@foxglove/schemas 0.1.2

package/src/generateRos.test.ts

@@ -0,0 +1,931 @@
+import { parse as parseMessageDefinition } from "@foxglove/rosmsg";
+
+import {
+  generateRosMsgMergedSchema,
+  generateRosMsgDefinition,
+  generateRosMsg,
+} from "./generateRos";
+import { foxgloveMessageSchemas } from "./schemas";
+import { exampleMessageWithoutArrayOfBytes } from "./testFixtures";
+
+describe("generateRosMsgFiles", () => {
+  it("generates msg file for ROS 1", () => {
+    expect(
+      generateRosMsg(
+        generateRosMsgDefinition(exampleMessageWithoutArrayOfBytes, {
+          rosVersion: 1,
+        }),
+      ),
+    ).toMatchInlineSnapshot(`
+      "# Generated from ExampleMessage by @foxglove/schemas
+
+      # duration field
+      duration field_duration
+
+      # time field
+      time field_time
+
+      # boolean field
+      bool field_boolean
+
+      # bytes field
+      uint8[] field_bytes
+
+      # float64 field
+      float64 field_float64
+
+      # uint32 field
+      uint32 field_uint32
+
+      # string field
+      string field_string
+
+      # duration array field
+      duration[] field_duration_array
+
+      # time array field
+      time[] field_time_array
+
+      # boolean array field
+      bool[] field_boolean_array
+
+      # float64 array field
+      float64[] field_float64_array
+
+      # uint32 array field
+      uint32[] field_uint32_array
+
+      # string array field
+      string[] field_string_array
+
+      # duration fixed-length array field
+      duration[3] field_duration_fixed_array
+
+      # time fixed-length array field
+      time[3] field_time_fixed_array
+
+      # boolean fixed-length array field
+      bool[3] field_boolean_fixed_array
+
+      # float64 fixed-length array field
+      float64[3] field_float64_fixed_array
+
+      # uint32 fixed-length array field
+      uint32[3] field_uint32_fixed_array
+
+      # string fixed-length array field
+      string[3] field_string_fixed_array
+
+      # Value A
+      uint8 A=1
+
+      # Value B
+      uint8 B=2
+
+      # An enum field
+      uint8 field_enum
+
+      # An enum array field
+      uint8[] field_enum_array
+
+      # A nested field
+      foxglove_msgs/NestedMessage field_nested
+
+      # A nested array field
+      # With
+      # a
+      # very
+      # long
+      # description
+      foxglove_msgs/NestedMessage[] field_nested_array
+      "
+    `);
+  });
+
+  it("generates msg file for ROS 2", () => {
+    expect(
+      generateRosMsg(
+        generateRosMsgDefinition(exampleMessageWithoutArrayOfBytes, {
+          rosVersion: 2,
+        }),
+      ),
+    ).toMatchInlineSnapshot(`
+      "# Generated from ExampleMessage by @foxglove/schemas
+
+      # duration field
+      builtin_interfaces/Duration field_duration
+
+      # time field
+      builtin_interfaces/Time field_time
+
+      # boolean field
+      bool field_boolean
+
+      # bytes field
+      uint8[] field_bytes
+
+      # float64 field
+      float64 field_float64
+
+      # uint32 field
+      uint32 field_uint32
+
+      # string field
+      string field_string
+
+      # duration array field
+      builtin_interfaces/Duration[] field_duration_array
+
+      # time array field
+      builtin_interfaces/Time[] field_time_array
+
+      # boolean array field
+      bool[] field_boolean_array
+
+      # float64 array field
+      float64[] field_float64_array
+
+      # uint32 array field
+      uint32[] field_uint32_array
+
+      # string array field
+      string[] field_string_array
+
+      # duration fixed-length array field
+      builtin_interfaces/Duration[3] field_duration_fixed_array
+
+      # time fixed-length array field
+      builtin_interfaces/Time[3] field_time_fixed_array
+
+      # boolean fixed-length array field
+      bool[3] field_boolean_fixed_array
+
+      # float64 fixed-length array field
+      float64[3] field_float64_fixed_array
+
+      # uint32 fixed-length array field
+      uint32[3] field_uint32_fixed_array
+
+      # string fixed-length array field
+      string[3] field_string_fixed_array
+
+      # Value A
+      uint8 A=1
+
+      # Value B
+      uint8 B=2
+
+      # An enum field
+      uint8 field_enum
+
+      # An enum array field
+      uint8[] field_enum_array
+
+      # A nested field
+      foxglove_msgs/NestedMessage field_nested
+
+      # A nested array field
+      # With
+      # a
+      # very
+      # long
+      # description
+      foxglove_msgs/NestedMessage[] field_nested_array
+      "
+    `);
+  });
+});
+
+describe("generateRosMsgMergedSchema", () => {
+  it("generates merged schema for ROS 1", () => {
+    const mergedSchema = generateRosMsgMergedSchema(exampleMessageWithoutArrayOfBytes, {
+      rosVersion: 1,
+    });
+    expect(mergedSchema).toMatchInlineSnapshot(`
+      "# Generated from ExampleMessage by @foxglove/schemas
+
+      # duration field
+      duration field_duration
+
+      # time field
+      time field_time
+
+      # boolean field
+      bool field_boolean
+
+      # bytes field
+      uint8[] field_bytes
+
+      # float64 field
+      float64 field_float64
