@foxglove/schemas 1.7.2 → 1.8.0

package/dist/internal/generatePyclass.js

@@ -37,6 +37,9 @@ function generateSchemaPrelude() {
  * Generate a `pyclass`-annotated struct or enum definition for the given schema.
  */
 function generatePyclass(schema) {
+    if (!shouldGenerateSchemaClass(schema)) {
+        return "";
+    }
     return isMessageSchema(schema) ? generateMessageClass(schema) : generateEnumClass(schema);
 }
 /**
@@ -55,6 +58,7 @@ function generatePySchemaStub(schemas) {
     ].join("\n") + "\n";
     const enums = schemas
         .filter((schema) => schema.type === "enum")
+        .filter(shouldGenerateSchemaClass)
         .map((schema) => {
         const name = enumName(schema);
         const doc = ['    """', `    ${schema.description}`, '    """'];
@@ -67,7 +71,10 @@ function generatePySchemaStub(schemas) {
         };
     });
     const allSchemas = [];
-    const classes = schemas.filter(isMessageSchema).map((schema) => {
+    const classes = schemas
+        .filter(isMessageSchema)
+        .filter(shouldGenerateSchemaClass)
+        .map((schema) => {
         const name = structName(schema.name);
         allSchemas.push(name);
         const doc = ['    """', `    ${schema.description}`, '    """'];
@@ -113,10 +120,7 @@ function generatePySchemaModule(schemas) {
         .filter(isMessageSchema)
         .map((schema) => pyClassName(schema))
         .sort();
-    const classNames = schemas
-        .map((schema) => pyClassName(schema))
-        .concat(["Timestamp", "Duration"])
-        .sort();
+    const classNames = schemas.map((schema) => pyClassName(schema)).sort();
     const headers = [
         `"""`,
         `This module contains the definitions of the well-known Foxglove schemas for logging.`,
@@ -140,28 +144,61 @@ function generatePySchemaModule(schemas) {
     const alias = `FoxgloveSchema = Union[${allSchemas.join(", ")}];\n`;
     return [...headers, ...imports, alias, ...exports, ""].join("\n");
 }
-function rustDoc(str, opts = {}) {
-    const ws = " ".repeat(opts.indent ?? 0);
+/**
+ * Format a string as a Rust doc comment, splitting on newlines and prefixing each line with `///`.
+ */
+function rustDoc(str) {
     return str
         .split("\n")
-        .map((line) => `${ws}/// ${line}`)
+        .map((line) => `/// ${line}`)
         .join("\n");
 }
-function firstLine(str) {
-    return str.split("\n")[0]?.trim() ?? str;
+/**
+ * Convert markdown links to RST format: [text](url) becomes `text <url>`__
+ */
+function convertMarkdownLinksToRst(text) {
+    return text.replace(/\[(?<text>[^\]]+)\]\((?<url>[^)]+)\)/g, "`$<text> <$<url>>`__");
+}
+/**
+ * Generate a :param doc comment for a field.
+ *
+ * The returned string may be multi-line. This converts markdown code blocks and links to RST inside
+ * extended descriptions.
+ */
+function pythonParamDoc(field) {
+    const lines = field.description.split("\n");
+    const [firstLine, ...rest] = lines;
+    const output = [];
+    if (firstLine == undefined) {
+        return "";
+    }
+    output.push(`:param ${field.name}: ${firstLine}`);
+    if (rest.length === 0) {
+        return output.join("\n");
+    }
+    let inCodeBlock = false;
+    for (const line of rest) {
+        if (line.startsWith("```")) {
+            if (!inCodeBlock) {
+                // Start an RST code block, which requires a following blank line
+                output.push("    ::");
+                output.push("");
+            }
+            inCodeBlock = !inCodeBlock;
+            continue;
+        }
+        const indent = " ".repeat(inCodeBlock ? 8 : 4);
+        const rst = inCodeBlock ? line : convertMarkdownLinksToRst(line);
+        output.push(indent + rst);
+    }
+    return output.join("\n");
 }
 function generateMessageClass(schema) {
     const className = structName(schema.name);
-    const schemaFields = Array.from(schema.fields).map((field) => ({
-        fieldName: safeName(field.name),
-        argName: safeName(field.name),
-        // description: rustDoc(field.description, { indent: 4 }),
-        field,
-    }));
     const struct = [
         rustDoc(schema.description),
         `///`,
-        ...schemaFields.map(({ fieldName, field }) => rustDoc(`:param ${fieldName}: ${firstLine(field.description)}`)),
+        ...schema.fields.map((field) => rustDoc(pythonParamDoc(field))),
         `///`,
         `/// See https://docs.foxglove.dev/docs/visualization/message-schemas/${constantToKebabCase(className)}`,
         `#[pyclass(module = "foxglove.schemas")]`,
@@ -175,17 +212,14 @@ function generateMessageClass(schema) {
         }
         switch (field.type.type) {
             case "primitive":
