Added history recorder by FlorianPfaff · Pull Request #1744 · FlorianPfaff/PyRecEst

FlorianPfaff · 2026-04-19T17:33:05Z

No description provided.

github-actions · 2026-04-19T17:44:26Z

❌MegaLinter analysis: Error

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	11.63s
✅ JSON	prettier	2	0	0	0	0.55s
✅ JSON	v8r	2		0	0	2.83s
✅ MARKDOWN	markdownlint	2	0	0	0	0.7s
✅ MARKDOWN	markdown-table-formatter	2	0	0	0	0.21s
✅ PYTHON	bandit	346		0	0	5.29s
✅ PYTHON	black	346	6	0	0	8.16s
✅ PYTHON	flake8	346		0	0	2.9s
✅ PYTHON	isort	346	8	0	0	0.69s
✅ PYTHON	mypy	346		0	0	4.99s
✅ PYTHON	pylint	346		0	0	106.15s
✅ PYTHON	ruff	346	8	0	0	0.07s
❌ REPOSITORY	checkov	yes		1	no	23.72s
✅ REPOSITORY	gitleaks	yes		no	no	6.15s
✅ REPOSITORY	git_diff	yes		no	no	0.05s
✅ REPOSITORY	secretlint	yes		no	no	6.66s
✅ REPOSITORY	syft	yes		no	no	3.43s
✅ REPOSITORY	trivy-sbom	yes		no	no	2.36s
✅ REPOSITORY	trufflehog	yes		no	no	18.03s
✅ YAML	prettier	4	0	0	0	0.5s
✅ YAML	v8r	4		0	0	4.91s
✅ YAML	yamllint	4		0	0	0.47s

Detailed Issues

❌ REPOSITORY / checkov - 1 error

github_actions scan results:

Passed checks: 263, Failed checks: 1, Skipped checks: 0

Check: CKV_GHA_7: "The build output cannot be affected by user parameters other than the build entry point and the top-level source location. GitHub Actions workflow_dispatch inputs MUST be empty. "
	FAILED for resource: on(Check for version change, add tag, build, and publish)
	File: /.github/workflows/tags-and-publishing.yml:10-17

		10 |       dry_run:
		11 |         description: "Build only; do not push a tag or create/update a GitHub release"
		12 |         required: true
		13 |         type: boolean
		14 |         default: true
		15 | 
		16 | permissions:
		17 |   contents: write

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Documentation: Custom Flavors
Command: npx mega-linter-runner@9.4.0 --custom-flavor-setup --custom-flavor-linters PYTHON_PYLINT,PYTHON_BLACK,PYTHON_FLAKE8,PYTHON_ISORT,PYTHON_BANDIT,PYTHON_MYPY,PYTHON_RUFF,COPYPASTE_JSCPD,JSON_V8R,JSON_PRETTIER,MARKDOWN_MARKDOWNLINT,MARKDOWN_MARKDOWN_TABLE_FORMATTER,REPOSITORY_CHECKOV,REPOSITORY_GIT_DIFF,REPOSITORY_GITLEAKS,REPOSITORY_SECRETLINT,REPOSITORY_SYFT,REPOSITORY_TRIVY_SBOM,REPOSITORY_TRUFFLEHOG,YAML_PRETTIER,YAML_YAMLLINT,YAML_V8R

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FlorianPfaff · 2026-04-19T17:52:28Z

@copilot Do not use numpy, import from pyrecest.backend instead (see other classes)

FlorianPfaff · 2026-04-19T17:55:06Z

@copilot Fix these

❌ PYTHON / flake8 - 1 error
pyrecest/filters/abstract_extended_object_tracker.py:6:1: F401 'pyrecest.backend.array' imported but unused
❌ PYTHON / pylint - 15 errors
************* Module pyrecest.filters.abstract_extended_object_tracker
pyrecest/filters/abstract_extended_object_tracker.py:6:0: W0611: Unused array imported from pyrecest.backend (unused-import)
************* Module pyrecest.filters.abstract_tracker_with_logging
pyrecest/filters/abstract_tracker_with_logging.py:32:12: W0201: Attribute 'prior_extents_over_time' defined outside init (attribute-defined-outside-init)
pyrecest/filters/abstract_tracker_with_logging.py:48:16: W0201: Attribute 'prior_extents_over_time' defined outside init (attribute-defined-outside-init)
pyrecest/filters/abstract_tracker_with_logging.py:34:12: W0201: Attribute 'posterior_extents_over_time' defined outside init (attribute-defined-outside-init)
pyrecest/filters/abstract_tracker_with_logging.py:51:16: W0201: Attribute 'posterior_extents_over_time' defined outside init (attribute-defined-outside-init)
************* Module pyrecest.tests.test_history_recorder
pyrecest/tests/test_history_recorder.py:25:4: W0246: Useless parent or super() delegation in method 'init' (useless-parent-delegation)
pyrecest/tests/test_history_recorder.py:107:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:109:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:111:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:123:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:124:8: W0212: Access to a protected member _extent of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:128:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:129:8: W0212: Access to a protected member _extent of a client class (protected-access)
************* Module pyrecest.utils.history_recorder
pyrecest/utils/history_recorder.py:10:0: R0402: Use 'from pyrecest import backend' instead (consider-using-from-import)
pyrecest/utils/history_recorder.py:79:4: R1710: Either all return statements in a function should return an expression, or none of them should. (inconsistent-return-statements)

