: InferenceType
   bearstr::Distribution
   rangstr::Distribution
 end
 
+const Pose2Point2BearingRangeInferenceType = Pose2Point2BearingRange
+
 """
 $(TYPEDEF)
 InferenceType for Pose2AprilTag4CornersData.
 """
-Base.@kwdef struct Pose2AprilTag4CornersInferenceType <: InferenceType
+Base.@kwdef struct Pose2AprilTag4Corners <: InferenceType
   corners::Vector{Float64}
   homography::Vector{Float64}
   K::Vector{Float64}
@@ -43,8 +62,9 @@ Base.@kwdef struct Pose2AprilTag4CornersInferenceType <: InferenceType
   _type::String = "/application/JuliaLang/PackedPose2AprilTag4Corners"
 end
 
+const Pose2AprilTag4CornersInferenceType = Pose2AprilTag4Corners
 
-Base.@kwdef struct ScatterAlignPose2InferenceType <: InferenceType
+Base.@kwdef struct ScatterAlignPose2 <: InferenceType
   """ This SDK only supports MKD clouds at this time. Note CJL also supports HeatmapGridDensity, TODO """
   cloud1::ManifoldKernelDensity
   cloud2::ManifoldKernelDensity
@@ -67,6 +87,8 @@ Base.@kwdef struct ScatterAlignPose2InferenceType <: InferenceType
   _type::String            = "Caesar.PackedScatterAlignPose2"
 end
 
+const ScatterAlignPose2InferenceType = ScatterAlignPose2
+
 """
 $(TYPEDEF)
 InferenceType for MixtureData.

src/navability/entities/NavAbilityClient.jl

@@ -17,12 +17,31 @@ struct NavAbilityClient
     mutate::Function
 end
 
-function NavAbilityWebsocketClient(apiUrl::String="wss://api.navability.io/graphql")::NavAbilityClient
+function NavAbilityWebsocketClient( apiUrl::String="wss://api.navability.io/graphql")::NavAbilityClient
     throw("Not implemented")
 end
 
-function NavAbilityHttpsClient(apiUrl::String="https://api.navability.io")::NavAbilityClient
+function NavAbilityHttpsClient(
+        apiUrl::String="https://api.navability.io";
+        authorize::Bool=false 
+    )::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)
+        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)

src/navability/entities/Variable.jl

@@ -7,7 +7,9 @@ _variableTypeConvert = Dict{Symbol, String}(
     :Point2 => "RoME.Point2",
     :Pose2 => "RoME.Pose2",
     :ContinuousScalar => "IncrementalInference.ContinuousScalar",
-    # TBD - https://github.com/JuliaRobotics/Caesar.jl/discussions/810
+    # TBD - https://github.com/JuliaRobotics/Caesar.jl/discussions/807
+    :Position1 => "IncrementalInference.ContinuousScalar",
+    #TODO deprecate
     :Pose1 => "IncrementalInference.ContinuousScalar"
 )