Common Bridge Components

mosaicolabs.bridges.base_schema_metadata ¶

BaseSchemaMetadata ¶

BaseSchemaMetadata(**fields)

Encapsulates Mosaico's reserved topic-metadata namespace in a single place.

Every topic ingested by the MCAP or ROS bridge carries specific bookkeeping

channel_name, channel_encoding, schema_name, schema_encoding, raw schema_def for MCAP
msgtype, raw msgdef, extracted enums for ROS

plus bridge-internal fields (e.g. the source mcap file) under one reserved key, so that:

The literal KEY string exists in exactly one place, instead of being duplicated across adapters, loaders, and the injector.
Callers build up this namespace incrementally via update without ever touching the wrapping dict shape by hand.

KEY `class-attribute` ¶

KEY = ''

The reserved metadata key. It should be overridden by each BaseSchemaMetadata specification.

REQUIRED_KEYS `class-attribute` ¶

REQUIRED_KEYS = {}

The keys that need to be present in order to create the schema metadata. Empty by default

update ¶

update(**fields)

Merges additional fields into this block, in place. Returns self for chaining.

Parameters:

Name	Type	Description	Default
`**fields`	`Any`	Additional fields to merge.	`{}`

Returns:

Name	Type	Description
`BaseSchemaMetadata`	`BaseSchemaMetadata`	The updated metadata instance.

to_dict ¶

to_dict()

Wraps the current fields under the reserved key.

Returns:

Name	Type	Description
`dict`	`dict`	A dictionary containing the `KEY` block with the current fields.

merge_into ¶

merge_into(metadata)

Merges this block into an existing metadata dict's KEY namespace, creating it if absent. Mutates and returns metadata.

Parameters:

Name	Type	Description	Default
`metadata`	`dict`	The existing metadata dict to merge into.	required

Returns:

Name	Type	Description
`dict`	`dict`	The updated metadata dict with the `KEY` block merged in.

extract `classmethod` ¶

extract(metadata)

Reads the KEY block out of a metadata dict or {} if absent.

Parameters:

Name	Type	Description	Default
`metadata`	`Optional[dict]`	A metadata dict, typically `{KEY: {...}}` (e.g. `{"_ros_": {...}}` or `{"_mcap_": {...}}`), or `None`.	required

Returns:

Name	Type	Description
`dict`	`dict`	The extracted `KEY` block, or an empty dict if not present.

from_dict `classmethod` ¶

from_dict(metadata)

Creates a BaseSchemaMetadata from a plain metadata dict, e.g. the return value of ROSAdapterBase.schema_metadata(). Any keys outside the KEY namespace are ignored.

Parameters:

Name	Type	Description	Default
`metadata`	`Optional[dict]`	A metadata dict, typically `{KEY: {...}}` or `None`.	required

Returns:

Name	Type	Description
`BaseSchemaMetadata`	`BaseSchemaMetadata`	A new instance seeded with the extracted `KEY` fields (empty if `metadata` is `None` or carries no `KEY` block, and `REQUIRED_KEYS` is empty).

Raises:

Type	Description
`ValueError`	If any of `REQUIRED_KEYS` is missing from the extracted fields.
`TypeError`	If any of `REQUIRED_KEYS` has an unexpected type.

mosaicolabs.bridges.base_sequence_extractor ¶

SequenceExtractor: streams a Mosaico sequence back out and writes it to a file on disk.

Provides SequenceExtractor and the ExtractorConfig dataclass, which together own the target-agnostic half of the extraction pipeline:

Prepare (and optionally clear) the output location.
Connect to the Mosaico server.
Stream every message in the requested sequence (optionally filtered by topic or time window) through a MosaicoLoader.
Hand each message to the specialization, which encodes it and writes it out.

Everything that depends on the target format (which loader to open, which writer to open, and how a single message is encoded and written) lives in a subclass. See ROSSequenceExtractor and MCAPSequenceExtractor.

The module also provides the command-line arguments shared by the extractors' entry points.