+
+      # uint32 field
+      uint32 field_uint32
+
+      # string field
+      string field_string
+
+      # duration array field
+      duration[] field_duration_array
+
+      # time array field
+      time[] field_time_array
+
+      # boolean array field
+      bool[] field_boolean_array
+
+      # float64 array field
+      float64[] field_float64_array
+
+      # uint32 array field
+      uint32[] field_uint32_array
+
+      # string array field
+      string[] field_string_array
+
+      # duration fixed-length array field
+      duration[3] field_duration_fixed_array
+
+      # time fixed-length array field
+      time[3] field_time_fixed_array
+
+      # boolean fixed-length array field
+      bool[3] field_boolean_fixed_array
+
+      # float64 fixed-length array field
+      float64[3] field_float64_fixed_array
+
+      # uint32 fixed-length array field
+      uint32[3] field_uint32_fixed_array
+
+      # string fixed-length array field
+      string[3] field_string_fixed_array
+
+      # Value A
+      uint8 A=1
+
+      # Value B
+      uint8 B=2
+
+      # An enum field
+      uint8 field_enum
+
+      # An enum array field
+      uint8[] field_enum_array
+
+      # A nested field
+      foxglove_msgs/NestedMessage field_nested
+
+      # A nested array field
+      # With
+      # a
+      # very
+      # long
+      # description
+      foxglove_msgs/NestedMessage[] field_nested_array
+      ================================================================================
+      MSG: foxglove_msgs/NestedMessage
+      # Generated from NestedMessage by @foxglove/schemas
+
+      # An enum field
+      uint32 field_enum
+      "
+    `);
+    expect(parseMessageDefinition(mergedSchema)).toMatchInlineSnapshot(`
+      Array [
+        Object {
+          "definitions": Array [
+            Object {
+              "isArray": false,
+              "isComplex": false,
+              "name": "field_duration",
+              "type": "duration",
+            },
+            Object {
+              "isArray": false,
+              "isComplex": false,
+              "name": "field_time",
+              "type": "time",
+            },
+            Object {
+              "isArray": false,
+              "isComplex": false,
+              "name": "field_boolean",
+              "type": "bool",
+            },
+            Object {
+              "isArray": true,
+              "isComplex": false,
+              "name": "field_bytes",
+              "type": "uint8",
+            },
+            Object {
+              "isArray": false,
+              "isComplex": false,
+              "name": "field_float64",
+              "type": "float64",
+            },
+            Object {
+              "isArray": false,
+              "isComplex": false,
+              "name": "field_uint32",
+              "type": "uint32",
+            },
+            Object {
+              "isArray": false,
+              "isComplex": false,
+              "name": "field_string",
+              "type": "string",
+            },
+            Object {
+              "isArray": true,
+              "isComplex": false,
+              "name": "field_duration_array",
+              "type": "duration",
+            },
+            Object {
+              "isArray": true,
+              "isComplex": false,
+              "name": "field_time_array",
+              "type": "time",
+            },
+            Object {
+              "isArray": true,
+              "isComplex": false,
+              "name": "field_boolean_array",
+              "type": "bool",
+            },
+            Object {
+              "isArray": true,
+              "isComplex": false,
+              "name": "field_float64_array",
+              "type": "float64",
+            },
+            Object {
+              "isArray": true,
+              "isComplex": false,
+              "name": "field_uint32_array",
+              "type": "uint32",
+            },
+            Object {
+              "isArray": true,
+              "isComplex": false,
+              "name": "field_string_array",
+              "type": "string",
+            },
+            Object {
+              "arrayLength": 3,
+              "isArray": true,
+              "isComplex": false,
+              "name": "field_duration_fixed_array",
+              "type": "duration",
+            },
+            Object {
+              "arrayLength": 3,
+              "isArray": true,
+              "isComplex": false,
+              "name": "field_time_fixed_array",
+              "type": "time",
+            },
+            Object {
+              "arrayLength": 3,
+              "isArray": true,
+              "isComplex": false,
+              "name": "field_boolean_fixed_array",
+              "type": "bool",
+            },
+            Object {
+              "arrayLength": 3,
+              "isArray": true,
+              "isComplex": false,
+              "name": "field_float64_fixed_array",
+              "type": "float64",
+            },
+            Object {
+              "arrayLength": 3,
+              "isArray": true,
