@foxglove/rosbag2 - npm Package Compare versions

Comparing version 5.0.1 to 6.0.0

dist/metadata.js

 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.parseQosProfiles = void 0;
+exports.parseQosProfiles = parseQosProfiles;
 const rostime_1 = require("@foxglove/rostime");
@@ -41,6 +41,6 @@ const types_1 = require("./types");
 }
-exports.parseQosProfiles = parseQosProfiles;
 function getQosProfiles(array) {
     const profiles = [];
     for (const entryMaybe of array) {
+        // eslint-disable-next-line @typescript-eslint/no-unnecessary-condition
         if (entryMaybe == undefined) {
@@ -47,0 +47,0 @@ continue;

dist/Rosbag2.d.ts

 import type { MessageDefinition } from "@foxglove/message-definition";
+import { MessageReaderOptions } from "@foxglove/rosmsg2-serialization";
 import { Time } from "@foxglove/rostime";
@@ -7,5 +8,4 @@ import { Message, MessageReadOptions, SqliteDb, TopicDefinition } from "./types";
 export declare class Rosbag2 {
-    private messageReaders_;
-    private databases_;
-    constructor(files: SqliteDb[]);
+    #private;
+    constructor(files: SqliteDb[], messageReaderOptions?: MessageReaderOptions);
     open(): Promise<void>;
@@ -17,4 +17,3 @@ close(): Promise<void>;
     messageCounts(): Promise<Map<string, number>>;
-    private decodeMessage;
 }
 //# sourceMappingURL=Rosbag2.d.ts.map

