@foxglove/schemas 0.7.1 → 0.7.3

package/.github/workflows/ci.yml

@@ -3,7 +3,7 @@ name: CI
 on:
   push:
     branches: [main]
-    tags: ["releases/typescript/v*"]
+    tags: ["releases/**"]
   pull_request:
     branches: ["*"]
 
@@ -36,6 +36,18 @@ jobs:
             echo "Generated schemas are up to date!"
           fi
 
+      - name: Validate Flatbuffer definitions
+        run: |
+          curl -LO https://github.com/google/flatbuffers/releases/download/v22.10.26/Linux.flatc.binary.clang++-12.zip 
+          echo "0821af82a3a736b0ba9235c02219df24d1f042dd  Linux.flatc.binary.clang++-12.zip" | shasum -a 1 -c
+          unzip Linux.flatc.binary.clang++-12.zip
+          output=$(./flatc --ts -o /dev/null ./schemas/flatbuffer/*.fbs)
+          if [ -n "$output" ]; then
+            echo "::error::Flatbuffer schema compilation had warnings or errors. Fix them to proceed:"
+            echo "$output"
+            exit 1
+          fi
+
       - name: Validate protobuf definitions
         run: protoc --proto_path=schemas/proto schemas/proto/**/*.proto --descriptor_set_out=/dev/null
 
@@ -45,6 +57,44 @@ jobs:
         env:
           NODE_AUTH_TOKEN: ${{ secrets.NPM_PUBLISH_TOKEN }}
 
+  python:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: python
+    steps:
+      - uses: actions/checkout@v3
+      - uses: arduino/setup-protoc@v1
+      - uses: actions/setup-python@v4
+        with:
+          python-version: 3.7
+          cache: pipenv
+      - run: pip install pipenv==2022.7.24
+
+      - run: make test
+      - run: make build
+
+      - name: Publish foxglove-schemas-protobuf to TestPyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        if: ${{ !github.event.pull_request.head.repo.fork && github.actor != 'dependabot[bot]' }}
+        with:
+          user: __token__
+          password: ${{ secrets.TESTPYPI_API_TOKEN }}
+          packages_dir: python/foxglove-schemas-protobuf/dist
+          repository_url: https://test.pypi.org/legacy/
+          skip_existing: true
+
+      - name: Publish foxglove-schemas-protobuf to PyPI
+        if: |
+          !github.event.pull_request.head.repo.fork &&
+          github.actor != 'dependabot[bot]' &&
+          startsWith(github.ref, 'refs/tags/releases/python/foxglove-schemas-protobuf/v')
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          user: __token__
+          password: ${{ secrets.PYPI_API_TOKEN }}
+          packages_dir: python/foxglove-schemas-protobuf/dist
+
   ros:
     runs-on: ubuntu-latest
     strategy:

package/.vscode/settings.json

@@ -16,5 +16,14 @@
   "eslint.options": {
     "reportUnusedDisableDirectives": "error"
   },
-  "jest.jestCommandLine": "yarn test"
+  "jest.jestCommandLine": "yarn test",
+
+  "python.formatting.provider": "black",
+  "python.analysis.typeCheckingMode": "strict",
+  "python.linting.flake8Enabled": true,
+  "python.linting.enabled": true,
+  "python.linting.flake8Args": ["--config", "python/.flake8"],
+  "[python]": {
+    "editor.defaultFormatter": "ms-python.python"
+  }
 }

package/README.md

@@ -2,31 +2,11 @@
 
 Message schemas supported by [Foxglove Studio](https://studio.foxglove.dev)
 
