@foxglove/schemas 1.7.2 → 1.7.3

package/dist/internal/schemas.js

@@ -1,6 +1,46 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.foxgloveEnumSchemas = exports.foxgloveMessageSchemas = void 0;
+const Duration = {
+    type: "message",
+    name: "Duration",
+    description: "A duration of time, composed of seconds and nanoseconds",
+    rosEquivalent: "std_msgs/Duration",
+    ros2Equivalent: "builtin_interfaces/Duration",
+    protoEquivalent: "google.protobuf.Duration",
+    fields: [
+        {
+            name: "sec",
+            type: { type: "primitive", name: "int32" },
+            description: "The number of seconds in the duration",
+        },
+        {
+            name: "nsec",
+            type: { type: "primitive", name: "uint32" },
+            description: "The number of nanoseconds in the positive direction",
+        },
+    ],
+};
+const Timestamp = {
+    type: "message",
+    name: "Timestamp",
+    description: "A timestamp composed of seconds and nanoseconds",
+    rosEquivalent: "std_msgs/Time",
+    ros2Equivalent: "builtin_interfaces/Time",
+    protoEquivalent: "google.protobuf.Timestamp",
+    fields: [
+        {
+            name: "sec",
+            type: { type: "primitive", name: "uint32" },
+            description: "The number of seconds since a user-defined epoch",
+        },
+        {
+            name: "nsec",
+            type: { type: "primitive", name: "uint32" },
+            description: "The number of nanoseconds since the sec value",
+        },
+    ],
+};
 const RawAudio = {
     type: "message",
     name: "RawAudio",
@@ -8,7 +48,7 @@ const RawAudio = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of the start of the audio block",
         },
         {
@@ -88,6 +128,7 @@ const Vector3 = {
     name: "Vector3",
     description: "A vector in 3D space that represents a direction only",
     rosEquivalent: "geometry_msgs/Vector3",
+    ros2Equivalent: "geometry_msgs/Vector3",
     fields: [
         {
             name: "x",
@@ -131,6 +172,7 @@ const Point3 = {
     name: "Point3",
     description: "A point representing a position in 3D space",
     rosEquivalent: "geometry_msgs/Point",
+    ros2Equivalent: "geometry_msgs/Point",
     fields: [
         {
             name: "x",
@@ -154,6 +196,7 @@ const Quaternion = {
     name: "Quaternion",
     description: "A [quaternion](https://eater.net/quaternions) representing a rotation in 3D space",
     rosEquivalent: "geometry_msgs/Quaternion",
+    ros2Equivalent: "geometry_msgs/Quaternion",
     fields: [
         {
             name: "x",
@@ -183,6 +226,7 @@ const Pose = {
     name: "Pose",
     description: "A position and orientation for an object or reference frame in 3D space",
     rosEquivalent: "geometry_msgs/Pose",
+    ros2Equivalent: "geometry_msgs/Pose",
     fields: [
         {
             name: "position",
@@ -235,7 +279,7 @@ const SceneEntityDeletion = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of the deletion. Only matching entities earlier than this timestamp will be deleted.",
         },
         {
@@ -550,7 +594,7 @@ const SceneEntity = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of the entity",
         },
         {
@@ -565,7 +609,7 @@ const SceneEntity = {
         },
         {
             name: "lifetime",
-            type: { type: "primitive", name: "duration" },
+            type: { type: "nested", schema: Duration },
             description: "Length of time (relative to `timestamp`) after which the entity should be automatically removed. Zero value indicates the entity should remain visible until it is replaced or deleted.",
         },
         {
@@ -655,7 +699,7 @@ const CameraCalibration = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of calibration data",
         },
         {
@@ -677,7 +721,7 @@ const CameraCalibration = {
         {
             name: "distortion_model",
             type: { type: "primitive", name: "string" },
