@foxglove/schemas 1.7.1 → 1.7.3

package/dist/internal/generateSdkRustCTypes.js

@@ -0,0 +1,315 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.generateRustTypes = generateRustTypes;
+exports.generateBindgenConfig = generateBindgenConfig;
+const tslib_1 = require("tslib");
+const assert_1 = tslib_1.__importDefault(require("assert"));
+const promises_1 = tslib_1.__importDefault(require("node:fs/promises"));
+const smol_toml_1 = require("smol-toml");
+function primitiveToRust(type) {
+    switch (type) {
+        case "int32":
+            return "i32";
+        case "uint32":
+            return "u32";
+        case "boolean":
+            return "bool";
+        case "float64":
+            return "f64";
+        case "string":
+            return "FoxgloveString";
+        case "bytes":
+            (0, assert_1.default)(false, "bytes not supported by primitiveToRust");
+    }
+}
+function formatComment(comment) {
+    return comment
+        .split("\n")
+        .map((line) => `/// ${line}`)
+        .join("\n");
+}
+function escapeId(id) {
+    return id === "type" ? `r#${id}` : id;
+}
+function toSnakeCase(name) {
+    const snakeName = name.replace(/([A-Z])/g, "_$1").toLowerCase();
+    return snakeName.startsWith("_") ? snakeName.substring(1) : snakeName;
+}
+function toTitleCase(name) {
+    return name.toLowerCase().replace(/(?:^|_)([a-z])/g, (_, letter) => letter.toUpperCase());
+}
+// We use special FoxgloveTimestamp and FoxgloveDuration types for the time and duration fields.
+function shouldGenerateRustType(schema) {
+    return schema.name !== "Timestamp" && schema.name !== "Duration";
+}
+function rustEnumName(name) {
+    return `Foxglove${name}`;
+}
+/**
+ * Identical to the name, except:
+ * - GeoJSON is renamed to GeoJson in all lanaguages
+ * - Timestamp and Duration use existing FoxgloveTimestamp and FoxgloveDuration implementations
+ */
+function rustMessageSchemaName(schema) {
+    if (schema.name === "Timestamp") {
+        return "FoxgloveTimestamp";
+    }
+    else if (schema.name === "Duration") {
+        return "FoxgloveDuration";
+    }
+    else {
+        return schema.name.replace("JSON", "Json");
+    }
+}
+function generateRustTypes(schemas, enums) {
+    const schemaStructs = schemas.filter(shouldGenerateRustType).map((schema) => {
+        const { fields, description } = schema;
+        const name = rustMessageSchemaName(schema);
+        const snakeName = toSnakeCase(name);
+        return `\
+${formatComment(description)}
+#[repr(C)]
+pub struct ${name} {
+  ${fields
+            .flatMap((field) => {
+            const comment = formatComment(field.description);
+            const identName = escapeId(toSnakeCase(field.name));
+            let fieldType;
+            let fieldHasLen = false;
+            switch (field.type.type) {
+                case "primitive":
+                    if (field.type.name === "bytes") {
+                        fieldType = "*const c_uchar";
+                        fieldHasLen = true;
+                    }
+                    else {
+                        fieldType = primitiveToRust(field.type.name);
+                    }
+                    break;
+                case "enum":
+                    fieldType = rustEnumName(field.type.enum.name);
+                    break;
+                case "nested":
+                    fieldType = rustMessageSchemaName(field.type.schema);
+                    break;
+            }
+            const lines = [comment];
+            if (typeof field.array === "number") {
+                lines.push(`pub ${identName}: [${fieldType}; ${field.array}],`);
+                if (fieldHasLen) {
+                    lines.push(`pub ${identName}_len: [usize; ${field.array}],`);
+                }
+            }
+            else if (field.array === true) {
+                lines.push(`pub ${identName}: *const ${fieldType},`);
+                if (fieldHasLen) {
+                    lines.push(`pub ${identName}_len: *const usize,`);
+                }
+                lines.push(`pub ${identName}_count: usize,`);
+            }
+            else {
+                if (field.type.type === "nested") {
+                    fieldType = `*const ${fieldType}`;
+                }
+                lines.push(`pub ${identName}: ${fieldType},`);