Your code has been rated at 9.99/10

Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/01f72f84-1e39-4c65-a8aa-700febc3baae Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

Copilot · 2026-04-19T18:39:37Z

@copilot Do not use numpy, import from pyrecest.backend instead (see other classes)

Fixed in 33a2b3d. Replaced import numpy as np with from pyrecest.backend import array, zeros and from math import nan in test_history_recorder.py, following the convention used in other filter test files.

github-actions · 2026-04-19T20:18:59Z

Test Results

12 files ± 0 12 suites ±0 4h 32m 34s ⏱️ + 8m 19s
990 tests + 5 990 ✅ + 5 0 💤 ±0 0 ❌ ±0
12 164 runs +60 9 432 ✅ +60 2 732 💤 ±0 0 ❌ ±0

Results for commit 924592e. ± Comparison against base commit 98a1969.

♻️ This comment has been updated with latest results.

FlorianPfaff · 2026-04-20T01:58:00Z

@copilot Fix this

************* Module pyrecest.filters.abstract_extended_object_tracker
pyrecest/filters/abstract_extended_object_tracker.py:6:0: W0611: Unused array imported from pyrecest.backend (unused-import)
************* Module pyrecest.filters.abstract_tracker_with_logging
pyrecest/filters/abstract_tracker_with_logging.py:32:12: W0201: Attribute 'prior_extents_over_time' defined outside init (attribute-defined-outside-init)
pyrecest/filters/abstract_tracker_with_logging.py:48:16: W0201: Attribute 'prior_extents_over_time' defined outside init (attribute-defined-outside-init)
pyrecest/filters/abstract_tracker_with_logging.py:34:12: W0201: Attribute 'posterior_extents_over_time' defined outside init (attribute-defined-outside-init)
pyrecest/filters/abstract_tracker_with_logging.py:51:16: W0201: Attribute 'posterior_extents_over_time' defined outside init (attribute-defined-outside-init)
************* Module pyrecest.tests.test_history_recorder
pyrecest/tests/test_history_recorder.py:28:4: W0246: Useless parent or super() delegation in method 'init' (useless-parent-delegation)
pyrecest/tests/test_history_recorder.py:110:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:112:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:114:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:126:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:127:8: W0212: Access to a protected member _extent of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:131:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:132:8: W0212: Access to a protected member _extent of a client class (protected-access)
************* Module pyrecest.utils.history_recorder
pyrecest/utils/history_recorder.py:10:0: R0402: Use 'from pyrecest import backend' instead (consider-using-from-import)
pyrecest/utils/history_recorder.py:79:4: R1710: Either all return statements in a function should return an expression, or none of them should. (inconsistent-return-statements)

Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/be473095-ad06-4434-9c94-2a55430adbf1 Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

Copilot · 2026-04-20T02:13:57Z

@copilot Fix these

❌ PYTHON / flake8 - 1 error
...

Fixed in 4dc1dd1:

Removed unused array import from abstract_extended_object_tracker.py
Initialized prior_extents_over_time/posterior_extents_over_time to None in AbstractTrackerWithLogging.__init__
Changed import pyrecest.backend as backend to from pyrecest import backend in history_recorder.py
Added return None for consistent return statements in clear()
Removed useless __init__ from _DummyFilter
Renamed _estimate/_extent to public estimate/extent in dummy test classes

@copilot Fix this

************* Module pyrecest.filters.abstract_extended_object_tracker
...

Fixed in 4dc1dd1. All the listed pylint warnings have been addressed.

