Merge pull request #290 from NavAbility/develop

release v0.8.6-rc1

Author: dehann

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 info@navability.io."
 authors = ["NavAbility <info@navability.io>"]
-version = "0.8.5"
+version = "0.8.6"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
@@ -24,7 +24,7 @@ UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 Aqua = "0.8"
 Base64 = "1.10"
 Dates = "1.10"
-DistributedFactorGraphs = "0.25.2"
+DistributedFactorGraphs = "0.25.2, 0.26"
 DocStringExtensions = "0.8, 0.9"
 Downloads = "1"
 GraphQLClient = "0.7"

docs/PublicAPI_design.jl

@@ -0,0 +1,53 @@
+### Public API - supported in all SDKs
+
+# All funcitons should follow DistributedFactorGraphs.jl and we use Julia here to define the signitures.
+
+# Other lanuages should follow DFG.jl/NvaSDK.jl as closely as possible with the following exceptions
+# - labels are Symbols in julia and strings elsewhere.
+# - mutation in julia is done with ! at the end of the function name and not in other languages.
+# - notably C and Rust do not support function overloading and may also be different or more explicit and perhaps using adjectives.
+
+## Structs
+
+## Functions
+
+### Singular `get` 
+
+getVariable(dfg::NavAbilityDFG, label::Symbol)
+
+getFactor(dfg::NavAbilityDFG, label::Symbol)
+
+getBlobentry(dfg::NavAbilityDFG, variableLabel::Symbol, label::Symbol)
+
+getVariableBlobentry(dfg::NavAbilityDFG, variableLabel::Symbol, label::Symbol)
+
+getFactorBlobentry(dfg::NavAbilityDFG, factorLabel::Symbol, label::Symbol)
+
+getGraphBlobentry(dfg::NavAbilityDFG, label::Symbol)
+
+getAgentBlobentry(dfg::NavAbilityDFG, label::Symbol)
+
+getVariableState(dfg::NavAbilityDFG, variableLabel::Symbol, label::Symbol)
+
+getFactorState(dfg::NavAbilityDFG, factorLabel::Symbol)
+
+getBlob(store::NavAbilityBlobstore, blobId::UUID)
+
+### Plural `get` 
+
+### Singular `add` 
+
+addBlob!(store::NavAbilityBlobstore, blobId::UUID, blob::Vector{UInt8})
+
+
+### Plural `add` 
+
+### Singular `update` 
+
+### Plural `update` 
+
+### Singular `delete` 
+
+### Plural `delete` 
+
+### `list`

src/services/BlobEntry.jl

@@ -97,6 +97,16 @@ function DFG.deleteAgentBlobEntry!(fgclient::NavAbilityDFG, entry::BlobEntry)
     return entry
 end
 
+function DFG.deleteGraphBlobEntry!(fgclient::NavAbilityDFG, entry::BlobEntry)
+    response = executeGql(
+        fgclient,
+        GQL_DELETE_BLOBENTRY,
+        (id = getId(fgclient.fg, entry.label),),
+    )
+    #TOOD check response.data["deleteBlobEntry"]["nodesDeleted"]
+    return entry
+end
+
 # =========================================================================================
 # BlobEntry CRUD on other nodes
 # =========================================================================================

src/services/BlobStore.jl

@@ -180,6 +180,7 @@ function DFG.addBlob!(
     filepath::AbstractString,
     blobId::UUID = uuid4();
     chunkSize::Integer = UPLOAD_CHUNK_SIZE_HASH,
+    mimeType::String = "application/octet-stream",
 )
     # locate large file on fs, ready to read in chunks
     fid = open(filepath,"r")
@@ -195,7 +196,8 @@ function DFG.addBlob!(
 
     # custom header for pushing the file up
     headers_ = [
-        # "Content-Length" => filesize,
+        "Content-Length" => filesize(filepath),
+        "Content-Type" => mimeType,
         "Accept" => "application/json, text/plain, */*",
         "Accept-Encoding" => "gzip, deflate, br",
         "Sec-Fetch-Dest" => "empty",
@@ -241,14 +243,22 @@ function DFG.addBlob!(
     blobId
 end
 
+function getMimetype(io::IO)
+    getFormat(s::DFG.FileIO.Stream{T}) where T = T
+    stream = DFG.FileIO.query(io)
+    # not sure if we need restrict to only our mimetypes, but better than nothing
+    mime = findfirst(==(getFormat(stream)), DFG._MIMETypes)
+    if isnothing(mime)
+        return MIME("application/octet-stream")
+    else
+        return mime
+    end
+end
 
-function DFG.addBlob!(
-    store::NavAbilityBlobStore,
-    blobId::UUID,
-    blob::Vector{UInt8},
-)
+function DFG.addBlob!(store::NavAbilityBlobStore, blobId::UUID, blob::Vector{UInt8})
     client = store.client
 
+    mimeType = getMimetype(IOBuffer(blob))
     filesize = length(blob)
     # TODO: Use about a 50M file part here.
     np = 1 # TODO: ceil(filesize / 50e6)
@@ -261,6 +271,7 @@ function DFG.addBlob!(
     # custom header for pushing the file up
     headers = [
         "Content-Length" => filesize,
+        "Content-Type" => string(mimeType),
         "Accept" => "application/json, text/plain, */*",
         "Accept-Encoding" => "gzip, deflate, br",
         "Sec-Fetch-Dest" => "empty",