+              "isComplex": false,
+              "name": "field_uint32_fixed_array",
+              "type": "uint32",
+            },
+            Object {
+              "arrayLength": 3,
+              "isArray": true,
+              "isComplex": false,
+              "name": "field_string_fixed_array",
+              "type": "string",
+            },
+            Object {
+              "isConstant": true,
+              "name": "A",
+              "type": "uint8",
+              "value": 1,
+              "valueText": "1",
+            },
+            Object {
+              "isConstant": true,
+              "name": "B",
+              "type": "uint8",
+              "value": 2,
+              "valueText": "2",
+            },
+            Object {
+              "isArray": false,
+              "isComplex": false,
+              "name": "field_enum",
+              "type": "uint8",
+            },
+            Object {
+              "isArray": true,
+              "isComplex": false,
+              "name": "field_enum_array",
+              "type": "uint8",
+            },
+            Object {
+              "isArray": false,
+              "isComplex": true,
+              "name": "field_nested",
+              "type": "foxglove_msgs/NestedMessage",
+            },
+            Object {
+              "isArray": true,
+              "isComplex": true,
+              "name": "field_nested_array",
+              "type": "foxglove_msgs/NestedMessage",
+            },
+          ],
+          "name": undefined,
+        },
+        Object {
+          "definitions": Array [
+            Object {
+              "isArray": false,
+              "isComplex": false,
+              "name": "field_enum",
+              "type": "uint32",
+            },
+          ],
+          "name": "foxglove_msgs/NestedMessage",
+        },
+      ]
+    `);
+  });
+
+  it("generates merged schema for ROS 2", () => {
+    const mergedSchema = generateRosMsgMergedSchema(exampleMessageWithoutArrayOfBytes, {
+      rosVersion: 2,
+    });
+    expect(mergedSchema).toMatchInlineSnapshot(`
+      "# Generated from ExampleMessage by @foxglove/schemas
+
+      # duration field
+      builtin_interfaces/Duration field_duration
+
+      # time field
+      builtin_interfaces/Time field_time
+
+      # boolean field
+      bool field_boolean
+
+      # bytes field
+      uint8[] field_bytes
+
+      # float64 field
+      float64 field_float64
+
+      # uint32 field
+      uint32 field_uint32
+
+      # string field
+      string field_string
+
+      # duration array field
+      builtin_interfaces/Duration[] field_duration_array
+
+      # time array field
+      builtin_interfaces/Time[] field_time_array
+
+      # boolean array field
+      bool[] field_boolean_array
+
+      # float64 array field
+      float64[] field_float64_array
+
+      # uint32 array field
+      uint32[] field_uint32_array
+
+      # string array field
+      string[] field_string_array
+
+      # duration fixed-length array field
+      builtin_interfaces/Duration[3] field_duration_fixed_array
+
+      # time fixed-length array field
+      builtin_interfaces/Time[3] field_time_fixed_array
+
+      # boolean fixed-length array field
+      bool[3] field_boolean_fixed_array
+
+      # float64 fixed-length array field
+      float64[3] field_float64_fixed_array
+
+      # uint32 fixed-length array field
+      uint32[3] field_uint32_fixed_array
+
+      # string fixed-length array field
+      string[3] field_string_fixed_array
+
+      # Value A
+      uint8 A=1
+
+      # Value B
+      uint8 B=2
+
+      # An enum field
+      uint8 field_enum
+
+      # An enum array field
+      uint8[] field_enum_array
+
+      # A nested field
+      foxglove_msgs/NestedMessage field_nested
+
+      # A nested array field
+      # With
+      # a
+      # very
+      # long
+      # description
+      foxglove_msgs/NestedMessage[] field_nested_array
+      ================================================================================
+      MSG: foxglove_msgs/NestedMessage
+      # Generated from NestedMessage by @foxglove/schemas
+
+      # An enum field
+      uint32 field_enum
+      "
+    `);
+    expect(parseMessageDefinition(mergedSchema, { ros2: true })).toMatchInlineSnapshot(`
+      Array [
+        Object {
+          "definitions": Array [
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": false,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_duration",
+              "type": "duration",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": false,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_time",
+              "type": "time",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": false,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_boolean",
+              "type": "bool",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": true,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_bytes",
+              "type": "uint8",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": false,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_float64",