-<table>
-<tr><td>
-
-`@foxglove/schemas`
-
-</td>
-<td>
-
-[![npm version](https://img.shields.io/npm/v/@foxglove/schemas)](https://www.npmjs.com/package/@foxglove/schemas)
-
-</td></tr>
-<tr><td>
-
-`foxglove_msgs`
-
-</td>
-<td>
-
-<!-- Not yet released in Melodic -->
-<!-- [![ROS Melodic version](https://img.shields.io/ros/v/melodic/foxglove_msgs)](https://index.ros.org/p/foxglove_msgs/github-foxglove-schemas/#melodic)   -->
-
-[![ROS Noetic version](https://img.shields.io/ros/v/noetic/foxglove_msgs)](https://index.ros.org/p/foxglove_msgs/github-foxglove-schemas/#noetic) [![ROS Foxy version](https://img.shields.io/ros/v/foxy/foxglove_msgs)](https://index.ros.org/p/foxglove_msgs/github-foxglove-schemas/#foxy) [![ROS Galactic version](https://img.shields.io/ros/v/galactic/foxglove_msgs)](https://index.ros.org/p/foxglove_msgs/github-foxglove-schemas/#galactic) [![ROS Humble version](https://img.shields.io/ros/v/humble/foxglove_msgs)](https://index.ros.org/p/foxglove_msgs/github-foxglove-schemas/#humble) [![ROS Rolling version](https://img.shields.io/ros/v/rolling/foxglove_msgs)](https://index.ros.org/p/foxglove_msgs/github-foxglove-schemas/#rolling)
-
-</td></tr>
-</table>
+| Language/Framework    | Package name                | Version                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |
+| --------------------- | --------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| JavaScript/TypeScript | `@foxglove/schemas`         | [![npm version](https://img.shields.io/npm/v/@foxglove/schemas)](https://www.npmjs.com/package/@foxglove/schemas)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
+| Python + Protobuf     | `foxglove-schemas-protobuf` | [![pypi version](https://shields.io/pypi/v/foxglove-schemas-protobuf)](https://pypi.org/project/foxglove-schemas-protobuf/)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |
+| ROS                   | `foxglove_msgs`             | [![ROS Melodic version](https://img.shields.io/ros/v/melodic/foxglove_msgs)](https://index.ros.org/p/foxglove_msgs/github-foxglove-schemas/#melodic) [![ROS Noetic version](https://img.shields.io/ros/v/noetic/foxglove_msgs)](https://index.ros.org/p/foxglove_msgs/github-foxglove-schemas/#noetic) [![ROS Foxy version](https://img.shields.io/ros/v/foxy/foxglove_msgs)](https://index.ros.org/p/foxglove_msgs/github-foxglove-schemas/#foxy) [![ROS Galactic version](https://img.shields.io/ros/v/galactic/foxglove_msgs)](https://index.ros.org/p/foxglove_msgs/github-foxglove-schemas/#galactic) [![ROS Humble version](https://img.shields.io/ros/v/humble/foxglove_msgs)](https://index.ros.org/p/foxglove_msgs/github-foxglove-schemas/#humble) [![ROS Rolling version](https://img.shields.io/ros/v/rolling/foxglove_msgs)](https://index.ros.org/p/foxglove_msgs/github-foxglove-schemas/#rolling) |
 
 ## Introduction
 

package/internal/generateFlatbufferSchema.d.ts

@@ -0,0 +1,6 @@
+import { FoxgloveEnumSchema, FoxgloveSchema } from "./types";
+export declare const BYTE_VECTOR_FB = "\nnamespace foxglove;\n\n/// Used for nesting byte vectors\ntable ByteVector {\n  data:[uint8];\n}\nroot_type ByteVector;\n";
+export declare const TIME_FB = "\nnamespace foxglove;\n\nstruct Time {\n  /// Represents seconds of UTC time since Unix epoch 1970-01-01T00:00:00Z\n  sec:uint32;\n  /// Nano-second fractions from 0 to 999,999,999 inclusive\n  nsec:uint32;\n}\n";
+export declare const DURATION_FB = "\nnamespace foxglove;\n\nstruct Duration {\n  /// Signed seconds of the span of time. Must be from -315,576,000,000 to +315,576,000,000 inclusive.\n  sec:int32;\n  /// if sec === 0 : -999,999,999 <= nsec <= +999,999,999 \n  /// otherwise sign of sec must match sign of nsec or be 0 and abs(nsec) <= 999,999,999\n  nsec:int32;\n}\n";
+export declare function generateFlatbuffers(schema: FoxgloveSchema, nestedEnums: FoxgloveEnumSchema[]): string;
+//# sourceMappingURL=generateFlatbufferSchema.d.ts.map

package/internal/generateFlatbufferSchema.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"generateFlatbufferSchema.d.ts","sourceRoot":"","sources":["generateFlatbufferSchema.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,kBAAkB,EAAqB,cAAc,EAAE,MAAM,SAAS,CAAC;AAGhF,eAAO,MAAM,cAAc,gIAQ1B,CAAC;AAGF,eAAO,MAAM,OAAO,wNASnB,CAAC;AAEF,eAAO,MAAM,WAAW,+UAUvB,CAAC;AAiBF,wBAAgB,mBAAmB,CACjC,MAAM,EAAE,cAAc,EACtB,WAAW,EAAE,kBAAkB,EAAE,GAChC,MAAM,CAqIR"}

