@foxglove/schemas 1.10.3 → 1.12.0

package/dist/internal/generateSdkCpp.js

@@ -36,9 +36,19 @@ function primitiveDefaultValue(type) {
 }
 function formatComment(comment, indent) {
     const spaces = " ".repeat(indent);
+    let inCodeBlock = false;
     return comment
         .split("\n")
-        .map((line) => `${spaces}/// @brief ${line}`)
+        .map((rawLine, i) => {
+        let line = rawLine;
+        if (line.trimStart().startsWith("```")) {
+            if (!inCodeBlock && line.trimStart() === "```") {
+                line = line.replace("```", "```text");
+            }
+            inCodeBlock = !inCodeBlock;
+        }
+        return i === 0 ? `${spaces}/// @brief ${line}` : `${spaces}/// ${line}`;
+    })
         .join("\n");
 }
 function toCamelCase(name) {
@@ -54,7 +64,8 @@ function toSnakeCase(name) {
 function isSameAsCType(schema) {
     return schema.fields.every((field) => field.type.type === "primitive" &&
         field.type.name !== "bytes" &&
-        field.type.name !== "string");
+        field.type.name !== "string" &&
+        !field.optional);
 }
 /**
  * Yield `schemas` in an order such that dependencies come before dependents, so structs don't end
@@ -120,6 +131,7 @@ function generateHppSchemas(schemas, enums) {
                 switch (field.type.type) {
                     case "enum":
                         fieldType = field.type.enum.name;
+                        defaultStr = "{}";
                         break;
                     case "nested":
                         fieldType = field.type.schema.name;
@@ -209,7 +221,14 @@ function generateHppSchemas(schemas, enums) {
         /// @brief Find out if any sinks have been added to the channel.
         ///
         /// @return True if sinks have been added to the channel, false otherwise.
-        [[nodiscard]] bool has_sinks() const noexcept;
+        [[nodiscard]] bool hasSinks() const noexcept;
+
+        /// @deprecated Use hasSinks() instead.
+        // NOLINTNEXTLINE(readability-identifier-naming)
+        [[deprecated("Use hasSinks() instead")]]
+        [[nodiscard]] bool has_sinks() const noexcept {
+          return hasSinks();
+        }
 
