@foxglove/schemas 1.13.0 → 2.1.0

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Files changed (35) hide show
  1. package/dist/internal/generatePyclass.d.ts.map +1 -1
  2. package/dist/internal/generatePyclass.js +34 -10
  3. package/dist/internal/generatePyclass.js.map +1 -1
  4. package/dist/internal/generatePyclass.test.js +19 -0
  5. package/dist/internal/generatePyclass.test.js.map +1 -1
  6. package/dist/internal/schemas.d.ts +2 -1
  7. package/dist/internal/schemas.d.ts.map +1 -1
  8. package/dist/internal/schemas.js +95 -34
  9. package/dist/internal/schemas.js.map +1 -1
  10. package/dist/jsonschema/index.d.ts +197 -21
  11. package/dist/jsonschema/index.d.ts.map +1 -1
  12. package/dist/jsonschema/index.js +377 -173
  13. package/dist/jsonschema/index.js.map +1 -1
  14. package/dist/types/CompressedAudio.d.ts +21 -0
  15. package/dist/types/CompressedAudio.d.ts.map +1 -0
  16. package/dist/types/CompressedAudio.js +5 -0
  17. package/dist/types/CompressedAudio.js.map +1 -0
  18. package/dist/types/LocationFix.d.ts +2 -2
  19. package/dist/types/LocationFix.d.ts.map +1 -1
  20. package/dist/types/Odometry.d.ts +26 -0
  21. package/dist/types/Odometry.d.ts.map +1 -0
  22. package/dist/types/{Velocity3.js → Odometry.js} +1 -1
  23. package/dist/types/Odometry.js.map +1 -0
  24. package/dist/types/Vector2.d.ts +2 -2
  25. package/dist/types/Vector2.d.ts.map +1 -1
  26. package/dist/types/Vector3.d.ts +3 -3
  27. package/dist/types/Vector3.d.ts.map +1 -1
  28. package/dist/types/index.d.ts +2 -1
  29. package/dist/types/index.d.ts.map +1 -1
  30. package/dist/types/index.js +2 -1
  31. package/dist/types/index.js.map +1 -1
  32. package/package.json +1 -1
  33. package/dist/types/Velocity3.d.ts +0 -10
  34. package/dist/types/Velocity3.d.ts.map +0 -1
  35. package/dist/types/Velocity3.js.map +0 -1
package/dist/internal/generatePyclass.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"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"}
1
+ {"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;AA2aD;;;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 CHANGED
@@ -89,11 +89,11 @@ function generatePySchemaStub(schemas, { unionName = "FoxgloveSchema" } = {}) {
89
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  source: [
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  `class ${name}:`,
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  ...doc,
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- ` def __init__(`,
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- " self,",
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+ ` def __new__(`,
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+ " cls,",
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  " *,",
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  params,
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- ` ) -> None: ...`,
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+ ` ) -> "${name}": ...`,
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  ` @staticmethod`,
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  ` def get_schema() -> Schema:`,
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  ` """Returns the ${name} schema"""`,
@@ -347,15 +347,39 @@ function generateMessageClass(schema) {
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  return [...struct, ...impl, ...fromTrait].join("\n");
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  }
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  function generateEnumClass(schema) {
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+ const name = enumName(schema);
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+ const variants = schema.values.map((value) => ({
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+ rustName: constantToTitleCase(value.name),
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+ value: value.value,
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+ }));
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  const enumLines = [
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  rustDoc(schema.description),
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  `#[pyclass(eq, eq_int, module = "foxglove.messages")]`,
353
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  `#[derive(PartialEq, Clone)]`,
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- `pub(crate) enum ${enumName(schema)} {`,
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- ...schema.values.map((value) => ` ${constantToTitleCase(value.name)} = ${value.value},`),
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- "}\n\n",
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+ `pub(crate) enum ${name} {`,
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+ ...variants.map((v) => ` ${v.rustName} = ${v.value},`),
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+ "}\n",
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+ ];
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+ // Stubs declare these as `Enum` subclasses, so make `name` and `value` work at runtime.