ExtractorConfig `dataclass` ¶

ExtractorConfig(
    saving_path,
    sequence_name,
    host="localhost",
    port=6726,
    topics=None,
    log_level="INFO",
    mosaico_api_key=None,
    tls_cert_path=None,
    enable_tls=False,
    start_timestamp_ns=None,
    end_timestamp_ns=None,
    overwrite=False,
    dry_run=False,
)

Shared configuration for every SequenceExtractor.

Collects the parameters that do not depend on the output format: how to reach the Mosaico server, which sequence to extract, how to filter it by topic and time window, and where to write the result.

Attributes:

Name	Type	Description
`saving_path`	`Path`	The path where to save the final file.
`sequence_name`	`str`	The name of the sequence to extract.
`host`	`str`	The hostname of the Mosaico server. Defaults to `"localhost"`.
`port`	`int`	The port of the Mosaico server. Defaults to `6726`.
`topics`	`Optional[list[str]]`	List of topic patterns (shell-style globs, `!` for exclusions) used to filter the topics to extract. If None, all topics are loaded.
`log_level`	`str`	The log level. Defaults to `"INFO"`.
`mosaico_api_key`	`Optional[str]`	The API key for authentication on the Mosaico server; it must have (at least) the `read` permission. Defaults to None.
`tls_cert_path`	`Optional[str]`	Path to the TLS certificate file for a secure connection to the Mosaico server. Defaults to None.
`enable_tls`	`bool`	Enable standard one-way TLS (server authenticated only). Ignored if `tls_cert_path` is provided. Defaults to False.
`start_timestamp_ns`	`Optional[int]`	Inclusive lower-bound timestamp (in nanoseconds) from which to start extracting data. Defaults to None.
`end_timestamp_ns`	`Optional[int]`	Exclusive upper-bound timestamp (in nanoseconds) at which to stop extracting data. Defaults to None.
`overwrite`	`bool`	If True, delete and recreate the output path if it already exists. Defaults to False.
`dry_run`	`bool`	If True, report which topics would be extracted or rejected and whether the output path already exists, without writing or deleting any file. Defaults to False.

saving_path `instance-attribute` ¶

saving_path

The path where to save the final file.

sequence_name `instance-attribute` ¶

sequence_name

The name of the sequence to extract.

host `class-attribute` `instance-attribute` ¶

host = 'localhost'

The hostname of the Mosaico server.

port `class-attribute` `instance-attribute` ¶

port = 6726

The port of the Mosaico server.

topics `class-attribute` `instance-attribute` ¶

topics = None

List of topic patterns used to filter available topics.

Supports shell-style glob patterns (e.g., "/cam/", "camera_info"). Patterns starting with '!' are treated as exclusions (e.g., "!/cam/debug*").

Pattern order matters: - Each non-'!' pattern adds matching topics to the selection. - Each '!' pattern removes matching topics from the selection. - Later patterns override earlier ones. - If no inclusion pattern is provided, selection starts from ALL topics, and only exclusion patterns reduce the set.

If None, all topics are loaded.

log_level `class-attribute` `instance-attribute` ¶

log_level = 'INFO'

The Log Level

mosaico_api_key `class-attribute` `instance-attribute` ¶

mosaico_api_key = None

The API key for authentication on the mosaico server. Defaults to None.

If provided it must have (at least) the read permission.

tls_cert_path `class-attribute` `instance-attribute` ¶

tls_cert_path = None

Path to the TLS certificate file for secure connection on the mosaico server. Defaults to None. If tls_cert_path=None and enable_tls=True, a standard one-way TLS (server authenticated only) connection is established

enable_tls `class-attribute` `instance-attribute` ¶

enable_tls = False

Enable the TLS standard one-way TLS (server authenticated only) communication protocol. Defaults to False. If tls_cert_path is provided (not None), this flag does not have any effect.

start_timestamp_ns `class-attribute` `instance-attribute` ¶

start_timestamp_ns = None

Inclusive timestamp upper-bound (in nanoseconds) from where to start extracting data of specified sequence

end_timestamp_ns `class-attribute` `instance-attribute` ¶

end_timestamp_ns = None

Exclusive timestamp lower-bound (in nanoseconds) to finish extracting data of specified sequence

overwrite `class-attribute` `instance-attribute` ¶

overwrite = False

If True, delete and recreate the output path if it already exists. Defaults to False.

dry_run `class-attribute` `instance-attribute` ¶

dry_run = False

If True, connects to the Mosaico server and reports which topics would be extracted (and with which adapter/native message type), which topics would be rejected (and why), and whether the output path already exists, without writing any file and without deleting an existing output path even if overwrite=True. Default: False.

