@foxglove/schemas 1.7.3 → 1.9.0

package/dist/internal/generateSdkCpp.js

@@ -143,6 +143,29 @@ function generateHppSchemas(schemas, enums) {
                 return `${formatComment(field.description, 2)}\n  ${fieldType} ${toSnakeCase(field.name)}${defaultStr};`;
             })
                 .join("\n\n"),
+            ...(shouldGenerateChannel(schema)
+                ? [
+                    `
+      /// @brief Encoded the ${schema.name} as protobuf to the provided buffer.
+      ///
+      /// On success, writes the serialized length to *encoded_len.
+      /// If the provided buffer has insufficient capacity, writes the required capacity to *encoded_len
+      /// and returns FoxgloveError::BufferTooShort.
+      /// If the message cannot be encoded, writes the reason to stderr and returns
+      /// FoxgloveError::EncodeError.
+      ///
+      /// @param ptr the destination buffer. must point to at least len valid bytes.
+      /// @param len the length of the destination buffer.
+      /// @param encoded_len where the serialized length or required capacity will be written to.
+      FoxgloveError encode(uint8_t* ptr, size_t len, size_t* encoded_len);`,
+                    `
+      /// @brief Get the ${schema.name} schema.
+      ///
+      /// The schema data returned is statically allocated.
+      static Schema schema();
+            `,
+                ]
+                : []),
             `};`,
         ].join("\n");
     });
@@ -163,14 +186,28 @@ function generateHppSchemas(schemas, enums) {
         /// @brief Log a message to the channel.
         ///
         /// @param msg The ${schema.name} message to log.
-        /// @param log_time The timestamp of the message. If omitted, the current time is used.
-        FoxgloveError log(const ${schema.name}& msg, std::optional<uint64_t> log_time = std::nullopt) noexcept;
+        /// @param log_time The timestamp of the message, as nanoseconds since epoch. If omitted, the current time is used.
+        /// @param sink_id The ID of the sink to log to. If omitted, the message is logged to all sinks.
+        FoxgloveError log(const ${schema.name}& msg, std::optional<uint64_t> log_time = std::nullopt, std::optional<uint64_t> sink_id = std::nullopt) noexcept;
+
+        /// @brief Close the channel.
+        ///
+        /// You can use this to explicitly unadvertise the channel to sinks that subscribe to channels
+        /// dynamically, such as the WebSocketServer.
+        ///
+        /// Attempts to log on a closed channel will elicit a throttled warning message.
+        void close() noexcept;
 
         /// @brief Uniquely identifies a channel in the context of this program.
         ///
         /// @return The ID of the channel.
         [[nodiscard]] uint64_t id() const noexcept;
 