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+ const pymethodsLines = [
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+ `#[pymethods]`,
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+ `impl ${name} {`,
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+ ` #[getter]`,
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+ ` fn name(&self) -> &'static str {`,
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+ ` match self {`,
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+ ...variants.map((v) => ` Self::${v.rustName} => "${v.rustName}",`),
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+ ` }`,
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+ ` }`,
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+ ``,
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+ ` #[getter]`,
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+ ` fn value(&self) -> i32 {`,
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+ ` match self {`,
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+ ...variants.map((v) => ` Self::${v.rustName} => ${v.value},`),
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+ ` }`,
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+ ` }`,
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+ `}\n\n`,
357
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  ];
358
- return enumLines.join("\n");
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+ return enumLines.join("\n") + "\n" + pymethodsLines.join("\n");
359
383
  }
360
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  /**
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  * For enums with parent schemas, prepend the parent schema name to the enum name,
@@ -800,13 +824,13 @@ function generatePyChannelStub(messageSchemas) {
800
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  source: [
801
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  `class ${channelClass}:`,
802
826
  ...doc,
803
- ` def __init__(`,
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- ` self,`,
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+ ` def __new__(`,
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+ ` cls,`,
805
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  ` topic: str,`,
806
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  ` *,`,
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  ` metadata: dict[str, str] | None = None,`,
808
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  ` context: Context | None = None,`,
809
- ` ) -> None: ...\n`,
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+ ` ) -> "${channelClass}": ...\n`,
810
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  ` def id(self) -> int:`,
811
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  ` """The unique ID of the channel."""`,
812
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  ` ...`,
package/dist/internal/generatePyclass.js.map CHANGED
@@ -1 +1 @@
1
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package/dist/internal/generatePyclass.test.js CHANGED
@@ -30,6 +30,25 @@ describe("generatePyclass", () => {
30
30
  B = 1,
31
31
  }
32
32
 
33
+ #[pymethods]
34
+ impl ExampleMessageExampleEnum {
35
+ #[getter]
36
+ fn name(&self) -> &'static str {
37
+ match self {
38
+ Self::A => "A",
39
+ Self::B => "B",
40
+ }
41
+ }
42
+
43
+ #[getter]
44
+ fn value(&self) -> i32 {
45
+ match self {
46
+ Self::A => 0,
47
+ Self::B => 1,
48
+ }
49
+ }
50
+ }
51
+
33
52
  "
34
53
  `);
35
54
  });
package/dist/internal/generatePyclass.test.js.map CHANGED
@@ -1 +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;;;;;;;;;;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"}
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;KA6B1D,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/schemas.d.ts CHANGED
@@ -4,6 +4,7 @@ export declare const foxgloveMessageSchemas: {
4
4
  CameraCalibration: FoxgloveMessageSchema;
5
5
  CircleAnnotation: FoxgloveMessageSchema;
6
6
  Color: FoxgloveMessageSchema;
7
+ CompressedAudio: FoxgloveMessageSchema;
7
8
  CompressedImage: FoxgloveMessageSchema;
8
9
  CompressedPointCloud: FoxgloveMessageSchema;
9
10
  CompressedVideo: FoxgloveMessageSchema;
@@ -28,6 +29,7 @@ export declare const foxgloveMessageSchemas: {
28
29
  SceneEntity: FoxgloveMessageSchema;
29
30
  SceneUpdate: FoxgloveMessageSchema;
30
31
  ModelPrimitive: FoxgloveMessageSchema;
32
+ Odometry: FoxgloveMessageSchema;
31
33
  PackedElementField: FoxgloveMessageSchema;
32
34
  Point2: FoxgloveMessageSchema;
33
35
  Point3: FoxgloveMessageSchema;
@@ -47,7 +49,6 @@ export declare const foxgloveMessageSchemas: {
47
49
  TriangleListPrimitive: FoxgloveMessageSchema;
48
50
  Vector2: FoxgloveMessageSchema;
49
51
  Vector3: FoxgloveMessageSchema;
50
- Velocity3: FoxgloveMessageSchema;
51
52
  };
52
53
  export declare const foxgloveEnumSchemas: {
53
54
  LineType: FoxgloveEnumSchema;
package/dist/internal/schemas.d.ts.map CHANGED
@@ -1 +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;AA04DpE,eAAO,MAAM,sBAAsB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAiDlC,CAAC;AAEF,eAAO,MAAM,mBAAmB;;;;;;;CAO/B,CAAC"}
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;AA68DpE,eAAO,MAAM,sBAAsB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAkDlC,CAAC;AAEF,eAAO,MAAM,mBAAmB;;;;;;;CAO/B,CAAC"}
package/dist/internal/schemas.js CHANGED
@@ -77,6 +77,36 @@ const RawAudio = {
77
77
  },
78
78
  ],
79
79
  };
80
+ const CompressedAudio = {
81
+ type: "message",
82
+ name: "CompressedAudio",
83
+ description: "A single chunk of a compressed audio bitstream",
84
+ fields: [
85
+ {
86
+ name: "timestamp",
87
+ type: { type: "nested", schema: Timestamp },
88
+ description: "Timestamp of the start of the audio chunk",
89
+ },
90
+ {
91
+ name: "data",
92
+ type: { type: "primitive", name: "bytes" },
93
+ description: `Compressed audio data. Packet duration is determined by the codec during encoding. Messages should generally contain approximately 20 ms of audio.