SequenceExtractor ¶

SequenceExtractor(config)

Bases: ABC

Orchestrates the extraction of a Mosaico sequence into a file on disk.

This is the target-agnostic half of the extraction pipeline: preparing the output location and enforcing the overwrite policy, connecting to the Mosaico server, driving the loader that streams the sequence, reporting live progress and, in dry-run mode, printing what would be extracted. Everything that depends on the output format lives in a subclass; see ROSSequenceExtractor and MCAPSequenceExtractor.

A subclass supplies exactly three things:

_open_mosaicoloader: the MosaicoLoader specialization that adapts the sequence into the target format.
_open_writer: the writer that turns encoded messages into a file.
_process_message: the per-message encode-and-write step.

run, _dry_run_report, _prepare_output_path and _handle_encoding_error are inherited unchanged.

Attributes:

Name	Type	Description
`cfg`	`ExtractorConfig`	The configuration this extractor was built with.
`console`	`Console`	The `rich` console, bound to stderr so that progress bars and reports never pollute a piped stdout.
`ignored_topics`	`set[str]`	Topics dropped mid-run after a failure. Specializations add to it from `_process_message` so a broken topic is reported once and then skipped.

Initializes the shared state, console and SDK logging.

Parameters:

Name	Type	Description	Default
`config`	`ExtractorConfig`	A bridge-specific configuration subclass.	required

run ¶

run()

Executes the full extraction pipeline.

Steps:

If cfg.dry_run is True, delegates to _dry_run_report and returns without writing a file or touching the output path.
Calls _prepare_output_path to validate / clear the output location.
Opens a MosaicoClient connection.
Opens the loader via _open_mosaicoloader and the writer via _open_writer, both as context managers, so both are released even on failure.
For each (topic, message) pair streamed by the loader, delegates to _process_message, which encodes and writes it.

Progress is displayed in real-time via a rich live progress bar. A KeyboardInterrupt exits cleanly with a warning log; any other exception propagates to the caller.

Raises:

Type	Description
`FileExistsError`	If the output path exists and `cfg.overwrite` is `False`.
`ValueError`	If the configured sequence does not exist on the server (surfaced by the loader).

mosaicolabs.bridges.bridge_adapter_base ¶

BridgeAdapterBase ¶

Bases: ABC, Generic[T, NativeMsgT]

Common interface implemented by every bridge adapter (e.g. :class:ROSAdapterBase, :class:MCAPAdapterBase).

An adapter is the semantic core of a bridge: it knows how to translate one native message format (NativeMsgT, e.g. a ROS message or an MCAP record) to and from a strongly-typed Mosaico ontology object (T).

to_native `abstractmethod` `classmethod` ¶

to_native(mosaico_data, **kwargs)

Converts a Mosaico message or ontology object into the adapter's native message type.

Parameters:

Name	Type	Description	Default
`mosaico_data`	`Union[Message, T]`	A `Message` wrapper or a raw `Serializable` ontology instance to convert.	required
`**kwargs`	`Any`	Bridge-specific extra arguments forwarded to the underlying conversion.	`{}`

Returns:

Name	Type	Description
`NativeMsgT`	`NativeMsgT`	The native message obtained from `mosaico_data`.

translate `abstractmethod` `classmethod` ¶

translate(msg, **kwargs)

Translates a native message instance into a Mosaico Message.

Parameters:

Name	Type	Description	Default
`msg`		The source native message yielded by the bridge's loader.	required

Returns:

Name	Type	Description
`Message`	`Message`	A Mosaico Message object containing the instantiated ontology data.

Raises:

Type	Description
`Exception`	If translation fails due to missing fields, type mismatches, or other errors.

unpack_mosaico_msg `classmethod` ¶

unpack_mosaico_msg(mosaico_msg)

Extracts the typed Mosaico payload and its Header (if present) from a wrapped or bare message.

