odometry_and_time.py

"""
Drone odometry in local space and timestamp.
"""

import time

from .common.modules.mavlink import drone_odometry_local


class OdometryAndTime:
    """
    Contains odometry/telemetry and timestamp.
    """

    __create_key = object()

    @classmethod
    def create(
        cls, odometry_data: drone_odometry_local.DroneOdometryLocal
    ) -> "tuple[bool, OdometryAndTime | None]":
        """
        Timestamps the odometry with the current time.
        odometry_data: Drone odometry data.
        """
        if odometry_data is None:
            return False, None

        timestamp = time.time()

        return True, OdometryAndTime(cls.__create_key, odometry_data, timestamp)

    def __init__(
        self,
        class_private_create_key: object,
        odometry_data: drone_odometry_local.DroneOdometryLocal,
        timestamp: float,
    ) -> None:
        """
        Private constructor, use create() method.
        """
        assert class_private_create_key is OdometryAndTime.__create_key, "Use create() method"

        self.odometry_data = odometry_data
        self.timestamp = timestamp

    def __str__(self) -> str:
        """
        To string.
        """
        return f"{self.__class__}, time: {self.timestamp}\n" + f"{self.odometry_data}"