+                if (fieldHasLen) {
+                    lines.push(`pub ${identName}_len: usize,`);
+                }
+            }
+            return lines.join("\n");
+        })
+            .join("\n\n")}
+}
+
+impl ${name} {
+  /// Create a new typed channel, and return an owned raw channel pointer to it.
+  ///
+  /// # Safety
+  /// We're trusting the caller that the channel will only be used with this type T.
+  #[unsafe(no_mangle)]
+  pub unsafe extern "C" fn foxglove_channel_create_${snakeName}(
+      topic: FoxgloveString,
+      context: *const FoxgloveContext,
+      channel: *mut *const FoxgloveChannel,
+  ) -> FoxgloveError {
+      if channel.is_null() {
+          tracing::error!("channel cannot be null");
+          return FoxgloveError::ValueError;
+      }
+      unsafe {
+          let result = do_foxglove_channel_create::<foxglove::schemas::${name}>(topic, context);
+          result_to_c(result, channel)
+      }
+  }
+}
+
+impl BorrowToNative for ${name} {
+  type NativeType = foxglove::schemas::${name};
+
+  unsafe fn borrow_to_native(&self, #[allow(unused_mut, unused_variables)] mut arena: Pin<&mut Arena>) -> Result<ManuallyDrop<Self::NativeType>, foxglove::FoxgloveError> {
+    ${fields
+            .flatMap((field) => {
+            const fieldName = escapeId(toSnakeCase(field.name));
+            if (field.array != undefined &&
+                typeof field.array !== "number" &&
+                field.type.type === "nested") {
+                return [
+                    `let ${fieldName} = unsafe { arena.as_mut().map(self.${fieldName}, self.${fieldName}_count)? };`,
+                ];
+            }
+            switch (field.type.type) {
+                case "primitive":
+                    if (field.type.name === "string") {
+                        return [
+                            `let ${fieldName} = unsafe { string_from_raw(self.${fieldName}.as_ptr() as *const _, self.${fieldName}.len(), "${field.name}")? };`,
+                        ];
+                    }
+                    return [];
+                case "nested":
+                    if (field.type.schema.name === "Timestamp" || field.type.schema.name === "Duration") {
+                        return [];
+                    }
+                    return [
+                        `let ${fieldName} = unsafe { self.${fieldName}.as_ref().map(|m| m.borrow_to_native(arena.as_mut())) }.transpose()?;`,
+                    ];
+                case "enum":
+                    return [];
+            }
+        })
+            .join("\n    ")}
+
+    Ok(ManuallyDrop::new(foxglove::schemas::${name} {
+    ${fields
+            .map((field) => {
+            const fieldName = escapeId(toSnakeCase(field.name));
+            if (field.array != undefined) {
+                if (typeof field.array === "number") {
+                    (0, assert_1.default)(field.type.type === "primitive", `unsupported array type: ${field.type.type}`);
+                    return `${fieldName}: ManuallyDrop::into_inner(unsafe { vec_from_raw(self.${fieldName}.as_ptr() as *mut ${primitiveToRust(field.type.name)}, self.${fieldName}.len()) })`;
+                }
+                else {
+                    if (field.type.type === "nested") {
+                        return `${fieldName}: ManuallyDrop::into_inner(${fieldName})`;
+                    }
+                    else if (field.type.type === "primitive") {
+                        (0, assert_1.default)(field.type.name !== "bytes");
+                        return `${fieldName}: ManuallyDrop::into_inner(unsafe { vec_from_raw(self.${fieldName} as *mut ${primitiveToRust(field.type.name)}, self.${fieldName}_count) })`;
+                    }
+                    else {
+                        throw Error(`unsupported array type: ${field.type.type}`);
+                    }
+                }
+            }
+            switch (field.type.type) {
+                case "primitive":
+                    if (field.type.name === "string") {
+                        return `${fieldName}: ManuallyDrop::into_inner(${fieldName})`;
+                    }
+                    else if (field.type.name === "bytes") {
+                        return `${fieldName}: ManuallyDrop::into_inner(unsafe { bytes_from_raw(self.${fieldName}, self.${fieldName}_len) })`;
