Util¶
Common utilities for API Python code.
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bosdyn.util.duration_str(duration)[source]¶ Return a formatted string for a duration proto.
- Parameters
duration (google.protobuf.Duration) – input duration
- Returns
format ‘{seconds}.{nanoseconds}’.
- Return type
string
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bosdyn.util.duration_to_seconds(duration)[source]¶ Return a number of seconds, as a float, based on Duration protobuf fields.
If you want a precise duration, use the Duration class’s ToTimedelta function.
- Parameters
duration (google.protobuf.Duration) – input duration
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bosdyn.util.seconds_to_duration(seconds)[source]¶ Return a protobuf Duration from number of seconds, as a float.
- Parameters
seconds (float) – duration length
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bosdyn.util.seconds_to_timestamp(seconds)[source]¶ Return a protobuf Timestamps from number of seconds, as a float.
- Parameters
seconds (float) – seconds since epoch
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bosdyn.util.timestamp_str(timestamp)[source]¶ Return a formatted string for a timestamp or a duration proto.
- Parameters
timestamp (google.protobuf.Timestamp or google.protobuf.Duration) – input duration
- Returns
A string with format ‘{seconds}.{nanoseconds}’.
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bosdyn.util.sec_to_nsec(secs)[source]¶ Convert time in seconds as from time.time() to a timestamp in nanoseconds.
- Parameters
secs – Time in seconds
- Returns
The time in nanoseconds, as an integer.
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bosdyn.util.now_nsec()[source]¶ Returns nanoseconds from dawn of unix epoch until when this is called.
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bosdyn.util.set_timestamp_from_now(timestamp_proto)[source]¶ Sets google.protobuf.Timestamp to point to the current time on the system clock.
- Parameters
timestamp_proto[out] (google.protobuf.Timestamp) – The proto into which the time will be written
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bosdyn.util.now_timestamp()[source]¶ Returns a google.protobuf.Timestamp set to the current time on the system clock.
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bosdyn.util.set_timestamp_from_nsec(timestamp_proto, time_nsec)[source]¶ Writes a timestamp as an integer of nanoseconds from the unix epoch into a Timestamp proto
- Parameters
timestamp_proto[out] (google.protobuf.Timestamp) – timestamp into which the time will be written
time_nsec[in] – the time, as an integer of nanoseconds from the unix epoch
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bosdyn.util.nsec_to_timestamp(time_nsec)[source]¶ Returns a google.protobuf.Timestamp for a time from nanoseconds from the unix epoch.
- Parameters
time_nsec (int) – the time, as an integer of nanoseconds from the unix epoch
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bosdyn.util.timestamp_to_sec(timestamp_proto)[source]¶ Returns floating point of seconds from the unix epoch from a Timestamp proto.
- Parameters
timestamp_proto (google.protobuf.Timestamp) – input time
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bosdyn.util.timestamp_to_nsec(timestamp_proto)[source]¶ Returns integer of nanoseconds from the unix epoch from a Timestamp proto.
- Parameters
timestamp_proto (google.protobuf.Timestamp) – input time
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bosdyn.util.timestamp_to_datetime(timestamp_proto, use_nanos=True)[source]¶ Convert a google.protobuf.Timestamp to a Python datetime.datetime object.
- Parameters
timestamp_proto (google.protobuf.Timestamp) – input time
use_nanos (bool) – use fractional seconds in proto (default=True)
- Returns
a datetime.datetime proto
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bosdyn.util.secs_to_hms(seconds)[source]¶ Format a time in seconds as ‘H:MM:SS’
- Parameters
seconds – number of seconds (will be truncted to integer value)
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bosdyn.util.distance_str(meters)[source]¶ Convert a distance in meters to a either xxx.xx m or xxx.xx km
- Parameters
meters (float/int) – distance in meters
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bosdyn.util.format_metric(metric)[source]¶ Returns a string representing a metric.
- Parameters
metric (bosdyn.api.Parameter) – metric description
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class
bosdyn.util.RobotTimeConverter(robot_clock_skew_nsec)[source]¶ Bases:
objectConverts times in the local system clock to times in the robot clock.
Conversions are made given an estimate of clock skew from the local clock to the robot clock.
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robot_timestamp_from_local_nsecs(local_time_nsecs)[source]¶ Returns a robot-clock Timestamp proto for a local time in nanoseconds.
- Parameters
local_time_nsecs – Local system time time, in integer of nanoseconds from the unix epoch.
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