@foxglove/schemas 0.2.0 → 0.5.0

package/schemas/typescript/CubePrimitive.ts

@@ -0,0 +1,17 @@
+// Generated by https://github.com/foxglove/schemas
+
+import { Color } from "./Color";
+import { Pose } from "./Pose";
+import { Vector3 } from "./Vector3";
+
+/** (Experimental, subject to change) A primitive representing a cube or rectangular prism */
+export type CubePrimitive = {
+  /** Position of the center of the cube and orientation of the cube */
+  pose: Pose;
+
+  /** Size of the cube along each axis */
+  size: Vector3;
+
+  /** Color of the arrow */
+  color: Color;
+};

package/schemas/typescript/CylinderPrimitive.ts

@@ -0,0 +1,23 @@
+// Generated by https://github.com/foxglove/schemas
+
+import { Color } from "./Color";
+import { Pose } from "./Pose";
+import { Vector3 } from "./Vector3";
+
+/** (Experimental, subject to change) A primitive representing a cylinder, elliptic cylinder, or truncated cone */
+export type CylinderPrimitive = {
+  /** Position of the center of the cylinder and orientation of the cylinder. The flat face(s) are perpendicular to the z-axis. */
+  pose: Pose;
+
+  /** Size of the cylinder's bounding box */
+  size: Vector3;
+
+  /** 0-1, ratio of the diameter of the cylinder's bottom face (min z) to the bottom of the bounding box */
+  bottom_scale: number;
+
+  /** 0-1, ratio of the diameter of the cylinder's top face (max z) to the top of the bounding box */
+  top_scale: number;
+
+  /** Color of the cylinder */
+  color: Color;
+};

package/schemas/typescript/FrameTransform.ts

@@ -1,7 +1,8 @@
-// Generated from FrameTransform by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
+import { Quaternion } from "./Quaternion";
 import { Time } from "./Time";
-import { Transform } from "./Transform";
+import { Vector3 } from "./Vector3";
 
 /** A transform between two reference frames in 3D space */
 export type FrameTransform = {
@@ -14,6 +15,9 @@ export type FrameTransform = {
   /** Name of the child frame */
   child_frame_id: string;
 
-  /** Transform from parent frame to child frame */
-  transform: Transform;
+  /** Translation component of the transform */
+  translation: Vector3;
+
+  /** Rotation component of the transform */
+  rotation: Quaternion;
 };

package/schemas/typescript/GeoJSON.ts

@@ -1,4 +1,4 @@
-// Generated from GeoJSON by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 /** GeoJSON data for annotating maps */
 export type GeoJSON = {

package/schemas/typescript/Grid.ts

@@ -1,4 +1,4 @@
-// Generated from Grid by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 import { PackedElementField } from "./PackedElementField";
 import { Pose } from "./Pose";

package/schemas/typescript/ImageAnnotations.ts

@@ -1,4 +1,4 @@
-// Generated from ImageAnnotations by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 import { CircleAnnotation } from "./CircleAnnotation";
 import { PointsAnnotation } from "./PointsAnnotation";

package/schemas/typescript/KeyValuePair.ts

@@ -0,0 +1,10 @@
+// Generated by https://github.com/foxglove/schemas
+
+/** (Experimental, subject to change) A key with its associated value */
+export type KeyValuePair = {
+  /** Key */
+  key: string;
+
+  /** Value */
+  value: string;
+};

package/schemas/typescript/LaserScan.ts

@@ -1,4 +1,4 @@
-// Generated from LaserScan by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 import { Pose } from "./Pose";
 import { Time } from "./Time";

package/schemas/typescript/LinePrimitive.ts

@@ -0,0 +1,37 @@
+// Generated by https://github.com/foxglove/schemas
+
+import { Color } from "./Color";
+import { LineType } from "./LineType";
+import { Point3 } from "./Point3";
+import { Pose } from "./Pose";
+
+/** (Experimental, subject to change) A primitive representing a series of points connected by lines */
+export type LinePrimitive = {
+  /** Drawing primitive to use for lines */
+  type: LineType;
+
+  /** Origin of lines relative to reference frame */
+  pose: Pose;
+
+  /** Line thickness */
+  thickness: number;
+
+  /** Indicates whether `thickness` is a fixed size in screen pixels (true), or specified in world coordinates and scales with distance from the camera (false) */
+  scale_invariant: boolean;
+
+  /** Points along the line */
+  points: Point3[];
+
+  /** Solid color to use for the whole line. One of `color` or `colors` must be provided. */
+  color: Color;
+
+  /** Per-point colors (if specified, must have the same length as `points`). One of `color` or `colors` must be provided. */
+  colors: Color[];
+
+  /**
+   * Indices into the `points` and `colors` attribute arrays, which can be used to avoid duplicating attribute data.
+   * 
+   * If omitted or empty, indexing will not be used. This default behavior is equivalent to specifying [0, 1, ..., N-1] for the indices (where N is the number of `points` provided).
+   */
+  indices: number[];
+};