+                    }
+                    return `${fieldName}: self.${fieldName}`;
+                case "enum":
+                    return `${fieldName}: self.${fieldName} as i32`;
+                case "nested":
+                    if (field.type.schema.name === "Timestamp" || field.type.schema.name === "Duration") {
+                        return `${fieldName}: unsafe { self.${fieldName}.as_ref() }.map(|&m| m.into())`;
+                    }
+                    return `${fieldName}: ${fieldName}.map(ManuallyDrop::into_inner)`;
+            }
+        })
+            .join(",\n        ")}
+    }))
+  }
+}
+
+/// Log a ${name} message to a channel.
+///
+/// # Safety
+/// The channel must have been created for this type with foxglove_channel_create_${snakeName}.
+#[unsafe(no_mangle)]
+pub extern "C" fn foxglove_channel_log_${snakeName}(channel: Option<&FoxgloveChannel>, msg: Option<&${name}>, log_time: Option<&u64>) -> FoxgloveError {
+  let mut arena = pin!(Arena::new());
+  let arena_pin = arena.as_mut();
+  // Safety: we're borrowing from the msg, but discard the borrowed message before returning
+  match unsafe { ${name}::borrow_option_to_native(msg, arena_pin) } {
+    Ok(msg) => {
+      // Safety: this casts channel back to a typed channel for type of msg, it must have been created for this type.
+      log_msg_to_channel(channel, &*msg, log_time)
+    },
+    Err(e) => {
+      tracing::error!("${name}: {}", e);
+      e.into()
+    }
+  }
+}
+`;
+    });
+    const imports = [
+        "use std::ffi::c_uchar;",
+        "use std::mem::ManuallyDrop;",
+        "use std::pin::{pin, Pin};",
+        "",
+        "use crate::{FoxgloveString, FoxgloveError, FoxgloveChannel, FoxgloveContext, FoxgloveTimestamp, FoxgloveDuration, log_msg_to_channel, result_to_c, do_foxglove_channel_create};",
+        "use crate::arena::{Arena, BorrowToNative};",
+        "use crate::util::{bytes_from_raw, string_from_raw, vec_from_raw};",
+    ];
+    const enumDefs = enums.map((enumSchema) => {
+        return `
+    #[derive(Clone, Copy, Debug)]
+    #[repr(i32)]
+    pub enum ${rustEnumName(enumSchema.name)} {
+      ${enumSchema.values.map((value) => `${toTitleCase(value.name)} = ${value.value},`).join("\n")}
+    }`;
+    });
+    const outputSections = [
+        "// Generated by https://github.com/foxglove/foxglove-sdk",
+        imports.join("\n"),
+        enumDefs.join("\n"),
+        ...schemaStructs,
+        "",
+    ];
+    return outputSections.join("\n\n");
+}
+function assertValidBindgen(bindgen) {
+    if (typeof bindgen.export !== "object" ||
+        !("rename" in bindgen.export) ||
+        typeof bindgen.export.rename !== "object") {
+        throw new Error("Invalid bindgen.toml file (export.rename definitions missing)");
+    }
+}
+/**
+ * Builds the content of the cbindgen.toml config file, based on a manually-written prelude
+ * and export renames for generated schema types.
+ */
+async function generateBindgenConfig(schemas, enums, preludeFile) {
+    const comment = `
+#
+# Generated by https://github.com/foxglove/foxglove-sdk
+#
+# Do not edit this file directly. Edit the prelude file instead.
+#
+`;
+    const prelude = await promises_1.default.readFile(preludeFile, "utf-8");
+    const bindgenToml = (0, smol_toml_1.parse)(prelude);
+    assertValidBindgen(bindgenToml);
+    schemas.forEach((schema) => {
+        const sourceName = rustMessageSchemaName(schema);
+        const prefix = sourceName.startsWith("Foxglove") ? "" : "foxglove_";
+        const exportName = `${prefix}${toSnakeCase(sourceName)}`;
+        if (sourceName in bindgenToml.export.rename) {
+            throw new Error(`Duplicate name in rename section: ${sourceName}`);
+        }
+        bindgenToml.export.rename[sourceName] = exportName;
+    });
+    enums.forEach((enumSchema) => {
+        const sourceName = rustEnumName(enumSchema.name);
+        const exportName = toSnakeCase(sourceName);
+        if (sourceName in bindgenToml.export.rename) {
+            throw new Error(`Duplicate name in rename section: ${sourceName}`);
+        }
+        bindgenToml.export.rename[sourceName] = exportName;
+    });
+    return comment + "\n" + (0, smol_toml_1.stringify)(bindgenToml);
+}
+//# sourceMappingURL=generateSdkRustCTypes.js.map