         ${schema.name}Channel(const ${schema.name}Channel& other) noexcept = delete;
         ${schema.name}Channel& operator=(const ${schema.name}Channel& other) noexcept = delete;
@@ -248,20 +267,20 @@ function generateHppSchemas(schemas, enums) {
         "  void operator()(const foxglove_channel* ptr) const noexcept;",
         "};",
         "/// @brief A unique pointer to a C foxglove_channel pointer. For internal use only.",
-        "typedef std::unique_ptr<const foxglove_channel, ChannelDeleter> ChannelUniquePtr;",
+        "using ChannelUniquePtr = std::unique_ptr<const foxglove_channel, ChannelDeleter>;",
     ];
     const outputSections = [
         "// Generated by https://github.com/foxglove/foxglove-sdk",
         "#pragma once",
         includes.join("\n"),
         "struct foxglove_channel;",
-        "namespace foxglove::schemas {",
+        "namespace foxglove::messages {",
         structDefs.join("\n\n"),
         "#ifndef __wasm32__",
         uniquePtr.join("\n"),
         channelClasses.join("\n\n"),
         "#endif",
-        "} // namespace foxglove::schemas",
+        "} // namespace foxglove::messages",
     ].filter(Boolean);
     return outputSections.join("\n\n") + "\n";
 }
@@ -306,6 +325,9 @@ function cppToC(schema, copyTypes) {
                 else if (field.type.name === "bytes") {
                     return `dest.${dstName} = reinterpret_cast<const unsigned char *>(src.${srcName}.data());\n    dest.${dstName}_len = src.${srcName}.size();`;
                 }
+                if (field.optional) {
+                    return `dest.${dstName} = src.${dstName} ? &*src.${dstName} : nullptr;`;
+                }
                 return `dest.${dstName} = src.${srcName};`;
             case "enum":
                 return `dest.${dstName} = static_cast<foxglove_${toSnakeCase(field.type.enum.name)}>(src.${srcName});`;
@@ -320,7 +342,7 @@ function cppToC(schema, copyTypes) {
                     return `dest.${dstName} = src.${srcName} ? reinterpret_cast<const foxglove_${toSnakeCase(field.type.schema.name)}*>(&*src.${srcName}) : nullptr;`;
                 }
                 else {
-                    return `dest.${dstName} = src.${srcName} ? arena.map_one<foxglove_${toSnakeCase(field.type.schema.name)}>(src.${srcName}.value(), ${toCamelCase(field.type.schema.name)}ToC) : nullptr;`;
+                    return `dest.${dstName} = src.${srcName} ? arena.mapOne<foxglove_${toSnakeCase(field.type.schema.name)}>(src.${srcName}.value(), ${toCamelCase(field.type.schema.name)}ToC) : nullptr;`;
                 }
         }
     });
@@ -376,7 +398,7 @@ function generateCppSchemas(schemas) {
             `uint64_t ${schema.name}Channel::id() const noexcept {`,
             "    return foxglove_channel_get_id(impl_.get());",
             "}\n\n",
-            `bool ${schema.name}Channel::has_sinks() const noexcept {
+            `bool ${schema.name}Channel::hasSinks() const noexcept {
         return foxglove_channel_has_sinks(impl_.get());
       }
       `,
@@ -434,7 +456,7 @@ function generateCppSchemas(schemas) {
     const systemIncludes = ["#include <optional>", "#include <cstring>"];
     const includes = [
         "#include <foxglove/error.hpp>",
-        "#include <foxglove/schemas.hpp>",
+        "#include <foxglove/messages.hpp>",
         "#include <foxglove/arena.hpp>",
         "#include <foxglove/schema.hpp>",
         "#ifndef __wasm32__",
@@ -446,7 +468,7 @@ function generateCppSchemas(schemas) {
         "#include <foxglove-c/foxglove-c.h>",
         includes.join("\n"),
         systemIncludes.join("\n"),
-        "namespace foxglove::schemas {",
+        "namespace foxglove::messages {",
         conversionFuncDecls.join("\n"),
         "#ifndef __wasm32__",
         channelUniquePtr.join("\n"),
@@ -455,7 +477,7 @@ function generateCppSchemas(schemas) {
         conversionFuncs.join("\n"),
         encodeImpls.join("\n"),
         getSchemaImpls.join("\n"),
-        "} // namespace foxglove::schemas",
+        "} // namespace foxglove::messages",
     ];
     return outputSections.join("\n\n") + "\n";
 }

package/dist/internal/generateSdkCpp.js.map

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package/dist/internal/generateSdkRustCTypes.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"generateSdkRustCTypes.d.ts","sourceRoot":"","sources":["../../src/internal/generateSdkRustCTypes.ts"],"names":[],"mappings":"AAIA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAqB,MAAM,SAAS,CAAC;AA+DvF,wBAAgB,iBAAiB,CAC/B,OAAO,EAAE,SAAS,qBAAqB,EAAE,EACzC,KAAK,EAAE,SAAS,kBAAkB,EAAE,GACnC,MAAM,CA8SR;AAcD;;;GAGG;AACH,wBAAsB,qBAAqB,CACzC,OAAO,EAAE,SAAS,qBAAqB,EAAE,EACzC,KAAK,EAAE,SAAS,kBAAkB,EAAE,EACpC,WAAW,EAAE,MAAM,GAClB,OAAO,CAAC,MAAM,CAAC,CAiCjB"}
+{"version":3,"file":"generateSdkRustCTypes.d.ts","sourceRoot":"","sources":["../../src/internal/generateSdkRustCTypes.ts"],"names":[],"mappings":"AAIA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAqB,MAAM,SAAS,CAAC;AA+DvF,wBAAgB,iBAAiB,CAC/B,OAAO,EAAE,SAAS,qBAAqB,EAAE,EACzC,KAAK,EAAE,SAAS,kBAAkB,EAAE,GACnC,MAAM,CAiTR;AAcD;;;GAGG;AACH,wBAAsB,qBAAqB,CACzC,OAAO,EAAE,SAAS,qBAAqB,EAAE,EACzC,KAAK,EAAE,SAAS,kBAAkB,EAAE,EACpC,WAAW,EAAE,MAAM,GAClB,OAAO,CAAC,MAAM,CAAC,CAiCjB"}

