@foxglove/schemas 0.1.2

package/dist/cjs/src/generateProto.test.js

@@ -0,0 +1,125 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+const tslib_1 = require("tslib");
+const protobufjs_1 = tslib_1.__importDefault(require("protobufjs"));
+const generateProto_1 = require("./generateProto");
+const schemas_1 = require("./schemas");
+const testFixtures_1 = require("./testFixtures");
+describe("generateProto", () => {
+    it("generates .proto files", () => {
+        expect((0, generateProto_1.generateProto)(testFixtures_1.exampleMessage, [testFixtures_1.exampleEnum])).toMatchInlineSnapshot(`
+      "// Generated from ExampleMessage by @foxglove/schemas
+
+      syntax = \\"proto3\\";
+
+      import \\"foxglove/NestedMessage.proto\\";
+      import \\"google/protobuf/duration.proto\\";
+      import \\"google/protobuf/timestamp.proto\\";
+
+      package foxglove;
+
+      // An example type
+      message ExampleMessage {
+        // An example enum
+        enum ExampleProtoEnum {
+          // Value A
+          A = 1;
+
+          // Value B
+          B = 2;
+        }
+        // duration field
+        google.protobuf.Duration field_duration = 1;
+
+        // time field
+        google.protobuf.Timestamp field_time = 2;
+
+        // boolean field
+        bool field_boolean = 3;
+
+        // bytes field
+        bytes field_bytes = 4;
+
+        // float64 field
+        double field_float64 = 5;
+
+        // uint32 field
+        fixed32 field_uint32 = 6;
+
+        // string field
+        string field_string = 7;
+
+        // duration array field
+        repeated google.protobuf.Duration field_duration_array = 8;
+
+        // time array field
+        repeated google.protobuf.Timestamp field_time_array = 9;
+
+        // boolean array field
+        repeated bool field_boolean_array = 10;
+
+        // bytes array field
+        repeated bytes field_bytes_array = 11;
+
+        // float64 array field
+        repeated double field_float64_array = 12;
+
+        // uint32 array field
+        repeated fixed32 field_uint32_array = 13;
+
+        // string array field
+        repeated string field_string_array = 14;
+
+        // duration fixed-length array field
+        repeated google.protobuf.Duration field_duration_fixed_array = 15; // length 3
+
+        // time fixed-length array field
+        repeated google.protobuf.Timestamp field_time_fixed_array = 16; // length 3
+
+        // boolean fixed-length array field
+        repeated bool field_boolean_fixed_array = 17; // length 3
+
+        // bytes fixed-length array field
+        repeated bytes field_bytes_fixed_array = 18; // length 3
+
+        // float64 fixed-length array field
+        repeated double field_float64_fixed_array = 19; // length 3
+
+        // uint32 fixed-length array field
+        repeated fixed32 field_uint32_fixed_array = 20; // length 3
+
+        // string fixed-length array field
+        repeated string field_string_fixed_array = 21; // length 3
+
+        // An enum field
+        ExampleProtoEnum field_enum = 22;
+
+        // An enum array field
+        repeated ExampleProtoEnum field_enum_array = 23;
+
+        // A nested field
+        foxglove.NestedMessage field_nested = 24;
+
+        // A nested array field
+        // With
+        // a
+        // very
+        // long
+        // description
+        repeated foxglove.NestedMessage field_nested_array = 25;
+      }
+      "
+    `);
+    });
+    it("generates parseable .proto files", () => {
+        const root = new protobufjs_1.default.Root();
+        root.addJSON(protobufjs_1.default.common.get("google/protobuf/timestamp.proto").nested);
+        root.addJSON(protobufjs_1.default.common.get("google/protobuf/duration.proto").nested);
+        for (const schema of Object.values(schemas_1.foxgloveMessageSchemas)) {
+            const enums = Object.values(schemas_1.foxgloveEnumSchemas).filter((enumSchema) => enumSchema.protobufParentMessageName === schema.name);
+            root.add(protobufjs_1.default.parse((0, generateProto_1.generateProto)(schema, enums)).root);
+        }
+        expect(() => root.resolveAll()).not.toThrow();
+    });
+});
+//# sourceMappingURL=generateProto.test.js.map

