roboto.formats.mcap.decoded_message#

Module Contents#

class roboto.formats.mcap.decoded_message.DecodedMessage(msg, fields, accessor_cache=None)#

Facade for values returned from message decoders.

Provides a unified interface for working with decoded messages regardless of their original encoding format or source. Handles the conversion of decoded message data into dictionary format suitable for analysis and processing.

A decoded message is a nested dict / sequence / scalar value: JSON channels and the shared mcap_codec decoder (which handles the ROS1, ROS2/CDR, and IDL encodings) both materialize to dict, so one dictionary interface serves every encoding.

This class filters that decoded value down to the specified fields and presents it through a consistent dictionary interface.

Parameters:
static is_path_match(attrib, field_path)#

Check if an attribute path matches or is a parent of a field path.

Determines whether a given attribute path should be included when filtering message data based on the specified fields.

Parameters:

  • attrib (str) – Attribute path to check (e.g., “pose.position”).

  • field_path (str) – Target field path (e.g., “pose.position.x”).

Returns:

True if the attribute matches or is a parent of the field path.

Return type:

bool

Examples

>>> DecodedMessage.is_path_match("pose", "pose.position.x")
True
>>> DecodedMessage.is_path_match("pose.position", "pose.position.x")
True
>>> DecodedMessage.is_path_match("pose.position.x", "pose.position.x")
True
>>> DecodedMessage.is_path_match("velocity", "pose.position.x")
False
to_dict()#

Convert the decoded message to a dictionary format.

Extracts and organizes message data into a dictionary structure, including only the attributes that match the specified fields.

Returns:

Dictionary containing the filtered message data with attribute names as keys.

Return type:

dict

Examples

>>> # Assuming fields include "pose.position.x" and "velocity"
>>> decoded_msg = DecodedMessage(ros_message, fields)
>>> data_dict = decoded_msg.to_dict()
>>> print(data_dict)
{'pose': {'position': {'x': 1.5}}, 'velocity': 2.0}
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