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Common Module

measure

Measure

Class that represents a single measurement from the RPLidar.

Source code in devices\raspberry_pi_5\src\common\measure.py 
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class Measure:
    """
    Class that represents a single measurement from the RPLidar.
    """

    # Measure attributes separator
    ATTRIBUTES_SEPARATOR = ","

    # Measures separator
    MEASURES_SEPARATOR = ";"

    def __init__(self, angle: float, distance: float, quality: int):
        """
        Initialize the Measure instance.
        """
        self.angle = angle
        self.distance = distance
        self.quality = quality

    def __str__(self):
        """
        String representation of the Measure object.
        """
        # return self.ATTRIBUTES_SEPARATOR.join([str(self.angle), str(self.distance), str(self.quality)])
        return self.ATTRIBUTES_SEPARATOR.join(
            [str(self.angle), str(self.distance)]
        )

    def __repr__(self):
        """
        String representation of the Measure object for debugging.
        """
        return f"Measure(angle={self.angle}, distance={self.distance}, quality={self.quality})"

    @property
    def angle(self) -> float:
        """
        Get the angle of the measure.

        Returns:
            float: Angle of the measure.
        """
        return self.__angle

    @angle.setter
    def angle(self, value: float) -> None:
        """
        Set the angle of the measure.

        Args:
            value (float): Angle to set.
        """
        is_instance(value, float)

        if not (0 <= value):
            raise ValueError(
                f"Angle must be a non-negative float, received: {value}"
            )
        self.__angle = 0.0 if value >= 360.0 else value

    @property
    def distance(self) -> float:
        """
        Get the distance of the measure.

        Returns:
            float: Distance of the measure.
        """
        return self.__distance

    @distance.setter
    def distance(self, value: float) -> None:
        """
        Set the distance of the measure.

        Args:
            value (float): Distance to set.
        """
        is_instance(value, float)

        if value < 0:
            raise ValueError(
                "Distance must be a non-negative float, received: {}".format(
                    value
                )
            )

        self.__distance = value

    @property
    def quality(self) -> int:
        """
        Get the quality of the measure.

        Returns:
            int: Quality of the measure.
        """
        return self.__quality

    @quality.setter
    def quality(self, value: int) -> None:
        """
        Set the quality of the measure.

        Args:
            value (int): Quality to set.
        """
        is_instance(value, int)

        if value < 0:
            raise ValueError(
                f"Quality must be a non-negative integer, received: {value}"
            )
        self.__quality = value

    @classmethod
    def from_string(cls, measure_str: str) -> Optional['Measure']:
        """
        Create a Measure object from a string representation.

        Args:
            measure_str (str): String representation of the measure.

        Returns:
            Measure: Measure object created from the string.
        """
        try:
            # Check the type of measure_str
            is_instance(measure_str, str)

            # Split the string by the attributes separator
            parts = measure_str.split(cls.ATTRIBUTES_SEPARATOR)

            if len(parts) < 2:
                raise ValueError(f"Invalid measure string: {measure_str}")

            # Convert parts to appropriate types
            angle = float(parts[0])
            distance = float(parts[1])

            # Quality is optional, default to 0 if not provided
            quality = int(parts[2]) if len(parts) > 2 else 0

        except ValueError as e:
            return None

        return cls(angle, distance, quality)

    @classmethod
    def measures_to_string(cls, measures: List) -> str:
        """
        Convert a list of Measure objects to a string representation.

        Args:
            measures (List): List of Measure objects.

        Returns:
            str: String representation of the measures.
        """
        # Check the type of measures
        is_instance(measures, List)

        # Convert each measure to string and join them with spaces
        return cls.MEASURES_SEPARATOR.join(str(measure) for measure in measures)

    @classmethod
    def from_string_to_measures(cls, measures_str: str) -> List:
        """
        Convert a string representation of measures back to a list of Measure objects.

        Args:
            measures_str (str): String representation of measures.

        Returns:
            List: List of Measure objects.
        """
        # Check the type of measures_str
        is_instance(measures_str, str)

        # Split the string by the measures separator and convert each part to Measure
        return [cls.from_string(measure_str) for measure_str in
                measures_str.split(cls.MEASURES_SEPARATOR) if measure_str]

    @classmethod
    def get_properties_from_string(cls, measure_str: str) -> tuple:
        """
        Get the properties of a Measure object from its string representation.

        Args:
            measure_str (str): String representation of the measure.

        Returns:
            tuple: A tuple containing the angle, distance, and quality of the measure.
        """
        # Check the type of measure_str
        is_instance(measure_str, str)

        # Split the string by the attributes separator
        parts = measure_str.split(cls.ATTRIBUTES_SEPARATOR)

        if len(parts) < 2:
            raise ValueError("Invalid measure string: {}".format(measure_str))

        return (
            float(parts[0]),
            float(parts[1]),
            int(parts[2]) if len(parts) > 2 else 0
            # Quality, default to 0 if not provided
        )

angle property writable

Get the angle of the measure.

