Update CompressedVideo format strings (#155)

Update CompressedVideo documentation for new formats, and describe
format and data in more detail

internal/__snapshots__/exportTypeScriptSchemas.test.ts.snap

@@ -204,13 +204,32 @@ export type CompressedVideo = {
    * Compressed video frame data.
    * 
    * For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
+   * 
+   * Specifically, the requirements for different \`format\` values are:
+   * 
+   * - \`h264\`
+   *   - Use Annex B formatted data
+   *   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+   *   - Each message containing a key frame (IDR) must also include a SPS NAL unit
+   * 
+   * - \`h265\` (HEVC)
+   *   - Use Annex B formatted data
+   *   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+   *   - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units
+   * 
+   * - \`av1\`
+   *   - Use the "Low overhead bitstream format" (section 5.2)
+   *   - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+   *   - Each message containing a key frame must also include a Sequence Header OBU
    */
   data: Uint8Array;
 
   /**
    * Video format.
    * 
-   * Supported values: \`h264\` (Annex B formatted data only)
+   * Supported values: \`h264\`, \`h265\`, \`av1\`.
+   * 
+   * Note: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc) and [AV1 support](https://caniuse.com/av1).
    */
   format: string;
 };

internal/schemas.ts

@@ -810,13 +810,32 @@ const CompressedVideo: FoxgloveMessageSchema = {
     {
       name: "data",
       type: { type: "primitive", name: "bytes" },
-      description:
-        "Compressed video frame data.\n\nFor packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.",
+      description: `Compressed video frame data.
+
+For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
+
+Specifically, the requirements for different \`format\` values are:
+
+- \`h264\`
+  - Use Annex B formatted data
+  - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+  - Each message containing a key frame (IDR) must also include a SPS NAL unit
+
+- \`h265\` (HEVC)
+  - Use Annex B formatted data
+  - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+  - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units
+
+- \`av1\`
+  - Use the "Low overhead bitstream format" (section 5.2)
+  - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+  - Each message containing a key frame must also include a Sequence Header OBU`,
     },
     {
       name: "format",
       type: { type: "primitive", name: "string" },
-      description: "Video format.\n\nSupported values: `h264` (Annex B formatted data only)",
+      description:
+        "Video format.\n\nSupported values: `h264`, `h265`, `av1`.\n\nNote: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc) and [AV1 support](https://caniuse.com/av1).",
     },
   ],
 };