package/dist/cjs/src/generateProto.test.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"generateProto.test.js","sourceRoot":"","sources":["../../../src/generateProto.test.ts"],"names":[],"mappings":";;;AAAA,oEAAoC;AAEpC,mDAAgD;AAChD,uCAAwE;AACxE,iDAA6D;AAE7D,QAAQ,CAAC,eAAe,EAAE,GAAG,EAAE;IAC7B,EAAE,CAAC,wBAAwB,EAAE,GAAG,EAAE;QAChC,MAAM,CAAC,IAAA,6BAAa,EAAC,6BAAc,EAAE,CAAC,0BAAW,CAAC,CAAC,CAAC,CAAC,qBAAqB,CAAC;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;KAsG1E,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,kCAAkC,EAAE,GAAG,EAAE;QAC1C,MAAM,IAAI,GAAG,IAAI,oBAAU,CAAC,IAAI,EAAE,CAAC;QACnC,IAAI,CAAC,OAAO,CAAC,oBAAU,CAAC,MAAM,CAAC,GAAG,CAAC,iCAAiC,CAAE,CAAC,MAAO,CAAC,CAAC;QAChF,IAAI,CAAC,OAAO,CAAC,oBAAU,CAAC,MAAM,CAAC,GAAG,CAAC,gCAAgC,CAAE,CAAC,MAAO,CAAC,CAAC;QAC/E,KAAK,MAAM,MAAM,IAAI,MAAM,CAAC,MAAM,CAAC,gCAAsB,CAAC,EAAE;YAC1D,MAAM,KAAK,GAAG,MAAM,CAAC,MAAM,CAAC,6BAAmB,CAAC,CAAC,MAAM,CACrD,CAAC,UAAU,EAAE,EAAE,CAAC,UAAU,CAAC,yBAAyB,KAAK,MAAM,CAAC,IAAI,CACrE,CAAC;YACF,IAAI,CAAC,GAAG,CAAC,oBAAU,CAAC,KAAK,CAAC,IAAA,6BAAa,EAAC,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC;SAC/D;QACD,MAAM,CAAC,GAAG,EAAE,CAAC,IAAI,CAAC,UAAU,EAAE,CAAC,CAAC,GAAG,CAAC,OAAO,EAAE,CAAC;IAChD,CAAC,CAAC,CAAC;AACL,CAAC,CAAC,CAAC"}

package/dist/cjs/src/generateRos.d.ts

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+import type { RosMsgField } from "@foxglove/rosmsg";
+import { FoxgloveMessageSchema } from "./types";
+declare type RosMsgFieldWithDescription = RosMsgField & {
+    description?: string;
+};
+declare type RosMsgDefinitionWithDescription = {
+    originalName: string;
+    description?: string;
+    qualifiedRosName: string;
+    fields: RosMsgFieldWithDescription[];
+};
+export declare function generateRosMsg(def: RosMsgDefinitionWithDescription): string;
+export declare function generateRosMsgDefinition(schema: FoxgloveMessageSchema, { rosVersion }: {
+    rosVersion: 1 | 2;
+}): RosMsgDefinitionWithDescription;
+export declare function generateRosMsgMergedSchema(schema: FoxgloveMessageSchema, { rosVersion }: {
+    rosVersion: 1 | 2;
+}): string;
+export {};
+//# sourceMappingURL=generateRos.d.ts.map