94
+
95
+ - \`opus\`
96
+ - Each message must contain a complete raw Opus packet, without Ogg, WebM, or other container framing, as described in [RFC 6716 section 3](https://datatracker.ietf.org/doc/html/rfc6716#section-3).
97
+ - Each packet contains all information necessary for decoding, and may be decoded at any sample rate supported by Opus (8, 12, 16, 24, or 48 kHz).
98
+ - A single raw Opus packet represents mono or stereo audio; multichannel Opus requires multistream or container metadata and is not supported by this schema.
99
+ - \`mp4a.40.2\`
100
+ - Each message must contain a complete MPEG-4 AAC-LC ADTS frame, including the ADTS header, as described in section 1.A.3.2 of ISO/IEC 14496-3:2019.
101
+ - The ADTS header supplies stream parameters such as sample rate and channel configuration.`,
102
+ },
103
+ {
104
+ name: "format",
105
+ type: { type: "primitive", name: "string" },
106
+ description: "Audio format. Values supported by Foxglove are `opus` for raw Opus packets and `mp4a.40.2` for AAC-LC ADTS frames.",
107
+ },
108
+ ],
109
+ };
80
110
  const Color = {
81
111
  type: "message",
82
112
  name: "Color",
@@ -116,14 +146,12 @@ const Vector2 = {
116
146
  {
117
147
  name: "x",
118
148
  type: { type: "primitive", name: "float64" },
119
- description: "x coordinate length",
120
- defaultValue: 1.0,
149
+ description: "x component",
121
150
  },
122
151
  {
123
152
  name: "y",
124
153
  type: { type: "primitive", name: "float64" },
125
- description: "y coordinate length",
126
- defaultValue: 1.0,
154
+ description: "y component",
127
155
  },
128
156
  ],
129
157
  };
@@ -133,49 +161,21 @@ const Vector3 = {
133
161
  description: "A vector in 3D space that represents a direction only",
134
162
  rosEquivalent: "geometry_msgs/Vector3",
135
163
  ros2Equivalent: "geometry_msgs/Vector3",
136
- fields: [
137
- {
138
- name: "x",
139
- type: { type: "primitive", name: "float64" },
140
- description: "x coordinate length",
141
- defaultValue: 1.0,
142
- },
143
- {
144
- name: "y",
145
- type: { type: "primitive", name: "float64" },
146
- description: "y coordinate length",
147
- defaultValue: 1.0,
148
- },
149
- {
150
- name: "z",
151
- type: { type: "primitive", name: "float64" },
152
- description: "z coordinate length",
153
- defaultValue: 1.0,
154
- },
155
- ],
156
- };
157
- const Velocity3 = {
158
- type: "message",
159
- name: "Velocity3",
160
- description: "A velocity vector in 3D space",
161
164
  fields: [
162
165
  {
163
166
  name: "x",
164
167
  type: { type: "primitive", name: "float64" },
165
168
  description: "x component",
166
- defaultValue: 0,
167
169
  },
168
170
  {
169
171
  name: "y",
170
172
  type: { type: "primitive", name: "float64" },
171
173
  description: "y component",
172
- defaultValue: 0,
173
174
  },
174
175
  {
175
176
  name: "z",
176
177
  type: { type: "primitive", name: "float64" },
177
178
  description: "z component",
178
- defaultValue: 0,
179
179
  },
180
180
  ],
181
181
  };
@@ -1595,7 +1595,7 @@ const LocationFix = {
1595
1595
  },
1596
1596
  {
1597
1597
  name: "velocity",
1598
- type: { type: "nested", schema: Velocity3 },
1598
+ type: { type: "nested", schema: Vector3 },
1599
1599
  description: "Velocity in local East-North-Up (ENU) frame in m/s",