-            description: "Name of distortion model\n\nSupported parameters: `plumb_bob` (k1, k2, p1, p2, k3), `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6), and `kannala_brandt` (k1, k2, k3, k4). `plumb_bob` and `rational_polynomial` models are based on the pinhole model [OpenCV's](https://docs.opencv.org/4.11.0/d9/d0c/group__calib3d.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). The `kannala_brandt` model is matches the [OpenvCV fisheye](https://docs.opencv.org/4.11.0/db/d58/group__calib3d__fisheye.html) model.",
+            description: "Name of distortion model\n\nSupported parameters: `plumb_bob` (k1, k2, p1, p2, k3), `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6), and `kannala_brandt` (k1, k2, k3, k4). `plumb_bob` and `rational_polynomial` models are based on the pinhole model [OpenCV's](https://docs.opencv.org/4.11.0/d9/d0c/group__calib3d.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). The `kannala_brandt` model matches the [OpenvCV fisheye](https://docs.opencv.org/4.11.0/db/d58/group__calib3d__fisheye.html) model.",
         },
         {
             name: "D",
@@ -750,7 +794,7 @@ const CompressedImage = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of image",
         },
         {
@@ -778,7 +822,7 @@ const CompressedVideo = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of video frame",
         },
         {
@@ -827,7 +871,7 @@ const RawImage = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of image",
         },
         {
@@ -839,27 +883,80 @@ const RawImage = {
         {
             name: "width",
             type: { type: "primitive", name: "uint32" },
-            description: "Image width",
+            description: "Image width in pixels",
         },
         {
             name: "height",
             type: { type: "primitive", name: "uint32" },
-            description: "Image height",
+            description: "Image height in pixels",
         },
         {
             name: "encoding",
             type: { type: "primitive", name: "string" },
-            description: "Encoding of the raw image data\n\nSupported values: `8UC1`, `8UC3`, `16UC1` (little endian), `32FC1` (little endian), `bayer_bggr8`, `bayer_gbrg8`, `bayer_grbg8`, `bayer_rggb8`, `bgr8`, `bgra8`, `mono8`, `mono16`, `rgb8`, `rgba8`, `uyvy` or `yuv422`, `yuyv` or `yuv422_yuy2`",
+            description: "Encoding of the raw image data. See the `data` field description for supported values.",
         },
         {
             name: "step",
             type: { type: "primitive", name: "uint32" },
-            description: "Byte length of a single row",
+            description: "Byte length of a single row. This is usually some multiple of `width` depending on the encoding, but can be greater to incorporate padding.",
         },
         {
             name: "data",
             type: { type: "primitive", name: "bytes" },
-            description: "Raw image data",
+            description: `Raw image data.
+
+For each \`encoding\` value, the \`data\` field contains image pixel data serialized as follows:
+
+- \`yuv422\` or \`uyvy\`:
+  - Pixel colors are decomposed into [Y'UV](https://en.wikipedia.org/wiki/Y%E2%80%B2UV) channels.
+  - 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 serialized as [U, Y1, V, Y2].
+  - \`step\` must be greater than or equal to \`width\` * 2.
+- \`yuv422_yuy2\` or  \`yuyv\`:
+  - Pixel colors are decomposed into [Y'UV](https://en.wikipedia.org/wiki/Y%E2%80%B2UV) channels.
+  - 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.
+- \`rgb8\`:
+  - Pixel colors are decomposed into Red, Green, and Blue channels.
+  - Pixel channel values are represented as unsigned 8-bit integers.
+  - Each output pixel is serialized as [R, G, B].
+  - \`step\` must be greater than or equal to \`width\` * 3.
+- \`rgba8\`:
+  - Pixel colors are decomposed into Red, Green, Blue, and Alpha channels.
+  - Pixel channel values are represented as unsigned 8-bit integers.
+  - Each output pixel is serialized as [R, G, B, Alpha].
+  - \`step\` must be greater than or equal to \`width\` * 4.
+- \`bgr8\` or \`8UC3\`:
