@foxglove/schemas 1.7.3 → 1.9.0

package/dist/internal/generatePyclass.js

@@ -49,7 +49,7 @@ function generatePySchemaStub(schemas) {
     const header = [
         "# Generated by https://github.com/foxglove/foxglove-sdk",
         "from enum import Enum",
-        "from typing import List, Optional, Union",
+        "from typing import Union",
         "",
         "from . import Schema",
         // Use "from mod import X as X" syntax to explicitly re-export.
@@ -80,7 +80,7 @@ function generatePySchemaStub(schemas) {
         const doc = ['    """', `    ${schema.description}`, '    """'];
         const params = schema.fields
             .map((field) => {
-            return `        ${field.name}: "${pythonCtorType(field)}" = ${pythonDefaultValue(field)}`;
+            return `        ${field.name}: ${pythonCtorType(field)} = ${pythonDefaultValue(field)}`;
         })
             .join(",\n");
         return {
@@ -88,15 +88,18 @@ function generatePySchemaStub(schemas) {
             source: [
                 `class ${name}:`,
                 ...doc,
-                `    def __new__(`,
-                "        cls,",
+                `    def __init__(`,
+                "        self,",
                 "        *,",
                 params,
-                `    ) -> "${name}": ...`,
+                `    ) -> None: ...`,
                 `    @staticmethod`,
                 `    def get_schema() -> Schema:`,
                 `        """Returns the ${name} schema"""`,
                 `        ...`,
+                `    def encode(self) -> bytes:`,
+                `        """Encodes the ${name}."""`,
+                `        ...`,
             ].join("\n") + "\n\n",
         };
     });
@@ -212,13 +215,25 @@ function generateMessageClass(schema) {
         }
         switch (field.type.type) {
             case "primitive":
+                if (field.array != undefined) {
+                    if (field.type.name === "string") {
+                        return `${safeRustName(field.name)}.unwrap_or_default().into_iter().map(String::from).collect()`;
+                    }
+                    return `${safeRustName(field.name)}.unwrap_or_default()`;
+                }
+                if (field.type.name === "string") {
+                    return `${safeRustName(field.name)}.to_string()`;
+                }
                 return safeRustName(field.name);
             case "nested":
                 if (field.array != undefined) {
-                    return `${safeRustName(field.name)}.into_iter().map(|x| x.into()).collect()`;
+                    return `${safeRustName(field.name)}.unwrap_or_default().into_iter().map(|x| x.into()).collect()`;
                 }
                 return `${safeRustName(field.name)}.map(Into::into)`;
             case "enum":
+                if (field.array != undefined) {
+                    return `${safeRustName(field.name)}.unwrap_or_default().into_iter().map(|x| x as i32).collect()`;
+                }
                 return `${safeRustName(field.name)} as i32`;
         }
     }
@@ -261,6 +276,13 @@ function generateMessageClass(schema) {
         `    fn get_schema() -> PySchema {`,
         `        foxglove::schemas::${className}::get_schema().unwrap().into()`,
         `    }`,
+        `    /// Encodes the ${className} as protobuf.`,
+        `    fn encode<'a>(&self, py: Python<'a>) -> Bound<'a, PyBytes> {`,
+        `        PyBytes::new_with(py, self.0.encoded_len().expect("foxglove schemas provide len"), |mut b: &mut[u8]| {`,
+        `            self.0.encode(&mut b).expect("encoding len was provided above");`,
+        `            Ok(())`,
+        `        }).expect("failed to allocate buffer for encoded message")`,
+        `    }`,
         `}\n\n`,
     ];
     const fromTrait = [
@@ -309,16 +331,17 @@ function isMessageSchema(schema) {
 /**
  * Get the rust type for a field.
  * Types are assumed to be owned, and wrapped in a `Vec` if the field is an array.
- * Nested types are optional, unless the field is an array.
+ * Nested types are optional.
  */
 function rustOutputType(field) {
     const isVec = field.array != undefined;
+    const isOpt = field.type.type === "nested";
     let type;
     switch (field.type.type) {
         case "primitive":
             switch (field.type.name) {
                 case "string":
-                    type = "String";
+                    type = "&str";
                     break;
                 case "float64":
                     type = "f64";
@@ -336,24 +359,30 @@ function rustOutputType(field) {
                     // Special case: we don't take a Vec<u8> directly because pyo3 will iterate the vec and
                     // copy each element https://github.com/PyO3/pyo3/issues/2888
                     return "Option<Bound<'_, PyBytes>>";
-                    break;
             }
             break;
         case "nested":