package/internal/generateFlatbufferSchema.js

@@ -0,0 +1,172 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.generateFlatbuffers = exports.DURATION_FB = exports.TIME_FB = exports.BYTE_VECTOR_FB = void 0;
+// Flatbuffers only supports nested vectors via table
+exports.BYTE_VECTOR_FB = `
+namespace foxglove;
+
+/// Used for nesting byte vectors
+table ByteVector {
+  data:[uint8];
+}
+root_type ByteVector;
+`;
+// Same as protobuf wellknown types
+exports.TIME_FB = `
+namespace foxglove;
+
+struct Time {
+  /// Represents seconds of UTC time since Unix epoch 1970-01-01T00:00:00Z
+  sec:uint32;
+  /// Nano-second fractions from 0 to 999,999,999 inclusive
+  nsec:uint32;
+}
+`;
+exports.DURATION_FB = `
+namespace foxglove;
+
+struct Duration {
+  /// Signed seconds of the span of time. Must be from -315,576,000,000 to +315,576,000,000 inclusive.
+  sec:int32;
+  /// if sec === 0 : -999,999,999 <= nsec <= +999,999,999 
+  /// otherwise sign of sec must match sign of nsec or be 0 and abs(nsec) <= 999,999,999
+  nsec:int32;
+}
+`;
+function primitiveToFlatbuffers(type) {
+    switch (type) {
+        case "uint32":
+            return "uint32";
+        case "bytes":
+            return "[uint8]";
+        case "string":
+            return "string";
+        case "boolean":
+            return "bool";
+        case "float64":
+            return "double";
+    }
+}
+function generateFlatbuffers(schema, nestedEnums) {
+    const enumDefinitions = [];
+    for (const enumSchema of nestedEnums) {
+        const fields = enumSchema.values.map(({ name, value, description }) => {
+            if (description != undefined) {
+                return `/// ${description}\n  ${name} = ${value},`;
+            }
+            else {
+                return `${name} = ${value},`;
+            }
+        });
+        enumDefinitions.push(
+        // `///` comments required to show up in compiled flatbuffer schemas
+        `/// ${enumSchema.description}\nenum ${enumSchema.name} : ubyte {\n  ${fields.join("\n\n  ")}\n}\n`);
+    }
+    let definition;
+    const imports = new Set();
+    switch (schema.type) {
+        case "enum": {
+            const fields = schema.values.map(({ name, value, description }) => {
+                if (description != undefined) {
+                    return `/// ${description}\n  ${name} = ${value},`;
+                }
+                else {
+                    return `${name} = ${value},`;
+                }
+            });
+            // `///` comments required to show up in compiled flatbuffer schemas
+            definition = `/// ${schema.description}\nenum ${schema.name} : ubyte {\n  ${fields.join("\n\n  ")}\n}\n`;
+            break;
+        }
+        case "message": {
+            const fields = schema.fields.map((field) => {
+                const isArray = field.array != undefined;
+                let type;
+                switch (field.type.type) {
+                    case "enum":
+                        type = field.type.enum.name;
+                        break;
+                    case "nested":
+                        type = `foxglove.${field.type.schema.name}`;
+                        imports.add(field.type.schema.name);
+                        break;
+                    case "primitive":
+                        if (field.type.name === "time") {
+                            type = "Time";
+                            imports.add(`Time`);
+                        }
+                        else if (field.type.name === "duration") {
+                            type = "Duration";
+                            imports.add(`Duration`);
+                        }
+                        else if (field.type.name === "bytes" && isArray) {
+                            type = "ByteVector";
+                            imports.add("ByteVector");
+                        }
+                        else {
+                            type = primitiveToFlatbuffers(field.type.name);
+                        }
+                        break;
+                }
+                let lengthComment;
+                if (typeof field.array === "number") {
+                    // can't specify length of vector outside of struct, all of these are tables
+                    lengthComment = `  /// length ${field.array}\n`;
+                }
+                let defaultValue;
+                if (field.defaultValue != undefined && !isArray) {
+                    if (field.type.type === "primitive" &&
+                        !(field.type.name === "duration" || field.type.name === "time")) {
+                        if (typeof field.defaultValue === "string") {
+                            defaultValue = `"${field.defaultValue}"`;
+                        }
+                        else if (typeof field.defaultValue === "number") {
+                            if (Number.isInteger(field.defaultValue) && field.type.name === "float64") {
+                                // if it is a floating point number that is an integer, we need to add a decimal point
+                                defaultValue = `${field.defaultValue}.0`;
+                            }
+                            else {
+                                defaultValue = field.defaultValue.toString();
+                            }
+                        }
+                        else if (typeof field.defaultValue === "boolean") {
+                            // uses same 'false'/'true' as js
+                            defaultValue = field.defaultValue.toString();
+                        }
+                    }
+                    else if (field.type.type === "enum") {
+                        // default enums are just the enum string of the enum and don't require other formatting
+                        // ie: type numericType: NumericType = INT32;
+                        defaultValue = field.defaultValue;
+                    }
+                }
+                if (field.defaultValue != undefined && defaultValue == undefined) {
+                    throw new Error("Flatbuffers does not support non-scalar default values");
+                }
+                return `${field.description
+                    .trim()
+                    .split("\n")
+                    .map((line) => `  /// ${line}\n`)
+                    .join("")}${
+                // can't have inline comments, so the lengthComment needs to be above
+                lengthComment ?? ""
+                // convert field.name to lowercase for flatbuffer compilation compliance
+                }  ${field.name.toLowerCase()}:${isArray ? `[${type}]` : type}${defaultValue ? ` = ${defaultValue}` : ""};`;
+            });
+            definition = `${enumDefinitions.join("\n\n")}/// ${schema.description}\ntable ${schema.name} {\n${fields.join("\n\n")}\n}\n\nroot_type ${schema.name};`;
+            break;
+        }
+    }
+    const outputSections = [
+        `// Generated by https://github.com/foxglove/schemas`,
+        Array.from(imports)
+            .sort()
+            .map((name) => `include "${name}.fbs";`)
+            .join("\n"),
+        `namespace foxglove;`,
+        definition,
+    ].filter(Boolean);
+    return outputSections.join("\n\n") + "\n";
+}
+exports.generateFlatbuffers = generateFlatbuffers;
+//# sourceMappingURL=generateFlatbufferSchema.js.map

