Navigator tools documentation

NaviGator/utils/navigator_tools/navigator_tools/object_database_helper.py

@@ -1,4 +1,3 @@
-"""Use the DBHelper class to interface with the Database without having to deal with ROS things."""
 import asyncio
 import sys
 import time
@@ -14,10 +13,29 @@
 
 
 class DBHelper:
-    """DBHelper class."""
+    """
+    Use the DBHelper class to interface with the Database without having to deal with ROS things.
+
+    Attributes:
+        found (bool): checks whether the object is what the user has been looking for.
+        nh (axros.NodeHandle): processes database requests.
+        position (int): the current position of the object.
+        rot (): one of the dimensional values.
+        new_object_subscriber (): an object that is being called from the database.
+        ensuring_objects (bool): a variable state for the object.
+        ensuring_object_dep (): a list of objects being used for storage.
+        ensuring_object_cb (): this is considered when it is an "ensuring_objects".
+        looking_for (): a setter variable to which a name is being assigned.
+        is_found (bool): determines whether the object is found or not.
+    """
 
     def __init__(self, nh):
-        """Initialize the DB helper class."""
+        """
+        Initialize the DB helper class.
+
+        Args:
+            nh(NodeHandle): NodeHandle object
+        """
         self.found = set()
         self.nh = nh
         self.position = None
@@ -30,7 +48,12 @@ def __init__(self, nh):
         self.is_found = False
 
     async def init_(self, navigator=None):
-        """Initialize the axros parts of the DBHelper."""
+        """
+        Initialize the axros parts of the DBHelper.
+
+        Args:
+            navigator (NaviGator | None): Base NaviGator object
+        """
         # self._sub_database = yield self.nh.subscribe('/database/objects', PerceptionObjectArray, self.object_cb)
         self._database = self.nh.get_service_client("/database/requests", ObjectDBQuery)
         self.navigator = navigator
@@ -43,9 +66,24 @@ async def init_(self, navigator=None):
         return self
 
     def _odom_cb(self, odom):
+        """
+        Sets the position and the rot values.
+
+        Args:
+            odom (object): Odom
+        """
         self.position, self.rot = nt.odometry_to_numpy(odom)[0]
 
     async def get_object_by_id(self, my_id):
+        """
+        Retrieves the object with the associated "my_id".
+
+        Args:
+            my_id (int): an "id" of the object is passed in.
+
+        Returns:
+            An individual object is being returned with a unique id.
+        """
         print(my_id)
         req = ObjectDBQueryRequest()
         req.name = "all"
@@ -57,7 +95,8 @@ async def begin_observing(self, cb):
         """
         Get notified when a new object is added to the database.
 
-        cb : The callback that is called when a new object is added to the database
+        Args:
+            cb : The callback that is called when a new object is added to the database.
         """
         self.new_object_subscriber = cb
         req = ObjectDBQueryRequest()
@@ -78,6 +117,12 @@ async def begin_observing(self, cb):
                 self.new_object_subscriber(o)
 
     async def get_unknown_and_low_conf(self):
+        """
+        Gets unknown objects that are of low confidence.
+
+        Returns:
+            Objects that meet certain criteria.
+        """
         req = ObjectDBQueryRequest()
         req.name = "all"
         resp = await self._database(req)
@@ -91,17 +136,34 @@ async def get_unknown_and_low_conf(self):
         return m
 
     def set_looking_for(self, name):
+        """
+        Setting to a name that is being looked for.
+
+        Args:
+            name (string): name of the object.
+        """
         self.looking_for = name
 
-    def is_found_func(self):
+    def is_found_func(self) -> bool:
+        """
+        Determines whether the object is being found or not.
+
+        Returns:
+            The existence of the object is returned.
+        """
         if self.is_found:
             self.looking_for = None
             self.is_found = False
             return True
         return False
 
     def object_cb(self, perception_objects):
-        """Callback for the object database."""
+        """
+        Callback for the object database.
+
+        Args:
+            perception_objects (object): a list of objects that are passed.
+        """
         self.total_num = len(perception_objects.objects)
         for o in perception_objects.objects:
             if o.name == self.looking_for:
@@ -120,23 +182,45 @@ def object_cb(self, perception_objects):
                 self.ensuring_object_cb(missings_objs)
 