dist/Rosbag2.js

 "use strict";
+var __classPrivateFieldSet = (this && this.__classPrivateFieldSet) || function (receiver, state, value, kind, f) {
+    if (kind === "m") throw new TypeError("Private method is not writable");
+    if (kind === "a" && !f) throw new TypeError("Private accessor was defined without a setter");
+    if (typeof state === "function" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError("Cannot write private member to an object whose class did not declare it");
+    return (kind === "a" ? f.call(receiver, value) : f ? f.value = value : state.set(receiver, value)), value;
+};
+var __classPrivateFieldGet = (this && this.__classPrivateFieldGet) || function (receiver, state, kind, f) {
+    if (kind === "a" && !f) throw new TypeError("Private accessor was defined without a getter");
+    if (typeof state === "function" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError("Cannot read private member from an object whose class did not declare it");
+    return kind === "m" ? f : kind === "a" ? f.call(receiver) : f ? f.value : state.get(receiver);
+};
+var _Rosbag2_messageReaders, _Rosbag2_databases, _Rosbag2_messageReaderOptions, _Rosbag2_decodeMessage;
 Object.defineProperty(exports, "__esModule", { value: true });
@@ -38,7 +50,9 @@ exports.Rosbag2 = exports.ROS2_DEFINITIONS_ARRAY = exports.ROS2_TO_DEFINITIONS = void 0;
 class Rosbag2 {
-    constructor(files) {
-        this.messageReaders_ = new Map();
-        this.decodeMessage = (rawMessage) => {
+    constructor(files, messageReaderOptions) {
+        _Rosbag2_messageReaders.set(this, new Map());
+        _Rosbag2_databases.set(this, void 0);
+        _Rosbag2_messageReaderOptions.set(this, void 0);
+        _Rosbag2_decodeMessage.set(this, (rawMessage) => {
             // Find or create a message reader for this message
-            let reader = this.messageReaders_.get(rawMessage.topic.type);
+            let reader = __classPrivateFieldGet(this, _Rosbag2_messageReaders, "f").get(rawMessage.topic.type);
             if (reader == undefined) {
@@ -49,11 +63,12 @@ const msgdef = exports.ROS2_TO_DEFINITIONS.get(rawMessage.topic.type);
                 }
-                reader = new rosmsg2_serialization_1.MessageReader([msgdef, ...exports.ROS2_DEFINITIONS_ARRAY]);
-                this.messageReaders_.set(rawMessage.topic.type, reader);
+                reader = new rosmsg2_serialization_1.MessageReader([msgdef, ...exports.ROS2_DEFINITIONS_ARRAY], __classPrivateFieldGet(this, _Rosbag2_messageReaderOptions, "f"));
+                __classPrivateFieldGet(this, _Rosbag2_messageReaders, "f").set(rawMessage.topic.type, reader);
             }
             return reader.readMessage(rawMessage.data);
-        };
-        this.databases_ = files;
+        });
+        __classPrivateFieldSet(this, _Rosbag2_databases, files, "f");
+        __classPrivateFieldSet(this, _Rosbag2_messageReaderOptions, messageReaderOptions, "f");
     }
     async open() {
-        for (const db of this.databases_) {
+        for (const db of __classPrivateFieldGet(this, _Rosbag2_databases, "f")) {
             await db.open();
@@ -63,34 +78,23 @@ }
     async close() {
-        if (this.databases_ != undefined) {
-            for (const db of this.databases_) {
-                await db.close();
-            }
+        for (const db of __classPrivateFieldGet(this, _Rosbag2_databases, "f")) {
+            await db.close();
         }
-        this.databases_ = [];
+        __classPrivateFieldSet(this, _Rosbag2_databases, [], "f");
     }
     async readTopics() {
-        if (this.databases_ == undefined) {
-            throw new Error("Cannot read topics before opening rosbag");
-        }
-        if (this.databases_.length === 0) {
+        if (__classPrivateFieldGet(this, _Rosbag2_databases, "f").length === 0) {
             return [];
         }
-        const firstDb = this.databases_[0];
+        const firstDb = __classPrivateFieldGet(this, _Rosbag2_databases, "f")[0];
         return await firstDb.readTopics();
     }
     readMessages(opts = {}) {
-        if (this.databases_ == undefined) {
-            throw new Error("Cannot read messages before opening rosbag");
-        }
-        if (this.databases_.length === 0) {
+        if (__classPrivateFieldGet(this, _Rosbag2_databases, "f").length === 0) {
             return new MessageIterator_1.MessageIterator([]);
         }
-        const rowIterators = this.databases_.map((db) => db.readMessages(opts));
-        return new MessageIterator_1.MessageIterator(rowIterators, opts.rawMessages !== true ? this.decodeMessage : undefined);
+        const rowIterators = __classPrivateFieldGet(this, _Rosbag2_databases, "f").map((db) => db.readMessages(opts));
+        return new MessageIterator_1.MessageIterator(rowIterators, opts.rawMessages !== true ? __classPrivateFieldGet(this, _Rosbag2_decodeMessage, "f") : undefined);
     }
     async timeRange() {
-        if (this.databases_ == undefined) {
-            throw new Error("Cannot read time range before opening rosbag");
-        }
-        if (this.databases_.length === 0) {
+        if (__classPrivateFieldGet(this, _Rosbag2_databases, "f").length === 0) {
             return [
@@ -103,3 +107,3 @@ { sec: 0, nsec: 0 },
         let max = { sec: Number.MIN_SAFE_INTEGER, nsec: 0 };
-        for (const db of this.databases_) {
+        for (const db of __classPrivateFieldGet(this, _Rosbag2_databases, "f")) {
             const [curMin, curMax] = await db.timeRange();
@@ -112,10 +116,7 @@ min = minTime(min, curMin);
     async messageCounts() {
-        if (this.databases_ == undefined) {
-            throw new Error("Cannot read message counts before opening rosbag");
-        }
         const allCounts = new Map();
-        if (this.databases_.length === 0) {
+        if (__classPrivateFieldGet(this, _Rosbag2_databases, "f").length === 0) {
             return allCounts;
         }
-        for (const db of this.databases_) {
+        for (const db of __classPrivateFieldGet(this, _Rosbag2_databases, "f")) {
             const counts = await db.messageCounts();
@@ -130,2 +131,3 @@ for (const [topic, count] of counts) {
 exports.Rosbag2 = Rosbag2;
+_Rosbag2_messageReaders = new WeakMap(), _Rosbag2_databases = new WeakMap(), _Rosbag2_messageReaderOptions = new WeakMap(), _Rosbag2_decodeMessage = new WeakMap();
 function minTime(a, b) {
@@ -132,0 +134,0 @@ return (0, rostime_1.isLessThan)(a, b) ? a : b;

