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GearsADGearsAD
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Start of the full sentinel structure
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6 files changed

+176
-28
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‎src/CloudGraphsDFG/CloudGraphsDFG.jl

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@@ -2,6 +2,7 @@ using Neo4j
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# Entities
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include("entities/CloudGraphsDFG.jl")
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include("entities/CGStructure.jl")
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# Services
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include("services/CommonFunctions.jl")

‎src/CloudGraphsDFG/entities/CGStructure.jl

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# Very simple initial sentinel structure for Graff elements in DFG.
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# TODO: Need to flesh out further in next release.
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export User, Robot, Session
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abstract type AbstractCGNode
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end
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mutable struct User <: AbstractCGNode
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id::Symbol
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name::String
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description::String
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# labels::Vector{Symbol}
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data::Dict{Symbol, String}
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end
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mutable struct Robot <: AbstractCGNode
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id::Symbol
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userId::Symbol
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name::String
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description::String
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# labels::Vector{Symbol}
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data::Dict{Symbol, String}
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end
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mutable struct Session <: AbstractCGNode
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id::Symbol
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robotId::Symbol
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userId::Symbol
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name::String
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description::String
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# labels::Vector{Symbol}
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data::Dict{Symbol, String}
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end

‎src/CloudGraphsDFG/services/CGStructure.jl

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@@ -3,7 +3,91 @@ export copySession!
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# Please be careful with these
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# With great power comes great "Oh crap, I deleted everything..."
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export clearSession!!, clearRobot!!, clearUser!!
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export createSession, createRobot, createUser
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export existsSession, existsRobot, existsUser
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export getSession, getRobot, getUser
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export updateSession, updateRobot, updateUser
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export listSessions, listRobots, listUsers
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function _isValid(abstractNode::N)::Bool where N <: AbstractCGNode
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invalidIds = ["USER", "ROBOT", "SESSION", "VARIABLE", "FACTOR", "ENVIRONMENT"]
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return all(t -> t != uppercase(String(abstractNode.id)), invalidIds)
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end
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# Fastest way I can think to convert the data into a dict
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#TODO: Probably should be made more efficient...definitely should be made more efficient
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function _convertNodeToDict(abstractNode::N)::Dict{String, Any} where N <: AbstractCGNode
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cp = deepcopy(abstractNode)
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data = length(cp.data) != 0 ? JSON2.write(cp.data) : "{}"
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ser = JSON2.read(JSON2.write(abstractNode), Dict{String, Any})
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ser["data"] = data
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return ser
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end
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#TODO: Refactor, #HACK :D (but it works!)
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function _convertDictToSession(dict::Dict{String, Any})::Session
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sessionData = JSON2.read(dict["data"], Dict{Symbol, String})
