Variable level Abstraction in DFG Client

NavAbility · Jul 10, 2024 · 5ac20bc · 5ac20bc
1 parent df7c8d6
commit 5ac20bc
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Showing 3 changed files with 9 additions and 6 deletions.
diff --git a/src/NavAbilityClient.jl b/src/NavAbilityClient.jl
@@ -1,13 +1,16 @@
-struct DFGClient <: DFG.AbstractDFG{DFG.AbstractParams}
+struct DFGClient{VT<:AbstractDFGVariable, FT<:AbstractDFGFactor} <: AbstractDFG{AbstractParams}
     client::GQL.Client
     user::NamedTuple{(:id, :label), Tuple{UUID, String}}
     robot::NamedTuple{(:id, :label), Tuple{UUID, String}}
     session::NamedTuple{(:id, :label), Tuple{UUID, String}}
     blobStores::Dict{Symbol, DFG.AbstractBlobStore}
 end
 
+DFG.getTypeDFGVariables(::DFGClient{T, <:AbstractDFGFactor}) where {T} = T
+DFG.getTypeDFGFactors(::DFGClient{<:AbstractDFGVariable, T}) where {T} = T
+
 function DFGClient(client::GQL.Client, context::Context)
-    return DFGClient(
+    return DFGClient{DFG.Variable, DFG.PackedFactor}(
         client,
         (id = context.user.id, label = context.user.label),
         (id = context.robot.id, label = context.robot.label),
@@ -55,7 +58,7 @@ function DFGClient(
         addSessionIfNotExists,
     )
 
-    return DFGClient(
+    return DFGClient{DFG.Variable, DFG.PackedFactor}(
         client,
         (id = context.user.id, label = context.user.label),
         (id = context.robot.id, label = context.robot.label),

diff --git a/src/NavAbilitySDK.jl b/src/NavAbilitySDK.jl
@@ -20,7 +20,7 @@ import GraphQLClient as GQL
 import DistributedFactorGraphs as DFG
 using DistributedFactorGraphs:
     Variable, PackedVariableNodeData, MeanMaxPPE, BlobEntry, PackedFactor, hasBlob,
-    getBlobStore
+    getBlobStore, AbstractDFGVariable, AbstractDFGFactor, AbstractParams, AbstractDFG
 
 import DistributedFactorGraphs:
     getFactor,

diff --git a/src/services/Variable.jl b/src/services/Variable.jl
@@ -205,7 +205,7 @@ function listVariables(fgclient::DFGClient)
     )
 end
 
-function getVariable(fgclient::DFGClient, label::Symbol)
+function getVariable(fgclient::DFGClient{VT, <:AbstractDFGFactor}, label::Symbol) where VT
     variables = Dict(
         "userId" => fgclient.user.id,
         "robotId" => fgclient.robot.id,
@@ -226,7 +226,7 @@ function getVariable(fgclient::DFGClient, label::Symbol)
         variables,
         throw_on_execution_error = true,
     )
-    return response.data["users"][1]["robots"][1]["sessions"][1]["variables"][1]
+    return VT(response.data["users"][1]["robots"][1]["sessions"][1]["variables"][1])
 end
 
 function getVariableSummary(fgclient::DFGClient, label::Symbol)