@foxglove/rosmsg - npm Package Compare versions

Comparing version 4.2.2 to 5.0.1

dist/index.d.ts

 export * from "./md5";
 export * from "./parse";
-export * from "./parseRos2idl";
 export * from "./stringify";
 //# sourceMappingURL=index.d.ts.map

dist/parse.d.ts

 import { MessageDefinition } from "@foxglove/message-definition";
-import { Grammar } from "nearley";
-export declare const ROS2IDL_GRAMMAR: Grammar;
 export declare type ParseOptions = {
@@ -14,4 +12,8 @@ /** Parse message definitions as ROS 2. Otherwise, parse as ROS1 */
 export declare function parse(messageDefinition: string, options?: ParseOptions): MessageDefinition[];
+/**
+ * Normalize type names of complex types to fully qualified type names.
+ * Example: `Marker` (defined in `visualization_msgs/MarkerArray` message) becomes `visualization_msgs/Marker`.
+ */
 export declare function fixupTypes(types: MessageDefinition[]): void;
 export declare function normalizeType(type: string): string;
 //# sourceMappingURL=parse.d.ts.map

package.json

 {
   "name": "@foxglove/rosmsg",
-  "version": "4.2.2",
-  "description": "Parser for ROS .msg and .idl definitions",
+  "version": "5.0.1",
+  "description": "Parser for ROS and ROS 2 .msg definitions",
   "license": "MIT",
@@ -19,3 +19,2 @@ "repository": {
     "msgdef",
-    "idl",
     "parser",
@@ -22,0 +21,0 @@ "grammar"

README.md

@@ -11,15 +11,15 @@ # @foxglove/rosmsg
 
-This library supports both [ROS1](http://wiki.ros.org/msg), [ROS 2](https://docs.ros.org/en/galactic/Concepts/About-ROS-Interfaces.html), and the [ROS 2 IDL subset](https://design.ros2.org/articles/idl_interface_definition.html)message definitions.
+This library supports both [ROS1](http://wiki.ros.org/msg) and [ROS 2](https://docs.ros.org/en/galactic/Concepts/About-ROS-Interfaces.html) message definitions.
 