-                if (field.type.name === "time" || field.type.name === "duration") {
-                    return `${safeName(field.name)}.map(Into::into)`;
-                }
-                return safeName(field.name);
+                return safeRustName(field.name);
             case "nested":
                 if (field.array != undefined) {
-                    return `${safeName(field.name)}.into_iter().map(|x| x.into()).collect()`;
+                    return `${safeRustName(field.name)}.into_iter().map(|x| x.into()).collect()`;
                 }
-                return `${safeName(field.name)}.map(Into::into)`;
+                return `${safeRustName(field.name)}.map(Into::into)`;
             case "enum":
-                return `${safeName(field.name)} as i32`;
+                return `${safeRustName(field.name)} as i32`;
         }
     }
     function fieldAssignment(field) {
@@ -196,6 +230,11 @@ function generateMessageClass(schema) {
         }
         return `${name}: ${value}`;
     }
+    const schemaFields = Array.from(schema.fields).map((field) => ({
+        fieldName: safeRustName(field.name),
+        argName: safeRustName(field.name),
+        field,
+    }));
     const signature = schemaFields
         .map(({ argName, field }) => `${argName}=${rustDefaultValue(field)}`)
         .join(", ");
@@ -255,7 +294,7 @@ function enumName(schema) {
 /**
  * Deal with reserved keywords in identifiers
  */
-function safeName(name) {
+function safeRustName(name) {
     if (name === "type") {
         return "r#type";
     }
@@ -284,6 +323,9 @@ function rustOutputType(field) {
                 case "float64":
                     type = "f64";
                     break;
+                case "int32":
+                    type = "i32";
+                    break;
                 case "uint32":
                     type = "u32";
                     break;
@@ -294,11 +336,6 @@ function rustOutputType(field) {
                     // Special case: we don't take a Vec<u8> directly because pyo3 will iterate the vec and
                     // copy each element https://github.com/PyO3/pyo3/issues/2888
                     return "Option<Bound<'_, PyBytes>>";
-                case "time":
-                    type = "Option<Timestamp>";
-                    break;
-                case "duration":
-                    type = "Option<Duration>";
                     break;
             }
             break;
@@ -345,15 +382,13 @@ function pythonDefaultValue(field) {
                     return `""`;
                 case "float64":
                     return "0.0";
+                case "int32":
                 case "uint32":
                     return "0";
                 case "boolean":
                     return "False";
                 case "bytes":
                     return 'b""';
-                case "time":
-                case "duration":
-                    return "None";
             }
         // exhaustive check above
         // eslint-disable-next-line no-fallthrough
@@ -383,15 +418,13 @@ function rustDefaultValue(field) {
                     return `"".to_string()`;
                 case "float64":
                     return "0.0";
+                case "int32":
                 case "uint32":
                     return "0";
                 case "boolean":
                     return "false";
                 case "bytes":
                     return "vec![]";
-                case "time":
-                case "duration":
-                    return "None";
             }
         // exhaustive check above
         // eslint-disable-next-line no-fallthrough
@@ -412,16 +445,13 @@ function pythonType(foxglovePrimitive) {
             return "str";
         case "float64":
             return "float";
+        case "int32":
         case "uint32":
             return "int";
         case "boolean":
             return "bool";
         case "bytes":
             return "bytes";
-        case "time":
-            return "Timestamp";
-        case "duration":
-            return "Duration";
     }
 }
 function protoName(name) {
@@ -429,7 +459,7 @@ function protoName(name) {
         // Schemas may include single-letter capitals; generated proto structs use lowercase
         return name.toLowerCase();
     }
-    return safeName(name);
+    return safeRustName(name);
 }
 function capitalize(str) {
     return str.charAt(0).toUpperCase() + str.slice(1);
@@ -462,8 +492,6 @@ function generateSchemaModuleRegistration(schemas) {
 pub fn register_submodule(parent_module: &Bound<'_, PyModule>) -> PyResult<()> {
     let module = PyModule::new(parent_module.py(), "schemas")?;
 
