@foxglove/schemas 2.1.0 → 2.3.0

package/dist/internal/generatePyclass.js

@@ -256,7 +256,7 @@ function generateMessageClass(schema) {
         ...schema.fields.map((field) => rustDoc(pythonParamDoc(field))),
         `///`,
         `/// See https://docs.foxglove.dev/docs/visualization/message-schemas/${constantToKebabCase(className)}`,
-        `#[pyclass(module = "foxglove.messages")]`,
+        `#[pyclass(from_py_object, module = "foxglove.messages")]`,
         `#[derive(Clone)]`,
         `pub(crate) struct ${className}(pub(crate) foxglove::messages::${className});`,
     ];
@@ -354,7 +354,7 @@ function generateEnumClass(schema) {
     }));
     const enumLines = [
         rustDoc(schema.description),
-        `#[pyclass(eq, eq_int, module = "foxglove.messages")]`,
+        `#[pyclass(eq, eq_int, from_py_object, module = "foxglove.messages")]`,
         `#[derive(PartialEq, Clone)]`,
         `pub(crate) enum ${name} {`,
         ...variants.map((v) => `    ${v.rustName} = ${v.value},`),
@@ -703,7 +703,7 @@ impl ${channelClass} {
         let context = context.map(|c| c.0.clone());
         // Release the GIL before calling build(), which may invoke
         // PySinkChannelFilter::should_subscribe() on registered sinks.
-        let base = py.allow_threads(move || {
+        let base = py.detach(move || {
             let builder = ChannelBuilder::new(&topic).metadata(metadata);
             let builder = if let Some(context) = context {
                 builder.context(&context)
@@ -735,7 +735,7 @@ impl ${channelClass} {
     ///
     /// Note that changes made to the returned dictionary will not be applied to
     /// the channel's metadata.
-    fn metadata(&self, py: Python<'_>) -> PyResult<PyObject> {
+    fn metadata(&self, py: Python<'_>) -> PyResult<Py<PyAny>> {
         let dict = PyDict::new(py);
         for (key, value) in self.0.metadata() {
             dict.set_item(key, value)?;

package/dist/internal/generatePyclass.js.map

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

@@ -23,7 +23,7 @@ describe("generatePyclass", () => {
     it("generates an enum", () => {
         expect((0, generatePyclass_1.generatePyclass)(testFixtures_1.exampleEnum)).toMatchInlineSnapshot(`
      "/// An example enum
-     #[pyclass(eq, eq_int, module = "foxglove.messages")]
+     #[pyclass(eq, eq_int, from_py_object, module = "foxglove.messages")]
      #[derive(PartialEq, Clone)]
      pub(crate) enum ExampleMessageExampleEnum {
          A = 0,
@@ -91,7 +91,7 @@ describe("generatePyclass", () => {
      /// :param field_optional_float64: An optional float64 field
      ///
      /// See https://docs.foxglove.dev/docs/visualization/message-schemas/example-message
-     #[pyclass(module = "foxglove.messages")]
+     #[pyclass(from_py_object, module = "foxglove.messages")]
      #[derive(Clone)]
      pub(crate) struct ExampleMessage(pub(crate) foxglove::messages::ExampleMessage);
      #[pymethods]

package/dist/internal/generateSdkRustCTypes.js

@@ -25,7 +25,7 @@ function primitiveToRust(type) {
 function formatComment(comment) {
     return comment
         .split("\n")
-        .map((line) => `/// ${line}`)
+        .map((line) => (line === "" ? "///" : `/// ${line}`))
         .join("\n");
 }
 function escapeId(id) {

package/dist/internal/generateSdkRustCTypes.js.map

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

@@ -11,6 +11,7 @@ export declare const foxgloveMessageSchemas: {
     CylinderPrimitive: FoxgloveMessageSchema;
     CubePrimitive: FoxgloveMessageSchema;
     Duration: FoxgloveMessageSchema;
+    Event: FoxgloveMessageSchema;
     FrameTransform: FoxgloveMessageSchema;
     FrameTransforms: FoxgloveMessageSchema;
     GeoJSON: FoxgloveMessageSchema;