dist/types.js

@@ -10,3 +10,3 @@ "use strict";
     QosPolicyDurability[QosPolicyDurability["Unknown"] = 3] = "Unknown";
-})(QosPolicyDurability = exports.QosPolicyDurability || (exports.QosPolicyDurability = {}));
+})(QosPolicyDurability || (exports.QosPolicyDurability = QosPolicyDurability = {}));
 var QosPolicyHistory;
@@ -18,3 +18,3 @@ (function (QosPolicyHistory) {
     QosPolicyHistory[QosPolicyHistory["Unknown"] = 3] = "Unknown";
-})(QosPolicyHistory = exports.QosPolicyHistory || (exports.QosPolicyHistory = {}));
+})(QosPolicyHistory || (exports.QosPolicyHistory = QosPolicyHistory = {}));
 var QosPolicyLiveliness;
@@ -26,3 +26,3 @@ (function (QosPolicyLiveliness) {
     QosPolicyLiveliness[QosPolicyLiveliness["Unknown"] = 4] = "Unknown";
-})(QosPolicyLiveliness = exports.QosPolicyLiveliness || (exports.QosPolicyLiveliness = {}));
+})(QosPolicyLiveliness || (exports.QosPolicyLiveliness = QosPolicyLiveliness = {}));
 var QosPolicyReliability;
@@ -34,3 +34,3 @@ (function (QosPolicyReliability) {
     QosPolicyReliability[QosPolicyReliability["Unknown"] = 3] = "Unknown";
-})(QosPolicyReliability = exports.QosPolicyReliability || (exports.QosPolicyReliability = {}));
+})(QosPolicyReliability || (exports.QosPolicyReliability = QosPolicyReliability = {}));
 //# sourceMappingURL=types.js.map

dist/yaml.js

@@ -9,3 +9,3 @@ "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.parseYaml = void 0;
+exports.parseYaml = parseYaml;
 const js_yaml_1 = __importDefault(require("js-yaml"));
@@ -43,3 +43,2 @@ // keep most of the original `int` options as is
 }
-exports.parseYaml = parseYaml;
 //# sourceMappingURL=yaml.js.map

package.json

 {
   "name": "@foxglove/rosbag2",
-  "version": "5.0.1",
-  "description": "ROS2 (Robot Operating System) bag reader and writer abstract implementation",
+  "version": "6.0.0",
+  "description": "ROS 2 (Robot Operating System) bag reader and writer abstract implementation",
   "license": "MIT",
@@ -35,4 +35,4 @@ "keywords": [
     "build": "tsc -b",
-    "lint:ci": "eslint --report-unused-disable-directives .",
-    "lint": "eslint --report-unused-disable-directives --fix .",
+    "lint:ci": "eslint .",
+    "lint": "eslint --fix .",
     "prepack": "yarn build",
@@ -43,26 +43,20 @@ "prepublishOnly": "yarn lint:ci && yarn test",
   "devDependencies": {
-    "@foxglove/eslint-plugin": "0.21.0",
-    "@types/jest": "^29.4.0",
-    "@types/js-yaml": "^4.0.5",
-    "@typescript-eslint/eslint-plugin": "5.54.0",
-    "@typescript-eslint/parser": "5.54.0",
-    "eslint": "8.35.0",
-    "eslint-config-prettier": "8.6.0",
-    "eslint-plugin-es": "4.1.0",
-    "eslint-plugin-filenames": "1.3.2",
-    "eslint-plugin-import": "2.27.5",
-    "eslint-plugin-jest": "27.2.1",
-    "eslint-plugin-prettier": "4.2.1",
-    "jest": "29.4.3",
-    "prettier": "2.8.4",
-    "ts-jest": "29.0.5",
-    "typescript": "4.9.5"
+    "@foxglove/eslint-plugin": "2.0.0",
+    "@types/jest": "29.5.14",
+    "@types/js-yaml": "4.0.9",
+    "eslint": "9.16.0",
+    "jest": "29.7.0",
+    "prettier": "3.4.2",
+    "ts-jest": "29.2.5",
+    "typescript": "5.7.2",
+    "typescript-eslint": "8.17.0"
   },
   "dependencies": {
-    "@foxglove/rosmsg-msgs-common": "^3.0.0",
-    "@foxglove/rosmsg2-serialization": "^2.0.0",
+    "@foxglove/rosmsg-msgs-common": "^3.2.1",
+    "@foxglove/rosmsg2-serialization": "^3.0.0",
     "@foxglove/rostime": "^1.1.2",
-    "@foxglove/schemas": "^1.3.1",
+    "@foxglove/schemas": "^1.6.5",
     "js-yaml": "^4.1.0"
-  }
-}
+  },
+  "packageManager": "yarn@4.5.3"
+}

README.md

@@ -25,2 +25,2 @@ # @foxglove/rosbag2
 
-Join our [Slack channel](https://foxglove.dev/join-slack) to ask questions, share feedback, and stay up to date on what our team is working on.
+Join our [Slack channel](https://foxglove.dev/slack) to ask questions, share feedback, and stay up to date on what our team is working on.

src/MessageIterator.ts

@@ -10,6 +10,8 @@ import type { Message, RawMessage } from "./types";
 export class MessageIterator implements AsyncIterableIterator<Message> {
+  // eslint-disable-next-line @foxglove/prefer-hash-private
   private rowIterators: AsyncIterableIterator<RawMessage>[];
+  // eslint-disable-next-line @foxglove/prefer-hash-private
   private decoder?: MessageDecoder;
 