package/dist/internal/generateSdkRustCTypes.js

@@ -108,7 +108,7 @@ pub struct ${name} {
                 lines.push(`pub ${identName}_count: usize,`);
             }
             else {
-                if (field.type.type === "nested") {
+                if (field.type.type === "nested" || field.optional) {
                     fieldType = `*const ${fieldType}`;
                 }
                 lines.push(`pub ${identName}: ${fieldType},`);
@@ -227,6 +227,9 @@ impl BorrowToNative for ${name} {
                     else if (field.type.name === "bytes") {
                         return `${fieldName}: ManuallyDrop::into_inner(unsafe { bytes_from_raw(self.${fieldName}, self.${fieldName}_len) })`;
                     }
+                    if (field.optional) {
+                        return `${fieldName}: unsafe { self.${fieldName}.as_ref().copied() }`;
+                    }
                     return `${fieldName}: self.${fieldName}`;
                 case "enum":
                     return `${fieldName}: self.${fieldName} as i32`;

package/dist/internal/generateSdkRustCTypes.js.map

@@ -1 +1 @@
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package/dist/internal/schemas.d.ts

@@ -15,6 +15,8 @@ export declare const foxgloveMessageSchemas: {
     Grid: FoxgloveMessageSchema;
     VoxelGrid: FoxgloveMessageSchema;
     ImageAnnotations: FoxgloveMessageSchema;
+    JointState: FoxgloveMessageSchema;
+    JointStates: FoxgloveMessageSchema;
     KeyValuePair: FoxgloveMessageSchema;
     LaserScan: FoxgloveMessageSchema;
     LinePrimitive: FoxgloveMessageSchema;
@@ -44,6 +46,7 @@ export declare const foxgloveMessageSchemas: {
     TriangleListPrimitive: FoxgloveMessageSchema;
     Vector2: FoxgloveMessageSchema;
     Vector3: FoxgloveMessageSchema;
+    Velocity3: FoxgloveMessageSchema;
 };
 export declare const foxgloveEnumSchemas: {
     LineType: FoxgloveEnumSchema;

package/dist/internal/schemas.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"schemas.d.ts","sourceRoot":"","sources":["../../src/internal/schemas.ts"],"names":[],"mappings":"AAKA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAE,MAAM,SAAS,CAAC;AA0vDpE,eAAO,MAAM,sBAAsB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CA6ClC,CAAC;AAEF,eAAO,MAAM,mBAAmB;;;;;;;CAO/B,CAAC"}
+{"version":3,"file":"schemas.d.ts","sourceRoot":"","sources":["../../src/internal/schemas.ts"],"names":[],"mappings":"AAKA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAE,MAAM,SAAS,CAAC;AAs2DpE,eAAO,MAAM,sBAAsB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAgDlC,CAAC;AAEF,eAAO,MAAM,mBAAmB;;;;;;;CAO/B,CAAC"}