+        /// @brief Find out if any sinks have been added to the channel.
+        ///
+        /// @return True if sinks have been added to the channel, false otherwise.
+        [[nodiscard]] bool has_sinks() const noexcept;
+
         ${schema.name}Channel(const ${schema.name}Channel& other) noexcept = delete;
         ${schema.name}Channel& operator=(const ${schema.name}Channel& other) noexcept = delete;
         /// @brief Default move constructor.
@@ -196,7 +233,10 @@ function generateHppSchemas(schemas, enums) {
         "#include <memory>",
         "",
         "#include <foxglove/error.hpp>",
+        "#include <foxglove/schema.hpp>",
+        "#ifndef __wasm32__",
         "#include <foxglove/context.hpp>",
+        "#endif",
     ];
     const uniquePtr = [
         "/// @brief A functor for freeing a channel. Used by ChannelUniquePtr. For internal use only.",
@@ -213,9 +253,11 @@ function generateHppSchemas(schemas, enums) {
         includes.join("\n"),
         "struct foxglove_channel;",
         "namespace foxglove::schemas {",
-        uniquePtr.join("\n"),
         structDefs.join("\n\n"),
+        "#ifndef __wasm32__",
+        uniquePtr.join("\n"),
         channelClasses.join("\n\n"),
+        "#endif",
         "} // namespace foxglove::schemas",
     ].filter(Boolean);
     return outputSections.join("\n\n") + "\n";
@@ -295,7 +337,7 @@ function generateCppSchemas(schemas) {
         let conversionCode;
         if (isSameAsCType(schema)) {
             conversionCode = [
-                `    return FoxgloveError(foxglove_channel_log_${snakeName}(impl_.get(), reinterpret_cast<const foxglove_${snakeName}*>(&msg), log_time ? &*log_time : nullptr));`,
+                `    return FoxgloveError(foxglove_channel_log_${snakeName}(impl_.get(), reinterpret_cast<const foxglove_${snakeName}*>(&msg), log_time ? &*log_time : nullptr, sink_id ? *sink_id : 0));`,
             ];
         }
         else {
@@ -303,7 +345,7 @@ function generateCppSchemas(schemas) {
                 "    Arena arena;",
                 `    foxglove_${snakeName} c_msg;`,
                 `    ${toCamelCase(schema.name)}ToC(c_msg, msg, arena);`,
-                `    return FoxgloveError(foxglove_channel_log_${snakeName}(impl_.get(), &c_msg, log_time ? &*log_time : nullptr));`,
+                `    return FoxgloveError(foxglove_channel_log_${snakeName}(impl_.get(), &c_msg, log_time ? &*log_time : nullptr, sink_id ? *sink_id : 0));`,
             ];
         }
         return [
@@ -315,12 +357,20 @@ function generateCppSchemas(schemas) {
             "    }",
             `    return ${schema.name}Channel(ChannelUniquePtr(channel));`,
             "}\n",
-            `FoxgloveError ${schema.name}Channel::log(const ${schema.name}& msg, std::optional<uint64_t> log_time) noexcept {`,
+            `FoxgloveError ${schema.name}Channel::log(const ${schema.name}& msg, std::optional<uint64_t> log_time, std::optional<uint64_t> sink_id) noexcept {`,
             ...conversionCode,
             "}\n",
+            `void ${schema.name}Channel::close() noexcept {
+        foxglove_channel_close(impl_.get());
+      }
+      `,
             `uint64_t ${schema.name}Channel::id() const noexcept {`,
             "    return foxglove_channel_get_id(impl_.get());",
             "}\n\n",
+            `bool ${schema.name}Channel::has_sinks() const noexcept {
+        return foxglove_channel_has_sinks(impl_.get());
+      }
+      `,
         ];
     });
     const conversionFuncs = schemas.flatMap((schema) => {
@@ -333,6 +383,40 @@ function generateCppSchemas(schemas) {
             "}\n",
         ];
     });
+    const encodeImpls = schemas.filter(shouldGenerateChannel).flatMap((schema) => {
+        const snakeName = toSnakeCase(schema.name);
+        if (isSameAsCType(schema)) {
+            return [
+                `FoxgloveError ${schema.name}::encode(uint8_t* ptr, size_t len, size_t* encoded_len) {`,
+                `    return FoxgloveError(foxglove_${snakeName}_encode(reinterpret_cast<const foxglove_${snakeName}*>(this), ptr, len, encoded_len));`,
+                "}\n",
+            ];
+        }
+        else {
+            return [
+                `FoxgloveError ${schema.name}::encode(uint8_t* ptr, size_t len, size_t* encoded_len) {`,
+                "    Arena arena;",
+                `    foxglove_${snakeName} c_msg;`,
+                `    ${toCamelCase(schema.name)}ToC(c_msg, *this, arena);`,
+                `    return FoxgloveError(foxglove_${snakeName}_encode(&c_msg, ptr, len, encoded_len));`,
+                "}\n",
+            ];
+        }
+    });
+    const getSchemaImpls = schemas.filter(shouldGenerateChannel).flatMap((schema) => {
+        const snakeName = toSnakeCase(schema.name);
+        return [
+            `Schema ${schema.name}::schema() {`,
+            `    struct foxglove_schema c_schema = foxglove_${snakeName}_schema();`,
+            "    Schema result;",
+            "    result.name = std::string(c_schema.name.data, c_schema.name.len);",
+            "    result.encoding = std::string(c_schema.encoding.data, c_schema.encoding.len);",
+            "    result.data = reinterpret_cast<const std::byte*>(c_schema.data);",
+            "    result.data_len = c_schema.data_len;",
+            "    return result;",
+            "}\n",
+        ];
+    });
     const channelUniquePtr = [
         "void ChannelDeleter::operator()(const foxglove_channel* ptr) const noexcept {",
         "  foxglove_channel_free(ptr);",
@@ -343,7 +427,10 @@ function generateCppSchemas(schemas) {
         "#include <foxglove/error.hpp>",
         "#include <foxglove/schemas.hpp>",
         "#include <foxglove/arena.hpp>",
+        "#include <foxglove/schema.hpp>",
+        "#ifndef __wasm32__",
         "#include <foxglove/context.hpp>",
+        "#endif",
     ];
     const outputSections = [
         "// Generated by https://github.com/foxglove/foxglove-sdk",
@@ -351,10 +438,14 @@ function generateCppSchemas(schemas) {
         includes.join("\n"),
         systemIncludes.join("\n"),
         "namespace foxglove::schemas {",
-        channelUniquePtr.join("\n"),
         conversionFuncDecls.join("\n"),
+        "#ifndef __wasm32__",
+        channelUniquePtr.join("\n"),
         traitSpecializations.join("\n"),
+        "#endif",
         conversionFuncs.join("\n"),
+        encodeImpls.join("\n"),
+        getSchemaImpls.join("\n"),
         "} // namespace foxglove::schemas",
     ];
     return outputSections.join("\n\n") + "\n";