package/schemas/typescript/LineType.ts

@@ -0,0 +1,13 @@
+// Generated by https://github.com/foxglove/schemas
+
+/** (Experimental, subject to change) An enumeration indicating how input points should be interpreted to create lines */
+export enum LineType {
+  /** 0-1, 1-2, ..., (n-1)-n */
+  LINE_STRIP = 0,
+
+  /** 0-1, 1-2, ..., (n-1)-n, n-0 */
+  LINE_LOOP = 1,
+
+  /** 0-1, 2-3, 4-5, ... */
+  LINE_LIST = 2,
+}

package/schemas/typescript/LocationFix.ts

@@ -1,4 +1,4 @@
-// Generated from LocationFix by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 import { PositionCovarianceType } from "./PositionCovarianceType";
 

package/schemas/typescript/Log.ts

@@ -1,4 +1,4 @@
-// Generated from Log by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 import { LogLevel } from "./LogLevel";
 import { Time } from "./Time";

package/schemas/typescript/LogLevel.ts

@@ -1,4 +1,4 @@
-// Generated from LogLevel by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 /** Log level */
 export enum LogLevel {

package/schemas/typescript/ModelPrimitive.ts

@@ -0,0 +1,29 @@
+// Generated by https://github.com/foxglove/schemas
+
+import { Color } from "./Color";
+import { Pose } from "./Pose";
+import { Vector3 } from "./Vector3";
+
+/** (Experimental, subject to change) A primitive representing a 3D model file loaded from an external URL or embedded data */
+export type ModelPrimitive = {
+  /** Origin of model relative to reference frame */
+  pose: Pose;
+
+  /** Scale factor to apply to the model along each axis */
+  scale: Vector3;
+
+  /** Solid color to use for the whole model if `override_color` is true. */
+  color: Color;
+
+  /** Whether to use the color specified in `color` instead of any materials embedded in the original model. */
+  override_color: boolean;
+
+  /** URL pointing to model file. One of `url` or `data` should be provided. */
+  url: string;
+
+  /** [Media type](https://developer.mozilla.org/en-US/docs/Web/HTTP/Basics_of_HTTP/MIME_types) of embedded model (e.g. `model/gltf-binary`). Required if `data` is provided instead of `url`. Overrides the inferred media type if `url` is provided. */
+  media_type: string;
+
+  /** Embedded model. One of `url` or `data` should be provided. If `data` is provided, `media_type` must be set to indicate the type of the data. */
+  data: Uint8Array;
+};

package/schemas/typescript/NumericType.ts

@@ -1,4 +1,4 @@
-// Generated from NumericType by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 /** Numeric type */
 export enum NumericType {

package/schemas/typescript/PackedElementField.ts

@@ -1,4 +1,4 @@
-// Generated from PackedElementField by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 import { NumericType } from "./NumericType";
 

package/schemas/typescript/Point2.ts

@@ -1,4 +1,4 @@
-// Generated from Point2 by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 /** A point representing a position in 2D space */
 export type Point2 = {

package/schemas/typescript/Point3.ts

@@ -1,4 +1,4 @@
-// Generated from Point3 by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 /** A point representing a position in 3D space */
 export type Point3 = {

package/schemas/typescript/PointCloud.ts

@@ -1,4 +1,4 @@
-// Generated from PointCloud by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 import { PackedElementField } from "./PackedElementField";
 import { Pose } from "./Pose";

package/schemas/typescript/PointsAnnotation.ts

@@ -1,4 +1,4 @@
-// Generated from PointsAnnotation by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 import { Color } from "./Color";
 import { Point2 } from "./Point2";
@@ -16,9 +16,15 @@ export type PointsAnnotation = {
   /** Points in 2D image coordinates */
   points: Point2[];
 
-  /** Outline colors */
+  /** Outline color */
+  outline_color: Color;
+
+  /** Per-point colors, if `type` is `POINTS`, or per-segment stroke colors, if `type` is `LINE_LIST`. */
   outline_colors: Color[];
 