package/dist/cjs/src/generateRos.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"generateRos.d.ts","sourceRoot":"","sources":["../../../src/generateRos.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAoB,WAAW,EAAE,MAAM,kBAAkB,CAAC;AAGtE,OAAO,EAAE,qBAAqB,EAAqB,MAAM,SAAS,CAAC;AAEnE,aAAK,0BAA0B,GAAG,WAAW,GAAG;IAC9C,WAAW,CAAC,EAAE,MAAM,CAAC;CACtB,CAAC;AACF,aAAK,+BAA+B,GAAG;IACrC,YAAY,EAAE,MAAM,CAAC;IACrB,WAAW,CAAC,EAAE,MAAM,CAAC;IACrB,gBAAgB,EAAE,MAAM,CAAC;IACzB,MAAM,EAAE,0BAA0B,EAAE,CAAC;CACtC,CAAC;AAoBF,wBAAgB,cAAc,CAAC,GAAG,EAAE,+BAA+B,GAAG,MAAM,CAgC3E;AAmCD,wBAAgB,wBAAwB,CACtC,MAAM,EAAE,qBAAqB,EAC7B,EAAE,UAAU,EAAE,EAAE;IAAE,UAAU,EAAE,CAAC,GAAG,CAAC,CAAA;CAAE,GACpC,+BAA+B,CAmFjC;AAED,wBAAgB,0BAA0B,CACxC,MAAM,EAAE,qBAAqB,EAC7B,EAAE,UAAU,EAAE,EAAE;IAAE,UAAU,EAAE,CAAC,GAAG,CAAC,CAAA;CAAE,GACpC,MAAM,CA2BR"}

