@foxglove/schemas 0.3.0 → 0.6.0

package/schemas/ros2/SceneUpdate.msg

@@ -0,0 +1,10 @@
+# foxglove_msgs/msg/SceneUpdate
+# (Experimental, subject to change) An update to the entities displayed in a 3D scene
+
+# Generated by https://github.com/foxglove/schemas
+
+# Scene entities to delete
+foxglove_msgs/SceneEntityDeletion[] deletions
+
+# Scene entities to add or replace
+foxglove_msgs/SceneEntity[] entities

package/schemas/ros2/SpherePrimitive.msg

@@ -0,0 +1,13 @@
+# foxglove_msgs/msg/SpherePrimitive
+# (Experimental, subject to change) A primitive representing a sphere or ellipsoid
+
+# Generated by https://github.com/foxglove/schemas
+
+# Position of the center of the sphere and orientation of the sphere
+geometry_msgs/Pose pose
+
+# Size (diameter) of the sphere along each axis
+geometry_msgs/Vector3 size
+
+# Color of the sphere
+foxglove_msgs/Color color

package/schemas/ros2/TextPrimitive.msg

@@ -0,0 +1,22 @@
+# foxglove_msgs/msg/TextPrimitive
+# (Experimental, subject to change) A primitive representing a text label
+
+# Generated by https://github.com/foxglove/schemas
+
+# 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.
+geometry_msgs/Pose pose
+
+# Whether the text should respect `pose.orientation` (false) or always face the camera (true)
+bool billboard
+
+# Font size (height of one line of text)
+float64 font_size
+
+# 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)
+bool scale_invariant
+
+# Color of the text
+foxglove_msgs/Color color
+
+# Text
+string text

package/schemas/ros2/TriangleListPrimitive.msg

@@ -0,0 +1,21 @@
+# foxglove_msgs/msg/TriangleListPrimitive
+# (Experimental, subject to change) A primitive representing a set of triangles or a surface tiled by triangles
+
+# Generated by https://github.com/foxglove/schemas
+
+# Origin of triangles relative to reference frame
+geometry_msgs/Pose pose
+
+# Vertices to use for triangles, interpreted as a list of triples (0-1-2, 3-4-5, ...)
+geometry_msgs/Point[] points
+
+# Solid color to use for the whole shape. One of `color` or `colors` must be provided.
+foxglove_msgs/Color color
+
+# Per-vertex colors (if specified, must have the same length as `points`). One of `color` or `colors` must be provided.
+foxglove_msgs/Color[] colors
+
+# 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).
+uint32[] indices

package/schemas/typescript/ArrowPrimitive.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 an arrow */
+export type ArrowPrimitive = {
+  /** Position of the arrow's tail and orientation of the arrow. Identity orientation means the arrow points in the +x direction. */
+  pose: Pose;
+
+  /** Length of the arrow shaft */
+  shaft_length: number;
+
+  /** Diameter of the arrow shaft */
+  shaft_diameter: number;
+
+  /** Length of the arrow head */
+  head_length: number;
+
+  /** Diameter of the arrow head */
+  head_diameter: number;
+
+  /** Color of the arrow */
+  color: Color;
+};

package/schemas/typescript/CameraCalibration.ts

@@ -7,6 +7,9 @@ export type CameraCalibration = {
   /** Timestamp of calibration data */
   timestamp: Time;
 
+  /** Frame of reference for the camera. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image. */
+  frame_id: string;
+
   /** Image width */
   width: number;
 

package/schemas/typescript/CompressedImage.ts

@@ -7,6 +7,9 @@ export type CompressedImage = {
   /** Timestamp of image */
   timestamp: Time;
 
+  /** Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image. */
+  frame_id: string;
+
   /** Compressed image data */
   data: Uint8Array;
 

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/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/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/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/PointsAnnotation.ts

@@ -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/RawImage.ts

@@ -7,6 +7,9 @@ export type RawImage = {
   /** Timestamp of image */
   timestamp: Time;
 
+  /** Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image. */
+  frame_id: string;
+
   /** Image width */
   width: number;
 

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/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";
@@ -23,5 +30,12 @@ export * from "./PosesInFrame";
 export * from "./PositionCovarianceType";
 export * from "./Quaternion";
 export * from "./RawImage";
+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/src/generateMarkdown.ts

@@ -11,7 +11,9 @@ export function generateMarkdown(
     `\
 # Foxglove schemas
 
-Generated by https://github.com/foxglove/schemas`,
+See [Foxglove Schemas documentation](https://foxglove.dev/docs/studio/messages).
+
+All schemas are generated from [schemas.ts](/src/schemas.ts).`,
 
     "## Contents",
 

package/src/generateProto.test.ts

@@ -37,67 +37,67 @@ describe("generateProto", () => {
         bool field_boolean = 3;
 
         // bytes field
-        bytes field_bytes = 4;
+        bytes field_bytes = 5;
 
         // float64 field
-        double field_float64 = 5;
+        double field_float64 = 6;
 
         // uint32 field
-        fixed32 field_uint32 = 6;
+        fixed32 field_uint32 = 7;
 
         // string field
-        string field_string = 7;
+        string field_string = 8;
 