-  constructor(rowIterators: AsyncIterableIterator<RawMessage>[], decoder?: MessageDecoder) {
+  public constructor(rowIterators: AsyncIterableIterator<RawMessage>[], decoder?: MessageDecoder) {
     this.rowIterators = rowIterators;
@@ -19,7 +21,7 @@ this.decoder = decoder;
 
-  [Symbol.asyncIterator](): AsyncIterableIterator<Message> {
+  public [Symbol.asyncIterator](): AsyncIterableIterator<Message> {
     return this;
   }
 
-  async next(): Promise<IteratorResult<Message>> {
+  public async next(): Promise<IteratorResult<Message>> {
     while (this.rowIterators.length > 0) {
@@ -26,0 +28,0 @@ const front = this.rowIterators[0]!;

src/metadata.ts

@@ -53,2 +53,3 @@ import { Duration, Time, areEqual as areTimesEqual } from "@foxglove/rostime";
   for (const entryMaybe of array) {
+    // eslint-disable-next-line @typescript-eslint/no-unnecessary-condition
     if (entryMaybe == undefined) {
@@ -91,4 +92,4 @@ continue;
     : typeof value === "bigint" || typeof value === "number"
-    ? Boolean(value)
-    : undefined;
+      ? Boolean(value)
+      : undefined;
 }
@@ -95,0 +96,0 @@

src/RawMessageIterator.ts

@@ -12,6 +12,11 @@ import { fromNanoSec } from "@foxglove/rostime";
 export class RawMessageIterator implements AsyncIterableIterator<RawMessage> {
+  // eslint-disable-next-line @foxglove/prefer-hash-private
   private dbIterator: IterableIterator<MessageRow>;
+  // eslint-disable-next-line @foxglove/prefer-hash-private
   private topicsMap: Map<bigint, TopicDefinition>;
 
-  constructor(dbIterator: IterableIterator<MessageRow>, topicsMap: Map<bigint, TopicDefinition>) {
+  public constructor(
+    dbIterator: IterableIterator<MessageRow>,
+    topicsMap: Map<bigint, TopicDefinition>,
+  ) {
     this.dbIterator = dbIterator;
@@ -21,7 +26,7 @@ this.topicsMap = topicsMap;
 
-  [Symbol.asyncIterator](): AsyncIterableIterator<RawMessage> {
+  public [Symbol.asyncIterator](): AsyncIterableIterator<RawMessage> {
     return this;
   }
 
-  async next(): Promise<IteratorResult<RawMessage>> {
+  public async next(): Promise<IteratorResult<RawMessage>> {
     const res = this.dbIterator.next();
@@ -28,0 +33,0 @@ if (res.done === true) {

src/Rosbag2.ts

 import type { MessageDefinition } from "@foxglove/message-definition";
 import { ros2galactic } from "@foxglove/rosmsg-msgs-common";
-import { MessageReader } from "@foxglove/rosmsg2-serialization";
+import { MessageReader, MessageReaderOptions } from "@foxglove/rosmsg2-serialization";
 import { Time, isLessThan as isTimeLessThan } from "@foxglove/rostime";
@@ -44,11 +44,13 @@ import { foxgloveMessageSchemas, generateRosMsgDefinition } from "@foxglove/schemas/internal";
 export class Rosbag2 {
-  private messageReaders_ = new Map<string, MessageReader>();
-  private databases_: SqliteDb[];
+  #messageReaders = new Map<string, MessageReader>();
+  #databases: SqliteDb[];
+  #messageReaderOptions?: MessageReaderOptions;
 
-  constructor(files: SqliteDb[]) {
-    this.databases_ = files;
+  public constructor(files: SqliteDb[], messageReaderOptions?: MessageReaderOptions) {
+    this.#databases = files;
+    this.#messageReaderOptions = messageReaderOptions;
   }
 
-  async open(): Promise<void> {
-    for (const db of this.databases_) {
+  public async open(): Promise<void> {
+    for (const db of this.#databases) {
       await db.open();
@@ -58,46 +60,32 @@ }
 
-  async close(): Promise<void> {
-    if (this.databases_ != undefined) {
-      for (const db of this.databases_) {
-        await db.close();
-      }
+  public async close(): Promise<void> {
+    for (const db of this.#databases) {
+      await db.close();
     }
-    this.databases_ = [];
+    this.#databases = [];
   }
 