Handles two input cases:

Message wrapper: the typed data is extracted via get_data().
Raw ontology instance: returned as-is.

In both cases the Header is extracted from the ontology (if supported), otherwise a default Header (empty frame_id and zero Time) is returned.

Parameters:

Name	Type	Description	Default
`mosaico_msg`	`Union[Message, T]`	Either a `Message` envelope or a raw instance of `cls.__mosaico_ontology_type__`.	required

Returns:

Type	Description
`T`	tuple[T, Header]: A `(data, header)` tuple where data is the typed ontology object and
`Header`	header is the corresponding `Header`, or a default `Header` (empty `frame_id` and
`tuple[T, Header]`	zero `Time`) if not present.

Raises:

Type	Description
`TypeError`	If mosaico_msg is neither a `Message` nor an instance of the expected ontology type.

mosaicolabs.bridges.loader_base ¶

TopicResolution `dataclass` ¶

TopicResolution(
    status, adapter=None, native_msg_type=None, detail=""
)

Bases: Generic[AdapterT]

The outcome of resolving a single topic: either an adapter to translate it with, or the reason it was rejected.

Build these with accepted / rejected rather than by hand — the constructor enforces that exactly the accepted case carries an adapter.

Attributes:

Name	Type	Description
`status`	`TopicStatus`	`TopicStatus.ACCEPTED`, or the reason for rejection.
`adapter`	`Optional[Type[AdapterT]]`	The resolved adapter class. Set if and only if `status` is `ACCEPTED`.
`native_msg_type`	`Optional[str]`	The source-format message type the topic originally came from (e.g. `"sensor_msgs/msg/Imu"` for ROS, or the schema name, e.g. `"sensor_msgs.Imu"`, for MCAP). Set only on acceptance.
`detail`	`str`	Human-readable context for a rejection, used for logging.

is_accepted `property` ¶

is_accepted

Whether this topic was accepted and therefore carries an adapter.

accepted `classmethod` ¶

accepted(adapter, native_msg_type)

Builds the accepted outcome.

Parameters:

Name	Type	Description	Default
`adapter`	`Type[AdapterT]`	The adapter class resolved for this topic.	required
`native_msg_type`	`str`	The topic's original source-format message type.	required

Returns:

Type	Description
`TopicResolution[AdapterT]`	TopicResolution[AdapterT]: An `ACCEPTED` resolution carrying both values.

rejected `classmethod` ¶

rejected(status, detail='')

Builds a rejected outcome.

Parameters:

Name	Type	Description	Default
`status`	`TopicStatus`	Why the topic was rejected. Must not be `ACCEPTED`.	required
`detail`	`str`	Optional human-readable context, surfaced in the loader's log line.	`''`

Returns:

Type	Description
`TopicResolution[AdapterT]`	TopicResolution[AdapterT]: A rejection carrying no adapter.

BaseLoader ¶

BaseLoader(container_type)

Bases: ABC, Generic[AdapterT]

Shared topic classification and adapter-resolution logic for - ROSLoader (bag file source) - MCAPLoader (mcap file source) - MosaicoLoader (Mosaico sequence source).

All loaders classify every topic of their underlying data source as either accepted (adapter resolved, passes the user's topics filter) or rejected, the latter carrying a TopicStatus saying why — excluded by the user's filter, no adapter resolvable, or a source-specific reason such as TopicStatus.NOT_IN_TYPESTORE or TopicStatus.UNAVAILABLE_SCHEMA. This base class implements the properties that only need to read that bookkeeping, so each subclass only has to populate it via its own _ensure_resolved() (which performs the actual, source-specific resolution: opening the bag file, or querying the Mosaico sequence).

Subclasses are expected to set, during _ensure_resolved():

_resolved_topics: all topic names in the source (dict or list; only the keys/elements are read by this base class).
_accepted_topics: topic names that passed filtering and adapter resolution.
_topic_cached_adapters: Dict[str, Type[AdapterT]] mapping accepted topic names to their resolved adapter.

and record every rejection through _reject, which is the single place rejection reasons live — there are no per-reason buckets to keep in sync.

topics `property` ¶

topics

Retrieves the list of accepted topic names that will be processed.

