Architecture Monitoring/Wiring back into typeDB

[EGAlberts]

With the architectural model of ROS2 now in typeDB, we should keep it up to data as a runtime model.

We discussed something like this attached picture.

[EGAlberts]

@Rezenders can you just provide an example of what I put as 'singular query' in the picture?

[Rezenders]

'singular query' example: https://github.com/kas-lab/typedb_tactics/blob/297a35e3a38a12adf58e502e58e22e5c2c1b086a/typedb/update_has_parameter_value.tql

match

$velocity_smoother_node isa LifeCycleNode, 
	has package "nav2_velocity_smoother", 
	has executable "velocity_smoother";
$max_velocity_param isa ParameterDoubleArray,
	has parameter_name "max_velocity";
$max_velocity_has_param_value (node: $velocity_smoother, parameter: $max_velocity_param) 
	isa has_parameter_value;

delete $max_velocity_has_param_value isa has_parameter_value;

insert 

# define default parameters max_velocity
$medium_max_velocity_x isa ParameterValueDouble, has double_value 0.18;
$medium_max_velocity_y isa ParameterValueDouble, has double_value 0.0;
$medium_max_velocity_z isa ParameterValueDouble, has double_value 1.0;

$medium_max_velocity_param_value isa ParameterValueArray;
$medium_max_velocity_array_x (parameter_array: $medium_max_velocity_param_value, parameter_value: $medium_max_velocity_x) 
	isa at_index, has parameter_value_index 0;
$medium_max_velocity_array_y (parameter_array: $medium_max_velocity_param_value, parameter_value: $medium_max_velocity_y) 
	isa at_index, has parameter_value_index 1;
$medium_max_velocity_array_z (parameter_array: $medium_max_velocity_param_value, parameter_value: $medium_max_velocity_z) 
	isa at_index, has parameter_value_index 2;

(node: $velocity_smoother, parameter: $max_velocity_param, parameter_value: $medium_max_velocity_param_value) 
	isa has_parameter_value;

Fetch query example (to test if it worked): https://github.com/kas-lab/typedb_tactics/blob/297a35e3a38a12adf58e502e58e22e5c2c1b086a/typedb/fetch_has_param_value.tql

match

$velocity_smoother_node isa LifeCycleNode, 
    has package "nav2_velocity_smoother", 
    has executable "velocity_smoother";
$max_velocity_param isa ParameterDoubleArray,
    has parameter_name "max_velocity";
$max_velocity_has_param_value (node: $velocity_smoother, parameter: $max_velocity_param, parameter_value: $param_value_array) 
    isa has_parameter_value;
(parameter_array: $param_value_array, parameter_value: $param_value) 
    isa at_index;
$param_value isa ParameterValueDouble;

fetch
    $param_value: attribute;