package/internal/generateFlatbufferSchema.js.map

@@ -0,0 +1 @@
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package/internal/generateFlatbufferSchema.test.d.ts

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

package/internal/generateFlatbufferSchema.test.d.ts.map

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

package/internal/generateFlatbufferSchema.test.js

@@ -0,0 +1,120 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+const generateFlatbufferSchema_1 = require("./generateFlatbufferSchema");
+const testFixtures_1 = require("./testFixtures");
+describe("generateFlatbuffers", () => {
+    it("generates Message .fbs files", () => {
+        expect((0, generateFlatbufferSchema_1.generateFlatbuffers)(testFixtures_1.exampleMessage, [testFixtures_1.exampleEnum])).toMatchInlineSnapshot(`
+      "// Generated by https://github.com/foxglove/schemas
+
+      include "ByteVector.fbs";
+      include "Duration.fbs";
+      include "NestedMessage.fbs";
+      include "Time.fbs";
+
+      namespace foxglove;
+
+      /// An example enum
+      enum ExampleEnum : ubyte {
+        /// Value A
+        A = 1,
+
+        /// Value B
+        B = 2,
+      }
+      /// An example type
+      table ExampleMessage {
+        /// duration field
+        field_duration:Duration;
+
+        /// time field
+        field_time:Time;
+
+        /// boolean field
+        field_boolean:bool = true;
+
+        /// bytes field
+        field_bytes:[uint8];
+
+        /// float64 field
+        field_float64:double = 1.0;
+
+        /// uint32 field
+        field_uint32:uint32 = 5;
+
+        /// string field
+        field_string:string = "string-type";
+
+        /// duration array field
+        field_duration_array:[Duration];
+
+        /// time array field
+        field_time_array:[Time];
+
+        /// boolean array field
+        field_boolean_array:[bool];
+
+        /// bytes array field
+        field_bytes_array:[ByteVector];
+
+        /// float64 array field
+        field_float64_array:[double];
+
+        /// uint32 array field
+        field_uint32_array:[uint32];
+
+        /// string array field
+        field_string_array:[string];
+
+        /// duration fixed-length array field
+        /// length 3
+        field_duration_fixed_array:[Duration];
+
+        /// time fixed-length array field
+        /// length 3
+        field_time_fixed_array:[Time];
+
+        /// boolean fixed-length array field
+        /// length 3
+        field_boolean_fixed_array:[bool];
+
+        /// bytes fixed-length array field
+        /// length 3
+        field_bytes_fixed_array:[ByteVector];
+
+        /// float64 fixed-length array field
+        /// length 3
+        field_float64_fixed_array:[double];
+
+        /// uint32 fixed-length array field
+        /// length 3
+        field_uint32_fixed_array:[uint32];
+
+        /// string fixed-length array field
+        /// length 3
+        field_string_fixed_array:[string];
+
+        /// An enum field
+        field_enum:ExampleEnum;
+
+        /// An enum array field
+        field_enum_array:[ExampleEnum];
+
+        /// A nested field
+        field_nested:foxglove.NestedMessage;
+
+        /// A nested array field
+        /// With
+        /// a
+        /// very
+        /// long
+        /// description
+        field_nested_array:[foxglove.NestedMessage];
+      }
+
+      root_type ExampleMessage;
+      "
+    `);
+    });
+});
+//# sourceMappingURL=generateFlatbufferSchema.test.js.map