-            // Don't wrap in an optional if part of a Vec
-            type = isVec ? field.type.schema.name : `Option<${field.type.schema.name}>`;
+            type = field.type.schema.name;
             break;
         case "enum":
             type = enumName(field.type.enum);
             break;
     }
-    return isVec ? `Vec<${type}>` : type;
+    if (isVec) {
+        return `Option<Vec<${type}>>`;
+    }
+    else if (isOpt) {
+        return `Option<${type}>`;
+    }
+    return type;
 }
 /**
  * Get the Python type for a constructor parameter.
  * All types are optional.
  */
 function pythonCtorType(field) {
+    const isVec = field.array != undefined;
+    const isOpt = field.type.type === "nested";
     let type;
     switch (field.type.type) {
         case "primitive":
@@ -366,14 +395,20 @@ function pythonCtorType(field) {
             type = enumName(field.type.enum);
             break;
     }
-    return field.array != undefined ? `Optional[List[${type}]]` : `Optional[${type}]`;
+    if (isVec) {
+        return `list[${type}] | None`;
+    }
+    else if (isOpt) {
+        return `${type} | None`;
+    }
+    return type;
 }
 /**
  * Get the Python default for a constructor parameter
  */
 function pythonDefaultValue(field) {
     if (field.array != undefined) {
-        return "[]";
+        return "None";
     }
     switch (field.type.type) {
         case "primitive":
@@ -409,13 +444,13 @@ function rustDefaultValue(field) {
         return "None";
     }
     if (field.array != undefined) {
-        return "vec![]";
+        return "None";
     }
     switch (field.type.type) {
         case "primitive":
             switch (field.type.name) {
                 case "string":
-                    return `"".to_string()`;
+                    return `""`;
                 case "float64":
                     return "0.0";
                 case "int32":
@@ -556,11 +591,12 @@ function generateChannelClasses(messageSchemas) {
     ].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) => {
@@ -653,14 +689,18 @@ 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 {
@@ -678,7 +718,6 @@ 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",
         ...schemas.map((schema) => `from .schemas import ${structName(schema.name)}`),
     ];
@@ -697,13 +736,13 @@ function generatePyChannelStub(messageSchemas) {
             source: [
                 `class ${channelClass}:`,
                 ...doc,
-                `    def __new__(`,
-                `        cls,`,
+                `    def __init__(`,
+                `        self,`,
                 `        topic: str,`,
                 `        *,`,
-                `        metadata: Optional[Dict[str, str]] = None,`,
-                `        context: Optional["Context"] = None,`,
-                `    ) -> "${channelClass}": ...\n`,
+                `        metadata: dict[str, str] | None = None,`,
+                `        context: Context | None = None,`,
+                `    ) -> None: ...\n`,
                 `    def id(self) -> int:`,
                 `        """The unique ID of the channel."""`,
                 `        ...`,
@@ -714,7 +753,7 @@ function generatePyChannelStub(messageSchemas) {
                 `    def message_encoding(self) -> str:`,
                 `        """The message encoding for the channel"""`,
                 `        ...`,
-                `    def metadata(self) -> Dict[str, str]:`,
+                `    def metadata(self) -> dict[str, str]:`,
                 `        """`,
                 `        Returns a copy of the channel's metadata.`,
                 ``,
@@ -722,7 +761,7 @@ function generatePyChannelStub(messageSchemas) {
                 `        the channel's metadata.`,
                 `        """`,
                 `        ...`,
-                `    def schema(self) -> Optional[Schema]:`,
+                `    def schema(self) -> Schema | None:`,
                 `        """`,
                 `        Returns a copy of the channel's schema.`,
                 ``,
@@ -730,7 +769,7 @@ function generatePyChannelStub(messageSchemas) {
                 `        the channel's schema.`,
                 `        """`,
                 `        ...`,
-                `    def schema_name(self) -> Optional[str]:`,
+                `    def schema_name(self) -> str | None:`,
                 `        """The name of the schema for the channel."""`,
                 `        ...`,
                 `    def has_sinks(self) -> bool:`,
@@ -744,6 +783,7 @@ function generatePyChannelStub(messageSchemas) {
                 `        message: "${schemaClass}",`,
                 `        *,`,
                 `        log_time: int | None = None,`,
+                `        sink_id: int | None = None,`,
                 `    ) -> None:`,
                 `        """Log a Foxglove ${schemaClass} message on the channel."""`,
                 `        ...`,