Returns:

Type	Description
`List[str]`	List[str]: A list of topic names currently matched and scheduled for loading.

resolved_topics `property` ¶

resolved_topics

Retrieves the list of all the canonical topic names in the underlying source. This property does not account for topics filtered out or not-adapted: it returns everything.

Returns:

Type	Description
`List[str]`	List[str]: A list of all topic names contained within the source.

unresolved_adapter_topics `property` ¶

unresolved_adapter_topics

Retrieves the list of topic names that are skipped due to unavailable Mosaico adapter.

Returns:

Type	Description
`List[str]`	List[str]: A list of topics with unresolved adapter to translate them into/from Mosaico Ontology.

filtered_topics `property` ¶

filtered_topics

Retrieves the list of topic names that are skipped due to the user filter.

Returns:

Type	Description
`List[str]`	List[str]: The list of topics filtered by the user. Empty if no filter is provided.

rejected_topics `property` ¶

rejected_topics

Retrieves every rejected topic together with the reason it was rejected.

Returns:

Type	Description
`List[Tuple[str, TopicStatus]]`	List[Tuple[str, TopicStatus]]: `(topic_name, status)` pairs for every topic excluded from `topics`, whatever the reason — the user's filter, an unresolvable adapter, or any source-specific rejection reason.

resolve_adapter ¶

resolve_adapter(topic_name)

Returns the resolved adapter for an accepted topic.

Parameters:

Name	Type	Description	Default
`topic_name`	`str`	The topic name whose adapter should be resolved. Must be one of the accepted topics produced by `_ensure_resolved()`.	required

Returns:

Type	Description
`Optional[type[AdapterT]]`	Optional[Type[AdapterT]]: The resolved adapter type, or `None` if the topic is not among the accepted topics.

MosaicoLoader ¶

MosaicoLoader(
    m_client,
    sequence_name,
    topics=None,
    start_timestamp_ns=None,
    end_timestamp_ns=None,
)

Bases: BaseLoader[AdapterT], Generic[AdapterT]

Streams messages back out of a Mosaico sequence, adapting each one into a native format on the way.

This is the source-agnostic half of the extraction pipeline: connecting to the server, resolving the sequence and its topic filter, clipping the time window to the sequence bounds, deciding which topics can be adapted, and exposing a SequenceDataStreamer for iteration. Everything that depends on the target format lives in a subclass — see MosaicoToROSLoader and MosaicoToMCAPLoader.

A subclass supplies exactly two things:

SCHEMA_METADATA — the reserved metadata namespace its bridge writes at ingestion time (_ros_, _mcap_, ...), used to recover per-topic bookkeeping.
_resolve_topic — given a topic, the adapter and native message type to use, or the reason the topic is rejected.

Conforms to the LoaderUIAPI protocol, making it usable with ProgressManager for live progress reporting.

Initializes the loader against a Mosaico sequence.

Nothing is fetched here — the sequence is resolved lazily on first access to any property or on iteration (see _resolve_sequence).

Parameters:

Name	Type	Description	Default
`m_client`	`MosaicoClient`	An open `MosaicoClient` connection.	required
`sequence_name`	`str`	Name of the Mosaico sequence to load.	required
`topics`	`Optional[List[str]]`	Optional topic-name filter patterns (glob-style, `!`-prefixed for exclusions, evaluated in order with gitignore-like semantics). `None` loads all topics.	`None`
`start_timestamp_ns`	`Optional[int]`	Inclusive lower bound for the time window (nanoseconds). Clipped to the sequence minimum if out of range.	`None`
`end_timestamp_ns`	`Optional[int]`	Exclusive upper bound for the time window (nanoseconds). Clipped to `None` if out of range.	`None`

SCHEMA_METADATA `class-attribute` ¶

SCHEMA_METADATA

The reserved topic-metadata namespace this loader's bridge writes (e.g. RosSchemaMetadata for _ros_). Every subclass must set it; the base class cannot, since BaseSchemaMetadata has an empty KEY and would silently extract nothing.

duration `property` ¶

duration

Returns the duration of the sequence in nanoseconds.

