@foxglove/schemas 1.11.0 → 1.13.0

package/dist/internal/generatePyclass.d.ts

@@ -10,13 +10,19 @@ export declare function generatePyclass(schema: FoxgloveSchema): string;
 /**
  * Generate a .pyi stub for the given schemas.
  */
-export declare function generatePySchemaStub(schemas: FoxgloveSchema[]): string;
+export declare function generatePySchemaStub(schemas: FoxgloveSchema[], { unionName }?: {
+    unionName?: string;
+}): string;
 /**
- * Generate a module __init__ file re-exporting all schemas to the public API.
+ * Generate the canonical messages module __init__ file.
+ */
+export declare function generatePyMessageModule(schemas: FoxgloveSchema[]): string;
+/**
+ * Generate the deprecated schemas module __init__ file that re-exports from messages.
  */
 export declare function generatePySchemaModule(schemas: FoxgloveSchema[]): string;
 /**
- * Generate a rust function to register the schemas in a submodule.
+ * Generate a rust function to register the message types in a submodule.
  * https://pyo3.rs/v0.23.4/module.html
  */
 export declare function generateSchemaModuleRegistration(schemas: FoxgloveSchema[]): string;

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

@@ -1 +1 @@
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+{"version":3,"file":"generatePyclass.d.ts","sourceRoot":"","sources":["../../src/internal/generatePyclass.ts"],"names":[],"mappings":"AAAA,OAAO,EAGL,qBAAqB,EAErB,cAAc,EACf,MAAM,SAAS,CAAC;AAEjB;;GAEG;AACH,wBAAgB,qBAAqB,IAAI,MAAM,CAwB9C;AAED;;GAEG;AACH,wBAAgB,eAAe,CAAC,MAAM,EAAE,cAAc,GAAG,MAAM,CAK9D;AAED;;GAEG;AACH,wBAAgB,oBAAoB,CAClC,OAAO,EAAE,cAAc,EAAE,EACzB,EAAE,SAA4B,EAAE,GAAE;IAAE,SAAS,CAAC,EAAE,MAAM,CAAA;CAAO,GAC5D,MAAM,CA+ER;AAED;;GAEG;AACH,wBAAgB,uBAAuB,CAAC,OAAO,EAAE,cAAc,EAAE,GAAG,MAAM,CAkCzE;AAED;;GAEG;AACH,wBAAgB,sBAAsB,CAAC,OAAO,EAAE,cAAc,EAAE,GAAG,MAAM,CA2CxE;AAiZD;;;GAGG;AACH,wBAAgB,gCAAgC,CAAC,OAAO,EAAE,cAAc,EAAE,GAAG,MAAM,CAsBlF;AA6CD;;;GAGG;AACH,wBAAgB,sBAAsB,CAAC,cAAc,EAAE,qBAAqB,EAAE,GAAG,MAAM,CA0ItF;AAED;;GAEG;AACH,wBAAgB,qBAAqB,CAAC,cAAc,EAAE,qBAAqB,EAAE,GAAG,MAAM,CAqFrF;AAED;;GAEG;AACH,wBAAgB,uBAAuB,CAAC,OAAO,EAAE,qBAAqB,EAAE,GAAG,MAAM,CAiBhF"}