package/dist/cjs/src/generateRos.js

@@ -0,0 +1,186 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.generateRosMsgMergedSchema = exports.generateRosMsgDefinition = exports.generateRosMsg = void 0;
+const rosmsg_msgs_common_1 = require("@foxglove/rosmsg-msgs-common");
+function primitiveToRos(type, { rosVersion }) {
+    switch (type) {
+        case "string":
+            return "string";
+        case "boolean":
+            return "bool";
+        case "float64":
+            return "float64";
+        case "time":
+            return rosVersion === 2 ? "builtin_interfaces/Time" : "time";
+        case "duration":
+            return rosVersion === 2 ? "builtin_interfaces/Duration" : "duration";
+    }
+}
+function generateRosMsg(def) {
+    let source = "";
+    source += `# Generated from ${def.originalName} by @foxglove/schemas\n`;
+    if (def.description != undefined) {
+        source += `# ${def.description}\n`;
+    }
+    let prevFieldHadComment = true; // start true because of top-of-file comment
+    for (const field of def.fields) {
+        if (prevFieldHadComment || field.description != undefined) {
+            source += "\n";
+        }
+        prevFieldHadComment = false;
+        if (field.description != undefined) {
+            source += field.description
+                .trim()
+                .split("\n")
+                .map((line) => `# ${line}\n`)
+                .join("");
+            prevFieldHadComment = true;
+        }
+        let constant = "";
+        if (field.isConstant === true) {
+            if (field.valueText == undefined) {
+                throw new Error(`Constant ${field.name} has no valueText`);
+            }
+            constant = `=${field.valueText}`;
+        }
+        source += `${field.type}${field.isArray === true ? `[${field.arrayLength ?? ""}]` : ""} ${field.name}${constant}\n`;
+    }
+    return source;
+}
+exports.generateRosMsg = generateRosMsg;
+function dependenciesEqual(a, b) {
+    return ((a.type === "foxglove" && b.type === "foxglove" && a.schema.name === b.schema.name) ||
+        (a.type === "ros" && b.type === "ros" && a.name === b.name));
+}
+function* getSchemaDependencies(schema) {
+    for (const field of schema.fields) {
+        if (field.type.type === "nested") {
+            if (field.type.schema.rosEquivalent != undefined) {
+                yield { type: "ros", name: field.type.schema.rosEquivalent };
+                yield* getRosDependencies(rosmsg_msgs_common_1.definitions[field.type.schema.rosEquivalent]);
+            }
+            else {
+                yield { type: "foxglove", schema: field.type.schema };
+                yield* getSchemaDependencies(field.type.schema);
+            }
+        }
+    }
+}
+function* getRosDependencies(schema) {
+    for (const field of schema.definitions) {
+        if (field.isComplex === true) {
+            yield { type: "ros", name: field.type };
+            yield* getRosDependencies(rosmsg_msgs_common_1.definitions[field.type]);
+        }
+    }
+}
+function generateRosMsgDefinition(schema, { rosVersion }) {
+    const enumFieldNames = new Set();
+    const seenEnumNames = new Set();
+    const fields = [];
+    for (const field of schema.fields) {
+        let isArray = field.array != undefined;
+        const arrayLength = typeof field.array === "number" ? field.array : undefined;
+        let fieldType;
+        switch (field.type.type) {
+            case "enum": {
+                // Add enum constants preceding the field so that Studio can pick them up:
+                // https://foxglove.dev/docs/studio/annotating-data
+                const enumName = field.type.enum.name;
+                const valueType = "uint8";
+                fieldType = valueType;
+                if (seenEnumNames.has(enumName)) {
+                    break;
+                }
+                const enumFields = [];
+                for (const { name, value, description } of field.type.enum.values) {
+                    if (enumFieldNames.has(name)) {
+                        throw new Error(`Enum value ${name} occurs in more than one enum referenced by ${schema.name}, this is not supported in ROS msg files`);
+                    }
+                    if (value < 0 || value > 255 || !Number.isInteger(value)) {
+                        throw new Error(`Only uint8 enums are currently supported; value ${name}=${value} is out of range`);
+                    }
+                    enumFieldNames.add(name);
+                    enumFields.push({
+                        name,
+                        value,
+                        isConstant: true,
+                        valueText: value.toString(),
+                        type: valueType,
+                        description,
+                    });
+                }
+                fields.push(...enumFields);
+                seenEnumNames.add(enumName);
+                break;
+            }
+            case "nested":
+                if (field.type.schema.rosEquivalent != undefined) {
+                    fieldType = field.type.schema.rosEquivalent;
+                }
+                else {
+                    fieldType = `foxglove_msgs/${field.type.schema.name}`;
+                }
+                break;
+            case "primitive":
+                if (field.type.name === "bytes") {
+                    fieldType = "uint8";
+                    if (isArray) {
+                        throw new Error("Array of bytes is not supported in ROS msg");
+                    }
+                    isArray = true;
+                }
+                else if (field.type.name === "uint32") {
+                    fieldType = "uint32";
+                }
+                else {
+                    fieldType = primitiveToRos(field.type.name, { rosVersion });
+                }
+                break;
+        }
+        fields.push({
+            name: rosVersion === 2 ? field.name.toLowerCase() : field.name,
+            type: fieldType,
+            isComplex: field.type.type === "nested",
+            isArray,
+            arrayLength,
+            description: field.description,
+        });
+    }
+    return {
+        originalName: schema.name,
+        qualifiedRosName: `foxglove_msgs/${schema.name}`,
+        fields,
+    };
+}
+exports.generateRosMsgDefinition = generateRosMsgDefinition;
+function generateRosMsgMergedSchema(schema, { rosVersion }) {
+    const dependencies = [];
+    for (const dep of getSchemaDependencies(schema)) {
+        if (!dependencies.some((existing) => dependenciesEqual(existing, dep))) {
+            dependencies.push(dep);
+        }
+    }
+    let result = generateRosMsg(generateRosMsgDefinition(schema, { rosVersion }));
+    for (const dep of dependencies) {
+        let name;
+        let source;
+        if (dep.type === "ros") {
+            name = dep.name;
+            source = generateRosMsg({
+                originalName: dep.name,
+                qualifiedRosName: dep.name,
+                fields: rosmsg_msgs_common_1.definitions[dep.name].definitions,
+            });
+        }
+        else {
+            const definition = generateRosMsgDefinition(dep.schema, { rosVersion });
+            name = definition.qualifiedRosName;
+            source = generateRosMsg(definition);
+        }
+        result += `================================================================================\nMSG: ${name}\n${source}`;
+    }
+    return result;
+}
+exports.generateRosMsgMergedSchema = generateRosMsgMergedSchema;
+//# sourceMappingURL=generateRos.js.map

package/dist/cjs/src/generateRos.js.map

@@ -0,0 +1 @@
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package/dist/cjs/src/generateRos.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=generateRos.test.d.ts.map

package/dist/cjs/src/generateRos.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"generateRos.test.d.ts","sourceRoot":"","sources":["../../../src/generateRos.test.ts"],"names":[],"mappings":""}