   /** Fill color */
   fill_color: Color;
+
+  /** Stroke thickness */
+  thickness: number;
 };

package/schemas/typescript/PointsAnnotationType.ts

@@ -1,4 +1,4 @@
-// Generated from PointsAnnotationType by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 /** Type of points annotation */
 export enum PointsAnnotationType {

package/schemas/typescript/Pose.ts

@@ -1,4 +1,4 @@
-// Generated from Pose by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 import { Quaternion } from "./Quaternion";
 import { Vector3 } from "./Vector3";

package/schemas/typescript/PoseInFrame.ts

@@ -1,4 +1,4 @@
-// Generated from PoseInFrame by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 import { Pose } from "./Pose";
 import { Time } from "./Time";

package/schemas/typescript/PosesInFrame.ts

@@ -1,4 +1,4 @@
-// Generated from PosesInFrame by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 import { Pose } from "./Pose";
 import { Time } from "./Time";

package/schemas/typescript/PositionCovarianceType.ts

@@ -1,4 +1,4 @@
-// Generated from PositionCovarianceType by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 /** Type of position covariance */
 export enum PositionCovarianceType {

package/schemas/typescript/Quaternion.ts

@@ -1,4 +1,4 @@
-// Generated from Quaternion by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 /** A [quaternion](https://eater.net/quaternions) representing a rotation in 3D space */
 export type Quaternion = {

package/schemas/typescript/RawImage.ts

@@ -1,4 +1,4 @@
-// Generated from RawImage by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 import { Time } from "./Time";
 

package/schemas/typescript/SceneEntity.ts

@@ -0,0 +1,58 @@
+// Generated by https://github.com/foxglove/schemas
+
+import { ArrowPrimitive } from "./ArrowPrimitive";
+import { CubePrimitive } from "./CubePrimitive";
+import { CylinderPrimitive } from "./CylinderPrimitive";
+import { Duration } from "./Duration";
+import { KeyValuePair } from "./KeyValuePair";
+import { LinePrimitive } from "./LinePrimitive";
+import { ModelPrimitive } from "./ModelPrimitive";
+import { SpherePrimitive } from "./SpherePrimitive";
+import { TextPrimitive } from "./TextPrimitive";
+import { Time } from "./Time";
+import { TriangleListPrimitive } from "./TriangleListPrimitive";
+
+/** (Experimental, subject to change) A visual element in a 3D scene. An entity may be composed of multiple primitives which all share the same frame of reference. */
+export type SceneEntity = {
+  /** Timestamp of the entity */
+  timestamp: Time;
+
+  /** Frame of reference */
+  frame_id: string;
+
+  /** Identifier for the entity. A entity will replace any prior entity on the same topic with the same `id`. */
+  id: string;
+
+  /** Length of time (relative to `timestamp`) after which the entity should be automatically removed. Zero value indicates the entity should remain visible until it is replaced or deleted. */
+  lifetime: Duration;
+
+  /** Whether the entity should keep its location in the fixed frame (false) or follow the frame specified in `frame_id` as it moves relative to the fixed frame (true) */
+  frame_locked: boolean;
+
+  /** Additional user-provided metadata associated with the entity. Keys must be unique. */
+  metadata: KeyValuePair[];
+
+  /** Arrow primitives */
+  arrows: ArrowPrimitive[];
+
+  /** Cube primitives */
+  cubes: CubePrimitive[];
+
+  /** Sphere primitives */
+  spheres: SpherePrimitive[];
+
+  /** Cylinder primitives */
+  cylinders: CylinderPrimitive[];
+
+  /** Line primitives */
+  lines: LinePrimitive[];
+
+  /** Triangle list primitives */
+  triangles: TriangleListPrimitive[];
+
+  /** Text primitives */
+  texts: TextPrimitive[];
+
+  /** Model primitives */
+  models: ModelPrimitive[];
+};

package/schemas/typescript/SceneEntityDeletion.ts

@@ -0,0 +1,16 @@
+// Generated by https://github.com/foxglove/schemas
+
+import { SceneEntityDeletionType } from "./SceneEntityDeletionType";
+import { Time } from "./Time";
+
+/** (Experimental, subject to change) Command to remove previously published entities */
+export type SceneEntityDeletion = {
+  /** Timestamp of the deletion. Only matching entities earlier than this timestamp will be deleted. */
+  timestamp: Time;
+
+  /** Type of deletion action to perform */
+  type: SceneEntityDeletionType;
+
+  /** Identifier which must match if `type` is `MATCHING_ID`. */
+  id: string;
+};