package/dist/internal/generatePyclass.js

@@ -3,6 +3,7 @@ Object.defineProperty(exports, "__esModule", { value: true });
 exports.generateSchemaPrelude = generateSchemaPrelude;
 exports.generatePyclass = generatePyclass;
 exports.generatePySchemaStub = generatePySchemaStub;
+exports.generatePyMessageModule = generatePyMessageModule;
 exports.generatePySchemaModule = generatePySchemaModule;
 exports.generateSchemaModuleRegistration = generateSchemaModuleRegistration;
 exports.generateChannelClasses = generateChannelClasses;
@@ -45,7 +46,7 @@ function generatePyclass(schema) {
 /**
  * Generate a .pyi stub for the given schemas.
  */
-function generatePySchemaStub(schemas) {
+function generatePySchemaStub(schemas, { unionName = "FoxgloveSchema" } = {}) {
     const header = [
         "# Generated by https://github.com/foxglove/foxglove-sdk",
         "from enum import Enum",
@@ -112,11 +113,48 @@ function generatePySchemaStub(schemas) {
         .map(({ source }) => source);
     const enumMarker = "#\n# Enums\n#\n";
     const classMarker = "#\n# Classes\n#\n";
-    const typeUnion = `\nFoxgloveSchema = Union[${allSchemas.join(", ")}];\n`;
+    const typeUnion = `\n${unionName} = Union[${allSchemas.join(", ")}]\n`;
     return [header, enumMarker, ...enumSources, classMarker, ...classSources, typeUnion].join("\n");
 }
 /**
- * Generate a module __init__ file re-exporting all schemas to the public API.
+ * Generate the canonical messages module __init__ file.
+ */
+function generatePyMessageModule(schemas) {
+    const allSchemas = schemas
+        .filter(isMessageSchema)
+        .map((schema) => pyClassName(schema))
+        .sort();
+    const classNames = schemas.map((schema) => pyClassName(schema)).sort();
+    const headers = [
+        `"""`,
+        `This module contains the definitions of the well-known Foxglove message types for logging.`,
+        "",
+        "Log messages to a corresponding channel type from :py:mod:`foxglove.channels`.",
+        "",
+        "Note that the message classes are currently immutable and do not expose",
+        "getters and setters for their fields. This is a limitation we plan to address in the future.",
+        `"""`,
+        "# Generated by https://github.com/foxglove/foxglove-sdk",
+        "",
+        "from typing import Union",
+        "",
+    ];
+    const imports = [
+        "from foxglove._foxglove_py.messages import (  # noqa: F401",
+        ...classNames.map((name) => `    ${name},`),
+        ")",
+    ];
+    const exports = [
+        "__all__ = [",
+        "    'FoxgloveMessage',",
+        ...classNames.map((name) => `    "${name}",`),
+        "]",
+    ];
+    const alias = `FoxgloveMessage = Union[${allSchemas.join(", ")}]\n`;
+    return [...headers, ...imports, alias, ...exports, ""].join("\n");
+}
+/**
+ * Generate the deprecated schemas module __init__ file that re-exports from messages.
  */
 function generatePySchemaModule(schemas) {
     const allSchemas = schemas
@@ -126,25 +164,39 @@ function generatePySchemaModule(schemas) {
     const classNames = schemas.map((schema) => pyClassName(schema)).sort();
     const headers = [
         `"""`,
-        `This module contains the definitions of the well-known Foxglove schemas for logging.`,
+        `Deprecated: Use :py:mod:\`foxglove.messages\` instead.`,
+        "",
+        `This module contains the definitions of the well-known Foxglove message types for logging.`,
         "",
         "Log messages to a corresponding channel type from :py:mod:`foxglove.channels`.",
         "",
-        "Note that the schema classes are currently immutable and do not expose",
+        "Note that the message classes are currently immutable and do not expose",
         "getters and setters for their fields. This is a limitation we plan to address in the future.",
         `"""`,
         "# Generated by https://github.com/foxglove/foxglove-sdk",
         "",
+        "import warnings as _warnings",
         "from typing import Union",
+        "",
+        "_warnings.warn(",
+        '    "foxglove.schemas is deprecated. Use foxglove.messages instead.",',
+        "    DeprecationWarning,",
+        "    stacklevel=2,",
+        ")",
+        "",
+    ];
+    const imports = [
+        "from foxglove.messages import (  # noqa: E402",
+        ...classNames.map((name) => `    ${name},`),
+        ")",
     ];
-    const imports = classNames.map((name) => `from foxglove._foxglove_py.schemas import ${name}`);
     const exports = [
         "__all__ = [",
         "    'FoxgloveSchema',",
         ...classNames.map((name) => `    "${name}",`),
         "]",
     ];
-    const alias = `FoxgloveSchema = Union[${allSchemas.join(", ")}];\n`;
+    const alias = `FoxgloveSchema = Union[${allSchemas.join(", ")}]\n`;
     return [...headers, ...imports, alias, ...exports, ""].join("\n");
 }
 /**
@@ -204,9 +256,9 @@ function generateMessageClass(schema) {
         ...schema.fields.map((field) => rustDoc(pythonParamDoc(field))),
         `///`,
         `/// See https://docs.foxglove.dev/docs/visualization/message-schemas/${constantToKebabCase(className)}`,
-        `#[pyclass(module = "foxglove.schemas")]`,
+        `#[pyclass(module = "foxglove.messages")]`,
         `#[derive(Clone)]`,
-        `pub(crate) struct ${className}(pub(crate) foxglove::schemas::${className});`,
+        `pub(crate) struct ${className}(pub(crate) foxglove::messages::${className});`,
     ];
     function fieldValue(field) {
         if (field.type.type === "primitive" && field.type.name === "bytes") {
@@ -261,7 +313,7 @@ function generateMessageClass(schema) {
         `    fn new(`,
         ...schemaFields.map(({ argName, field }) => `        ${argName}: ${rustOutputType(field)},`),
         `    ) -> Self {`,
-        `        Self(foxglove::schemas::${className} {`,
+        `        Self(foxglove::messages::${className} {`,
         schemaFields.map(({ field }) => `            ${fieldAssignment(field)},`).join("\n"),
         `        })`,
         `    }`,
@@ -274,7 +326,7 @@ function generateMessageClass(schema) {
         `    /// Returns the ${className} schema.`,
         `    #[staticmethod]`,
         `    fn get_schema() -> PySchema {`,
-        `        foxglove::schemas::${className}::get_schema().unwrap().into()`,
+        `        foxglove::messages::${className}::get_schema().unwrap().into()`,
         `    }`,
         `    /// Encodes the ${className} as protobuf.`,
         `    fn encode<'a>(&self, py: Python<'a>) -> Bound<'a, PyBytes> {`,
@@ -286,7 +338,7 @@ function generateMessageClass(schema) {
         `}\n\n`,
     ];
     const fromTrait = [
-        `impl From<${structName(schema.name)}> for foxglove::schemas::${structName(schema.name)} {`,
+        `impl From<${structName(schema.name)}> for foxglove::messages::${structName(schema.name)} {`,
         `    fn from(value: ${structName(schema.name)}) -> Self {`,
         `        value.0`,
         `    }`,
@@ -297,7 +349,7 @@ function generateMessageClass(schema) {
 function generateEnumClass(schema) {
     const enumLines = [
         rustDoc(schema.description),
-        `#[pyclass(eq, eq_int, module = "foxglove.schemas")]`,
+        `#[pyclass(eq, eq_int, module = "foxglove.messages")]`,
         `#[derive(PartialEq, Clone)]`,
         `pub(crate) enum ${enumName(schema)} {`,
         ...schema.values.map((value) => `    ${constantToTitleCase(value.name)} = ${value.value},`),
@@ -519,24 +571,29 @@ function structName(name) {
     return name;
 }
 /**
- * Generate a rust function to register the schemas in a submodule.
+ * Generate a rust function to register the message types in a submodule.
  * https://pyo3.rs/v0.23.4/module.html
  */
 function generateSchemaModuleRegistration(schemas) {
+    const addClasses = schemas
+        .map((schema) => `module.add_class::<${pyClassName(schema)}>()?;`)
+        .join("\n    ");
     return `
 pub fn register_submodule(parent_module: &Bound<'_, PyModule>) -> PyResult<()> {
-    let module = PyModule::new(parent_module.py(), "schemas")?;
+    let module = PyModule::new(parent_module.py(), "messages")?;
 