FlorianPfaff · 2026-04-20T03:03:36Z

@copilot Fix this

=================================== FAILURES ===================================
___ HistoryRecorderTest.test_filter_helpers_record_state_and_point_estimate ____

self = <pyrecest.tests.test_history_recorder.HistoryRecorderTest testMethod=test_filter_helpers_record_state_and_point_estimate>

def test_filter_helpers_record_state_and_point_estimate(self):

  filter_obj = _DummyFilter(_DummyBelief([1.0, 2.0]))

                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

E TypeError: Can't instantiate abstract class _DummyFilter without an implementation for abstract method 'init'

pyrecest/tests/test_history_recorder.py:94: TypeError

Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/9dcf0f2f-3085-4782-8dce-229687aa2401 Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

FlorianPfaff · 2026-04-20T06:01:20Z

@copilot Adaptations for new TrackManager in latest main:

@@
@DataClass
class Track:
@@

history: List[Dict[str, Any]] = field(default_factory=list)

event_history: List[Dict[str, Any]] = field(default_factory=list)

@@ class TrackManager.init
self.tracks: List[Track] = []
self._next_track_id = 0
self._current_step = -1

   if self.keep_history and "track_events" not in self.history:

       self.history.register("track_events")

@@
def _record_history(self, track: Track, step: int, event: str, **payload) -> None:
if not self.keep_history:
return

   event_record = {"step": int(step), "event": event}

   event_record = {"track_id": track.track_id, "step": int(step), "event": event}
   event_record.update(payload)

```
   track.history.append(event_record)
```

   track.event_history.append(copy.deepcopy(event_record))

   self.record_history("track_events", event_record, copy_value=True)

def clear_history(self, name=None):
```
   super().clear_history(name)
```

   if name is None or name == "track_events":

```
       for track in self.tracks:
```
```
           track.event_history.clear()
```

Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/e842d047-ca64-4dc8-958f-7e4f14917afa Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

FlorianPfaff · 2026-04-20T12:14:41Z

@copilot resolve the merge conflicts in this pull request

…event_history changes Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/cb574f77-5b76-4f66-a714-b599dd0a2a0b Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

Copilot · 2026-04-20T12:19:45Z

@copilot resolve the merge conflicts in this pull request

Resolved in 6661f61. Merged origin/main (MegaLinter auto-formatting commit) into the branch, keeping our functional event_history/track_events changes in track_manager.py while accepting the upstream formatting fixes for both track_manager.py and multi_bernoulli_tracker.py.

FlorianPfaff · 2026-04-20T12:54:49Z

@copilot resolve the merge conflicts in this pull request

…lve track_manager.py conflict Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/1a29ba11-2f99-488f-a979-e057b279453f Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

Copilot · 2026-04-20T12:58:15Z

@copilot resolve the merge conflicts in this pull request

Resolved in 06b3e0e. Merged origin/main (which added the new pyrecest/smoothers/ module) into the branch, keeping our event_history/track_events changes in track_manager.py and bringing in the new smoother files cleanly.

FlorianPfaff · 2026-04-20T14:57:05Z

@copilot resolve the merge conflicts in this pull request

Copilot · 2026-04-20T14:58:05Z

@copilot resolve the merge conflicts in this pull request

The branch is already up-to-date with origin/main — the last merge commit (06b3e0e) already incorporated the latest main (4832ce7 Added first smoothers). There are no merge conflicts to resolve.

FlorianPfaff · 2026-04-20T23:49:24Z

@copilot Can you fix this?

❌ PYTHON / flake8 - 10 errors
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'AssociationResult' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'Track' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'TrackManager' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'TrackManagerStepResult' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'TrackStatus' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'build_global_nearest_neighbor_associator' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'build_kalman_measurement_initiator' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'build_linear_gaussian_predictor' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'build_linear_gaussian_updater' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'solve_global_nearest_neighbor' from line 59
❌ PYTHON / mypy - 1 error
pyrecest/utils/history_recorder.py:34: note: By default the bodies of untyped functions are not checked, consider using --check-untyped-defs [annotation-unchecked]
pyrecest/smoothers/unscented_rauch_tung_striebel_smoother.py:50: note: By default the bodies of untyped functions are not checked, consider using --check-untyped-defs [annotation-unchecked]
pyrecest/filters/track_manager.py:201: error: Unsupported right operand type for in ("Any | None") [operator]
Found 1 error in 1 file (checked 346 source files)
❌ PYTHON / pylint - 11 errors
************* Module pyrecest.filters
pyrecest/filters/init.py:73:0: W0404: Reimport 'AssociationResult' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'Track' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'TrackManager' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'TrackManagerStepResult' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'TrackStatus' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'build_global_nearest_neighbor_associator' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'build_kalman_measurement_initiator' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'build_linear_gaussian_predictor' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'build_linear_gaussian_updater' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'solve_global_nearest_neighbor' (imported line 59) (reimported)
************* Module pyrecest.filters.track_manager
pyrecest/filters/track_manager.py:155:4: R0914: Too many local variables (17/15) (too-many-locals)

Your code has been rated at 9.99/10

…cals Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/e88d68df-d8e0-4320-86e3-76a1628fab36 Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

Copilot · 2026-04-20T23:52:15Z

@copilot Can you fix this?

