@foxglove/schemas 0.5.0 → 0.6.0

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(", ") : ""
     }`;
   });

package/src/schemas.ts

@@ -664,6 +664,13 @@ const CameraCalibration: FoxgloveMessageSchema = {
       type: { type: "primitive", name: "time" },
       description: "Timestamp of calibration data",
     },
+    {
+      name: "frame_id",
+      type: { type: "primitive", name: "string" },
+      description:
+        "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.",
+      protobufFieldNumber: 9,
+    },
     {
       name: "width",
       type: { type: "primitive", name: "uint32" },
@@ -754,6 +761,13 @@ const CompressedImage: FoxgloveMessageSchema = {
       type: { type: "primitive", name: "time" },
       description: "Timestamp of image",
     },
+    {
+      name: "frame_id",
+      type: { type: "primitive", name: "string" },
+      description:
+        "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.",
+      protobufFieldNumber: 4,
+    },
     {
       name: "data",
       type: { type: "primitive", name: "bytes" },
@@ -777,6 +791,13 @@ const RawImage: FoxgloveMessageSchema = {
       type: { type: "primitive", name: "time" },
       description: "Timestamp of image",
     },
+    {
+      name: "frame_id",
+      type: { type: "primitive", name: "string" },
+      description:
+        "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.",
+      protobufFieldNumber: 7,
+    },
     {
       name: "width",
       type: { type: "primitive", name: "uint32" },

package/src/testFixtures.ts

@@ -78,6 +78,7 @@ export const exampleMessage: FoxgloveMessageSchema = {
       description: "A nested array field\nWith\na\nvery\nlong\ndescription",
       type: { type: "nested", schema: exampleNestedMessage },
       array: true,
+      protobufFieldNumber: 4,
     },
   ],
 };

package/src/types.ts

@@ -20,21 +20,24 @@ export type FoxgloveEnumSchema = {
   }>;
 };
 
+export type FoxgloveMessageField = {
+  name: string;
+  type:
+    | { type: "primitive"; name: FoxglovePrimitive }
+    | { type: "nested"; schema: FoxgloveMessageSchema }
+    | { type: "enum"; enum: FoxgloveEnumSchema };
+  array?: true | number;
+  required?: true;
+  description: string;
+  protobufFieldNumber?: number;
+};
+
 export type FoxgloveMessageSchema = {
   type: "message";
   name: string;
   description: string;
   rosEquivalent?: keyof typeof import("@foxglove/rosmsg-msgs-common").definitions;
-  fields: ReadonlyArray<{
-    name: string;
-    type:
-      | { type: "primitive"; name: FoxglovePrimitive }
-      | { type: "nested"; schema: FoxgloveMessageSchema }
-      | { type: "enum"; enum: FoxgloveEnumSchema };
-    array?: true | number;
-    required?: true;
-    description: string;
-  }>;
+  fields: ReadonlyArray<FoxgloveMessageField>;
 };
 
 export type FoxgloveSchema = FoxgloveMessageSchema | FoxgloveEnumSchema;