-    ${schemas.map((schema) => `module.add_class::<${pyClassName(schema)}>()?;`).join("\n    ")}
+    ${addClasses}
 
     // Define as a package
     // https://github.com/PyO3/pyo3/issues/759
     let py = parent_module.py();
     py.import("sys")?
         .getattr("modules")?
-        .set_item("foxglove._foxglove_py.schemas", &module)?;
+        .set_item("foxglove._foxglove_py.messages", &module)?;
 
-    parent_module.add_submodule(&module)
+    parent_module.add_submodule(&module)?;
+
+    Ok(())
 }
 `;
 }
@@ -594,7 +651,7 @@ function generateChannelClasses(messageSchemas) {
         `use foxglove::{Channel, ChannelBuilder, PartialMetadata, SinkId};`,
         `use pyo3::prelude::*;`,
         `use pyo3::types::PyDict;`,
-        `use super::schemas;`,
+        `use super::messages;`,
         `use std::collections::BTreeMap;`,
         `use std::num::NonZero;`,
     ].join("\n");
@@ -603,9 +660,9 @@ function generateChannelClasses(messageSchemas) {
         const schemaClass = structName(schema.name);
         const channelClass = `${schemaClass}Channel`;
         return `
-/// A channel for logging :py:class:\`foxglove.schemas.${schemaClass}\` messages.
+/// A channel for logging :py:class:\`foxglove.messages.${schemaClass}\` messages.
 #[pyclass(module = "foxglove.channels")]
-struct ${channelClass}(Channel<foxglove::schemas::${schemaClass}>);
+struct ${channelClass}(Channel<foxglove::messages::${schemaClass}>);
 
 #[pymethods]
 impl ${channelClass} {
@@ -616,14 +673,21 @@ impl ${channelClass} {
     ///     A type error is raised if any key or value is not a string.
     #[new]
     #[pyo3(signature = (topic, *, metadata=None, context=None))]
-    fn new(topic: &str, metadata: Option<BTreeMap<String, String>>, context: Option<&PyContext>) -> Self {
-        let builder = ChannelBuilder::new(topic).metadata(metadata.unwrap_or_default());
-        let builder = if let Some(context) = context {
-            builder.context(&context.0.clone())
-        } else {
-            builder
-        };
-        let base = builder.build();
+    fn new(py: Python<'_>, topic: &str, metadata: Option<BTreeMap<String, String>>, context: Option<&PyContext>) -> Self {
+        let topic = topic.to_owned();
+        let metadata = metadata.unwrap_or_default();
+        let context = context.map(|c| c.0.clone());
+        // Release the GIL before calling build(), which may invoke
+        // PySinkChannelFilter::should_subscribe() on registered sinks.
+        let base = py.allow_threads(move || {
+            let builder = ChannelBuilder::new(&topic).metadata(metadata);
+            let builder = if let Some(context) = context {
+                builder.context(&context)
+            } else {
+                builder
+            };
+            builder.build()
+        });
         Self(base)
     }
 