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package/dist/internal/generatePyclass.test.js

@@ -75,7 +75,7 @@ describe("generatePyclass", () => {
      #[pymethods]
      impl ExampleMessage {
          #[new]
-         #[pyo3(signature = (*, field_duration=None, field_time=None, field_boolean=false, field_bytes=None, field_float64=0.0, field_uint32=0, field_string="".to_string(), field_duration_array=vec![], field_time_array=vec![], field_boolean_array=vec![], field_bytes_array=None, field_float64_array=vec![], field_uint32_array=vec![], field_string_array=vec![], field_duration_fixed_array=vec![], field_time_fixed_array=vec![], field_boolean_fixed_array=vec![], field_bytes_fixed_array=None, field_float64_fixed_array=vec![], field_uint32_fixed_array=vec![], field_string_fixed_array=vec![], field_enum=ExampleMessageExampleEnum::A, field_enum_array=vec![], field_nested=None, field_nested_array=vec![]) )]
+         #[pyo3(signature = (*, field_duration=None, field_time=None, field_boolean=false, field_bytes=None, field_float64=0.0, field_uint32=0, field_string="", field_duration_array=None, field_time_array=None, field_boolean_array=None, field_bytes_array=None, field_float64_array=None, field_uint32_array=None, field_string_array=None, field_duration_fixed_array=None, field_time_fixed_array=None, field_boolean_fixed_array=None, field_bytes_fixed_array=None, field_float64_fixed_array=None, field_uint32_fixed_array=None, field_string_fixed_array=None, field_enum=ExampleMessageExampleEnum::A, field_enum_array=None, field_nested=None, field_nested_array=None) )]
          fn new(
              field_duration: Option<Duration>,
              field_time: Option<Timestamp>,
@@ -83,25 +83,25 @@ describe("generatePyclass", () => {
              field_bytes: Option<Bound<'_, PyBytes>>,
              field_float64: f64,
              field_uint32: u32,
-             field_string: String,
-             field_duration_array: Vec<Duration>,
-             field_time_array: Vec<Timestamp>,
-             field_boolean_array: Vec<bool>,
+             field_string: &str,
+             field_duration_array: Option<Vec<Duration>>,
+             field_time_array: Option<Vec<Timestamp>>,
+             field_boolean_array: Option<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<Duration>,
-             field_time_fixed_array: Vec<Timestamp>,
-             field_boolean_fixed_array: Vec<bool>,
+             field_float64_array: Option<Vec<f64>>,
+             field_uint32_array: Option<Vec<u32>>,
+             field_string_array: Option<Vec<&str>>,
+             field_duration_fixed_array: Option<Vec<Duration>>,
+             field_time_fixed_array: Option<Vec<Timestamp>>,
+             field_boolean_fixed_array: Option<Vec<bool>>,
              field_bytes_fixed_array: Option<Bound<'_, PyBytes>>,
-             field_float64_fixed_array: Vec<f64>,
-             field_uint32_fixed_array: Vec<u32>,
-             field_string_fixed_array: Vec<String>,
+             field_float64_fixed_array: Option<Vec<f64>>,
+             field_uint32_fixed_array: Option<Vec<u32>>,
+             field_string_fixed_array: Option<Vec<&str>>,
              field_enum: ExampleMessageExampleEnum,
-             field_enum_array: Vec<ExampleMessageExampleEnum>,
+             field_enum_array: Option<Vec<ExampleMessageExampleEnum>>,
              field_nested: Option<NestedMessage>,
-             field_nested_array: Vec<NestedMessage>,
+             field_nested_array: Option<Vec<NestedMessage>>,