+  - Pixel colors are decomposed into Red, Blue, Green, and Alpha channels.
+  - Pixel channel values are represented as unsigned 8-bit integers.
+  - Each output pixel is serialized as [B, G, R].
+  - \`step\` must be greater than or equal to \`width\` * 3.
+- \`bgra8\`:
+  - Pixel colors are decomposed into Blue, Green, Red, and Alpha channels.
+  - Pixel channel values are represented as unsigned 8-bit integers.
+  - Each output pixel is encoded as [B, G, R, Alpha].
+  - \`step\` must be greater than or equal to \`width\` * 4.
+- \`32FC1\`:
+  - Pixel brightness is represented as a single-channel, 32-bit little-endian IEEE 754 floating-point value, ranging from 0.0 (black) to 1.0 (white).
+  - \`step\` must be greater than or equal to \`width\` * 4.
+- \`bayer_rggb8\`, \`bayer_bggr8\`, \`bayer_rggb8\`, \`bayer_gbrg8\`, or \`bayer_grgb8\`:
+  - 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
+  w | x
+  - + -
+  y | z
+  \`\`\`
+  - \`step\` must be greater than or equal to \`width\`.
+- \`mono8\` or \`8UC1\`:
+  - Pixel brightness is represented as unsigned 8-bit integers.
+  - \`step\` must be greater than or equal to \`width\`.
+- \`mono16\` or \`16UC1\`:
+  - Pixel brightness is represented as 16-bit unsigned little-endian integers. Rendering of these values is controlled in [Image panel color mode settings](https://docs.foxglove.dev/docs/visualization/panels/image#general).
+  - \`step\` must be greater than or equal to \`width\` * 2.
+`,
         },
     ],
 };
@@ -870,7 +967,7 @@ const FrameTransform = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of transform",
         },
         {
@@ -915,7 +1012,7 @@ const PoseInFrame = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of pose",
         },
         {
@@ -937,7 +1034,7 @@ const PosesInFrame = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of pose",
         },
         {
@@ -1012,7 +1109,7 @@ const Grid = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of grid",
         },
         {
@@ -1054,7 +1151,7 @@ const Grid = {
         {
             name: "data",
             type: { type: "primitive", name: "bytes" },
-            description: "Grid cell data, interpreted using `fields`, in row-major (y-major) order",
+            description: "Grid cell data, interpreted using `fields`, in row-major (y-major) order — values fill each row from left to right along the X axis, with rows ordered from top to bottom along the Y axis, starting at the bottom-left corner when viewed from +Z looking towards -Z with identity orientations",
         },
     ],
 };
@@ -1065,7 +1162,7 @@ const CircleAnnotation = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of circle",
         },
         {
@@ -1120,7 +1217,7 @@ const PointsAnnotation = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of annotation",
         },
         {
@@ -1164,7 +1261,7 @@ const TextAnnotation = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of annotation",
         },
         {
@@ -1244,7 +1341,7 @@ const LocationFix = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of the message",
             protobufFieldNumber: 6,
         },
@@ -1309,7 +1406,7 @@ const Log = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of log message",
         },
         {
@@ -1346,7 +1443,7 @@ const PointCloud = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of point cloud",
         },
         {
@@ -1384,7 +1481,7 @@ const LaserScan = {
     fields: [
         {
             name: "timestamp",
-            type: { type: "primitive", name: "time" },
+            type: { type: "nested", schema: Timestamp },
             description: "Timestamp of scan",
         },
         {
@@ -1430,6 +1527,7 @@ exports.foxgloveMessageSchemas = {
     CompressedVideo,
     CylinderPrimitive,
     CubePrimitive,
+    Duration,
     FrameTransform,
     FrameTransforms,
     GeoJSON,
@@ -1458,6 +1556,7 @@ exports.foxgloveMessageSchemas = {
     SpherePrimitive,
     TextAnnotation,
     TextPrimitive,
+    Timestamp,
     TriangleListPrimitive,
     Vector2,
     Vector3,