@@ -683,7 +747,7 @@ impl ${channelClass} {
         self.0.close();
     }
 
-    /// Log a :py:class:\`foxglove.schemas.${schemaClass}\` message to the channel.
+    /// Log a :py:class:\`foxglove.messages.${schemaClass}\` message to the channel.
     ///
     /// :param msg: The message to log.
     /// :param log_time: The log time is the time, as nanoseconds from the unix epoch, that the
@@ -693,7 +757,7 @@ impl ${channelClass} {
     #[pyo3(signature = (msg, *, log_time=None, sink_id=None))]
     fn log(
         &self,
-        msg: &schemas::${schemaClass},
+        msg: &messages::${schemaClass},
         log_time: Option<u64>,
         sink_id: Option<u64>,
     ) {
@@ -719,7 +783,7 @@ function generatePyChannelStub(messageSchemas) {
     const schemas = messageSchemas.filter(shouldGenerateChannelClass);
     const imports = [
         "from . import Context, Schema",
-        ...schemas.map((schema) => `from .schemas import ${structName(schema.name)}`),
+        ...schemas.map((schema) => `from .messages import ${structName(schema.name)}`),
     ];
     const classes = schemas.map((schema) => {
         const schemaClass = structName(schema.name);
@@ -801,9 +865,9 @@ function generatePyChannelStub(messageSchemas) {
 function generatePyChannelModule(schemas) {
     const headers = [
         `"""`,
-        `This module defines channels to easily log messages conforming to well-known Foxglove schemas.`,
+        `This module defines channels to easily log messages conforming to well-known Foxglove message types.`,
         ``,
-        "See the :py:mod:`foxglove.schemas` module for available definitions.",
+        "See the :py:mod:`foxglove.messages` module for available definitions.",
         `"""`,
         "# Generated by https://github.com/foxglove/foxglove-sdk",
     ];

package/dist/internal/generatePyclass.js.map

@@ -1 +1 @@
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package/dist/internal/generatePyclass.test.js

@@ -22,16 +22,16 @@ describe("generatePyclass", () => {
     });
     it("generates an enum", () => {
         expect((0, generatePyclass_1.generatePyclass)(testFixtures_1.exampleEnum)).toMatchInlineSnapshot(`
-        "/// An example enum
-        #[pyclass(eq, eq_int, module = "foxglove.schemas")]
-        #[derive(PartialEq, Clone)]
-        pub(crate) enum ExampleMessageExampleEnum {
-            A = 0,
-            B = 1,
-        }
+     "/// An example enum
+     #[pyclass(eq, eq_int, module = "foxglove.messages")]
+     #[derive(PartialEq, Clone)]
+     pub(crate) enum ExampleMessageExampleEnum {
+         A = 0,
+         B = 1,
+     }
 
-        "
-        `);
+     "
+    `);
     });
     it("generates a struct from a message", () => {
         expect((0, generatePyclass_1.generatePyclass)(testFixtures_1.exampleMessage)).toMatchInlineSnapshot(`
@@ -72,9 +72,9 @@ describe("generatePyclass", () => {
      /// :param field_optional_float64: An optional float64 field
      ///
      /// See https://docs.foxglove.dev/docs/visualization/message-schemas/example-message
-     #[pyclass(module = "foxglove.schemas")]
+     #[pyclass(module = "foxglove.messages")]
      #[derive(Clone)]
-     pub(crate) struct ExampleMessage(pub(crate) foxglove::schemas::ExampleMessage);
+     pub(crate) struct ExampleMessage(pub(crate) foxglove::messages::ExampleMessage);
      #[pymethods]
      impl ExampleMessage {
          #[new]
@@ -109,7 +109,7 @@ describe("generatePyclass", () => {
              field_optional_bool: Option<bool>,
              field_optional_float64: Option<f64>,
          ) -> Self {
-             Self(foxglove::schemas::ExampleMessage {
+             Self(foxglove::messages::ExampleMessage {
                  field_duration: field_duration.map(Into::into),
                  field_time: field_time.map(Into::into),
                  field_boolean,
@@ -176,7 +176,7 @@ describe("generatePyclass", () => {
          /// Returns the ExampleMessage schema.
          #[staticmethod]
          fn get_schema() -> PySchema {
-             foxglove::schemas::ExampleMessage::get_schema().unwrap().into()
+             foxglove::messages::ExampleMessage::get_schema().unwrap().into()
          }
          /// Encodes the ExampleMessage as protobuf.
          fn encode<'a>(&self, py: Python<'a>) -> Bound<'a, PyBytes> {
@@ -188,7 +188,7 @@ describe("generatePyclass", () => {
      }
 
