deploy: 3574b49

Author: EGAlberts

.buildinfo

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+# Sphinx build info version 1
+# This file records the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: ec85d9fc5aea960c7ce9192c77dd4eae
+tags: 645f666f9bcd5a90fca523b33c5a78b7

.doctrees/api.doctree

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+API
+=====
+
+
+.. autosummary::
+   :toctree: _autosummary
+   :recursive:
+
+   ros_typedb.typedb_interface
+   ros_typedb.ros_typedb_interface

.doctrees/design.doctree

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+Design
+======
+
+
+The integration between ROS and TypeDB is implemented with 2 classes,
+`TypeDBInterface <TypeDBInterfaceLink>`_ and
+`ROSTypeDBInterface <ROSTypeDBInterfaceLink>`_.
+
+The `TypeDBInterface <TypeDBInterfaceLink>`_ class interacts with the typeDB
+database using the `typedb python api <PythonAPILink>`_, and it contains basic
+functionalities that are common for all applications,
+such as `insert_database <InsertDatabaseLink>`_ and
+`match_database <MatchDatabaseLink>`_.
+
+The `ROSTypeDBInterface <ROSTypeDBInterfaceLink>`_ class is a ROS 2
+`LifeCycle <LifeCycleLink>`_ Node, and it implements 2 ROS interfaces.
+A ROS service server :code:`ros_typedb_interface/query` that is used to query
+the database, which uses the `Query.srv <QuerySrvLink>`_ service type. And the
+ROS topic :code:`ros_typedb_interface/events`, where it publishes insert and
+delete events when data is inserted or deleted from the database with the query
+service.
+
+Class diagram:
+
+.. raw:: html
+
+  <embed>
+    <p align="center">
+      <img src="https://github.com/Rezenders/ros_typedb/assets/20564040/4cf4f799-3dab-40c4-a323-8d1e8e376e62" width="500">
+    </p>
+  </embed>
+
+Overview:
+
+.. raw:: html
+
+  <embed>
+    <p align="center">
+      <img src="https://github.com/Rezenders/ros_typedb/assets/20564040/53793f23-0cb2-42c8-8c3b-fbfa5764ab5b" width="500">
+    </p>
+  </embed>
+
+.. TypeDBInterfaceLink: https://github.com/Rezenders/ros_typedb/blob/main/ros_typedb/ros_typedb/typedb_interface.py
+.. ROSTypeDBInterfaceLink: https://github.com/Rezenders/ros_typedb/blob/main/ros_typedb/ros_typedb/ros_typedb_interface.py
+.. PythonAPILink: https://typedb.com/docs/clients/2.x/python/python-tutorial.html
+.. InsertDatabaseLink: https://github.com/Rezenders/ros_typedb/blob/c16e3f8f1958f4ac2333c7b7d0612c8c79d698a0/ros_typedb/ros_typedb/typedb_interface.py#L153
+.. MatchDatabaseLink: https://github.com/Rezenders/ros_typedb/blob/c16e3f8f1958f4ac2333c7b7d0612c8c79d698a0/ros_typedb/ros_typedb/typedb_interface.py#L175
+.. LifeCycleLink: https://design.ros2.org/articles/node_lifecycle.html
+.. QuerySrvLink: https://github.com/Rezenders/ros_typedb/blob/main/ros_typedb_msgs/srv/Query.srv