package/dist/internal/generateSdkCpp.js.map

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

@@ -1 +1 @@
-{"version":3,"file":"generateSdkRustCTypes.d.ts","sourceRoot":"","sources":["../../src/internal/generateSdkRustCTypes.ts"],"names":[],"mappings":"AAIA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAqB,MAAM,SAAS,CAAC;AA+DvF,wBAAgB,iBAAiB,CAC/B,OAAO,EAAE,SAAS,qBAAqB,EAAE,EACzC,KAAK,EAAE,SAAS,kBAAkB,EAAE,GACnC,MAAM,CAmNR;AAcD;;;GAGG;AACH,wBAAsB,qBAAqB,CACzC,OAAO,EAAE,SAAS,qBAAqB,EAAE,EACzC,KAAK,EAAE,SAAS,kBAAkB,EAAE,EACpC,WAAW,EAAE,MAAM,GAClB,OAAO,CAAC,MAAM,CAAC,CAiCjB"}
+{"version":3,"file":"generateSdkRustCTypes.d.ts","sourceRoot":"","sources":["../../src/internal/generateSdkRustCTypes.ts"],"names":[],"mappings":"AAIA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAqB,MAAM,SAAS,CAAC;AA+DvF,wBAAgB,iBAAiB,CAC/B,OAAO,EAAE,SAAS,qBAAqB,EAAE,EACzC,KAAK,EAAE,SAAS,kBAAkB,EAAE,GACnC,MAAM,CA6RR;AAcD;;;GAGG;AACH,wBAAsB,qBAAqB,CACzC,OAAO,EAAE,SAAS,qBAAqB,EAAE,EACzC,KAAK,EAAE,SAAS,kBAAkB,EAAE,EACpC,WAAW,EAAE,MAAM,GAClB,OAAO,CAAC,MAAM,CAAC,CAiCjB"}