 
-     impl From<ExampleMessage> for foxglove::schemas::ExampleMessage {
+     impl From<ExampleMessage> for foxglove::messages::ExampleMessage {
          fn from(value: ExampleMessage) -> Self {
              value.0
          }

package/dist/internal/generatePyclass.test.js.map

@@ -1 +1 @@
-{"version":3,"file":"generatePyclass.test.js","sourceRoot":"","sources":["../../src/internal/generatePyclass.test.ts"],"names":[],"mappings":";;AAAA,uDAA2E;AAC3E,iDAA6D;AAE7D,QAAQ,CAAC,iBAAiB,EAAE,GAAG,EAAE;IAC/B,EAAE,CAAC,yBAAyB,EAAE,GAAG,EAAE;QACjC,MAAM,CAAC,IAAA,uCAAqB,GAAE,CAAC,CAAC,qBAAqB,CAAC;;;;;;;;;;;;;;KAcrD,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,mBAAmB,EAAE,GAAG,EAAE;QAC3B,MAAM,CAAC,IAAA,iCAAe,EAAC,0BAAW,CAAC,CAAC,CAAC,qBAAqB,CAAC;;;;;;;;;;SAUtD,CAAC,CAAC;IACT,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,mCAAmC,EAAE,GAAG,EAAE;QAC3C,MAAM,CAAC,IAAA,iCAAe,EAAC,6BAAc,CAAC,CAAC,CAAC,qBAAqB,CAAC;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;KAiK7D,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;AACL,CAAC,CAAC,CAAC"}
+{"version":3,"file":"generatePyclass.test.js","sourceRoot":"","sources":["../../src/internal/generatePyclass.test.ts"],"names":[],"mappings":";;AAAA,uDAA2E;AAC3E,iDAA6D;AAE7D,QAAQ,CAAC,iBAAiB,EAAE,GAAG,EAAE;IAC/B,EAAE,CAAC,yBAAyB,EAAE,GAAG,EAAE;QACjC,MAAM,CAAC,IAAA,uCAAqB,GAAE,CAAC,CAAC,qBAAqB,CAAC;;;;;;;;;;;;;;KAcrD,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,mBAAmB,EAAE,GAAG,EAAE;QAC3B,MAAM,CAAC,IAAA,iCAAe,EAAC,0BAAW,CAAC,CAAC,CAAC,qBAAqB,CAAC;;;;;;;;;;KAU1D,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,mCAAmC,EAAE,GAAG,EAAE;QAC3C,MAAM,CAAC,IAAA,iCAAe,EAAC,6BAAc,CAAC,CAAC,CAAC,qBAAqB,CAAC;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;KAiK7D,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;AACL,CAAC,CAAC,CAAC"}

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

@@ -1 +1 @@
-{"version":3,"file":"generateRos.d.ts","sourceRoot":"","sources":["../../src/internal/generateRos.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAqB,sBAAsB,EAAE,MAAM,8BAA8B,CAAC;AAG9F,OAAO,EAAwB,qBAAqB,EAAqB,MAAM,SAAS,CAAC;AAEzF,KAAK,0BAA0B,GAAG,sBAAsB,GAAG;IACzD,WAAW,CAAC,EAAE,MAAM,CAAC;CACtB,CAAC;AACF,KAAK,+BAA+B,GAAG;IACrC,YAAY,EAAE,MAAM,CAAC;IACrB,WAAW,CAAC,EAAE,MAAM,CAAC;IACrB,yEAAyE;IACzE,mBAAmB,EAAE,MAAM,CAAC;IAC5B,8GAA8G;IAC9G,oBAAoB,EAAE,MAAM,CAAC;IAC7B,MAAM,EAAE,0BAA0B,EAAE,CAAC;CACtC,CAAC;AAqBF,wBAAgB,cAAc,CAC5B,GAAG,EAAE,+BAA+B,EACpC,EAAE,UAAU,EAAE,EAAE;IAAE,UAAU,EAAE,CAAC,GAAG,CAAC,CAAA;CAAE,GACpC,MAAM,CA2CR;AAgDD,wBAAgB,wBAAwB,CACtC,MAAM,EAAE,qBAAqB,EAC7B,EAAE,UAAU,EAAE,EAAE;IAAE,UAAU,EAAE,CAAC,GAAG,CAAC,CAAA;CAAE,GACpC,+BAA+B,CA4FjC;AAED,wBAAgB,0BAA0B,CACxC,MAAM,EAAE,qBAAqB,EAC7B,EAAE,UAAU,EAAE,EAAE;IAAE,UAAU,EAAE,CAAC,GAAG,CAAC,CAAA;CAAE,GACpC,MAAM,CA+BR"}
+{"version":3,"file":"generateRos.d.ts","sourceRoot":"","sources":["../../src/internal/generateRos.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAqB,sBAAsB,EAAE,MAAM,8BAA8B,CAAC;AAG9F,OAAO,EAAwB,qBAAqB,EAAqB,MAAM,SAAS,CAAC;AAEzF,KAAK,0BAA0B,GAAG,sBAAsB,GAAG;IACzD,WAAW,CAAC,EAAE,MAAM,CAAC;CACtB,CAAC;AACF,KAAK,+BAA+B,GAAG;IACrC,YAAY,EAAE,MAAM,CAAC;IACrB,WAAW,CAAC,EAAE,MAAM,CAAC;IACrB,yEAAyE;IACzE,mBAAmB,EAAE,MAAM,CAAC;IAC5B,8GAA8G;IAC9G,oBAAoB,EAAE,MAAM,CAAC;IAC7B,MAAM,EAAE,0BAA0B,EAAE,CAAC;CACtC,CAAC;AAgCF,wBAAgB,cAAc,CAC5B,GAAG,EAAE,+BAA+B,EACpC,EAAE,UAAU,EAAE,EAAE;IAAE,UAAU,EAAE,CAAC,GAAG,CAAC,CAAA;CAAE,GACpC,MAAM,CA2CR;AAgDD,wBAAgB,wBAAwB,CACtC,MAAM,EAAE,qBAAqB,EAC7B,EAAE,UAAU,EAAE,EAAE;IAAE,UAAU,EAAE,CAAC,GAAG,CAAC,CAAA;CAAE,GACpC,+BAA+B,CA4FjC;AAED,wBAAgB,0BAA0B,CACxC,MAAM,EAAE,qBAAqB,EAC7B,EAAE,UAAU,EAAE,EAAE;IAAE,UAAU,EAAE,CAAC,GAAG,CAAC,CAAA;CAAE,GACpC,MAAM,CA+BR"}