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

@@ -1 +1 @@
-{"version":3,"file":"schemas.d.ts","sourceRoot":"","sources":["../../src/internal/schemas.ts"],"names":[],"mappings":"AAKA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAE,MAAM,SAAS,CAAC;AA68DpE,eAAO,MAAM,sBAAsB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAkDlC,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;AA6/DpE,eAAO,MAAM,sBAAsB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAmDlC,CAAC;AAEF,eAAO,MAAM,mBAAmB;;;;;;;CAO/B,CAAC"}

package/dist/internal/schemas.js

@@ -58,22 +58,34 @@ const RawAudio = {
         {
             name: "data",
             type: { type: "primitive", name: "bytes" },
-            description: `Audio data. The samples in the data must be interleaved and little-endian`,
+            description: `Raw audio data without WAV, container, or RTP headers. Samples must be interleaved. Multibyte samples must be little-endian.
+
+For each \`format\` value, the \`data\` field contains audio sample data serialized as follows:
+
+- \`pcm-s16\`:
+  - Each sample is a signed 16-bit PCM value.
+  - The byte length must be divisible by \`2 * number_of_channels\` so the block contains complete sample frames.
+- \`g711-alaw\`:
+  - Each byte is one G.711 A-law encoded sample.
+  - The byte length must be divisible by \`number_of_channels\` so the block contains complete sample frames.
+- \`g711-ulaw\`:
+  - Each byte is one G.711 mu-law encoded sample.
+  - The byte length must be divisible by \`number_of_channels\` so the block contains complete sample frames.`,
         },
         {
             name: "format",
             type: { type: "primitive", name: "string" },
-            description: "Audio format. Only 'pcm-s16' is currently supported",
+            description: "Format of the audio data. See the `data` field description for supported values. Consumers may support a subset of these formats.",
         },
         {
             name: "sample_rate",
             type: { type: "primitive", name: "uint32" },
-            description: "Sample rate in Hz",
+            description: "Sample rate in Hz. This must be greater than zero.",
         },
         {
             name: "number_of_channels",
             type: { type: "primitive", name: "uint32" },
-            description: "Number of channels in the audio block",
+            description: "Number of channels in the audio block. This must be greater than zero.",
         },
     ],
 };
@@ -92,18 +104,28 @@ const CompressedAudio = {
             type: { type: "primitive", name: "bytes" },
             description: `Compressed audio data. Packet duration is determined by the codec during encoding. Messages should generally contain approximately 20 ms of audio.
 