          ) -> Self {
              Self(foxglove::schemas::ExampleMessage {
                  field_duration: field_duration.map(Into::into),
@@ -110,25 +110,25 @@ describe("generatePyclass", () => {
                  field_bytes: field_bytes.map(|x| Bytes::copy_from_slice(x.as_bytes())).unwrap_or_default(),
                  field_float64,
                  field_uint32,
-                 field_string,
-                 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_string: field_string.to_string(),
+                 field_duration_array: field_duration_array.unwrap_or_default().into_iter().map(|x| x.into()).collect(),
+                 field_time_array: field_time_array.unwrap_or_default().into_iter().map(|x| x.into()).collect(),
+                 field_boolean_array: field_boolean_array.unwrap_or_default(),
                  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.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_float64_array: field_float64_array.unwrap_or_default(),
+                 field_uint32_array: field_uint32_array.unwrap_or_default(),
+                 field_string_array: field_string_array.unwrap_or_default().into_iter().map(String::from).collect(),
+                 field_duration_fixed_array: field_duration_fixed_array.unwrap_or_default().into_iter().map(|x| x.into()).collect(),
+                 field_time_fixed_array: field_time_fixed_array.unwrap_or_default().into_iter().map(|x| x.into()).collect(),
+                 field_boolean_fixed_array: field_boolean_fixed_array.unwrap_or_default(),
                  field_bytes_fixed_array: field_bytes_fixed_array.map(|x| Bytes::copy_from_slice(x.as_bytes())).unwrap_or_default(),
-                 field_float64_fixed_array,
-                 field_uint32_fixed_array,
-                 field_string_fixed_array,
+                 field_float64_fixed_array: field_float64_fixed_array.unwrap_or_default(),
+                 field_uint32_fixed_array: field_uint32_fixed_array.unwrap_or_default(),
+                 field_string_fixed_array: field_string_fixed_array.unwrap_or_default().into_iter().map(String::from).collect(),
                  field_enum: field_enum as i32,
-                 field_enum_array: field_enum_array as i32,
+                 field_enum_array: field_enum_array.unwrap_or_default().into_iter().map(|x| x as i32).collect(),
                  field_nested: field_nested.map(Into::into),
-                 field_nested_array: field_nested_array.into_iter().map(|x| x.into()).collect(),
+                 field_nested_array: field_nested_array.unwrap_or_default().into_iter().map(|x| x.into()).collect(),
              })
          }
          fn __repr__(&self) -> String {
@@ -166,6 +166,13 @@ describe("generatePyclass", () => {
          fn get_schema() -> PySchema {
              foxglove::schemas::ExampleMessage::get_schema().unwrap().into()
          }
+         /// Encodes the ExampleMessage as protobuf.
+         fn encode<'a>(&self, py: Python<'a>) -> Bound<'a, PyBytes> {
+             PyBytes::new_with(py, self.0.encoded_len().expect("foxglove schemas provide len"), |mut b: &mut[u8]| {
+                 self.0.encode(&mut b).expect("encoding len was provided above");
+                 Ok(())
+             }).expect("failed to allocate buffer for encoded message")
+         }
      }
 
 

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

@@ -1 +1 @@
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