From a5f12fcb32d356b163940328742e78427e9086b0 Mon Sep 17 00:00:00 2001
From: sky leilani <45158875+skyleilani@users.noreply.github.com>
Date: Wed, 17 Jan 2024 12:32:16 -0500
Subject: [PATCH] Document SLAM and Nav methods

---
 docs/mobility/navigation/_index.md         | 49 ++++++++++++++++++++++
 docs/mobility/slam/_index.md               | 49 ++++++++++++++++++++++
 static/include/services/apis/navigation.md |  1 +
 static/include/services/apis/slam.md       |  1 +
 4 files changed, 100 insertions(+)

diff --git a/docs/mobility/navigation/_index.md b/docs/mobility/navigation/_index.md
index a8acd01d3d..038b0c7b18 100644
--- a/docs/mobility/navigation/_index.md
+++ b/docs/mobility/navigation/_index.md
@@ -434,6 +434,55 @@ waypoints, err := myNav.Waypoints(context.Background(), nil)
 {{% /tab %}}
 {{< /tabs >}}
 
+### GetProperties
+
+Get information regarding the current navigation service.
+
+{{< tabs >}}
+{{% tab name="Python" %}}
+
+**Parameters:**
+
+- `timeout` [(Optional\[float\])](https://docs.python.org/library/typing.html#typing.Optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
+
+**Returns:**
+
+- [`MapType.ValueType`](https://python.viam.dev/autoapi/viam/proto/service/navigation/index.html#viam.proto.service.navigation.GetPropertiesResponse): Property information for the named navigation service.
+
+```python {class="line-numbers linkable-line-numbers"}
+my_nav = NavigationClient.from_robot(robot=robot, name="my_nav_service")
+
+# Get the properties of the current navigation service.
+nav_properties = await my_nav.get_properties()
+```
+
+For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/client/index.html#viam.services.navigation.client.NavigationClient.get_properties).
+{{% /tab %}}
+{{% tab name="Go" %}}
+
+**Parameters:**
+
+- `ctx` [(Context)](https://pkg.go.dev/context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
+
+**Returns:**
+
+- [Properties](https://pkg.go.dev/go.viam.com/rdk@v0.18.0/services/navigation#Properties): Information regarding the current navigation service.
+  This includes the map type being ingested and used by the navigation service.
+- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.
+
+For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/services/navigation#Service).
+
+```go {class="line-numbers linkable-line-numbers"}
+ctx := context.Background()
+myNav, err := navigation.FromRobot(robot, "my_nav_service")
+
+// Get the properties of your current service
+navProperties, err := myNav.Properties(ctx)
+```
+
+{{% /tab %}}
+{{< /tabs >}}
+
 ### AddWaypoint
 
 Add a waypoint to the service's data storage.
diff --git a/docs/mobility/slam/_index.md b/docs/mobility/slam/_index.md
index 61132a9fb9..48072242d9 100644
--- a/docs/mobility/slam/_index.md
+++ b/docs/mobility/slam/_index.md
@@ -160,6 +160,55 @@ pcd_map, err := slam_svc.GetPointCloudMap(context.Background())
 {{% /tab %}}
 {{< /tabs >}}
 
+### GetProperties
+
+Get information regarding the current SLAM session.
+
+{{< tabs >}}
+{{% tab name="Python" %}}
+
+**Parameters:**
+
+- `timeout` [(Optional\[float\])](https://docs.python.org/library/typing.html#typing.Optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
+
+**Returns:**
+
+- Tuple[[bool](https://docs.python.org/3/library/functions.html#bool), [MappingMode.ValueType](https://python.viam.dev/autoapi/viam/proto/service/slam/index.html#viam.proto.service.slam.MappingMode)]: A tuple containing a boolean which indicates whether the session is being run in the cloud, as well as the current session's mode.
+
+For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/slam/client/index.html#viam.services.slam.client.SLAMClient.get_properties).
+
+```python {class="line-numbers linkable-line-numbers"}
+slam_svc = SLAMClient.from_robot(robot=robot, name="my_slam_service")
+
+# Get the properties of your current SLAM session.
+slam_properties = await slam_svc.get_properties()
+```
+
+{{% /tab %}}
+{{% tab name="Go" %}}
+
+**Parameters:**
+
+- `ctx` [(Context)](https://pkg.go.dev/context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
+
+**Returns:**
+
+- [Properties](https://pkg.go.dev/go.viam.com/services/slam#Properties): Information regarding the current SLAM session.
+  This includes whether the SLAM process is running in the cloud, as well as its mapping mode.
+- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.
+
+For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/services/slam#Properties).
+
+```go {class="line-numbers linkable-line-numbers"}
+slam_svc, err := slam.FromRobot(robot, "my_slam_service")
+
+// Get the properties of your current SLAM session
+properties, err := slam_svc.Properties(context.Background())
+```
+
+{{% /tab %}}
+{{< /tabs >}}
+
 ### GetInternalState
 
 Get the internal state of the SLAM algorithm required to continue mapping/localization.
diff --git a/static/include/services/apis/navigation.md b/static/include/services/apis/navigation.md
index e854d91d09..21e77d23ee 100644
--- a/static/include/services/apis/navigation.md
+++ b/static/include/services/apis/navigation.md
@@ -5,6 +5,7 @@ Method Name | Description
 [`SetMode`](/mobility/navigation/#setmode) | Set the mode the service is operating in.
 [`Location`](/mobility/navigation/#location) | Get the current location of the robot.
 [`Waypoints`](/mobility/navigation/#waypoints) | Get the waypoints currently in the service's data storage.
+[`GetProperties`](/mobility/navigation/#getproperties) | Get information regarding the current service.
 [`AddWaypoint`](/mobility/navigation/#addwaypoint) | Add a waypoint to the service's data storage.
 [`RemoveWaypoint`](/mobility/navigation/#removewaypoint) | Remove a waypoint from the service's data storage.
 [`Paths`](/mobility/navigation/#paths) | Get each path, the series of geo points the robot plans to travel through to get to a destination waypoint, in the robot's motion planning.
diff --git a/static/include/services/apis/slam.md b/static/include/services/apis/slam.md
index 1ed02b0831..28894381e4 100644
--- a/static/include/services/apis/slam.md
+++ b/static/include/services/apis/slam.md
@@ -3,6 +3,7 @@
 | ------------| ----------- |
 | [`GetPosition`](/mobility/slam/#getposition) | Get the current position of the specified source component in the point cloud SLAM map. |
 | [`GetPointCloudMap`](/mobility/slam/#getpointcloudmap) | Get the point cloud SLAM map. |
+| [`GetProperties`](/mobility/slam/#getproperties) | Get information regarding the current SLAM session. |
 | [`GetInternalState`](/mobility/slam/#getinternalstate) | Get the internal state of the SLAM algorithm required to continue mapping/localization. |
 | [`GetLatestMapInfo`](/mobility/slam/#getlatestmapinfo) | Get the timestamp of the last update to the point cloud SLAM map. |
 | [`DoCommand`](/mobility/slam/#docommand) | Send arbitrary commands to the resource. |