Returns:

Name	Type	Description
`int`	`int`	The duration of the sequence in nanoseconds. Returns 0 if sequence is not valid

msg_types `property` ¶

msg_types

Returns the Mosaico ontology type tags for each accepted topic.

Entries appear in the same order as topics. A None entry indicates that the topic handler could not be found.

Triggers lazy initialization on first access.

Returns:

Type	Description
`List[str \| None]`	List[str \| None]: Ontology tag strings (e.g. `"imu"`, `"image"`) or `None` for unresolvable topics.

topics `property` ¶

topics

Retrieves the list of accepted topic names that will be processed.

Returns:

Type	Description
`List[str]`	List[str]: A list of topic names currently matched and scheduled for loading.

resolved_topics `property` ¶

resolved_topics

Retrieves the list of all the canonical topic names in the underlying source. This property does not account for topics filtered out or not-adapted: it returns everything.

Returns:

Type	Description
`List[str]`	List[str]: A list of all topic names contained within the source.

unresolved_adapter_topics `property` ¶

unresolved_adapter_topics

Retrieves the list of topic names that are skipped due to unavailable Mosaico adapter.

Returns:

Type	Description
`List[str]`	List[str]: A list of topics with unresolved adapter to translate them into/from Mosaico Ontology.

filtered_topics `property` ¶

filtered_topics

Retrieves the list of topic names that are skipped due to the user filter.

Returns:

Type	Description
`List[str]`	List[str]: The list of topics filtered by the user. Empty if no filter is provided.

rejected_topics `property` ¶

rejected_topics

Retrieves every rejected topic together with the reason it was rejected.

Returns:

Type	Description
`List[Tuple[str, TopicStatus]]`	List[Tuple[str, TopicStatus]]: `(topic_name, status)` pairs for every topic excluded from `topics`, whatever the reason — the user's filter, an unresolvable adapter, or any source-specific rejection reason.

msg_count ¶

msg_count(topic=None)

Returns the total number of messages for the given topic, or for all accepted topics combined.

Parameters:

Name	Type	Description	Default
`topic`	`Optional[str]`	If provided, count messages for that specific topic only. If `None`, sum across all accepted topics.	`None`

Returns:

Name	Type	Description
`int`	`int`	The total message count.

resolve_native_msg_type ¶

resolve_native_msg_type(topic_name)

Returns the native message type a topic was originally ingested as.

When a bag or mcap file is ingested into Mosaico, the source message type (e.g. sensor_msgs/msg/Imu) is preserved in the topic's user metadata under this bridge's reserved namespace. Recovering it lets the extraction pipeline write the topic back out under its original type instead of falling back to whatever type the adapter defaults to.

Parameters:

Name	Type	Description	Default
`topic_name`	`str`	The topic whose original message type should be resolved. Must be one of the accepted topics produced by `_resolve_sequence`.	required

Returns:

Type	Description
`Optional[str]`	Optional[str]: The message type string (e.g. `"sensor_msgs/msg/Imu"`),
`Optional[str]`	or `None` if the topic is unknown or was not accepted.

resolve_metadata ¶

resolve_metadata(topic_name)

Returns the metadata required for the topic reconstruction to the native message.

When a bag or mcap file is ingested into Mosaico, the source message metadata (e.g. message definition, original topic name, ...) are saved in the topic's user metadata under this bridge's reserved namespace. Recovering it lets the extraction pipeline write the topic back out under its original form.

Parameters:

Name	Type	Description	Default
`topic_name`	`str`	The topic whose reconstruction metadata should be resolved. Must be one of the accepted topics produced by `_resolve_sequence`.	required

Returns:

Type	Description
`Optional[BaseSchemaMetadata]`	Optional[BaseSchemaMetadata]: All the message metadata required for the reconstruction, or `None` if the topic is unknown or was not accepted.

close ¶

close()

Explicitly closes the sequence handler and releases system resources.

resolve_adapter ¶

resolve_adapter(topic_name)

Returns the resolved adapter for an accepted topic.