package/dist/internal/schemas.js.map

@@ -1 +1 @@
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package/dist/internal/testFixtures.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"testFixtures.d.ts","sourceRoot":"","sources":["../../src/internal/testFixtures.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAqB,MAAM,SAAS,CAAC;AAYvF,eAAO,MAAM,WAAW,EAAE,kBAUzB,CAAC;AAeF,eAAO,MAAM,cAAc,EAAE,qBAyD5B,CAAC;AAEF,eAAO,MAAM,iCAAiC,EAAE,qBAK/C,CAAC"}
+{"version":3,"file":"testFixtures.d.ts","sourceRoot":"","sources":["../../src/internal/testFixtures.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAqB,MAAM,SAAS,CAAC;AAMvF,eAAO,MAAM,WAAW,EAAE,kBAUzB,CAAC;AAeF,eAAO,MAAM,cAAc,EAAE,qBA2F5B,CAAC;AAEF,eAAO,MAAM,iCAAiC,EAAE,qBAK/C,CAAC"}

package/dist/internal/testFixtures.js

@@ -1,15 +1,9 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.exampleMessageWithoutArrayOfBytes = exports.exampleMessage = exports.exampleEnum = void 0;
-const allPrimitives = [
-    "duration",
-    "time",
-    "boolean",
-    "bytes",
-    "float64",
-    "uint32",
-    "string",
-];
+const schemas_1 = require("./schemas");
+const { Duration, Timestamp } = schemas_1.foxgloveMessageSchemas;
+const allPrimitives = ["boolean", "bytes", "float64", "uint32", "string"];
 exports.exampleEnum = {
     type: "enum",
     name: "ExampleEnum",
@@ -38,6 +32,16 @@ exports.exampleMessage = {
     name: "ExampleMessage",
     description: "An example type",
     fields: [
+        {
+            name: "field_duration",
+            description: "duration field",
+            type: { type: "nested", schema: Duration },
+        },
+        {
+            name: "field_time",
+            description: "time field",
+            type: { type: "nested", schema: Timestamp },
+        },
         ...allPrimitives.map((name) => ({
             name: `field_${name}`,
             description: `${name} field`,
@@ -53,12 +57,36 @@ exports.exampleMessage = {
                             : // time and duration and bytes
                                 undefined,
         })),
+        {
+            name: "field_duration_array",
+            description: "duration array field",
+            type: { type: "nested", schema: Duration },
+            array: true,
+        },
+        {
+            name: "field_time_array",
+            description: "time array field",
+            type: { type: "nested", schema: Timestamp },
+            array: true,
+        },
         ...allPrimitives.map((name) => ({
             name: `field_${name}_array`,
             description: `${name} array field`,
             type: { type: "primitive", name },
             array: true,
         })),
+        {
+            name: "field_duration_fixed_array",
+            description: "duration fixed-length array field",
+            type: { type: "nested", schema: Duration },
+            array: 3,
+        },
+        {
+            name: "field_time_fixed_array",
+            description: "time fixed-length array field",
+            type: { type: "nested", schema: Timestamp },
+            array: 3,
+        },
         ...allPrimitives.map((name) => ({
             name: `field_${name}_fixed_array`,
             description: `${name} fixed-length array field`,

package/dist/internal/testFixtures.js.map

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

@@ -1,4 +1,4 @@
-export type FoxglovePrimitive = "string" | "float64" | "uint32" | "boolean" | "bytes" | "time" | "duration";
+export type FoxglovePrimitive = "string" | "float64" | "int32" | "uint32" | "boolean" | "bytes";
 export type FoxgloveEnumSchema = {
     type: "enum";
     name: string;
@@ -34,6 +34,8 @@ export type FoxgloveMessageSchema = {
     name: string;
     description: string;
     rosEquivalent?: keyof typeof import("@foxglove/rosmsg-msgs-common").ros1;
+    ros2Equivalent?: keyof typeof import("@foxglove/rosmsg-msgs-common").ros2jazzy;
+    protoEquivalent?: "google.protobuf.Timestamp" | "google.protobuf.Duration";
     fields: ReadonlyArray<FoxgloveMessageField>;
 };
 export type FoxgloveSchema = FoxgloveMessageSchema | FoxgloveEnumSchema;

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

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