package/dist/internal/generateSdkRustCTypes.js

@@ -121,6 +121,7 @@ pub struct ${name} {
             .join("\n\n")}
 }
 
+#[cfg(not(target_family = "wasm"))]
 impl ${name} {
   /// Create a new typed channel, and return an owned raw channel pointer to it.
   ///
@@ -227,15 +228,16 @@ impl BorrowToNative for ${name} {
 ///
 /// # Safety
 /// The channel must have been created for this type with foxglove_channel_create_${snakeName}.
+#[cfg(not(target_family = "wasm"))]
 #[unsafe(no_mangle)]
-pub extern "C" fn foxglove_channel_log_${snakeName}(channel: Option<&FoxgloveChannel>, msg: Option<&${name}>, log_time: Option<&u64>) -> FoxgloveError {
+pub extern "C" fn foxglove_channel_log_${snakeName}(channel: Option<&FoxgloveChannel>, msg: Option<&${name}>, log_time: Option<&u64>, sink_id: FoxgloveSinkId) -> 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 { ${name}::borrow_option_to_native(msg, arena_pin) } {
     Ok(msg) => {
       // Safety: this casts channel back to a typed channel for type of msg, it must have been created for this type.
-      log_msg_to_channel(channel, &*msg, log_time)
+      log_msg_to_channel(channel, &*msg, log_time, sink_id)
     },
     Err(e) => {
       tracing::error!("${name}: {}", e);
@@ -243,6 +245,74 @@ pub extern "C" fn foxglove_channel_log_${snakeName}(channel: Option<&FoxgloveCha
     }
   }
 }
+
+/// Get the ${name} schema.
+///
+/// All buffers in the returned schema are statically allocated.
+#[allow(clippy::missing_safety_doc, reason="no preconditions and returned lifetime is static")]
+#[unsafe(no_mangle)]
+pub unsafe extern "C" fn foxglove_${snakeName}_schema() -> FoxgloveSchema {
+    let native = foxglove::schemas::${name}::get_schema().expect("${name} schema is Some");
+    let name: &'static str = "foxglove.${schema.name}";
+    let encoding: &'static str = "protobuf";
+    assert_eq!(name, &native.name);
+    assert_eq!(encoding, &native.encoding);
+    let std::borrow::Cow::Borrowed(data) = native.data else {
+      unreachable!("${name} schema data is static");
+    };
+    FoxgloveSchema {
+      name: name.into(),
+      encoding: encoding.into(),
+      data: data.as_ptr(),
+      data_len: data.len(),
+    }
+}
+
+/// Encode a ${name} message as protobuf to the buffer provided.
+///
+/// On success, writes the encoded length to *encoded_len.
+/// If the provided buffer has insufficient capacity, writes the required capacity to *encoded_len and
+/// returns FOXGLOVE_ERROR_BUFFER_TOO_SHORT.
+/// If the message cannot be encoded, logs the reason to stderr and returns FOXGLOVE_ERROR_ENCODE.
+///
+/// # Safety
+/// ptr must be a valid pointer to a memory region at least len bytes long.
+#[unsafe(no_mangle)]
+pub unsafe extern "C" fn foxglove_${snakeName}_encode(
+    msg: Option<&${name}>,
+    ptr: *mut u8,
+    len: usize,
+    encoded_len: Option<&mut usize>,
+) -> 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 { ${name}::borrow_option_to_native(msg, arena_pin) } {
+        Ok(msg) => {
+            if len == 0 || ptr.is_null() {
+                if let Some(encoded_len) = encoded_len {
+                    *encoded_len = msg.encoded_len().expect("foxglove schemas return Some(len)");
+                }
+                return FoxgloveError::BufferTooShort;
+            }
+            let mut buf = unsafe { core::slice::from_raw_parts_mut(ptr, len) };
+            if let Err(encode_error) = msg.encode(&mut buf) {
+                if let Some(encoded_len) = encoded_len {
+                    *encoded_len = encode_error.required_capacity();
+                }
+                return FoxgloveError::BufferTooShort;
+            }
+            if let Some(encoded_len) = encoded_len {
+                *encoded_len = len - buf.len();
+            }
+            FoxgloveError::Ok
+        }
+        Err(e) => {
+            tracing::error!("${name}: {}", e);
+            FoxgloveError::EncodeError
+        }
+    }
+}
 `;
     });
     const imports = [
@@ -250,7 +320,11 @@ pub extern "C" fn foxglove_channel_log_${snakeName}(channel: Option<&FoxgloveCha
         "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 foxglove::Encode;",
+        "",
+        "use crate::{FoxgloveSchema, FoxgloveString, FoxgloveError, FoxgloveTimestamp, FoxgloveDuration};",
+        `#[cfg(not(target_family = "wasm"))]`,
+        "use crate::{FoxgloveChannel, FoxgloveContext, log_msg_to_channel, result_to_c, do_foxglove_channel_create, FoxgloveSinkId};",
         "use crate::arena::{Arena, BorrowToNative};",
         "use crate::util::{bytes_from_raw, string_from_raw, vec_from_raw};",
     ];

package/dist/internal/generateSdkRustCTypes.js.map

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

@@ -13,11 +13,13 @@ export declare const foxgloveMessageSchemas: {
     FrameTransforms: FoxgloveMessageSchema;
     GeoJSON: FoxgloveMessageSchema;
     Grid: FoxgloveMessageSchema;
+    VoxelGrid: FoxgloveMessageSchema;
     ImageAnnotations: FoxgloveMessageSchema;
     KeyValuePair: FoxgloveMessageSchema;
     LaserScan: FoxgloveMessageSchema;
     LinePrimitive: FoxgloveMessageSchema;
     LocationFix: FoxgloveMessageSchema;
+    LocationFixes: FoxgloveMessageSchema;
     Log: FoxgloveMessageSchema;
     SceneEntityDeletion: FoxgloveMessageSchema;
     SceneEntity: FoxgloveMessageSchema;
@@ -26,6 +28,7 @@ export declare const foxgloveMessageSchemas: {
     PackedElementField: FoxgloveMessageSchema;
     Point2: FoxgloveMessageSchema;
     Point3: FoxgloveMessageSchema;
+    Point3InFrame: FoxgloveMessageSchema;
     PointCloud: FoxgloveMessageSchema;
     PointsAnnotation: FoxgloveMessageSchema;
     Pose: FoxgloveMessageSchema;

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

@@ -1 +1 @@
-{"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"}
+{"version":3,"file":"schemas.d.ts","sourceRoot":"","sources":["../../src/internal/schemas.ts"],"names":[],"mappings":"AAKA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAE,MAAM,SAAS,CAAC;AA0rDpE,eAAO,MAAM,sBAAsB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CA6ClC,CAAC;AAEF,eAAO,MAAM,mBAAmB;;;;;;;CAO/B,CAAC"}