20820881882

Committed 08 Jan 2026 02:50PM UTC coverage: 62.482% (-12.2%) from 74.672%

Build # 20820881882

Build Type

Pull #10

github

Committed by

DanielChaseButterfield

Commit Message

Add publish script for OpenVINS

Pull Request Pull Request #10: (v0.2) Prototype code for ROS2 Publishing, and new ImageDataOnDisk class

Run Details

181 of 277 branches covered (65.34%)

Branch coverage included in aggregate %.

212 of 546 new or added lines in 11 files covered. (38.83%)

3 existing lines in 2 files now uncovered.

1118 of 1802 relevant lines covered (62.04%)

1.24 hits per line

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88.89

/src/robotdataprocess/data_types/Data.py

from __future__ import annotations

from ..conversion_utils import col_to_dec_arr
from decimal import Decimal
from enum import Enum
import numpy as np
from typeguard import typechecked

class CoordinateFrame(Enum):
    """ 
    Enum for different coordinate frames used in robotics. 
    
    Attributes:
        FLU: X forward, Y left, Z up := RHS
        NED: X forward (north), Y right (east), Z down := RHS
        ENU: X right (east), Y forward (north), Z up := RHS
        NONE: No defined coordinate frame.
    """

    FLU = 0
    NED = 1
    ENU = 2
    NONE = 3

class ROSMsgLibType(Enum):
    """ 
    Enum for different ROS message library types.
     
    Attributes:
        ROSBAGS: Use ROS messages from the rosbags library (Pure Python library).
        RCLPY: Use ROS messages from the rclpy library (ROS2 Python client library).
        ROSPY: Use ROS messages from the rospy library (ROS1 Python client library).
    """

    ROSBAGS = 0
    RCLPY = 1
    ROSPY = 2

class Data:
    """
    Generic Data class that provides example methods that should be overwritten by children,
    and can run operations between different data types.
    """

    # Define data attributes for all Data classes
    frame_id: str
    timestamps: np.ndarray[Decimal]

    @typechecked
    def __init__(self, frame_id: str, timestamps: np.ndarray | list):
        
        # Copy initial values into attributes
        self.frame_id = frame_id
        self.timestamps = col_to_dec_arr(timestamps)

        # Check to ensure that all timestamps are sequential
        for i in range(len(self.timestamps) - 1):
            if self.timestamps[i] >= self.timestamps[i+1]:
                raise ValueError(f"Timestamps {self.timestamps[i]} and {self.timestamps[i+1]} do not come in sequential order!")
            
    def len(self):
        """ Returns the number of items in this data class """
        return len(self.timestamps)
    
    @staticmethod
    def get_ros_msg_type(self, libtype: ROSMsgLibType):
        """ Will return the msgtype for the ROS message for this Data object. """
        raise NotImplementedError("This method needs to be overwritten by the child Data class!")
    
    def get_ros_msg(self, libtype: ROSMsgLibType, i: int):
        """ Will create and return a ROS message object. """
        raise NotImplementedError("This method needs to be overwritten by the child Data class!")
    
    def crop_data(self, start: Decimal, end: Decimal):
        """ Will crop the data so only values within [start, end] inclusive are kept. """
        raise NotImplementedError("This method needs to be overwritten by the child Data class!")


1	from __future__ import annotations	2✔
2
3	from ..conversion_utils import col_to_dec_arr	2✔
4	from decimal import Decimal	2✔
5	from enum import Enum	2✔
6	import numpy as np	2✔
7	from typeguard import typechecked	2✔
8
9	class CoordinateFrame(Enum):	2✔
10	"""
11	Enum for different coordinate frames used in robotics.
12
13	Attributes:
14	FLU: X forward, Y left, Z up := RHS
15	NED: X forward (north), Y right (east), Z down := RHS
16	ENU: X right (east), Y forward (north), Z up := RHS
17	NONE: No defined coordinate frame.
18	"""
19
20	FLU = 0	2✔
21	NED = 1	2✔
22	ENU = 2	2✔
23	NONE = 3	2✔
24
25	class ROSMsgLibType(Enum):	2✔
26	"""
27	Enum for different ROS message library types.
28
29	Attributes:
30	ROSBAGS: Use ROS messages from the rosbags library (Pure Python library).
31	RCLPY: Use ROS messages from the rclpy library (ROS2 Python client library).
32	ROSPY: Use ROS messages from the rospy library (ROS1 Python client library).
33	"""
34
35	ROSBAGS = 0	2✔
36	RCLPY = 1	2✔
37	ROSPY = 2	2✔
38
39	class Data:	2✔
40	"""
41	Generic Data class that provides example methods that should be overwritten by children,
42	and can run operations between different data types.
43	"""
44
45	# Define data attributes for all Data classes
46	frame_id: str	2✔
47	timestamps: np.ndarray[Decimal]	2✔
48
49	@typechecked	2✔
50	def __init__(self, frame_id: str, timestamps: np.ndarray \| list):	2✔
51
52	# Copy initial values into attributes
53	self.frame_id = frame_id	2✔
54	self.timestamps = col_to_dec_arr(timestamps)	2✔
55
56	# Check to ensure that all timestamps are sequential
57	for i in range(len(self.timestamps) - 1):	2✔
58	if self.timestamps[i] >= self.timestamps[i+1]:	2✔
59	raise ValueError(f"Timestamps {self.timestamps[i]} and {self.timestamps[i+1]} do not come in sequential order!")	×
60
61	def len(self):	2✔
62	""" Returns the number of items in this data class """
63	return len(self.timestamps)	2✔
64
65	@staticmethod	2✔
66	def get_ros_msg_type(self, libtype: ROSMsgLibType):	2✔
67	""" Will return the msgtype for the ROS message for this Data object. """
UNCOV 68	raise NotImplementedError("This method needs to be overwritten by the child Data class!")	×
69
70	def get_ros_msg(self, libtype: ROSMsgLibType, i: int):	2✔
71	""" Will create and return a ROS message object. """
UNCOV 72	raise NotImplementedError("This method needs to be overwritten by the child Data class!")	×
73
74	def crop_data(self, start: Decimal, end: Decimal):	2✔
75	""" Will crop the data so only values within [start, end] inclusive are kept. """
76	raise NotImplementedError("This method needs to be overwritten by the child Data class!")	×
77

lunarlab-gatech / robotdataprocess / 20820881882

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