         // duration array field
-        repeated google.protobuf.Duration field_duration_array = 8;
+        repeated google.protobuf.Duration field_duration_array = 9;
 
         // time array field
-        repeated google.protobuf.Timestamp field_time_array = 9;
+        repeated google.protobuf.Timestamp field_time_array = 10;
 
         // boolean array field
-        repeated bool field_boolean_array = 10;
+        repeated bool field_boolean_array = 11;
 
         // bytes array field
-        repeated bytes field_bytes_array = 11;
+        repeated bytes field_bytes_array = 12;
 
         // float64 array field
-        repeated double field_float64_array = 12;
+        repeated double field_float64_array = 13;
 
         // uint32 array field
-        repeated fixed32 field_uint32_array = 13;
+        repeated fixed32 field_uint32_array = 14;
 
         // string array field
-        repeated string field_string_array = 14;
+        repeated string field_string_array = 15;
 
         // duration fixed-length array field
-        repeated google.protobuf.Duration field_duration_fixed_array = 15; // length 3
+        repeated google.protobuf.Duration field_duration_fixed_array = 16; // length 3
 
         // time fixed-length array field
-        repeated google.protobuf.Timestamp field_time_fixed_array = 16; // length 3
+        repeated google.protobuf.Timestamp field_time_fixed_array = 17; // length 3
 
         // boolean fixed-length array field
-        repeated bool field_boolean_fixed_array = 17; // length 3
+        repeated bool field_boolean_fixed_array = 18; // length 3
 
         // bytes fixed-length array field
-        repeated bytes field_bytes_fixed_array = 18; // length 3
+        repeated bytes field_bytes_fixed_array = 19; // length 3
 
         // float64 fixed-length array field
-        repeated double field_float64_fixed_array = 19; // length 3
+        repeated double field_float64_fixed_array = 20; // length 3
 
         // uint32 fixed-length array field
-        repeated fixed32 field_uint32_fixed_array = 20; // length 3
+        repeated fixed32 field_uint32_fixed_array = 21; // length 3
 
         // string fixed-length array field
-        repeated string field_string_fixed_array = 21; // length 3
+        repeated string field_string_fixed_array = 22; // length 3
 
         // An enum field
-        ExampleProtoEnum field_enum = 22;
+        ExampleProtoEnum field_enum = 23;
 
         // An enum array field
-        repeated ExampleProtoEnum field_enum_array = 23;
+        repeated ExampleProtoEnum field_enum_array = 24;
 
         // A nested field
-        foxglove.NestedMessage field_nested = 24;
+        foxglove.NestedMessage field_nested = 25;
 
         // A nested array field
         // With
@@ -105,7 +105,7 @@ describe("generateProto", () => {
         // very
         // long
         // description
-        repeated foxglove.NestedMessage field_nested_array = 25;
+        repeated foxglove.NestedMessage field_nested_array = 4;
       }
       "
     `);

package/src/generateProto.ts

@@ -1,4 +1,9 @@
-import { FoxgloveEnumSchema, FoxgloveMessageSchema, FoxglovePrimitive } from "./types";
+import {
+  FoxgloveEnumSchema,
+  FoxgloveMessageField,
+  FoxgloveMessageSchema,
+  FoxglovePrimitive,
+} from "./types";
 
 function primitiveToProto(type: Exclude<FoxglovePrimitive, "time" | "duration">) {
   switch (type) {
@@ -35,9 +40,33 @@ export function generateProto(
     );
   }
 
-  let fieldNumber = 1;
+  const explicitFieldNumbers = new Set<number>();
+  for (const field of schema.fields) {
+    if (field.protobufFieldNumber != undefined) {
+      if (explicitFieldNumbers.has(field.protobufFieldNumber)) {
+        throw new Error(
+          `More than one field with protobufFieldNumber ${field.protobufFieldNumber}`,
+        );
+      }
+      explicitFieldNumbers.add(field.protobufFieldNumber);
+    }
+  }
+
+  let nextFieldNumber = 1;
+  const numberedFields = schema.fields.map(
+    (field): FoxgloveMessageField & { protobufFieldNumber: number } => {
+      if (field.protobufFieldNumber != undefined) {
+        return { ...field, protobufFieldNumber: field.protobufFieldNumber };
+      }
+      while (explicitFieldNumbers.has(nextFieldNumber)) {
+        ++nextFieldNumber;
+      }
+      return { ...field, protobufFieldNumber: nextFieldNumber++ };
+    },
+  );
+
   const imports = new Set<string>();
-  const fields = schema.fields.map((field) => {
+  const fields = numberedFields.map((field) => {
     const lineComments: string[] = [];
     const qualifiers: string[] = [];
     if (field.array != undefined) {
@@ -70,7 +99,7 @@ export function generateProto(
       .trim()
       .split("\n")
       .map((line) => `  // ${line}\n`)
-      .join("")}  ${qualifiers.join(" ")} ${field.name} = ${fieldNumber++};${
+      .join("")}  ${qualifiers.join(" ")} ${field.name} = ${field.protobufFieldNumber};${
       lineComments.length > 0 ? " // " + lineComments.join(", ") : ""
     }`;
   });