20868268100

Committed 09 Jan 2026 11:10PM UTC coverage: 70.585% (-4.1%) from 74.672%

Build # 20868268100

Build Type

Pull #10

github

Committed by

DanielChaseButterfield

Commit Message

Remove tutrle import

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

Run Details

508 of 747 new or added lines in 12 files covered. (68.01%)

3 existing lines in 2 files now uncovered.

1411 of 1999 relevant lines covered (70.59%)

1.41 hits per line

Source File
Press 'n' to go to next uncovered line, 'b' for previous

91.43

/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
from typing import Any

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) -> Any:
        """ 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	from typing import Any	2✔
9
10	class CoordinateFrame(Enum):	2✔
11	"""
12	Enum for different coordinate frames used in robotics.
13
14	Attributes:
15	FLU: X forward, Y left, Z up := RHS
16	NED: X forward (north), Y right (east), Z down := RHS
17	ENU: X right (east), Y forward (north), Z up := RHS
18	NONE: No defined coordinate frame.
19	"""
20
21	FLU = 0	2✔
22	NED = 1	2✔
23	ENU = 2	2✔
24	NONE = 3	2✔
25
26	class ROSMsgLibType(Enum):	2✔
27	"""
28	Enum for different ROS message library types.
29
30	Attributes:
31	ROSBAGS: Use ROS messages from the rosbags library (Pure Python library).
32	RCLPY: Use ROS messages from the rclpy library (ROS2 Python client library).
33	ROSPY: Use ROS messages from the rospy library (ROS1 Python client library).
34	"""
35
36	ROSBAGS = 0	2✔
37	RCLPY = 1	2✔
38	ROSPY = 2	2✔
39
40	class Data:	2✔
41	"""
42	Generic Data class that provides example methods that should be overwritten by children,
43	and can run operations between different data types.
44	"""
45
46	# Define data attributes for all Data classes
47	frame_id: str	2✔
48	timestamps: np.ndarray[Decimal]	2✔
49
50	@typechecked	2✔
51	def __init__(self, frame_id: str, timestamps: np.ndarray \| list):	2✔
52
53	# Copy initial values into attributes
54	self.frame_id = frame_id	2✔
55	self.timestamps = col_to_dec_arr(timestamps)	2✔
56
57	# Check to ensure that all timestamps are sequential
58	for i in range(len(self.timestamps) - 1):	2✔
59	if self.timestamps[i] >= self.timestamps[i+1]:	2✔
60	raise ValueError(f"Timestamps {self.timestamps[i]} and {self.timestamps[i+1]} do not come in sequential order!")	2✔
61
62	def len(self):	2✔
63	""" Returns the number of items in this data class """
64	return len(self.timestamps)	2✔
65
66	@staticmethod	2✔
67	def get_ros_msg_type(self, libtype: ROSMsgLibType) -> Any:	2✔
68	""" Will return the msgtype for the ROS message for this Data object. """
UNCOV 69	raise NotImplementedError("This method needs to be overwritten by the child Data class!")	×
70
71	def get_ros_msg(self, libtype: ROSMsgLibType, i: int):	2✔
72	""" Will create and return a ROS message object. """
UNCOV 73	raise NotImplementedError("This method needs to be overwritten by the child Data class!")	×
74
75	def crop_data(self, start: Decimal, end: Decimal):	2✔
76	""" Will crop the data so only values within [start, end] inclusive are kept. """
77	raise NotImplementedError("This method needs to be overwritten by the child Data class!")	×
78

lunarlab-gatech / robotdataprocess / 20868268100

Source File Press 'n' to go to next uncovered line, 'b' for previous

Source File
Press 'n' to go to next uncovered line, 'b' for previous