Returns:

Name Type Description
float float

Angle of the measure.

distance property writable

Get the distance of the measure.

Returns:

Name Type Description
float float

Distance of the measure.

quality property writable

Get the quality of the measure.

Returns:

Name Type Description
int int

Quality of the measure.

__init__(angle, distance, quality)

Initialize the Measure instance.

Source code in devices\raspberry_pi_5\src\common\measure.py 
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def __init__(self, angle: float, distance: float, quality: int):
    """
    Initialize the Measure instance.
    """
    self.angle = angle
    self.distance = distance
    self.quality = quality

__repr__()

String representation of the Measure object for debugging.

Source code in devices\raspberry_pi_5\src\common\measure.py 
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def __repr__(self):
    """
    String representation of the Measure object for debugging.
    """
    return f"Measure(angle={self.angle}, distance={self.distance}, quality={self.quality})"

__str__()

String representation of the Measure object.

Source code in devices\raspberry_pi_5\src\common\measure.py 
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def __str__(self):
    """
    String representation of the Measure object.
    """
    # return self.ATTRIBUTES_SEPARATOR.join([str(self.angle), str(self.distance), str(self.quality)])
    return self.ATTRIBUTES_SEPARATOR.join(
        [str(self.angle), str(self.distance)]
    )

from_string(measure_str) classmethod

Create a Measure object from a string representation.

Parameters:

Name Type Description Default
measure_str str

String representation of the measure.

 required

Returns:

Name Type Description
Measure Optional[Measure]

Measure object created from the string.
Source code in devices\raspberry_pi_5\src\common\measure.py 
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@classmethod
def from_string(cls, measure_str: str) -> Optional['Measure']:
    """
    Create a Measure object from a string representation.

    Args:
        measure_str (str): String representation of the measure.

    Returns:
        Measure: Measure object created from the string.
    """
    try:
        # Check the type of measure_str
        is_instance(measure_str, str)

        # Split the string by the attributes separator
        parts = measure_str.split(cls.ATTRIBUTES_SEPARATOR)

        if len(parts) < 2:
            raise ValueError(f"Invalid measure string: {measure_str}")

        # Convert parts to appropriate types
        angle = float(parts[0])
        distance = float(parts[1])

        # Quality is optional, default to 0 if not provided
        quality = int(parts[2]) if len(parts) > 2 else 0

    except ValueError as e:
        return None

    return cls(angle, distance, quality)

from_string_to_measures(measures_str) classmethod

Convert a string representation of measures back to a list of Measure objects.

Parameters:

Name Type Description Default
measures_str str

String representation of measures.

 required

Returns:

Name Type Description
List List

List of Measure objects.
Source code in devices\raspberry_pi_5\src\common\measure.py 
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@classmethod
def from_string_to_measures(cls, measures_str: str) -> List:
    """
    Convert a string representation of measures back to a list of Measure objects.

    Args:
        measures_str (str): String representation of measures.

    Returns:
        List: List of Measure objects.
    """
    # Check the type of measures_str
    is_instance(measures_str, str)

    # Split the string by the measures separator and convert each part to Measure
    return [cls.from_string(measure_str) for measure_str in
            measures_str.split(cls.MEASURES_SEPARATOR) if measure_str]

get_properties_from_string(measure_str) classmethod

Get the properties of a Measure object from its string representation.

Parameters:

Name Type Description Default
measure_str str

String representation of the measure.

 required

Returns:

Name Type Description
tuple tuple

A tuple containing the angle, distance, and quality of the measure.
Source code in devices\raspberry_pi_5\src\common\measure.py 
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@classmethod
def get_properties_from_string(cls, measure_str: str) -> tuple:
    """
    Get the properties of a Measure object from its string representation.

    Args:
        measure_str (str): String representation of the measure.

    Returns:
        tuple: A tuple containing the angle, distance, and quality of the measure.
    """
    # Check the type of measure_str
    is_instance(measure_str, str)

    # Split the string by the attributes separator
    parts = measure_str.split(cls.ATTRIBUTES_SEPARATOR)

    if len(parts) < 2:
        raise ValueError("Invalid measure string: {}".format(measure_str))

    return (
        float(parts[0]),
        float(parts[1]),
        int(parts[2]) if len(parts) > 2 else 0
        # Quality, default to 0 if not provided
    )

measures_to_string(measures) classmethod

Convert a list of Measure objects to a string representation.

Parameters:

Name Type Description Default
measures List

List of Measure objects.

 required

Returns:

Name Type Description
str str

String representation of the measures.
Source code in devices\raspberry_pi_5\src\common\measure.py 
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@classmethod
def measures_to_string(cls, measures: List) -> str:
    """
    Convert a list of Measure objects to a string representation.

    Args:
        measures (List): List of Measure objects.

    Returns:
        str: String representation of the measures.
    """
    # Check the type of measures
    is_instance(measures, List)

    # Convert each measure to string and join them with spaces
    return cls.MEASURES_SEPARATOR.join(str(measure) for measure in measures)