❌ PYTHON / flake8 - 10 errors
...

Fixed in 0ff1ff5:

Removed the duplicate from .track_manager import (...) block at line 73 in pyrecest/filters/__init__.py (was identical to the one at line 59) — resolves all 10 flake8 F811 and pylint W0404 errors
Replaced the getattr-based defensive pattern with direct self.history access in TrackManager.__init__ — fixes the mypy Unsupported right operand type for in ("Any | None") error and eliminates the tracker_history/register intermediate locals, bringing the variable count from 17 to 15

Added history recorder

afbc39c

Copilot started work on behalf of FlorianPfaff April 19, 2026 18:03 View session

Replace numpy with pyrecest.backend in test_history_recorder.py

33a2b3d

Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/01f72f84-1e39-4c65-a8aa-700febc3baae Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

Copilot finished work on behalf of FlorianPfaff April 19, 2026 18:40

Copilot started work on behalf of FlorianPfaff April 20, 2026 01:58 View session

FlorianPfaff enabled auto-merge (squash) April 20, 2026 01:58

Fix pylint/flake8 issues in history recorder and related files

4dc1dd1

Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/be473095-ad06-4434-9c94-2a55430adbf1 Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

auto-merge was automatically disabled April 20, 2026 02:12
Head branch was pushed to by a user without write access

Copilot finished work on behalf of FlorianPfaff April 20, 2026 02:14

FlorianPfaff enabled auto-merge (squash) April 20, 2026 02:22

Copilot started work on behalf of FlorianPfaff April 20, 2026 03:03 View session

Copilot started work on behalf of FlorianPfaff April 20, 2026 05:50 View session

Fix _DummyFilter missing __init__ causing TypeError in test

61dec54

Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/9dcf0f2f-3085-4782-8dce-229687aa2401 Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

auto-merge was automatically disabled April 20, 2026 05:52
Head branch was pushed to by a user without write access

Copilot finished work on behalf of FlorianPfaff April 20, 2026 05:53

Copilot started work on behalf of FlorianPfaff April 20, 2026 06:01 View session

Copilot started work on behalf of FlorianPfaff April 20, 2026 06:19 View session

Copilot AI and others added 2 commits April 20, 2026 06:23

Start: adapt TrackManager for new history recording

9b16723

Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/e842d047-ca64-4dc8-958f-7e4f14917afa Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

Adapt TrackManager for new history recording in latest main

53e4aec

Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/e842d047-ca64-4dc8-958f-7e4f14917afa Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

Copilot finished work on behalf of FlorianPfaff April 20, 2026 06:40

Copilot started work on behalf of FlorianPfaff April 20, 2026 12:14 View session

Merge origin/main (MegaLinter fixes) into history_recorder, preserve …

6661f61

…event_history changes Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/cb574f77-5b76-4f66-a714-b599dd0a2a0b Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

Copilot finished work on behalf of FlorianPfaff April 20, 2026 12:20

Copilot started work on behalf of FlorianPfaff April 20, 2026 12:56 View session

Merge origin/main (Added first smoothers) into history_recorder, reso…

06b3e0e

…lve track_manager.py conflict Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/1a29ba11-2f99-488f-a979-e057b279453f Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

Copilot finished work on behalf of FlorianPfaff April 20, 2026 12:59

Copilot started work on behalf of FlorianPfaff April 20, 2026 14:57 View session

Copilot finished work on behalf of FlorianPfaff April 20, 2026 14:59

FlorianPfaff and others added 3 commits April 20, 2026 21:05

Can trigger building manually

c453986

Merge branch 'main' into history_recorder

dab664a

Can trigger building manually

224177b

FlorianPfaff force-pushed the main branch from c453986 to 224177b Compare April 20, 2026 22:08

Copilot started work on behalf of FlorianPfaff April 20, 2026 23:49 View session

Fix duplicate track_manager imports, mypy type error, and too-many-lo…

0ff1ff5

…cals Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/e88d68df-d8e0-4320-86e3-76a1628fab36 Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

Copilot finished work on behalf of FlorianPfaff April 20, 2026 23:52

FlorianPfaff and others added 2 commits April 21, 2026 08:44

Test local fix for release notes

98a1969

Merge branch 'main' into history_recorder

924592e

FlorianPfaff force-pushed the main branch 4 times, most recently from 7b21428 to 429a157 Compare April 21, 2026 13:50

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