1600
1600
  protobufFieldNumber: 11,
1601
1601
  flatbuffersFieldNumber: 10,
@@ -1631,6 +1631,66 @@ const LocationFixes = {
1631
1631
  },
1632
1632
  ],
1633
1633
  };
1634
+ const Odometry = {
1635
+ type: "message",
1636
+ name: "Odometry",
1637
+ description: "An estimate of position, orientation, and velocity for an object or reference frame in 3D space",
1638
+ fields: [
1639
+ {
1640
+ name: "timestamp",
1641
+ type: { type: "nested", schema: Timestamp },
1642
+ description: "Timestamp of the message",
1643
+ },
1644
+ {
1645
+ name: "frame_id",
1646
+ type: { type: "primitive", name: "string" },
1647
+ description: "Reference coordinate frame (e.g. `map` or `odom`)",
1648
+ },
1649
+ {
1650
+ name: "body_frame_id",
1651
+ type: { type: "primitive", name: "string" },
1652
+ description: "Coordinate frame of the body whose motion is being estimated (e.g. `base_link`)",
1653
+ },
1654
+ {
1655
+ name: "pose",
1656
+ type: { type: "nested", schema: Pose },
1657
+ description: "Position and orientation of body_frame_id in frame_id",
1658
+ },
1659
+ {
1660
+ name: "linear_velocity",
1661
+ type: { type: "nested", schema: Vector3 },
1662
+ description: "Linear velocity in m/s in body_frame_id",
1663
+ optional: true,
1664
+ },
1665
+ {
1666
+ name: "angular_velocity",
1667
+ type: { type: "nested", schema: Vector3 },
1668
+ description: "Angular velocity in rad/s in body_frame_id",
1669
+ optional: true,
1670
+ },
1671
+ {
1672
+ name: "pose_covariance",
1673
+ type: { type: "primitive", name: "float64" },
1674
+ description: "Row-major 6x6 covariance matrix (x, y, z, rotation about x, rotation about y, rotation about z). Set to zero if unknown.",
1675
+ array: 36,
1676
+ optional: true,
1677
+ },
1678
+ {
1679
+ name: "velocity_covariance",
1680
+ type: { type: "primitive", name: "float64" },
1681
+ description: "Row-major 6x6 covariance matrix (vx, vy, vz, angular rate about x, angular rate about y, angular rate about z). Set to zero if unknown.",
1682
+ array: 36,
1683
+ optional: true,
1684
+ },
1685
+ {
1686
+ name: "metadata",
1687
+ type: { type: "nested", schema: KeyValuePair },
1688
+ array: true,
1689
+ description: "Additional user-provided metadata associated with the odometry message. Keys must be unique.",
1690
+ optional: true,
1691
+ },
1692
+ ],
1693
+ };
1634
1694
  const LogLevel = {
1635
1695
  type: "enum",
1636
1696
  name: "LogLevel",
@@ -1824,6 +1884,7 @@ exports.foxgloveMessageSchemas = {
1824
1884
  CameraCalibration,
1825
1885
  CircleAnnotation,
1826
1886
  Color,
1887
+ CompressedAudio,
1827
1888
  CompressedImage,
1828
1889
  CompressedPointCloud,
1829
1890
  CompressedVideo,
@@ -1848,6 +1909,7 @@ exports.foxgloveMessageSchemas = {
1848
1909
  SceneEntity,
1849
1910
  SceneUpdate,
1850
1911
  ModelPrimitive,
1912
+ Odometry,
1851
1913
  PackedElementField,
1852
1914
  Point2,
1853
1915
  Point3,
@@ -1867,7 +1929,6 @@ exports.foxgloveMessageSchemas = {
1867
1929
  TriangleListPrimitive,
1868
1930
  Vector2,
1869
1931
  Vector3,
1870
- Velocity3,
1871
1932
  };
1872
1933
  exports.foxgloveEnumSchemas = {
1873
1934
  LineType,
package/dist/internal/schemas.js.map CHANGED
@@ -1 +1 @@
1
- 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