Feat: Gather Data

[dominik737]

Purpose

Addition of GatherData node. The node can by default gather number of NNData specified by the length of dai.ImgDetections.detections with the same (or in tolerance) timestamp. The node can be used a n-stage sync.

Specification

The GatherData node and the related tests are added. The getAll method was added to the mock Queue. The mock Queue.send was changed such that the Infinite queues work as FIFO not LIFO. This makes the items in the Queue being cycled, instead of the last inserted being always returned.

Dependencies & Potential Impact

The change of the mock Queue to FIFO could change behavior of dependent tests.

Deployment Plan

None / not applicable

Testing & Validation

The tests for GatherData were made and are passing.

[Copilot]

Copilot reviewed 8 out of 8 changed files in this pull request and generated no comments.

Comments suppressed due to low confidence (2)

depthai_nodes/node/gather_data.py:139

• Consider using '<=' rather than '<' in the tolerance check so that timestamps exactly on the threshold are considered matching, if that matches the intended behavior.

return difference < (1 / self._camera_fps / self.FPS_TOLERANCE_DIVISOR)

depthai_nodes/node/gather_data.py:195

• Using floating point values as dictionary keys for timestamps may lead to precision errors when matching; consider rounding or normalizing the timestamp value to a fixed precision before storing or comparing.

def _get_total_seconds_ts(self, buffer_like: dai.Buffer) -> float:

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 96.40719% with 6 lines in your changes missing coverage. Please review.

Project coverage is 53.31%. Comparing base (5c6073a) to head (270a49e).
Report is 1 commits behind head on main.

✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
depthai_nodes/node/gather_data.py	96.40%	5 Missing ⚠️
depthai_nodes/message/gathered_data.py	96.15%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #203      +/-   ##
==========================================
+ Coverage   51.80%   53.31%   +1.50%     
==========================================
  Files          81       83       +2     
  Lines        4799     4967     +168     
==========================================
+ Hits         2486     2648     +162     
- Misses       2313     2319       +6     

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[jkbmrz]

Generally LGTM, just adding two small comments

[aljazkonec1]

Overall the logic is the same as in previous PR and is good. Left some small comments on the docstrings.

[kkeroo]

LGTM

[aljazkonec1]

LGTM, just the last docstring update