-## Usage
+## ROS 1 Definition Usage
 
 ```Typescript
-import { parse, parseRos2idl, stringify } from "@foxglove/rosmsg";
+import { parse, stringify } from "@foxglove/rosmsg";
 
-const definitionStr = `# geometry_msgs/msg/Pose
-geometry_msgs/msg/Point position
-geometry_msgs/msg/Quaternion orientation
+const definitionStr = `# geometry_msgs/Pose
+geometry_msgs/Point position
+geometry_msgs/Quaternion orientation
 
 ===
-MSG: geometry_msgs/msg/Point
+MSG: geometry_msgs/Point
 float64 x
@@ -30,3 +30,3 @@ float64 y
 ===
-MSG: geometry_msgs/msg/Quaternion
+MSG: geometry_msgs/Quaternion
 float64 x
@@ -38,51 +38,108 @@ float64 y
 const messageDefinition = parse(definitionStr);
-const messageDefinition = parse(definitionStr, {ros2: true}); // for ROS 2 definitions
 
-// stringify(messageDefinition) will return a canonical string, similar to
-// _definitionStr_
+// print the parsed message definition structure
+console.log(JSON.stringify(messageDefinition, null, 2));
+```
 
-// ROS2IDL equivalent example
-const ros2idlDefinitionStr = `
-================================================================================
-IDL: geometry_msgs/msg/Pose
+Prints:
 
-module geometry_msgs {
-  module msg {
-    struct Pose {
-      geometry_msgs::msg::Point position;
-      geometry_msgs::msg::Quaternion orientation;
-    };
-  };
-};
+```JSON
+[
+  {
+    "definitions": [
+      {
+        "type": "geometry_msgs/Point",
+        "isArray": false,
+        "name": "position",
+        "isComplex": true
+      },
+      {
+        "type": "geometry_msgs/Quaternion",
+        "isArray": false,
+        "name": "orientation",
+        "isComplex": true
+      }
+    ]
+  },
+  {
+    "name": "geometry_msgs/Point",
+    "definitions": [
+      {
+        "type": "float64",
+        "isArray": false,
+        "name": "x",
+        "isComplex": false
+      },
+      {
+        "type": "float64",
+        "isArray": false,
+        "name": "y",
+        "isComplex": false
+      },
+      {
+        "type": "float64",
+        "isArray": false,
+        "name": "z",
+        "isComplex": false
+      }
+    ]
+  },
+  {
+    "name": "geometry_msgs/Quaternion",
+    "definitions": [
+      {
+        "type": "float64",
+        "isArray": false,
+        "name": "x",
+        "isComplex": false
+      },
+      {
+        "type": "float64",
+        "isArray": false,
+        "name": "y",
+        "isComplex": false
+      },
+      {
+        "type": "float64",
+        "isArray": false,
+        "name": "z",
+        "isComplex": false
+      },
+      {
+        "type": "float64",
+        "isArray": false,
+        "name": "w",
+        "isComplex": false
+      }
+    ]
+  }
+]
+```
 
-================================================================================
-IDL: geometry_msgs/msg/Point
+## ROS 2 Definition Usage
 
-module geometry_msgs {
-  module msg {
-    struct Point {
-      double x;
-      double y;
-      double z;
-    };
-  };
-};
+```Typescript
+import { parse, stringify } from "@foxglove/rosmsg";
 
-================================================================================
-IDL: geometry_msgs/msg/Quaternion
+const definitionStr = `# geometry_msgs/msg/Pose
+geometry_msgs/msg/Point position
+geometry_msgs/msg/Quaternion orientation
 
-module geometry_msgs {
-  module msg {
-    struct Quaternion {
-      double x;
-      double y;
-      double z;
-      double w;
-    };
-  };
-};
-`;
+===
+MSG: geometry_msgs/msg/Point
+float64 x
+float64 y
+float64 z
 
-const messageDefinition = parseRos2idl(ros2idlDefinitionStr);
+===
+MSG: geometry_msgs/msg/Quaternion
+float64 x
+float64 y
+float64 z
+float64 w`;
 
+const messageDefinition = parse(definitionStr, {ros2: true});
+
+// stringify(messageDefinition) will return a canonical string, similar to
+// _definitionStr_
 // print the parsed message definition structure
@@ -167,2 +224,6 @@ console.log(JSON.stringify(messageDefinition, null, 2));
 
+## ROS 2 IDL Support
+
+See (`@foxglove/ros2idl-parser`)[https://github.com/foxglove/omgidl/packages/ros2idl-parser] for our implementation of `ros2idl` schema support.
+
 ## License
@@ -169,0 +230,0 @@

src/index.ts

@@ -5,3 +5,2 @@ /// <reference types="./extensions" />
 export * from "./parse";
-export * from "./parseRos2idl";
 export * from "./stringify";

src/parse.ros1.test.ts

@@ -493,2 +493,68 @@ // This file incorporates work covered by the following copyright and
   });
+
+  it("does not mixup types with same name but different namespace", () => {
+    const messageDefinition = `
+      MSG: visualization_msgs/Marker
+      int32 a
+
+      ===
+      MSG: aruco_msgs/Marker
+      int32 b
+
+      ===
+      MSG: visualization_msgs/MarkerArray
+      Marker[] a
+
+      ===
+      MSG: aruco_msgs/MarkerArray
+      Marker[] b
+    `;
+    const types = parse(messageDefinition);
+    expect(types).toEqual([
+      {
+        name: "visualization_msgs/Marker",
+        definitions: [
+          {
+            type: "int32",
+            isArray: false,
+            name: "a",
+            isComplex: false,
+          },
+        ],
+      },
+      {
+        name: "aruco_msgs/Marker",
+        definitions: [
+          {
+            type: "int32",
+            isArray: false,
+            name: "b",
+            isComplex: false,
+          },
+        ],
+      },
+      {
+        name: "visualization_msgs/MarkerArray",