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session = Session(
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Symbol(dict["id"]),
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Symbol(dict["robotId"]),
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Symbol(dict["userId"]),
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dict["name"],
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dict["description"],
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sessionData)
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return session
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end
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function createUser(dfg::CloudGraphsDFG, user::User)::User
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Symbol(dfg.userId) != user.id && error("DFG user ID must match user's ID")
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!_isValid(user) && error("Node cannot have an ID '$(user.id)'.")
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props = _convertNodeToDict(user)
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retNode = _createNode(dfg.neo4jInstance, ["USER", String(user.id)], props, nothing)
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return user
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end
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function createRobot(dfg::CloudGraphsDFG, robot::Robot)::Robot
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Symbol(dfg.robotId) != robot.id && error("DFG robot ID must match robot's ID")
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Symbol(dfg.userId) != robot.userId && error("DFG user ID must match robot's user ID")
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!_isValid(robot) && error("Node cannot have an ID '$(robot.id)'.")
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# Find the parent
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parents = _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:USER:$(dfg.userId))")
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length(parents) == 0 && error("Cannot find user '$(dfg.userId)'")
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length(parents) > 1 && error("Found multiple users '$(dfg.userId)'")
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# Already exists?
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length(_getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:ROBOT:$(dfg.userId):$(robot.id))")) != 0 &&
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error("Robot '$(robot.id)' already exists for user '$(robot.userId)'")
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props = _convertNodeToDict(robot)
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retNode = _createNode(dfg.neo4jInstance, ["ROBOT", String(robot.userId), String(robot.id)], props, parents[1], :ROBOT)
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return robot
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end
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function createSession(dfg::CloudGraphsDFG, session::Session)::Session
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Symbol(dfg.robotId) != session.robotId && error("DFG robot ID must match session's robot ID")
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Symbol(dfg.userId) != session.userId && error("DFG user ID must match session's->robot's->user ID")
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!_isValid(session) && error("Node cannot have an ID '$(session.id)'.")
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# Find the parent
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parents = _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:ROBOT:$(dfg.robotId):$(dfg.userId))")
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length(parents) == 0 && error("Cannot find robot '$(dfg.robotId)' for user '$(dfg.userId)'")
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length(parents) > 1 && error("Found multiple robots '$(dfg.robotId)' for user '$(dfg.userId)'")
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# Already exists?
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length(_getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:SESSION:$(session.userId):$(session.robotId):$(session.id))")) != 0 &&
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error("Session '$(session.id)' already exists for robot '$(session.robotId)' and user '$(session.userId)'")
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props = _convertNodeToDict(session)
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retNode = _createNode(dfg.neo4jInstance, ["SESSION", String(session.userId), String(session.robotId), String(session.id)], props, parents[1], :SESSION)
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return session
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end
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function listSessions(dfg::CloudGraphsDFG)::Vector{Session}
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sessionNodes = _getNeoNodesFromCyphonQuery(dfg.neo4jInstance, "(node:SESSION:$(dfg.robotId):$(dfg.userId))")
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return map(s -> _convertDictToSession(Neo4j.getnodeproperties(s)), sessionNodes)
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end
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"""
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$(SIGNATURES)