package/schemas/typescript/SceneEntityDeletionType.ts

@@ -0,0 +1,10 @@
+// Generated by https://github.com/foxglove/schemas
+
+/** (Experimental, subject to change) An enumeration indicating which entities should match a SceneEntityDeletion command */
+export enum SceneEntityDeletionType {
+  /** Delete the existing entity on the same topic that has the provided `id` */
+  MATCHING_ID = 0,
+
+  /** Delete all existing entities on the same topic */
+  ALL = 1,
+}

package/schemas/typescript/SceneUpdate.ts

@@ -0,0 +1,13 @@
+// Generated by https://github.com/foxglove/schemas
+
+import { SceneEntity } from "./SceneEntity";
+import { SceneEntityDeletion } from "./SceneEntityDeletion";
+
+/** (Experimental, subject to change) An update to the entities displayed in a 3D scene */
+export type SceneUpdate = {
+  /** Scene entities to delete */
+  deletions: SceneEntityDeletion[];
+
+  /** Scene entities to add or replace */
+  entities: SceneEntity[];
+};

package/schemas/typescript/SpherePrimitive.ts

@@ -0,0 +1,17 @@
+// Generated by https://github.com/foxglove/schemas
+
+import { Color } from "./Color";
+import { Pose } from "./Pose";
+import { Vector3 } from "./Vector3";
+
+/** (Experimental, subject to change) A primitive representing a sphere or ellipsoid */
+export type SpherePrimitive = {
+  /** Position of the center of the sphere and orientation of the sphere */
+  pose: Pose;
+
+  /** Size (diameter) of the sphere along each axis */
+  size: Vector3;
+
+  /** Color of the sphere */
+  color: Color;
+};

package/schemas/typescript/TextPrimitive.ts

@@ -0,0 +1,25 @@
+// Generated by https://github.com/foxglove/schemas
+
+import { Color } from "./Color";
+import { Pose } from "./Pose";
+
+/** (Experimental, subject to change) A primitive representing a text label */
+export type TextPrimitive = {
+  /** Position of the center of the text box and orientation of the text. Identity orientation means the text is oriented in the xy-plane and flows from -x to +x. */
+  pose: Pose;
+
+  /** Whether the text should respect `pose.orientation` (false) or always face the camera (true) */
+  billboard: boolean;
+
+  /** Font size (height of one line of text) */
+  font_size: number;
+
+  /** Indicates whether `font_size` is a fixed size in screen pixels (true), or specified in world coordinates and scales with distance from the camera (false) */
+  scale_invariant: boolean;
+
+  /** Color of the text */
+  color: Color;
+
+  /** Text */
+  text: string;
+};

package/schemas/typescript/TriangleListPrimitive.ts

@@ -0,0 +1,27 @@
+// Generated by https://github.com/foxglove/schemas
+
+import { Color } from "./Color";
+import { Point3 } from "./Point3";
+import { Pose } from "./Pose";
+
+/** (Experimental, subject to change) A primitive representing a set of triangles or a surface tiled by triangles */
+export type TriangleListPrimitive = {
+  /** Origin of triangles relative to reference frame */
+  pose: Pose;
+
+  /** Vertices to use for triangles, interpreted as a list of triples (0-1-2, 3-4-5, ...) */
+  points: Point3[];
+
+  /** Solid color to use for the whole shape. One of `color` or `colors` must be provided. */
+  color: Color;
+
+  /** Per-vertex colors (if specified, must have the same length as `points`). One of `color` or `colors` must be provided. */
+  colors: Color[];
+
+  /**
+   * Indices into the `points` and `colors` attribute arrays, which can be used to avoid duplicating attribute data.
+   * 
+   * If omitted or empty, indexing will not be used. This default behavior is equivalent to specifying [0, 1, ..., N-1] for the indices (where N is the number of `points` provided).
+   */
+  indices: number[];
+};

package/schemas/typescript/Vector2.ts

@@ -1,4 +1,4 @@
-// Generated from Vector2 by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 /** A vector in 2D space that represents a direction only */
 export type Vector2 = {

package/schemas/typescript/Vector3.ts

@@ -1,4 +1,4 @@
-// Generated from Vector3 by @foxglove/schemas
+// Generated by https://github.com/foxglove/schemas
 