+              "type": "float64",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": false,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_uint32",
+              "type": "uint32",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": false,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_string",
+              "type": "string",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": true,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_duration_array",
+              "type": "duration",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": true,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_time_array",
+              "type": "time",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": true,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_boolean_array",
+              "type": "bool",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": true,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_float64_array",
+              "type": "float64",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": true,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_uint32_array",
+              "type": "uint32",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": true,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_string_array",
+              "type": "string",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": 3,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": true,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_duration_fixed_array",
+              "type": "duration",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": 3,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": true,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_time_fixed_array",
+              "type": "time",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": 3,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": true,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_boolean_fixed_array",
+              "type": "bool",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": 3,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": true,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_float64_fixed_array",
+              "type": "float64",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": 3,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": true,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_uint32_fixed_array",
+              "type": "uint32",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": 3,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": true,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_string_fixed_array",
+              "type": "string",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": undefined,
+              "isComplex": undefined,
+              "isConstant": true,
+              "name": "A",
+              "type": "uint8",
+              "upperBound": undefined,
+              "value": 1,
+              "valueText": "1",
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": undefined,
+              "isComplex": undefined,
+              "isConstant": true,
+              "name": "B",
+              "type": "uint8",
+              "upperBound": undefined,
+              "value": 2,
+              "valueText": "2",
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": false,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_enum",
+              "type": "uint8",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": true,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_enum_array",
+              "type": "uint8",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": false,
+              "isComplex": true,
+              "isConstant": undefined,
+              "name": "field_nested",
+              "type": "foxglove_msgs/NestedMessage",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": true,
+              "isComplex": true,
+              "isConstant": undefined,
+              "name": "field_nested_array",
+              "type": "foxglove_msgs/NestedMessage",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+          ],
+          "name": undefined,
+        },
+        Object {
+          "definitions": Array [
+            Object {
+              "arrayLength": undefined,
+              "arrayUpperBound": undefined,
+              "defaultValue": undefined,
+              "isArray": false,
+              "isComplex": false,
+              "isConstant": undefined,
+              "name": "field_enum",
+              "type": "uint32",
+              "upperBound": undefined,
+              "value": undefined,
+              "valueText": undefined,
+            },
+          ],
+          "name": "foxglove_msgs/NestedMessage",
+        },
+      ]
+    `);
+  });
+
+  it.each(Object.values(foxgloveMessageSchemas))("generates parseable merged schemas", (schema) => {
+    expect(() =>
+      parseMessageDefinition(generateRosMsgMergedSchema(schema, { rosVersion: 1 })),
+    ).not.toThrow();
+
+    expect(() =>
+      parseMessageDefinition(generateRosMsgMergedSchema(schema, { rosVersion: 2 }), { ros2: true }),
+    ).not.toThrow();
+  });
+});