-  async readTopics(): Promise<TopicDefinition[]> {
-    if (this.databases_ == undefined) {
-      throw new Error("Cannot read topics before opening rosbag");
-    }
-
-    if (this.databases_.length === 0) {
+  public async readTopics(): Promise<TopicDefinition[]> {
+    if (this.#databases.length === 0) {
       return [];
     }
 
-    const firstDb = this.databases_[0]!;
+    const firstDb = this.#databases[0]!;
     return await firstDb.readTopics();
   }
 
-  readMessages(opts: MessageReadOptions = {}): AsyncIterableIterator<Message> {
-    if (this.databases_ == undefined) {
-      throw new Error("Cannot read messages before opening rosbag");
-    }
-
-    if (this.databases_.length === 0) {
+  public readMessages(opts: MessageReadOptions = {}): AsyncIterableIterator<Message> {
+    if (this.#databases.length === 0) {
       return new MessageIterator([]);
     }
 
-    const rowIterators = this.databases_.map((db) => db.readMessages(opts));
+    const rowIterators = this.#databases.map((db) => db.readMessages(opts));
     return new MessageIterator(
       rowIterators,
-      opts.rawMessages !== true ? this.decodeMessage : undefined,
+      opts.rawMessages !== true ? this.#decodeMessage : undefined,
     );
   }
 
-  async timeRange(): Promise<[min: Time, max: Time]> {
-    if (this.databases_ == undefined) {
-      throw new Error("Cannot read time range before opening rosbag");
-    }
-
-    if (this.databases_.length === 0) {
+  public async timeRange(): Promise<[min: Time, max: Time]> {
+    if (this.#databases.length === 0) {
       return [
@@ -111,3 +99,3 @@ { sec: 0, nsec: 0 },
     let max = { sec: Number.MIN_SAFE_INTEGER, nsec: 0 };
-    for (const db of this.databases_) {
+    for (const db of this.#databases) {
       const [curMin, curMax] = await db.timeRange();
@@ -120,13 +108,9 @@ min = minTime(min, curMin);
 
-  async messageCounts(): Promise<Map<string, number>> {
-    if (this.databases_ == undefined) {
-      throw new Error("Cannot read message counts before opening rosbag");
-    }
-
+  public async messageCounts(): Promise<Map<string, number>> {
     const allCounts = new Map<string, number>();
-    if (this.databases_.length === 0) {
+    if (this.#databases.length === 0) {
       return allCounts;
     }
 
-    for (const db of this.databases_) {
+    for (const db of this.#databases) {
       const counts = await db.messageCounts();
@@ -140,5 +124,5 @@ for (const [topic, count] of counts) {
 
-  private decodeMessage = (rawMessage: RawMessage): unknown => {
+  #decodeMessage = (rawMessage: RawMessage): unknown => {
     // Find or create a message reader for this message
-    let reader = this.messageReaders_.get(rawMessage.topic.type);
+    let reader = this.#messageReaders.get(rawMessage.topic.type);
     if (reader == undefined) {
@@ -149,4 +133,4 @@ const msgdef = ROS2_TO_DEFINITIONS.get(rawMessage.topic.type);
       }
-      reader = new MessageReader([msgdef, ...ROS2_DEFINITIONS_ARRAY]);
-      this.messageReaders_.set(rawMessage.topic.type, reader);
+      reader = new MessageReader([msgdef, ...ROS2_DEFINITIONS_ARRAY], this.#messageReaderOptions);
+      this.#messageReaders.set(rawMessage.topic.type, reader);
     }
@@ -153,0 +137,0 @@

src/types.ts

@@ -62,2 +62,3 @@ import { Duration, Time } from "@foxglove/rostime";
   type: string;
+  // eslint-disable-next-line @typescript-eslint/no-redundant-type-constituents
   serializationFormat: "cdr" | string;
@@ -64,0 +65,0 @@ offeredQosProfiles: QosProfile[];

No alert changes

Improved metrics

Total package byte prevSize

60941

2.51%

Dev dependency count

9

-43.75%

Worsened metrics

Lines of code

1002

-0.3%

Dependency changes

• + Added

  @foxglove/message-definition@0.4.0
  (transitive)

• + Added

  @foxglove/rosmsg2-serialization@3.0.2
  (transitive)

• - Removed

  @foxglove/message-definition@0.2.0
  (transitive)

• - Removed

  @foxglove/rosmsg2-serialization@2.0.4
  (transitive)

• Updated

  @foxglove/rosmsg-msgs-common@^3.2.1

• Updated

  @foxglove/rosmsg2-serialization@^3.0.0

• Updated

  @foxglove/schemas@^1.6.5