     def remove_found(self, name):
-        """Remove an object that has been listed as found."""
+        """
+        Remove an object that has been listed as found.
+
+        Args:
+            name (string): a name of the object is being passed in.
+        """
         self.found.remove(name)
 
     def ensure_object_permanence(self, object_dep, cb):
-        """Ensure that all the objects in the object_dep list remain in the database.
-        Call the callback if this isn't true."""
+        """
+        Ensure that all the objects in the object_dep list remain in the database.
+        Call the callback if this isn't true.
+
+        Args:
+            object_dep: a new object is passed in order to be set.
+            cb : The callback that is called when a new object is added to the database.
+        """
         if object_dep is None or cb is None:
             return
         self.ensuring_objects = True
         self.ensuring_object_cb = cb
         self.ensuring_object_dep = object_dep
 
     def stop_ensuring_object_permanence(self):
-        """Stop ensuring that objects remain in the database."""
+        """
+        Stop ensuring that objects remain in the database.
+        """
         self.ensuring_objects = False
 
-    def _wait_for_position(self, timeout=10):
+    def _wait_for_position(self, timeout=10) -> bool:
+        """
+        A possible position is being stored in a variable.
+
+        Args:
+            timeout (int): time limit to retrieve something.
+
+        Returns:
+            bool: Determines whether the position is found within the time limit.
+        """
         count = 0
         while self.position is None:
             if self.navigator is not None:
@@ -148,7 +232,15 @@ def _wait_for_position(self, timeout=10):
         return True
 
     async def get_closest_object(self, objects):
-        """Get the closest mission."""
+        """
+        Get the closest mission.
+
+        Args:
+            objects (object): a list of objects are being passed in.
+
+        Returns:
+            A object with the closest mission / distance is returned.
+        """
         pobjs = []
         for obj in objects:
             req = ObjectDBQueryRequest()
@@ -171,6 +263,15 @@ async def get_closest_object(self, objects):
         return min_obj
 
     async def _dist(self, x):
+        """
+        Finds the distance of the object keeping into account its current position.
+
+        Args:
+            x (object): a specific object is being passed in order to retrieve its position.
+
+        Returns:
+            the distance between the two objects is being returned.
+        """
         if self.position is None:
             success = asyncio.create_task(self._wait_for_position)
             if not success:
@@ -188,7 +289,18 @@ async def get_object(
         thresh=50,
         thresh_strict=50,
     ):
-        """Get an object from the database."""
+        """
+        Get an object from the database.
+
+        Args:
+            object_name (string): the name of the object is passed in.
+            volume_only (bool): determines whether it is volume-based or not.
+            thresh (int): a maximum distance is passed in.
+            thresh_strict(int): a more strict maximum distance is passed in.
+
+        Returns:
+            closest_potential_object (object): returns the object that is within the closest range.
+        """
         if volume_only:
             req = ObjectDBQueryRequest()
             req.name = object_name
@@ -233,6 +345,15 @@ async def get_object(
             return closest_potential_object
 
     def wait_for_additional_objects(self, timeout=60):
+        """
+        Returns true/false whether additional objects are being passed in.
+
+        Args:
+            timeout (int): maximum time limit of 60 seconds to run the program.
+
+        Returns:
+            (bool): determines whether additional objects are added.
+        """
         num_items = self.num_items
         start = time.time()
         while timeout < time.time() - start:
@@ -241,14 +362,36 @@ def wait_for_additional_objects(self, timeout=60):
         return False
 
     def set_color(self, color, name):
-        """Set the color of an object in the database."""
+        """
+        Sets the color of an object in the database.
+
+        Args:
+            color: the new color of the object is passed in.
+            name: the name of the object is passed in.
+        """
         raise NotImplementedError
 
     def set_fake_position(self, pos):
-        """Set the position of a fake perception object."""
+        """
+        Sets the position of a fake perception object.
+
+        Args:
+            pos (int): the new position of the object is passed in.
+        """
         raise NotImplementedError
 
     async def get_objects_in_radius(self, pos, radius, objects="all"):
+        """
+        Retrieves the objects that are present within the radius.
+
+        Args:
+            pos (int): the position of the object is passed in.
+            radius (int): the radius of the object is passed in.
+            objects (object): this is a list of all the objects that needs to be compared.
+
+        Returns:
+            ans (object): returns the objects that are present within the radius.
+        """
         req = ObjectDBQueryRequest()
         req.name = "all"
         resp = await self._database(req)