-    module.add_class::<Duration>()?;
-    module.add_class::<Timestamp>()?;
     ${schemas.map((schema) => `module.add_class::<${pyClassName(schema)}>()?;`).join("\n    ")}
 
     // Define as a package
@@ -477,6 +505,20 @@ pub fn register_submodule(parent_module: &Bound<'_, PyModule>) -> PyResult<()> {
 }
 `;
 }
+/**
+ * Python SDK uses custom implementations for Time and Duration via schemas_wkt, so we don't
+ * auto-generate implementations or stubs. These match the `{ sec, nsec }` schema definition but
+ * provide additional conversions and factory methods.
+ */
+function shouldGenerateSchemaClass(schema) {
+    return schema.name !== "Timestamp" && schema.name !== "Duration";
+}
+/**
+ * Because the SDK uses custom schema implementations, we don't yet generate channels for them.
+ */
+function shouldGenerateChannelClass(schema) {
+    return schema.name !== "Timestamp" && schema.name !== "Duration";
+}
 /**
  * Generate a rust function to register the channels in a submodule.
  * https://pyo3.rs/v0.23.4/module.html
@@ -506,17 +548,20 @@ function pyClassName(schema) {
  * Generate a concrete `pyclass`-annotated Channel struct for each message schema, since generics
  * can't be exported directly to Python.
  */
-function generateChannelClasses(schemas) {
+function generateChannelClasses(messageSchemas) {
+    const schemas = messageSchemas.filter(shouldGenerateChannelClass);
     const header = [
         `//! Typed channels for logging Foxglove schemas`,
         `//! Generated by https://github.com/foxglove/foxglove-sdk`,
     ].join("\n");
     const imports = [
         `use crate::{PyContext, PySchema};`,
-        `use foxglove::{Channel, ChannelBuilder, PartialMetadata};`,
+        `use foxglove::{Channel, ChannelBuilder, PartialMetadata, SinkId};`,
         `use pyo3::prelude::*;`,
         `use pyo3::types::PyDict;`,
         `use super::schemas;`,
+        `use std::collections::BTreeMap;`,
+        `use std::num::NonZero;`,
     ].join("\n");
     const channelModuleRegistration = generateChannelModuleRegistration(schemas);
     const classes = schemas.map((schema) => {
@@ -532,16 +577,18 @@ impl ${channelClass} {
     /// Create a new channel.
     ///
     /// :param topic: The topic to log messages to. You should choose a unique topic name per channel.
+    /// :param metadata: A dictionary of key/value strings to add to the channel.
+    ///     A type error is raised if any key or value is not a string.
     #[new]
-    #[pyo3(signature = (topic, *, context=None))]
-    fn new(topic: &str, context: Option<&PyContext>) -> Self {
-        let base = if let Some(context) = context {
-          ChannelBuilder::new(topic)
-            .context(&context.0.clone())
-            .build()
+    #[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 {
-          Channel::new(topic)
+            builder
         };
+        let base = builder.build();
         Self(base)
     }
 
@@ -607,14 +654,18 @@ impl ${channelClass} {
     /// :param log_time: The log time is the time, as nanoseconds from the unix epoch, that the
     ///     message was recorded. Usually this is the time log() is called. If omitted, the
     ///     current time is used.
-    #[pyo3(signature = (msg, *, log_time=None))]
+    /// :param sink_id: The ID of the sink to log to. If omitted, the message is logged to all sinks.
+    #[pyo3(signature = (msg, *, log_time=None, sink_id=None))]
     fn log(
         &self,
         msg: &schemas::${schemaClass},
         log_time: Option<u64>,
+        sink_id: Option<u64>,
     ) {
         let metadata = PartialMetadata{ log_time };
-        self.0.log_with_meta(&msg.0, metadata);
+        let sink_id = sink_id.and_then(NonZero::new).map(SinkId::new);
+
+        self.0.log_with_meta_to_sink(&msg.0, metadata, sink_id);
     }
 