package/dist/internal/generateSdkRustCTypes.js.map

@@ -0,0 +1 @@
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package/dist/internal/generateTypeScript.d.ts

@@ -1,6 +1,5 @@
 import { FoxgloveSchema } from "./types";
 export declare const TIME_TS = "export type Time = {\n  sec: number;\n  nsec: number;\n};\n";
-export declare const DURATION_TS = "export type Duration = {\n  sec: number;\n  nsec: number;\n};\n";
 export type GenerateTypeScriptOptions = {
     /**
      * Include TypedArray types on numeric array fields, e.g. `number[] | Uint32Array`. Used by

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

@@ -1 +1 @@
-{"version":3,"file":"generateTypeScript.d.ts","sourceRoot":"","sources":["../../src/internal/generateTypeScript.ts"],"names":[],"mappings":"AAAA,OAAO,EAAqB,cAAc,EAAE,MAAM,SAAS,CAAC;AA+B5D,eAAO,MAAM,OAAO,gEAInB,CAAC;AAEF,eAAO,MAAM,WAAW,oEAIvB,CAAC;AAEF,MAAM,MAAM,yBAAyB,GAAG;IACtC;;;OAGG;IACH,kBAAkB,CAAC,EAAE,OAAO,CAAC;CAC9B,CAAC;AAEF,wBAAgB,kBAAkB,CAChC,MAAM,EAAE,cAAc,EACtB,OAAO,GAAE,yBAA8B,GACtC,MAAM,CAoFR"}
+{"version":3,"file":"generateTypeScript.d.ts","sourceRoot":"","sources":["../../src/internal/generateTypeScript.ts"],"names":[],"mappings":"AAAA,OAAO,EAAqB,cAAc,EAAE,MAAM,SAAS,CAAC;AAgC5D,eAAO,MAAM,OAAO,gEAInB,CAAC;AAEF,MAAM,MAAM,yBAAyB,GAAG;IACtC;;;OAGG;IACH,kBAAkB,CAAC,EAAE,OAAO,CAAC;CAC9B,CAAC;AAEF,wBAAgB,kBAAkB,CAChC,MAAM,EAAE,cAAc,EACtB,OAAO,GAAE,yBAA8B,GACtC,MAAM,CAiFR"}

package/dist/internal/generateTypeScript.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.DURATION_TS = exports.TIME_TS = void 0;
+exports.TIME_TS = void 0;
 exports.generateTypeScript = generateTypeScript;
 function primitiveToTypeScript(type) {
     switch (type) {
@@ -11,20 +11,21 @@ function primitiveToTypeScript(type) {
         case "boolean":
             return "boolean";
         case "float64":
+        case "int32":
         case "uint32":
             return "number";
     }
 }
 function primitiveToTypedArray(type) {
     switch (type) {
-        case "time":
-        case "duration":
         case "bytes":
         case "string":
         case "boolean":
             return [];
         case "float64":
             return ["Float32Array", "Float64Array"];
+        case "int32":
+            return ["Int32Array"];
         case "uint32":
             return ["Uint32Array"];
     }
@@ -34,11 +35,6 @@ exports.TIME_TS = `export type Time = {
   nsec: number;
 };
 `;
-exports.DURATION_TS = `export type Duration = {
-  sec: number;
-  nsec: number;
-};
-`;
 function generateTypeScript(schema, options = {}) {
     const imports = new Set();
     let definition;
@@ -64,22 +60,18 @@ function generateTypeScript(schema, options = {}) {
                         imports.add(field.type.enum.name);
                         break;
                     case "nested":
-                        fieldType = field.type.schema.name;
-                        imports.add(field.type.schema.name);
-                        break;
-                    case "primitive":
-                        if (field.type.name === "time") {
+                        if (field.type.schema.name === "Timestamp") {
                             fieldType = "Time";
                             imports.add("Time");
                         }
-                        else if (field.type.name === "duration") {
-                            fieldType = "Duration";
-                            imports.add("Duration");
-                        }
                         else {
-                            fieldType = primitiveToTypeScript(field.type.name);
+                            fieldType = field.type.schema.name;
+                            imports.add(field.type.schema.name);
                         }
                         break;
+                    case "primitive":
+                        fieldType = primitiveToTypeScript(field.type.name);
+                        break;
                 }
                 if (typeof field.array === "number") {
                     fieldType = `[${new Array(field.array).fill(fieldType).join(", ")}]`;

package/dist/internal/generateTypeScript.js.map

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

@@ -8,6 +8,7 @@ export declare const foxgloveMessageSchemas: {
     CompressedVideo: FoxgloveMessageSchema;
     CylinderPrimitive: FoxgloveMessageSchema;
     CubePrimitive: FoxgloveMessageSchema;
+    Duration: FoxgloveMessageSchema;
     FrameTransform: FoxgloveMessageSchema;
     FrameTransforms: FoxgloveMessageSchema;
     GeoJSON: FoxgloveMessageSchema;
@@ -36,6 +37,7 @@ export declare const foxgloveMessageSchemas: {
     SpherePrimitive: FoxgloveMessageSchema;
     TextAnnotation: FoxgloveMessageSchema;
     TextPrimitive: FoxgloveMessageSchema;
+    Timestamp: FoxgloveMessageSchema;
     TriangleListPrimitive: FoxgloveMessageSchema;
     Vector2: FoxgloveMessageSchema;
     Vector3: FoxgloveMessageSchema;

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

@@ -1 +1 @@
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+{"version":3,"file":"schemas.d.ts","sourceRoot":"","sources":["../../src/internal/schemas.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAE,MAAM,SAAS,CAAC;AA8kDpE,eAAO,MAAM,sBAAsB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CA0ClC,CAAC;AAEF,eAAO,MAAM,mBAAmB;;;;;;;CAO/B,CAAC"}