-- \`opus\`
+For each \`format\` value, the \`data\` field contains compressed audio data serialized as follows:
+
+- \`opus\`:
   - Each message must contain a complete raw Opus packet, without Ogg, WebM, or other container framing, as described in [RFC 6716 section 3](https://datatracker.ietf.org/doc/html/rfc6716#section-3).
   - Each packet contains all information necessary for decoding, and may be decoded at any sample rate supported by Opus (8, 12, 16, 24, or 48 kHz).
   - A single raw Opus packet represents mono or stereo audio; multichannel Opus requires multistream or container metadata and is not supported by this schema.
-- \`mp4a.40.2\`
+- \`mp4a.40.2\`:
   - Each message must contain a complete MPEG-4 AAC-LC ADTS frame, including the ADTS header, as described in section 1.A.3.2 of ISO/IEC 14496-3:2019.
-  - The ADTS header supplies stream parameters such as sample rate and channel configuration.`,
+  - The ADTS header supplies stream parameters such as sample rate and channel configuration.
+- \`g726-16\`, \`g726-24\`, \`g726-32\`, and \`g726-40\`:
+  - Each message must contain raw G.726 codewords without WAV, RTP, or other container framing. Codewords may not span messages.
+  - Audio is mono at 8 kHz. The suffix specifies the bitrate in kbps and therefore the number of bits per sample: 2, 3, 4, or 5 respectively.
+  - Codewords are packed beginning with the least-significant bit, as described in [RFC 3551 section 4.5.4](https://www.rfc-editor.org/rfc/rfc3551.html#section-4.5.4).
+  - Codewords may cross octet boundaries. To keep every codeword within one message, the message length must be a multiple of 1, 3, 1, or 5 octets for \`g726-16\`, \`g726-24\`, \`g726-32\`, and \`g726-40\` respectively, holding 4, 8, 2, or 8 codewords.
+  - Messages form a continuous encoded stream and preserve G.726 predictor and quantizer state across message boundaries.
+- \`aal2-g726-16\`, \`aal2-g726-24\`, \`aal2-g726-32\`, and \`aal2-g726-40\`:
+  - These formats have the same requirements as the corresponding \`g726-*\` formats, except codewords use the opposite bit-packing order specified for AAL2.`,
         },
         {
             name: "format",
             type: { type: "primitive", name: "string" },
-            description: "Audio format. Values supported by Foxglove are `opus` for raw Opus packets and `mp4a.40.2` for AAC-LC ADTS frames.",
+            description: "Format of the audio data. See the `data` field description for supported values. Consumers may support a subset of these formats.",
         },
     ],
 };
@@ -310,6 +332,30 @@ const KeyValuePair = {
         },
     ],
 };
+const Event = {
+    type: "message",
+    name: "Event",
+    description: "A discrete event that occurred over a time range",
+    fields: [
+        {
+            name: "start_time",
+            type: { type: "nested", schema: Timestamp },
+            description: "Event start time (inclusive)",
+        },
+        {
+            name: "end_time",
+            type: { type: "nested", schema: Timestamp },
+            description: "Event end time (inclusive)",
+        },
+        {
+            name: "metadata",
+            type: { type: "nested", schema: KeyValuePair },
+            array: true,
+            description: "Additional key-value metadata. Keys must be unique.",
+            optional: true,
+        },
+    ],
+};
 const SceneEntityDeletionType = {
     type: "enum",
     name: "SceneEntityDeletionType",
@@ -668,7 +714,7 @@ const SceneEntity = {
         {
             name: "frame_locked",
             type: { type: "primitive", name: "boolean" },
-            description: "Whether the entity should keep its location in the fixed frame (false) or follow the frame specified in `frame_id` as it moves relative to the fixed frame (true)",
+            description: "False indicates the entity should keep its location in the fixed frame until a new entity is published. True indicates the entity should follow the frame specified in `frame_id` as it moves relative to the fixed frame when new transform messages are received.",
         },
         {
             name: "metadata",
@@ -1891,6 +1937,7 @@ exports.foxgloveMessageSchemas = {
     CylinderPrimitive,
     CubePrimitive,
     Duration,
+    Event,
     FrameTransform,
     FrameTransforms,
     GeoJSON,

package/dist/internal/schemas.js.map

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package/dist/jsonschema/index.d.ts

@@ -754,6 +754,67 @@ export declare const Duration: {
     };
     required: string[];
 };
+export declare const Event: {
+    title: string;
+    description: string;
+    $comment: string;
+    type: string;
+    properties: {
+        start_time: {
+            type: string;
+            title: string;
+            properties: {
+                sec: {
+                    type: string;
+                    minimum: number;
+                };
+                nsec: {
+                    type: string;
+                    minimum: number;
+                    maximum: number;
+                };
+            };
+            description: string;
+        };
+        end_time: {
+            type: string;
+            title: string;
+            properties: {
+                sec: {
+                    type: string;
+                    minimum: number;
+                };
+                nsec: {
+                    type: string;
+                    minimum: number;
+                    maximum: number;
+                };
+            };
+            description: string;
+        };
+        metadata: {
+            type: string;
+            items: {
+                title: string;
+                description: string;
+                type: string;
+                properties: {
+                    key: {
+                        type: string;
+                        description: string;
+                    };
+                    value: {
+                        type: string;
+                        description: string;
+                    };
+                };
+                required: string[];
+            };
+            description: string;
+        };
+    };
+    required: string[];
+};
 export declare const FrameTransform: {
     title: string;
     description: string;