     fn __repr__(&self) -> String {
@@ -628,8 +679,9 @@ impl ${channelClass} {
 /**
  * Generate a .pyi stub for the given schema channels.
  */
-function generatePyChannelStub(schemas) {
+function generatePyChannelStub(messageSchemas) {
     const header = "# Generated by https://github.com/foxglove/foxglove-sdk";
+    const schemas = messageSchemas.filter(shouldGenerateChannelClass);
     const imports = [
         "from typing import Dict, Optional",
         "from . import Context, Schema",
@@ -654,6 +706,7 @@ function generatePyChannelStub(schemas) {
                 `        cls,`,
                 `        topic: str,`,
                 `        *,`,
+                `        metadata: Optional[Dict[str, str]] = None,`,
                 `        context: Optional["Context"] = None,`,
                 `    ) -> "${channelClass}": ...\n`,
                 `    def id(self) -> int:`,
@@ -696,6 +749,7 @@ function generatePyChannelStub(schemas) {
                 `        message: "${schemaClass}",`,
                 `        *,`,
                 `        log_time: int | None = None,`,
+                `        sink_id: int | None = None,`,
                 `    ) -> None:`,
                 `        """Log a Foxglove ${schemaClass} message on the channel."""`,
                 `        ...`,
@@ -713,13 +767,16 @@ function generatePyChannelStub(schemas) {
 function generatePyChannelModule(schemas) {
     const headers = [
         `"""`,
-        `This defines channels to easily log messages conforming to well-known Foxglove schemas.`,
+        `This module defines channels to easily log messages conforming to well-known Foxglove schemas.`,
         ``,
         "See the :py:mod:`foxglove.schemas` module for available definitions.",
         `"""`,
         "# Generated by https://github.com/foxglove/foxglove-sdk",
     ];
-    const classNames = schemas.map((schema) => `${structName(schema.name)}Channel`).sort();
+    const classNames = schemas
+        .filter(shouldGenerateChannelClass)
+        .map((schema) => `${structName(schema.name)}Channel`)
+        .sort();
     const imports = classNames.map((name) => `from foxglove._foxglove_py.channels import ${name}`);
     const exports = ["__all__ = [", ...classNames.map((name) => `    "${name}",`), "]"];
     return [...headers, ...imports, ...exports].join("\n") + "\n";

package/dist/internal/generatePyclass.js.map

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

@@ -62,6 +62,11 @@ describe("generatePyclass", () => {
      /// :param field_enum_array: An enum array field
      /// :param field_nested: A nested field
      /// :param field_nested_array: A nested array field
+     ///     With
+     ///     a
+     ///     very
+     ///     long
+     ///     description
      ///
      /// See https://docs.foxglove.dev/docs/visualization/message-schemas/example-message
      #[pyclass(module = "foxglove.schemas")]
@@ -79,15 +84,15 @@ describe("generatePyclass", () => {
              field_float64: f64,
              field_uint32: u32,
              field_string: String,
-             field_duration_array: Vec<Option<Duration>>,
-             field_time_array: Vec<Option<Timestamp>>,
+             field_duration_array: Vec<Duration>,
+             field_time_array: Vec<Timestamp>,
              field_boolean_array: Vec<bool>,
              field_bytes_array: Option<Bound<'_, PyBytes>>,
              field_float64_array: Vec<f64>,
              field_uint32_array: Vec<u32>,
              field_string_array: Vec<String>,
-             field_duration_fixed_array: Vec<Option<Duration>>,
-             field_time_fixed_array: Vec<Option<Timestamp>>,
+             field_duration_fixed_array: Vec<Duration>,
+             field_time_fixed_array: Vec<Timestamp>,
              field_boolean_fixed_array: Vec<bool>,
              field_bytes_fixed_array: Option<Bound<'_, PyBytes>>,
              field_float64_fixed_array: Vec<f64>,
@@ -106,15 +111,15 @@ describe("generatePyclass", () => {
                  field_float64,
                  field_uint32,
                  field_string,
-                 field_duration_array: field_duration_array.map(Into::into),
-                 field_time_array: field_time_array.map(Into::into),
+                 field_duration_array: field_duration_array.into_iter().map(|x| x.into()).collect(),
+                 field_time_array: field_time_array.into_iter().map(|x| x.into()).collect(),
                  field_boolean_array,
                  field_bytes_array: field_bytes_array.map(|x| Bytes::copy_from_slice(x.as_bytes())).unwrap_or_default(),
                  field_float64_array,
                  field_uint32_array,
                  field_string_array,
-                 field_duration_fixed_array: field_duration_fixed_array.map(Into::into),
-                 field_time_fixed_array: field_time_fixed_array.map(Into::into),
+                 field_duration_fixed_array: field_duration_fixed_array.into_iter().map(|x| x.into()).collect(),
+                 field_time_fixed_array: field_time_fixed_array.into_iter().map(|x| x.into()).collect(),
                  field_boolean_fixed_array,
                  field_bytes_fixed_array: field_bytes_fixed_array.map(|x| Bytes::copy_from_slice(x.as_bytes())).unwrap_or_default(),
                  field_float64_fixed_array,

