Source code for bosdyn.bddf.protobuf_channel_reader

# Copyright (c) 2021 Boston Dynamics, Inc.  All rights reserved.
# Downloading, reproducing, distributing or otherwise using the SDK Software
# is subject to the terms and conditions of the Boston Dynamics Software
# Development Kit License (20191101-BDSDK-SL).

"""A class for reading a single channel of Protobuf data from a DataFile."""

[docs]class ProtobufChannelReader: """A class for reading a single channel of Protobuf data from a DataFile.""" def __init__(self, protobuf_reader, protobuf_type, channel_name=None): self._protobuf_reader = protobuf_reader self._protobuf_type = protobuf_type self._channel_name = channel_name or protobuf_type.DESCRIPTOR.full_name self._series_index = self._protobuf_reader.series_index( self._channel_name, message_type=protobuf_type.DESCRIPTOR.full_name) self._descriptor = None self._num_messages = None @property def series_descriptor(self): """SeriesDescriptor for this series""" if self._descriptor is None: self._descriptor = self._protobuf_reader.series_index_to_descriptor(self._series_index) return self._descriptor @property def num_messages(self): """Number of messages in this series.""" if self._num_messages is None: self._num_messages = self._protobuf_reader.data_reader.num_data_blocks( self._series_index) return self._num_messages
[docs] def get_message(self, index_in_series): """Get the specified message in the series, as a deserialized protobuf. Args: index_in_series: the index of the message within the series Returns: timestamp_nsec (int), deserialized protobuf object """ _desc, timestamp, msg = self._protobuf_reader.get_message(self._series_index, self._protobuf_type, index_in_series) return timestamp, msg
def __iter__(self): return ProtobufChannelReader.Iterator(self)
[docs] class Iterator: # pylint: disable=too-few-public-methods """Iterator over messages from a ProtobufChannelReader""" def __init__(self, channel_reader): self._channel_reader = channel_reader self._index = 0 def __next__(self): """Returns the next vlue.""" if self._index >= self._channel_reader.num_messages: raise StopIteration msg = self._channel_reader.get_message(self._index) self._index += 1 return msg