package/internal/generateFlatbufferSchema.test.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"generateFlatbufferSchema.test.js","sourceRoot":"","sources":["generateFlatbufferSchema.test.ts"],"names":[],"mappings":";;AAAA,yEAAiE;AACjE,iDAA6D;AAE7D,QAAQ,CAAC,qBAAqB,EAAE,GAAG,EAAE;IACnC,EAAE,CAAC,8BAA8B,EAAE,GAAG,EAAE;QACtC,MAAM,CAAC,IAAA,8CAAmB,EAAC,6BAAc,EAAE,CAAC,0BAAW,CAAC,CAAC,CAAC,CAAC,qBAAqB,CAAC;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;KA8GhF,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;AACL,CAAC,CAAC,CAAC"}

package/internal/generateFlatbufferSchema.test.ts

@@ -0,0 +1,118 @@
+import { generateFlatbuffers } from "./generateFlatbufferSchema";
+import { exampleEnum, exampleMessage } from "./testFixtures";
+
+describe("generateFlatbuffers", () => {
+  it("generates Message .fbs files", () => {
+    expect(generateFlatbuffers(exampleMessage, [exampleEnum])).toMatchInlineSnapshot(`
+      "// Generated by https://github.com/foxglove/schemas
+
+      include "ByteVector.fbs";
+      include "Duration.fbs";
+      include "NestedMessage.fbs";
+      include "Time.fbs";
+
+      namespace foxglove;
+
+      /// An example enum
+      enum ExampleEnum : ubyte {
+        /// Value A
+        A = 1,
+
+        /// Value B
+        B = 2,
+      }
+      /// An example type
+      table ExampleMessage {
+        /// duration field
+        field_duration:Duration;
+
+        /// time field
+        field_time:Time;
+
+        /// boolean field
+        field_boolean:bool = true;
+
+        /// bytes field
+        field_bytes:[uint8];
+
+        /// float64 field
+        field_float64:double = 1.0;
+
+        /// uint32 field
+        field_uint32:uint32 = 5;
+
+        /// string field
+        field_string:string = "string-type";
+
+        /// duration array field
+        field_duration_array:[Duration];
+
+        /// time array field
+        field_time_array:[Time];
+
+        /// boolean array field
+        field_boolean_array:[bool];
+
+        /// bytes array field
+        field_bytes_array:[ByteVector];
+
+        /// float64 array field
+        field_float64_array:[double];
+
+        /// uint32 array field
+        field_uint32_array:[uint32];
+
+        /// string array field
+        field_string_array:[string];
+
+        /// duration fixed-length array field
+        /// length 3
+        field_duration_fixed_array:[Duration];
+
+        /// time fixed-length array field
+        /// length 3
+        field_time_fixed_array:[Time];
+
+        /// boolean fixed-length array field
+        /// length 3
+        field_boolean_fixed_array:[bool];
+
+        /// bytes fixed-length array field
+        /// length 3
+        field_bytes_fixed_array:[ByteVector];
+
+        /// float64 fixed-length array field
+        /// length 3
+        field_float64_fixed_array:[double];
+
+        /// uint32 fixed-length array field
+        /// length 3
+        field_uint32_fixed_array:[uint32];
+
+        /// string fixed-length array field
+        /// length 3
+        field_string_fixed_array:[string];
+
+        /// An enum field
+        field_enum:ExampleEnum;
+
+        /// An enum array field
+        field_enum_array:[ExampleEnum];
+
+        /// A nested field
+        field_nested:foxglove.NestedMessage;
+
+        /// A nested array field
+        /// With
+        /// a
+        /// very
+        /// long
+        /// description
+        field_nested_array:[foxglove.NestedMessage];
+      }
+
+      root_type ExampleMessage;
+      "
+    `);
+  });
+});