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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;KAyI7D,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;;;;;;;;;;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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;KA8I7D,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,EAAE,qBAAqB,EAAqB,MAAM,SAAS,CAAC;AAEnE,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;AAuBF,wBAAgB,cAAc,CAC5B,GAAG,EAAE,+BAA+B,EACpC,EAAE,UAAU,EAAE,EAAE;IAAE,UAAU,EAAE,CAAC,GAAG,CAAC,CAAA;CAAE,GACpC,MAAM,CAsCR;AAmCD,wBAAgB,wBAAwB,CACtC,MAAM,EAAE,qBAAqB,EAC7B,EAAE,UAAU,EAAE,EAAE;IAAE,UAAU,EAAE,CAAC,GAAG,CAAC,CAAA;CAAE,GACpC,+BAA+B,CA0FjC;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;AAqBF,wBAAgB,cAAc,CAC5B,GAAG,EAAE,+BAA+B,EACpC,EAAE,UAAU,EAAE,EAAE;IAAE,UAAU,EAAE,CAAC,GAAG,CAAC,CAAA;CAAE,GACpC,MAAM,CAsCR;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

@@ -64,7 +64,7 @@ function dependenciesEqual(a, b) {
 }
 function* getSchemaDependencies(schema) {
     for (const field of schema.fields) {
-        if (field.type.type === "nested") {
+        if (isComplex(field)) {
             if (field.type.schema.rosEquivalent != undefined) {
                 yield { type: "ros", name: field.type.schema.rosEquivalent };
                 yield* getRosDependencies(rosmsg_msgs_common_1.ros1[field.type.schema.rosEquivalent]);
@@ -84,6 +84,14 @@ function* getRosDependencies(schema) {
         }
     }
 }
+/**
+ * Time and duration are special-cased to be treated as primitives.
+ */
+function isComplex(field) {
+    return (field.type.type === "nested" &&
+        field.type.schema.name !== "Timestamp" &&
+        field.type.schema.name !== "Duration");
+}
 function generateRosMsgDefinition(schema, { rosVersion }) {
     const enumFieldNames = new Set();
     const seenEnumNames = new Set();
@@ -125,7 +133,13 @@ function generateRosMsgDefinition(schema, { rosVersion }) {
                 break;
             }
             case "nested":
-                if (field.type.schema.rosEquivalent != undefined) {
+                if (field.type.schema.name === "Timestamp") {
+                    fieldType = "time";
+                }
+                else if (field.type.schema.name === "Duration") {
+                    fieldType = "duration";
+                }
+                else if (field.type.schema.rosEquivalent != undefined) {
                     fieldType = field.type.schema.rosEquivalent;
                 }
                 else {
@@ -140,15 +154,12 @@ function generateRosMsgDefinition(schema, { rosVersion }) {
                     }
                     isArray = true;
                 }
+                else if (field.type.name === "int32") {
+                    fieldType = "int32";
+                }
                 else if (field.type.name === "uint32") {
                     fieldType = "uint32";
                 }
-                else if (field.type.name === "time") {
-                    fieldType = "time";
-                }
-                else if (field.type.name === "duration") {
-                    fieldType = "duration";
-                }
                 else {
                     fieldType = primitiveToRos(field.type.name);
                 }
@@ -157,7 +168,7 @@ function generateRosMsgDefinition(schema, { rosVersion }) {
         fields.push({
             name: rosVersion === 2 ? field.name.toLowerCase() : field.name,
             type: fieldType,
-            isComplex: field.type.type === "nested",
+            isComplex: isComplex(field),
             isArray,
             arrayLength,
             description: field.description,

package/dist/internal/generateRos.js.map

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

@@ -1 +1 @@
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