+        definitions: [
+          {
+            type: "visualization_msgs/Marker",
+            isArray: true,
+            name: "a",
+            isComplex: true,
+          },
+        ],
+      },
+      {
+        name: "aruco_msgs/MarkerArray",
+        definitions: [
+          {
+            type: "aruco_msgs/Marker",
+            isArray: true,
+            name: "b",
+            isComplex: true,
+          },
+        ],
+      },
+    ]);
+  });
 });

src/parse.ros2.test.ts

@@ -749,3 +749,3 @@ // This file incorporates work covered by the following copyright and
 ## Severity level constants
-## 
+##
 ## These logging levels follow the Python Standard
@@ -1047,2 +1047,68 @@ ## https://docs.python.org/3/library/logging.html#logging-levels
   });
+
+  it("does not mixup types with same name but different namespace", () => {
+    const messageDefinition = `
+      MSG: visualization_msgs/msg/Marker
+      int32 a
+
+      ===
+      MSG: aruco_msgs/msg/Marker
+      int32 b
+
+      ===
+      MSG: visualization_msgs/msg/MarkerArray
+      Marker[] a
+
+      ===
+      MSG: aruco_msgs/msg/MarkerArray
+      Marker[] b
+    `;
+    const types = parse(messageDefinition, { ros2: true });
+    expect(types).toEqual([
+      {
+        name: "visualization_msgs/msg/Marker",
+        definitions: [
+          {
+            type: "int32",
+            isArray: false,
+            name: "a",
+            isComplex: false,
+          },
+        ],
+      },
+      {
+        name: "aruco_msgs/msg/Marker",
+        definitions: [
+          {
+            type: "int32",
+            isArray: false,
+            name: "b",
+            isComplex: false,
+          },
+        ],
+      },
+      {
+        name: "visualization_msgs/msg/MarkerArray",
+        definitions: [
+          {
+            type: "visualization_msgs/msg/Marker",
+            isArray: true,
+            name: "a",
+            isComplex: true,
+          },
+        ],
+      },
+      {
+        name: "aruco_msgs/msg/MarkerArray",
+        definitions: [
+          {
+            type: "aruco_msgs/msg/Marker",
+            isArray: true,
+            name: "b",
+            isComplex: true,
+          },
+        ],
+      },
+    ]);
+  });
 });

src/parse.ts

@@ -15,6 +15,4 @@ // This file incorporates work covered by the following copyright and
 import ros1Rules from "./ros1.ne";
-import ros2idlRules from "./ros2idl.ne";
 
 const ROS1_GRAMMAR = Grammar.fromCompiled(ros1Rules);
-export const ROS2IDL_GRAMMAR = Grammar.fromCompiled(ros2idlRules);
 
@@ -90,7 +88,14 @@ export type ParseOptions = {
 
+/**
+ * Normalize type names of complex types to fully qualified type names.
+ * Example: `Marker` (defined in `visualization_msgs/MarkerArray` message) becomes `visualization_msgs/Marker`.
+ */
 export function fixupTypes(types: MessageDefinition[]): void {
-  types.forEach(({ definitions }) => {
+  types.forEach(({ definitions, name }) => {
     definitions.forEach((definition) => {
       if (definition.isComplex === true) {
-        const foundName = findTypeByName(types, definition.type).name;
+        // The type might be under a namespace (e.g. std_msgs or std_msgs/msg) which is required
+        // to uniquely retrieve the type by its name.
+        const typeNamespace = name?.split("/").slice(0, -1).join("/");
+        const foundName = findTypeByName(types, definition.type, typeNamespace).name;
         if (foundName == undefined) {
@@ -139,3 +144,7 @@ throw new Error(`Missing type definition for ${definition.type}`);
 
-function findTypeByName(types: MessageDefinition[], name: string): MessageDefinition {
+function findTypeByName(
+  types: MessageDefinition[],
+  name: string,
+  typeNamespace?: string,
+): MessageDefinition {
   const matches = types.filter((type) => {
@@ -147,6 +156,13 @@ const typeName = type.name ?? "";
     }
-    // return if the search is in the type name
-    // or matches exactly if a fully-qualified name match is passed to us
-    const nameEnd = name.includes("/") ? name : `/${name}`;
-    return typeName.endsWith(nameEnd);
+
+    if (name.includes("/")) {
+      // Fully-qualified name, match exact
+      return typeName === name;
+    } else if (typeNamespace) {
+      // Type namespace is given, create fully-qualified name and match exact
+      return typeName === `${typeNamespace}/${name}`;
+    } else {
+      // Fallback, return if the search is in the type name
+      return typeName.endsWith(`/${name}`);
+    }
   });
@@ -158,2 +174,6 @@ if (matches[0] == undefined) {
   }
+
+  if (matches.length > 1) {
+    throw new Error(`Cannot unambiguously determine fully-qualified type name for '${name}'`);
+  }
   return matches[0];
@@ -160,0 +180,0 @@ }

New alerts

Unidentified License

License

(Experimental) Something that seems like a license was found, but its contents could not be matched with a known license.

Found 1 instance in 1 package

Fixed alerts

Unidentified License

License

(Experimental) Something that seems like a license was found, but its contents could not be matched with a known license.

Found 1 instance in 1 package

Improved metrics

Number of lines in readme file

238

increased by34.46%

Worsened metrics

Total package byte prevSize

285022

decreased by-39.16%

Number of package files

30

decreased by-42.31%

Lines of code

4490

decreased by-30.42%

No dependency changes