 /** A vector in 3D space that represents a direction only */
 export type Vector3 = {

package/schemas/typescript/index.ts

@@ -1,15 +1,22 @@
+export * from "./ArrowPrimitive";
 export * from "./CameraCalibration";
 export * from "./CircleAnnotation";
 export * from "./Color";
 export * from "./CompressedImage";
+export * from "./CubePrimitive";
+export * from "./CylinderPrimitive";
 export * from "./FrameTransform";
 export * from "./GeoJSON";
 export * from "./Grid";
 export * from "./ImageAnnotations";
+export * from "./KeyValuePair";
 export * from "./LaserScan";
+export * from "./LinePrimitive";
+export * from "./LineType";
 export * from "./LocationFix";
 export * from "./Log";
 export * from "./LogLevel";
+export * from "./ModelPrimitive";
 export * from "./NumericType";
 export * from "./PackedElementField";
 export * from "./Point2";
@@ -23,6 +30,12 @@ export * from "./PosesInFrame";
 export * from "./PositionCovarianceType";
 export * from "./Quaternion";
 export * from "./RawImage";
-export * from "./Transform";
+export * from "./SceneEntity";
+export * from "./SceneEntityDeletion";
+export * from "./SceneEntityDeletionType";
+export * from "./SceneUpdate";
+export * from "./SpherePrimitive";
+export * from "./TextPrimitive";
+export * from "./TriangleListPrimitive";
 export * from "./Vector2";
 export * from "./Vector3";

package/scripts/updateGeneratedFiles.ts

@@ -6,6 +6,7 @@ import { promisify } from "util";
 
 import { generateRosMsg, generateRosMsgDefinition } from "../src";
 import { generateJsonSchema } from "../src/generateJsonSchema";
+import { generateMarkdown } from "../src/generateMarkdown";
 import { generateProto } from "../src/generateProto";
 import { generateTypeScript, DURATION_TS, TIME_TS } from "../src/generateTypeScript";
 import { foxgloveEnumSchemas, foxgloveMessageSchemas } from "../src/schemas";
@@ -16,7 +17,7 @@ async function logProgress(message: string, body: () => Promise<void>) {
   process.stderr.write("done\n");
 }
 
-async function main({ outDir }: { outDir: string }) {
+async function main({ outDir, rosOutDir }: { outDir: string; rosOutDir: string }) {
   await logProgress("Removing any existing output directory", async () => {
     await promisify(rimraf)(outDir);
   });
@@ -33,27 +34,27 @@ async function main({ outDir }: { outDir: string }) {
 
   await logProgress("Generating ROS 1 msg files", async () => {
     await fs.mkdir(path.join(outDir, "ros1"), { recursive: true });
+    await fs.mkdir(path.join(rosOutDir, "ros1"), { recursive: true });
     for (const schema of Object.values(foxgloveMessageSchemas)) {
       if (schema.rosEquivalent != undefined) {
         continue;
       }
-      await fs.writeFile(
-        path.join(outDir, "ros1", `${schema.name}.msg`),
-        generateRosMsg(generateRosMsgDefinition(schema, { rosVersion: 1 })),
-      );
+      const msg = generateRosMsg(generateRosMsgDefinition(schema, { rosVersion: 1 }));
+      await fs.writeFile(path.join(outDir, "ros1", `${schema.name}.msg`), msg);
+      await fs.writeFile(path.join(rosOutDir, "ros1", `${schema.name}.msg`), msg);
     }
   });
 
   await logProgress("Generating ROS 2 msg files", async () => {
     await fs.mkdir(path.join(outDir, "ros2"), { recursive: true });
+    await fs.mkdir(path.join(rosOutDir, "ros2"), { recursive: true });
     for (const schema of Object.values(foxgloveMessageSchemas)) {
       if (schema.rosEquivalent != undefined) {
         continue;
       }
-      await fs.writeFile(
-        path.join(outDir, "ros2", `${schema.name}.msg`),
-        generateRosMsg(generateRosMsgDefinition(schema, { rosVersion: 2 })),
-      );
+      const msg = generateRosMsg(generateRosMsgDefinition(schema, { rosVersion: 2 }));
+      await fs.writeFile(path.join(outDir, "ros2", `${schema.name}.msg`), msg);
+      await fs.writeFile(path.join(rosOutDir, "ros2", `${schema.name}.msg`), msg);
     }
   });
 
@@ -96,8 +97,18 @@ async function main({ outDir }: { outDir: string }) {
     }
     await fs.writeFile(path.join(outDir, "typescript", `index.ts`), indexTS);
   });
+
+  await logProgress("Generating README.md", async () => {
+    await fs.writeFile(
+      path.join(outDir, "README.md"),
+      generateMarkdown(Object.values(foxgloveMessageSchemas), Object.values(foxgloveEnumSchemas)),
+    );
+  });
 }
 
-program.requiredOption("-o, --out-dir <dir>", "output directory").action(main);
+program
+  .requiredOption("-o, --out-dir <dir>", "output directory")
+  .requiredOption("--ros-out-dir <dir>", "output directory for additional copies of ROS msgs")
+  .action(main);
 
 program.parseAsync().catch(console.error);