Parameters:

Name	Type	Description	Default
`topic_name`	`str`	The topic name whose adapter should be resolved. Must be one of the accepted topics produced by `_ensure_resolved()`.	required

Returns:

Type	Description
`Optional[type[AdapterT]]`	Optional[Type[AdapterT]]: The resolved adapter type, or `None` if the topic is not among the accepted topics.

mosaicolabs.bridges.topic_status ¶

TopicStatus ¶

Bases: Enum

Defines the possible topic status (ACCEPTED/REJECTED) for all Loaders.

Rejection statuses are reported by the loaders' rejected_topics property:

All loaders (ROSLoader, MosaicoLoader, MCAPLoader, via BaseLoader): FILTERED, UNRESOLVED_ADAPTER.
MosaicoLoader only (MosaicoToROSLoader, MosaicoToMCAPLoader): MALFORMED_METADATA, plus NOT_IN_TYPESTORE for MosaicoToROSLoader.
MCAPLoader only: UNRESOLVED_DECODER, UNAVAILABLE_SCHEMA.

ACCEPTED is never reported as a rejection reason.

Attributes:

Name	Type	Description
`ACCEPTED`		Enum specifying the Topic has been accepted.
`FILTERED`		Enum specifying the Topic has been rejected since user provided a filter that excludes the topic.
`UNRESOLVED_ADAPTER`		Enum specifying the Topic has been rejected since it has no Mosaico adapter.
`NOT_IN_TYPESTORE`		Enum specifying the Topic has been rejected since it is not present in ROS typestore.
`MALFORMED_METADATA`		Enum specifying the Topic has been rejected since its bridge metadata (`_ros_` or `_mcap_`) is malformed.
`UNRESOLVED_DECODER`		Enum specifying the Channel has been rejected since its encoding does not have an implemented decoder.
`UNAVAILABLE_SCHEMA`		Enum specifying the Channel has been rejected since it does not contain any schema information.

ACCEPTED `class-attribute` `instance-attribute` ¶

ACCEPTED = 'Accepted'

Status indicating an accepted Topic

FILTERED `class-attribute` `instance-attribute` ¶

FILTERED = 'Filtered'

Status indicating topic has been rejected by user specified filter

UNRESOLVED_ADAPTER `class-attribute` `instance-attribute` ¶

UNRESOLVED_ADAPTER = 'Unresolved adapter'

Status indicating the Topic has been rejected since no Mosaico adapter could be resolved

NOT_IN_TYPESTORE `class-attribute` `instance-attribute` ¶

NOT_IN_TYPESTORE = 'Not in typestore'

Status indicating the Topic has been rejected since it is not present in ROS typestore

MALFORMED_METADATA `class-attribute` `instance-attribute` ¶

MALFORMED_METADATA = 'Malformed metadata'

Status indicating the Topic has been rejected since its bridge metadata ('ros' or 'mcap') is malformed

UNRESOLVED_DECODER `class-attribute` `instance-attribute` ¶

UNRESOLVED_DECODER = 'Unresolved decoder'

Status indicating the Channel has been rejected since its encoding does not have an implemented decoder

UNAVAILABLE_SCHEMA `class-attribute` `instance-attribute` ¶

UNAVAILABLE_SCHEMA = 'Unavailable schema'

Status indicating the Channel has been rejected since it does not contain any schema information

to_color ¶

to_color(topic_status)

Returns the Rich color string used to render this status in the progress UI.

