robokudo.pipeline
=================

.. py:module:: robokudo.pipeline

.. autoapi-nested-parse::

   Pipeline implementation for RoboKudo.

   This module provides the Pipeline class, which is a specialized version of py_trees'
   Sequence behavior. A Pipeline manages its own Common Analysis Structure (CAS) and
   provides visualization capabilities for its annotators.

   Key features:

   * Automatic CAS management for each pipeline iteration
   * Visualization support through annotator outputs
   * Helper methods for accessing annotators and CAS
   * Nested pipeline support with proper scoping



Classes
-------

.. autoapisummary::

   robokudo.pipeline.Pipeline


Module Contents
---------------

.. py:class:: Pipeline(name='Sequence', children=None, *args, **kwargs)

   Bases: :py:obj:`py_trees.composites.Sequence`


   A RoboKudo pipeline composed of annotators with its own CAS.

   A Pipeline is a specialized sequence behavior that manages a Common Analysis
   Structure (CAS) for its annotators. It provides visualization capabilities
   and helper methods for accessing annotators and CAS data.

   :ivar cas: The Common Analysis Structure for this pipeline
   :type cas: :class:`robokudo.cas.CAS`
   :ivar cas_start_timer: Timer for measuring pipeline execution time
   :type cas_start_timer: float
   :ivar rk_logger: Logger instance for this pipeline
   :type rk_logger: :class:`logging.Logger`


   .. py:attribute:: cas
      :value: None



   .. py:attribute:: cas_start_timer
      :value: None



   .. py:attribute:: rk_logger
      :value: None



   .. py:method:: create_new_cas()

      Create a new Common Analysis Structure (CAS) for this pipeline.
      Also resets the execution timer.



   .. py:method:: setup(timeout: float = None, node: rclpy.node.Node = None, visitor=None)

      Set up the pipeline and its annotator outputs.

      Creates output structures for all annotators in the pipeline and
      marks them for initial rendering.

      :param timeout: Setup timeout in seconds
      :type timeout: float
      :param node: a ros node
      :type node: rclpy.node.Node
      :param visitor:
      :type visitor:
      :return: True if setup was successful
      :rtype: bool



   .. py:method:: get_cas()

      Get the pipeline's Common Analysis Structure.

      :return: The pipeline's CAS
      :rtype: :class:`robokudo.cas.CAS`



   .. py:method:: get_annotators()

      Get all annotators in this pipeline.

      Returns a list of all annotators in this pipeline, including those
      nested in other behaviors (except other pipelines).

      :return: List of annotators
      :rtype: list[:class:`robokudo.annotators.core.BaseAnnotator`]



   .. py:method:: pipeline_children()

      Get all children of this pipeline.

      Returns a list of all children in this pipeline, stopping at nested
      Pipeline objects. The order is given by utils.tree.behavior_iterate_except_type.

      :return: List of child behaviors
      :rtype: list[:class:`py_trees.behaviour.Behaviour`]



   .. py:method:: update()

      Update the pipeline's state.

      Handles pipeline execution status and triggers GUI updates on failure.

      :return: Execution status
      :rtype: :class:`py_trees.common.Status`



   .. py:method:: terminate(new_status)

      Handle pipeline termination.

      Called when the pipeline switches to a non-RUNNING state. Updates GUI
      on success and logs execution time statistics.

      :param new_status: New execution status
      :type new_status: :class:`py_trees.common.Status`