package/dist/internal/generateRos.js

@@ -22,6 +22,14 @@ function timeDurationToRos(type, { rosVersion }) {
         return rosVersion === 2 ? "builtin_interfaces/Duration" : "duration";
     }
 }
+function getRosFieldDescription(field) {
+    if (field.optional === true &&
+        field.type.type === "primitive" &&
+        field.type.name.startsWith("float")) {
+        return `${field.description} (NaN indicates this value is not set)`;
+    }
+    return field.description;
+}
 function generateRosMsg(def, { rosVersion }) {
     let source = "";
     source += `# ${def.rosFullInterfaceName}\n`;
@@ -176,7 +184,7 @@ function generateRosMsgDefinition(schema, { rosVersion }) {
             isComplex: isComplex(field),
             isArray,
             arrayLength,
-            description: field.description,
+            description: getRosFieldDescription(field),
         });
     }
     return {

package/dist/internal/generateRos.js.map

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+{"version":3,"file":"generateRos.js","sourceRoot":"","sources":["../../src/internal/generateRos.ts"],"names":[],"mappings":";;AAgDA,wCA8CC;AAgDD,4DA+FC;AAED,gEAkCC;AAhRD,qEAAoD;AAiBpD,SAAS,cAAc,CAAC,IAA8D;IACpF,QAAQ,IAAI,EAAE,CAAC;QACb,KAAK,QAAQ;YACX,OAAO,QAAQ,CAAC;QAClB,KAAK,SAAS;YACZ,OAAO,MAAM,CAAC;QAChB,KAAK,SAAS;YACZ,OAAO,SAAS,CAAC;IACrB,CAAC;AACH,CAAC;AAED,SAAS,iBAAiB,CAAC,IAAyB,EAAE,EAAE,UAAU,EAAyB;IACzF,IAAI,IAAI,KAAK,MAAM,EAAE,CAAC;QACpB,OAAO,UAAU,KAAK,CAAC,CAAC,CAAC,CAAC,yBAAyB,CAAC,CAAC,CAAC,MAAM,CAAC;IAC/D,CAAC;SAAM,CAAC;QACN,OAAO,UAAU,KAAK,CAAC,CAAC,CAAC,CAAC,6BAA6B,CAAC,CAAC,CAAC,UAAU,CAAC;IACvE,CAAC;AACH,CAAC;AAED,SAAS,sBAAsB,CAAC,KAA2B;IACzD,IACE,KAAK,CAAC,QAAQ,KAAK,IAAI;QACvB,KAAK,CAAC,IAAI,CAAC,IAAI,KAAK,WAAW;QAC/B,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,UAAU,CAAC,OAAO,CAAC,EACnC,CAAC;QACD,OAAO,GAAG,KAAK,CAAC,WAAW,wCAAwC,CAAC;IACtE,CAAC;IACD,OAAO,KAAK,CAAC,WAAW,CAAC;AAC3B,CAAC;AAED,SAAgB,cAAc,CAC5B,GAAoC,EACpC,EAAE,UAAU,EAAyB;IAErC,IAAI,MAAM,GAAG,EAAE,CAAC;IAChB,MAAM,IAAI,KAAK,GAAG,CAAC,oBAAoB,IAAI,CAAC;IAC5C,IAAI,GAAG,CAAC,WAAW,IAAI,SAAS,EAAE,CAAC;QACjC,MAAM,gBAAgB,GAAG,GAAG,CAAC,WAAW;aACrC,IAAI,EAAE;aACN,KAAK,CAAC,IAAI,CAAC;aACX,GAAG,CAAC,CAAC,IAAI,EAAE,EAAE,CAAC,KAAK,IAAI,EAAE,CAAC;aAC1B,IAAI,CAAC,IAAI,CAAC,CAAC;QACd,MAAM,IAAI,GAAG,gBAAgB,IAAI,CAAC;IACpC,CAAC;IACD,MAAM,IAAI,6DAA6D,CAAC;IAExE,IAAI,mBAAmB,GAAG,IAAI,CAAC,CAAC,4CAA4C;IAC5E,KAAK,MAAM,KAAK,IAAI,GAAG,CAAC,MAAM,EAAE,CAAC;QAC/B,IAAI,mBAAmB,IAAI,KAAK,CAAC,WAAW,IAAI,SAAS,EAAE,CAAC;YAC1D,MAAM,IAAI,IAAI,CAAC;QACjB,CAAC;QACD,mBAAmB,GAAG,KAAK,CAAC;QAC5B,IAAI,KAAK,CAAC,WAAW,IAAI,SAAS,EAAE,CAAC;YACnC,MAAM,IAAI,KAAK,CAAC,WAAW;iBACxB,IAAI,EAAE;iBACN,KAAK,CAAC,IAAI,CAAC;iBACX,GAAG,CAAC,CAAC,IAAI,EAAE,EAAE,CAAC,KAAK,IAAI,IAAI,CAAC;iBAC5B,IAAI,CAAC,EAAE,CAAC,CAAC;YACZ,mBAAmB,GAAG,IAAI,CAAC;QAC7B,CAAC;QACD,IAAI,QAAQ,GAAG,EAAE,CAAC;QAClB,IAAI,KAAK,CAAC,UAAU,KAAK,IAAI,EAAE,CAAC;YAC9B,IAAI,KAAK,CAAC,SAAS,IAAI,SAAS,EAAE,CAAC;gBACjC,MAAM,IAAI,KAAK,CAAC,YAAY,KAAK,CAAC,IAAI,mBAAmB,CAAC,CAAC;YAC7D,CAAC;YACD,QAAQ,GAAG,IAAI,KAAK,CAAC,SAAS,EAAE,CAAC;QACnC,CAAC;QACD,IAAI,IAAI,GAAG,KAAK,CAAC,IAAI,CAAC;QACtB,IAAI,IAAI,KAAK,MAAM,IAAI,IAAI,KAAK,UAAU,EAAE,CAAC;YAC3C,IAAI,GAAG,iBAAiB,CAAC,IAAI,EAAE,EAAE,UAAU,EAAE,CAAC,CAAC;QACjD,CAAC;QACD,MAAM,IAAI,GAAG,IAAI,GAAG,KAAK,CAAC,OAAO,KAAK,IAAI,CAAC,CAAC,CAAC,IAAI,KAAK,CAAC,WAAW,IAAI,EAAE,GAAG,CAAC,CAAC,CAAC,EAAE,IAC9E,KAAK,CAAC,IACR,GAAG,QAAQ,IAAI,CAAC;IAClB,CAAC;IACD,OAAO,MAAM,CAAC;AAChB,CAAC;AAMD,SAAS,iBAAiB,CAAC,CAAa,EAAE,CAAa;IACrD,OAAO,CACL,CAAC,CAAC,CAAC,IAAI,KAAK,UAAU,IAAI,CAAC,CAAC,IAAI,KAAK,UAAU,IAAI,CAAC,CAAC,MAAM,CAAC,IAAI,KAAK,CAAC,CAAC,MAAM,CAAC,IAAI,CAAC;QACnF,CAAC,CAAC,CAAC,IAAI,KAAK,KAAK,IAAI,CAAC,CAAC,IAAI,KAAK,KAAK,IAAI,CAAC,CAAC,IAAI,KAAK,CAAC,CAAC,IAAI,CAAC,CAC5D,CAAC;AACJ,CAAC;AAED,QAAQ,CAAC,CAAC,qBAAqB,CAAC,MAA6B;IAC3D,KAAK,MAAM,KAAK,IAAI,MAAM,CAAC,MAAM,EAAE,CAAC;QAClC,IAAI,SAAS,CAAC,KAAK,CAAC,EAAE,CAAC;YACrB,IAAI,KAAK,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,IAAI,SAAS,EAAE,CAAC;gBACjD,MAAM,EAAE,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,EAAE,CAAC;gBAC7D,KAAK,CAAC,CAAC,kBAAkB,CAAC,yBAAI,CAAC,KAAK,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC,CAAC;YACnE,CAAC;iBAAM,CAAC;gBACN,MAAM,EAAE,IAAI,EAAE,UAAU,EAAE,MAAM,EAAE,KAAK,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC;gBACtD,KAAK,CAAC,CAAC,qBAAqB,CAAC,KAAK,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;YAClD,CAAC;QACH,CAAC;IACH,CAAC;AACH,CAAC;AACD,QAAQ,CAAC,CAAC,kBAAkB,CAAC,MAAyB;IACpD,KAAK,MAAM,KAAK,IAAI,MAAM,CAAC,WAAW,EAAE,CAAC;QACvC,IAAI,KAAK,CAAC,SAAS,KAAK,IAAI,EAAE,CAAC;YAC7B,MAAM,EAAE,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,IAAyB,EAAE,CAAC;YAC7D,KAAK,CAAC,CAAC,kBAAkB,CAAC,yBAAI,CAAC,KAAK,CAAC,IAAyB,CAAC,CAAC,CAAC;QACnE,CAAC;IACH,CAAC;AACH,CAAC;AAED;;GAEG;AACH,SAAS,SAAS,CAChB,KAA2B;IAE3B,OAAO,CACL,KAAK,CAAC,IAAI,CAAC,IAAI,KAAK,QAAQ;QAC5B,KAAK,CAAC,IAAI,CAAC,MAAM,CAAC,IAAI,KAAK,WAAW;QACtC,KAAK,CAAC,IAAI,CAAC,MAAM,CAAC,IAAI,KAAK,UAAU,CACtC,CAAC;AACJ,CAAC;AAED,SAAgB,wBAAwB,CACtC,MAA6B,EAC7B,EAAE,UAAU,EAAyB;IAErC,MAAM,cAAc,GAAG,IAAI,GAAG,EAAU,CAAC;IACzC,MAAM,aAAa,GAAG,IAAI,GAAG,EAAU,CAAC;IAExC,MAAM,MAAM,GAAiC,EAAE,CAAC;IAChD,KAAK,MAAM,KAAK,IAAI,MAAM,CAAC,MAAM,EAAE,CAAC;QAClC,IAAI,OAAO,GAAG,KAAK,CAAC,KAAK,IAAI,SAAS,CAAC;QACvC,MAAM,WAAW,GAAG,OAAO,KAAK,CAAC,KAAK,KAAK,QAAQ,CAAC,CAAC,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,SAAS,CAAC;QAC9E,IAAI,SAAiB,CAAC;QACtB,QAAQ,KAAK,CAAC,IAAI,CAAC,IAAI,EAAE,CAAC;YACxB,KAAK,MAAM,CAAC,CAAC,CAAC;gBACZ,4EAA4E;gBAC5E,wEAAwE;gBACxE,MAAM,QAAQ,GAAG,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC;gBACtC,MAAM,SAAS,GAAG,OAAO,CAAC;gBAC1B,SAAS,GAAG,SAAS,CAAC;gBACtB,IAAI,aAAa,CAAC,GAAG,CAAC,QAAQ,CAAC,EAAE,CAAC;oBAChC,MAAM;gBACR,CAAC;gBACD,MAAM,UAAU,GAAiC,EAAE,CAAC;gBACpD,KAAK,MAAM,EAAE,IAAI,EAAE,KAAK,EAAE,WAAW,EAAE,IAAI,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC;oBAClE,IAAI,cAAc,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,CAAC;wBAC7B,MAAM,IAAI,KAAK,CACb,cAAc,IAAI,+CAA+C,MAAM,CAAC,IAAI,0CAA0C,CACvH,CAAC;oBACJ,CAAC;oBACD,IAAI,KAAK,GAAG,CAAC,IAAI,KAAK,GAAG,GAAG,IAAI,CAAC,MAAM,CAAC,SAAS,CAAC,KAAK,CAAC,EAAE,CAAC;wBACzD,MAAM,IAAI,KAAK,CACb,mDAAmD,IAAI,IAAI,KAAK,kBAAkB,CACnF,CAAC;oBACJ,CAAC;oBACD,c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package/dist/internal/generateRos.test.js

