feat: extract_mcap — MCAP NavSatFix + depth -> HDF5 /auv_mcap

tests/test_extract_mcap.py

@@ -0,0 +1,24 @@
+import tempfile, os
+import numpy as np
+import h5py
+import pytest
+
+def test_write_auv_mcap_group():
+    from extract.extract_mcap import write_auv_mcap_group
+    t = np.array([1000, 2000, 3000], dtype=np.int64)
+    lat = np.array([43.1, 43.2, 43.3])
+    lon = np.array([5.6, 5.61, 5.62])
+    depth = np.array([5.0, 5.5, 6.0])
+
+    with tempfile.NamedTemporaryFile(suffix=".h5", delete=False) as tmp:
+        path = tmp.name
+    try:
+        write_auv_mcap_group(path, t, lat, lon, depth)
+        with h5py.File(path, "r") as f:
+            assert "auv_mcap" in f
+            assert np.allclose(f["auv_mcap/lat"][:], lat)
+            assert np.allclose(f["auv_mcap/lon"][:], lon)
+            assert np.allclose(f["auv_mcap/depth_m"][:], depth)
+            assert list(f["auv_mcap/t_ns"][:]) == list(t)
+    finally:
+        os.unlink(path)