‎src/CloudGraphsDFG/services/CloudGraphsDFG.jl

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -106,7 +106,11 @@ function addVariable!(dfg::CloudGraphsDFG, variable::DFGVariable)::Bool
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variable._internalId = neo4jNode.id
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Neo4j.updatenodelabels(neo4jNode, union([string(variable.label), "VARIABLE", dfg.userId, dfg.robotId, dfg.sessionId], variable.tags))
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109-
# Graphs.add_vertex!(dfg.g, v)
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# Make sure that if there exists a SESSION sentinel that it is attached.
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# TODO: Optimize this.
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_bindSessionNodeToInitialVariable(dfg.neo4jInstance, dfg.userId, dfg.robotId, dfg.sessionId, string(variable.label))
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# Update our internal dictionaries.
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push!(dfg.labelDict, variable.label=>variable._internalId)
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push!(dfg.variableCache, variable.label=>variable)
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# Track insertion

‎src/CloudGraphsDFG/services/CommonFunctions.jl

Lines changed: 17 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -16,6 +16,20 @@ function _queryNeo4j(neo4jInstance::Neo4jInstance, query::String)
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return result
1717
end
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"""
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$(SIGNATURES)
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Create a node and optionally specify a parent.
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Note: Using symbols so that the labels obey Neo4j requirements
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"""
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function _createNode(neo4jInstance::Neo4jInstance, labels::Vector{String}, properties::Dict{String, Any}, parentNode::Union{Nothing, Neo4j.Node}, relationshipLabel::Symbol=:NOTHING)::Neo4j.Node
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createdNode = Neo4j.createnode(neo4jInstance.graph, properties)
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addnodelabels(createdNode, labels)
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parentNode == nothing && return createdNode
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# Otherwise create the relationship
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createrel(parentNode, createdNode, String(relationshipLabel))
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return createdNode
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end
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"""
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$(SIGNATURES)
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Returns the list of CloudGraph nodes that matches the Cyphon query.
@@ -61,6 +75,7 @@ function _getNodeCount(neo4jInstance::Neo4jInstance, nodeLabels::Vector{String})
6175
length(result.results[1]["data"]) != 1 && return 0
6276
return parse(Int, result.results[1]["data"][1]["row"][1])
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end
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"""
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$(SIGNATURES)
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Returns the list of CloudGraph nodes that matches the Cyphon query.
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126141
"""
127142
$(SIGNATURES)
128143
Bind the SESSION node to the inital variable.
129-
Doesn't check existence so please don't call twice.
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Checks for existence.
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"""
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function _bindSessionNodeToInitialVariable(neo4jInstance::Neo4jInstance, userId::String, robotId::String, sessionId::String, initialVariableLabel::String)::Nothing
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# 2. Perform the transaction
@@ -135,6 +150,7 @@ function _bindSessionNodeToInitialVariable(neo4jInstance::Neo4jInstance, userId:
135150
match (session:SESSION:$userId:$robotId:$sessionId),
136151
(var:VARIABLE:$userId:$robotId:$sessionId
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{label: '$initialVariableLabel'})
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WHERE NOT (session)-[:VARIABLE]->()
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CREATE (session)-[:VARIABLE]->(var) return id(var)
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""";
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loadtx(query; submit=true)
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return rets
394410
end
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396-
function _isCallIsFromApiGateway(params::Dict{Symbol, Any})::Bool
397-
# Simple security for making sure only API gateway is used because it populates this header.
398-
testEndpoint = true
399-
if haskey(ENV, "securityDisabled")
400-
if ENV["securityDisabled"] == "true"
401-
testEndpoint = false
402-
end
403-
end
404-
if testEndpoint == true
405-
requestKey = :REQUEST
406-
if !haskey(params, requestKey)
407-
return false
408-
end
409-
request = params[requestKey]
410-
request.headers
411-
if !haskey(request.headers, "secapi")
412-
return false #Response(401)
413-
end
414-
if request.headers["secapi"] != "001ac"
415-
return false
416-
end
417-
end
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# Otherwise ok.
419-
return true
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end
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422412
function readAndReturnFile(filename::String, mimeType::String="application/octet-stream")::HTTP.Response
423413
if !isfile(filename)
424414
error("The file to be returned does not exist - $filename")

‎test/CGStructureTests.jl

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using DistributedFactorGraphs
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using IncrementalInference
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using Test
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blank() = return nothing
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dfg = CloudGraphsDFG{NoSolverParams}("localhost", 7474, "neo4j", "test",
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"Bob", "testRobot", "testSession",
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nothing,
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nothing,
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blank,
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blank,
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solverParams=NoSolverParams())
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# Nuke the user
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clearUser!!(dfg)
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16+
# User, robot, and session
17+
user = User(:Bob, "Bob Zack", "Description", Dict{String, String}())
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robot = Robot(:testRobot, user.id, "Test robot", "Description", Dict{String, String}())
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session = Session(:testSession, robot.id, user.id, "Test Session", "Description", Dict{String, String}())
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21+
# Test of the 'serializer' and 'deserializer'
22+
dictUser = DistributedFactorGraphs._convertNodeToDict(user)
23+
24+
createUser(dfg, user)
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createRobot(dfg, robot)
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createSession(dfg, session)
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28+
# Add some nodes.
29+
v1 = addVariable!(dfg, :a, ContinuousScalar, labels = [:POSE])
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v2 = addVariable!(dfg, :b, ContinuousScalar, labels = [:POSE])
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v3 = addVariable!(dfg, :c, ContinuousScalar, labels = [:LANDMARK])
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f1 = addFactor!(dfg, [:a; :b], LinearConditional(Normal(50.0,2.0)) )
33+
f1 = addFactor!(dfg, [:a; :b; :c], LinearConditional(Normal(50.0,2.0)) )
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listSessions(dfg)

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