Common Bridge Components

mosaicolabs.bridges.base_schema_metadata ¶

BaseSchemaMetadata ¶

KEY class-attribute ¶

REQUIRED_KEYS class-attribute ¶

update ¶

to_dict ¶

merge_into ¶

extract classmethod ¶

from_dict classmethod ¶

mosaicolabs.bridges.base_sequence_extractor ¶

ExtractorConfig dataclass ¶

saving_path instance-attribute ¶

sequence_name instance-attribute ¶

host class-attribute instance-attribute ¶

port class-attribute instance-attribute ¶

topics class-attribute instance-attribute ¶

log_level class-attribute instance-attribute ¶

mosaico_api_key class-attribute instance-attribute ¶

tls_cert_path class-attribute instance-attribute ¶

enable_tls class-attribute instance-attribute ¶

start_timestamp_ns class-attribute instance-attribute ¶

end_timestamp_ns class-attribute instance-attribute ¶

overwrite class-attribute instance-attribute ¶

dry_run class-attribute instance-attribute ¶

SequenceExtractor ¶

run ¶

mosaicolabs.bridges.bridge_adapter_base ¶

BridgeAdapterBase ¶

to_native abstractmethod classmethod ¶

translate abstractmethod classmethod ¶

unpack_mosaico_msg classmethod ¶

mosaicolabs.bridges.loader_base ¶

TopicResolution dataclass ¶

is_accepted property ¶

accepted classmethod ¶

rejected classmethod ¶

BaseLoader ¶

topics property ¶

resolved_topics property ¶

unresolved_adapter_topics property ¶

filtered_topics property ¶

rejected_topics property ¶

resolve_adapter ¶

MosaicoLoader ¶

SCHEMA_METADATA class-attribute ¶

duration property ¶

msg_types property ¶

topics property ¶

resolved_topics property ¶

unresolved_adapter_topics property ¶

filtered_topics property ¶

rejected_topics property ¶

msg_count ¶

resolve_native_msg_type ¶

resolve_metadata ¶

close ¶

resolve_adapter ¶

mosaicolabs.bridges.topic_status ¶

TopicStatus ¶

ACCEPTED class-attribute instance-attribute ¶

FILTERED class-attribute instance-attribute ¶

UNRESOLVED_ADAPTER class-attribute instance-attribute ¶

NOT_IN_TYPESTORE class-attribute instance-attribute ¶

MALFORMED_METADATA class-attribute instance-attribute ¶

UNRESOLVED_DECODER class-attribute instance-attribute ¶

UNAVAILABLE_SCHEMA class-attribute instance-attribute ¶

to_color ¶

KEY `class-attribute` ¶

REQUIRED_KEYS `class-attribute` ¶

extract `classmethod` ¶

from_dict `classmethod` ¶

ExtractorConfig `dataclass` ¶

saving_path `instance-attribute` ¶

sequence_name `instance-attribute` ¶

host `class-attribute` `instance-attribute` ¶

port `class-attribute` `instance-attribute` ¶

topics `class-attribute` `instance-attribute` ¶

log_level `class-attribute` `instance-attribute` ¶

mosaico_api_key `class-attribute` `instance-attribute` ¶

tls_cert_path `class-attribute` `instance-attribute` ¶

enable_tls `class-attribute` `instance-attribute` ¶

start_timestamp_ns `class-attribute` `instance-attribute` ¶

end_timestamp_ns `class-attribute` `instance-attribute` ¶

overwrite `class-attribute` `instance-attribute` ¶

dry_run `class-attribute` `instance-attribute` ¶

to_native `abstractmethod` `classmethod` ¶

translate `abstractmethod` `classmethod` ¶

unpack_mosaico_msg `classmethod` ¶

TopicResolution `dataclass` ¶

is_accepted `property` ¶

accepted `classmethod` ¶

rejected `classmethod` ¶

topics `property` ¶

resolved_topics `property` ¶

unresolved_adapter_topics `property` ¶

filtered_topics `property` ¶

rejected_topics `property` ¶

SCHEMA_METADATA `class-attribute` ¶

duration `property` ¶

msg_types `property` ¶

topics `property` ¶

resolved_topics `property` ¶

unresolved_adapter_topics `property` ¶

filtered_topics `property` ¶

rejected_topics `property` ¶

ACCEPTED `class-attribute` `instance-attribute` ¶

FILTERED `class-attribute` `instance-attribute` ¶

UNRESOLVED_ADAPTER `class-attribute` `instance-attribute` ¶

NOT_IN_TYPESTORE `class-attribute` `instance-attribute` ¶

MALFORMED_METADATA `class-attribute` `instance-attribute` ¶

UNRESOLVED_DECODER `class-attribute` `instance-attribute` ¶

UNAVAILABLE_SCHEMA `class-attribute` `instance-attribute` ¶