Merge branch 'main' into mhidalgo-bdai/deferred-feed-start

bdai_ros2_wrappers/bdai_ros2_wrappers/feeds.py

@@ -74,6 +74,11 @@ def latest(self) -> Optional[MessageT]:
         """Gets the latest message received, if any."""
         return self._tape.head
 
+    @property
+    def latest_update(self) -> FutureLike[MessageT]:
+        """Gets the future to the latest message, which may not have been received yet."""
+        return self._tape.latest_write
+
     @property
     def update(self) -> FutureLike[MessageT]:
         """Gets the future to the next message yet to be received."""

bdai_ros2_wrappers/bdai_ros2_wrappers/utilities.py

@@ -169,6 +169,23 @@ def __init__(self, max_length: Optional[int] = None) -> None:
         self._future_matching_writes: List[Tuple[Callable[[T], bool], Future]] = []
         self._closed = False
 
+    @property
+    def latest_write(self) -> FutureLike[T]:
+        """Gets the future to the latest data written or to be written."""
+        with self._lock:
+            if self._content is None:
+                raise RuntimeError("zero-length tape only writes forward")
+            if len(self._content) > 0:
+                data = self._content[-1]
+                latest_write = Future()
+                latest_write.set_result(data)
+                return latest_write
+            if self._future_write is None:
+                self._future_write = Future()
+                if self._closed:
+                    self._future_write.cancel()
+            return self._future_write
+
     @property
     def future_write(self) -> FutureLike[T]:
         """Gets the future to the next data yet to be written."""
@@ -232,7 +249,7 @@ def head(self) -> Optional[T]:
                 return None
             if len(self._content) == 0:
                 return None
-            return self._content[0]
+            return self._content[-1]
 
     @overload
     def content(

bdai_ros2_wrappers/test/test_utilities.py

@@ -9,6 +9,15 @@
 from bdai_ros2_wrappers.utilities import Tape, either_or, ensure, namespace_with
 
 
+def test_tape_head() -> None:
+    tape: Tape[int] = Tape()
+    assert tape.head is None
+    expected_sequence = list(range(10))
+    for i in expected_sequence:
+        tape.write(i)
+        assert tape.head == i
+
+
 def test_tape_content_iteration() -> None:
     tape: Tape[int] = Tape()
     expected_sequence = list(range(10))
@@ -71,6 +80,33 @@ def test_tape_drops_unused_streams() -> None:
     assert len(tape._streams) == 0
 
 
+def test_tape_future_writes() -> None:
+    tape: Tape[int] = Tape()
+    tape.write(0)
+    future = tape.future_write
+    assert not future.done()
+    tape.write(1)
+    assert future.done()
+    assert future.result() == 1
+    tape.close()
+    future = tape.future_write
+    assert future.cancelled()
+
+
+def test_tape_latest_writes() -> None:
+    tape: Tape[int] = Tape()
+    assert tape.head is None
+    future = tape.latest_write
+    assert not future.done()
+    tape.write(0)
+    assert tape.head == 0
+    assert future.done()
+    assert future.result() == tape.head
+    future = tape.latest_write
+    assert future.done()
+    assert future.result() == tape.head
+
+
 def test_either_or() -> None:
     assert either_or(None, "value", True)
     data = argparse.Namespace(value=True)