@@ -234,7 +234,7 @@ describe("generateRosMsgDefinition", () => {
           },
           {
             "arrayLength": undefined,
-            "description": "An optional float64 field",
+            "description": "An optional float64 field (NaN indicates this value is not set)",
             "isArray": false,
             "isComplex": false,
             "name": "field_optional_float64",
@@ -476,7 +476,7 @@ describe("generateRosMsgDefinition", () => {
           },
           {
             "arrayLength": undefined,
-            "description": "An optional float64 field",
+            "description": "An optional float64 field (NaN indicates this value is not set)",
             "isArray": false,
             "isComplex": false,
             "name": "field_optional_float64",
@@ -586,7 +586,7 @@ describe("generateRosMsg", () => {
       # An optional bool field
       bool field_optional_bool
 
-      # An optional float64 field
+      # An optional float64 field (NaN indicates this value is not set)
       float64 field_optional_float64
       "
     `);
@@ -686,7 +686,7 @@ describe("generateRosMsg", () => {
       # An optional bool field
       bool field_optional_bool
 
-      # An optional float64 field
+      # An optional float64 field (NaN indicates this value is not set)
       float64 field_optional_float64
       "
     `);
@@ -789,7 +789,7 @@ describe("generateRosMsgMergedSchema", () => {
       # An optional bool field
       bool field_optional_bool
 
-      # An optional float64 field
+      # An optional float64 field (NaN indicates this value is not set)
       float64 field_optional_float64
       ================================================================================
       MSG: foxglove_msgs/NestedMessage
@@ -1095,7 +1095,7 @@ describe("generateRosMsgMergedSchema", () => {
       # An optional bool field
       bool field_optional_bool
 
-      # An optional float64 field
+      # An optional float64 field (NaN indicates this value is not set)
       float64 field_optional_float64
       ================================================================================
       MSG: foxglove_msgs/NestedMessage

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

@@ -1 +1 @@
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