package/dist/internal/schemas.js

@@ -154,6 +154,31 @@ const Vector3 = {
         },
     ],
 };
+const Velocity3 = {
+    type: "message",
+    name: "Velocity3",
+    description: "A velocity vector in 3D space",
+    fields: [
+        {
+            name: "x",
+            type: { type: "primitive", name: "float64" },
+            description: "x component",
+            defaultValue: 0,
+        },
+        {
+            name: "y",
+            type: { type: "primitive", name: "float64" },
+            description: "y component",
+            defaultValue: 0,
+        },
+        {
+            name: "z",
+            type: { type: "primitive", name: "float64" },
+            description: "z component",
+            defaultValue: 0,
+        },
+    ],
+};
 const Point2 = {
     type: "message",
     name: "Point2",
@@ -947,6 +972,15 @@ For each \`encoding\` value, the \`data\` field contains image pixel data serial
   - Pixel channel values are represented as unsigned 8-bit integers.
   - U and V values are shared between horizontal pairs of pixels. Each pair of output pixels is encoded as [Y1, U, Y2, V].
   - \`step\` must be greater than or equal to \`width\` * 2.
+- \`nv12\`:
+  - Pixel colors are decomposed into [Y'UV](https://en.wikipedia.org/wiki/Y%E2%80%B2UV) channels using 4:2:0 chroma subsampling. The data is stored in [NV12](https://www.kernel.org/doc/html/v4.10/media/uapi/v4l/pixfmt-nv12.html) semi-planar layout with two contiguous planes: a Y (luma) plane followed by an interleaved UV (chroma) plane.
+  - All channel values are represented as unsigned 8-bit integers.
+  - Both planes use \`step\` as their row stride.
+  - The Y plane contains one luma value per pixel (\`step\` * \`height\` bytes).
+  - The UV plane contains interleaved U, V chroma pairs, subsampled by a factor of 2 in both dimensions (\`width\`/2 pairs per row, \`height\`/2 rows, \`step\` * \`height\`/2 bytes). Each U, V pair is shared by a 2x2 block of pixels.
+  - \`width\` and \`height\` must be even.
+  - \`step\` must be greater than or equal to \`width\`.
+  - Total \`data\` length is \`step\` * \`height\` * 3/2 bytes.
 - \`rgb8\`:
   - Pixel colors are decomposed into Red, Green, and Blue channels.
   - Pixel channel values are represented as unsigned 8-bit integers.
@@ -974,7 +1008,7 @@ For each \`encoding\` value, the \`data\` field contains image pixel data serial
   - Pixel colors are decomposed into Red, Blue and Green channels.
   - Pixel channel values are represented as unsigned 8-bit integers, and serialized in a 2x2 bayer filter pattern.
   - The order of the four letters after \`bayer_\` determine the layout, so for \`bayer_wxyz8\` the pattern is:
-  \`\`\`plaintext
+  \`\`\`text
   w | x
   - + -
   y | z
@@ -1519,6 +1553,22 @@ const LocationFix = {
             description: "If `position_covariance` is available, `position_covariance_type` must be set to indicate the type of covariance.",
             protobufFieldNumber: 5,
         },
+        {
+            name: "heading",
+            type: { type: "primitive", name: "float64" },
+            description: "Heading (yaw angle), in radians, measured clockwise from north",
+            protobufFieldNumber: 10,
+            flatbuffersFieldNumber: 9,
+            optional: true,
+        },
+        {
+            name: "velocity",
+            type: { type: "nested", schema: Velocity3 },
+            description: "Velocity in local East-North-Up (ENU) frame in m/s",
+            protobufFieldNumber: 11,
+            flatbuffersFieldNumber: 10,
+            optional: true,
+        },
         {
             name: "color",
             type: { type: "nested", schema: Color },
@@ -1683,6 +1733,60 @@ const LaserScan = {
         },
     ],
 };
+const JointState = {
+    type: "message",
+    name: "JointState",
+    description: "The state of a single joint (revolute or prismatic).",
+    fields: [
+        {
+            name: "name",
+            type: { type: "primitive", name: "string" },
+            description: "Joint name",
+        },
+        {
+            name: "position",
+            type: { type: "primitive", name: "float64" },
+            description: "Joint position. Radians for revolute joints, meters for prismatic joints.",
+            optional: true,
+        },
+        {
+            name: "velocity",
+            type: { type: "primitive", name: "float64" },
+            description: "Joint velocity. Rad/s for revolute joints, m/s for prismatic joints.",
+            optional: true,
+        },
+        {
+            name: "acceleration",
+            type: { type: "primitive", name: "float64" },
+            description: "Joint acceleration. Rad/s² for revolute joints, m/s² for prismatic joints.",
+            optional: true,
+        },
+        {
+            name: "effort",
+            type: { type: "primitive", name: "float64" },
+            description: "Joint effort (force or torque). Nm for revolute joints, N for prismatic joints.",
+            optional: true,
+        },
+    ],
+};
+const JointStates = {
+    type: "message",
+    name: "JointStates",
+    description: "The state of a set of joints at a given time.",
+    fields: [
+        {
+            name: "timestamp",
+            type: { type: "nested", schema: Timestamp },
+            description: "Timestamp of the joint states",
+        },
+        {
+            name: "joints",
+            type: { type: "nested", schema: JointState },
+            description: "Joint states",
+            array: true,
+        },
+    ],
+};
 exports.foxgloveMessageSchemas = {
     ArrowPrimitive,
     CameraCalibration,
@@ -1699,6 +1803,8 @@ exports.foxgloveMessageSchemas = {
     Grid,
     VoxelGrid,
     ImageAnnotations,
+    JointState,
+    JointStates,
     KeyValuePair,
     LaserScan,
     LinePrimitive,
@@ -1728,6 +1834,7 @@ exports.foxgloveMessageSchemas = {
     TriangleListPrimitive,
     Vector2,
     Vector3,
+    Velocity3,
 };
 exports.foxgloveEnumSchemas = {
     LineType,

package/dist/internal/schemas.js.map

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