Add support for TypedArrays in User Scripts using @foxglove/schemas (…

…#6890) **User-Facing Changes** Fixed a type incompatibility issue with User Scripts that import from @foxglove/schemas. **Description** Fixes #6821 Fixes FG-4976 Depends on foxglove/schemas#128 Also updated JSON message datatype extraction to treat integer arrays as `Uint32Array` rather than `Float64Array`; this fixed a similar issue as #6821 with an example json-based mcap I had lying around.
pezy · Oct 25, 2023 · 593ca28 · 593ca28
1 parent 50ae516
commit 593ca28
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Showing 9 changed files with 110 additions and 21 deletions.
diff --git a/benchmark/package.json b/benchmark/package.json
@@ -8,7 +8,7 @@
     "@foxglove/den": "workspace:*",
     "@foxglove/log": "workspace:*",
     "@foxglove/rostime": "1.1.2",
-    "@foxglove/schemas": "1.5.1",
+    "@foxglove/schemas": "1.6.0",
     "@foxglove/studio": "workspace:*",
     "@foxglove/tsconfig": "2.0.0",
     "@pmmmwh/react-refresh-webpack-plugin": "0.5.11",

diff --git a/packages/mcap-support/package.json b/packages/mcap-support/package.json
@@ -33,7 +33,7 @@
     "@foxglove/rosmsg": "4.2.2",
     "@foxglove/rosmsg-serialization": "2.0.2",
     "@foxglove/rosmsg2-serialization": "2.0.2",
-    "@foxglove/schemas": "1.5.1",
+    "@foxglove/schemas": "1.6.0",
     "@foxglove/wasm-bz2": "0.1.1",
     "@foxglove/wasm-lz4": "1.0.2",
     "@foxglove/wasm-zstd": "1.0.1",

diff --git a/packages/mcap-support/src/parseJsonSchema.test.ts b/packages/mcap-support/src/parseJsonSchema.test.ts
@@ -53,6 +53,8 @@ describe("parseJsonSchema", () => {
           bin: { type: "string", contentEncoding: "base64" },
           num: { type: "number" },
           int: { type: "integer" },
+          uint: { type: "integer", minimum: 0 },
+          uint2: { type: "integer", exclusiveMinimum: 0 },
           bool: { type: "boolean" },
         },
       },
@@ -64,7 +66,9 @@ describe("parseJsonSchema", () => {
               { name: "str", type: "string" },
               { name: "bin", type: "uint8", isArray: true },
               { name: "num", type: "float64" },
-              { name: "int", type: "float64" },
+              { name: "int", type: "int32" },
+              { name: "uint", type: "uint32" },
+              { name: "uint2", type: "uint32" },
               { name: "bool", type: "bool" },
             ],
           },
@@ -94,6 +98,8 @@ describe("parseJsonSchema", () => {
           str: { type: "array", items: { type: "string" } },
           num: { type: "array", items: { type: "number" } },
           int: { type: "array", items: { type: "integer" } },
+          uint: { type: "array", items: { type: "integer", minimum: 0 } },
+          uint2: { type: "array", items: { type: "integer", exclusiveMinimum: 0 } },
           bool: { type: "array", items: { type: "boolean" } },
         },
       },
@@ -104,7 +110,9 @@ describe("parseJsonSchema", () => {
             definitions: [
               { name: "str", type: "string", isArray: true },
               { name: "num", type: "float64", isArray: true },
-              { name: "int", type: "float64", isArray: true },
+              { name: "int", type: "int32", isArray: true },
+              { name: "uint", type: "uint32", isArray: true },
+              { name: "uint2", type: "uint32", isArray: true },
               { name: "bool", type: "bool", isArray: true },
             ],
           },

diff --git a/packages/mcap-support/src/parseJsonSchema.ts b/packages/mcap-support/src/parseJsonSchema.ts
@@ -96,9 +96,19 @@ export function parseJsonSchema(
           }
           break;
         case "number":
-        case "integer":
           fields.push({ name: fieldName, type: "float64" });
           break;
+        case "integer":
+          fields.push({
+            name: fieldName,
+            type:
+              (typeof fieldSchema.minimum === "number" && fieldSchema.minimum >= 0) ||
+              (typeof fieldSchema.exclusiveMinimum === "number" &&
+                fieldSchema.exclusiveMinimum >= 0)
+                ? "uint32"
+                : "int32",
+          });
+          break;
         case "object": {
           const nestedTypeName = `${typeName}.${fieldName}`;
           const postprocessNestedObject = addFieldsRecursive(
@@ -134,9 +144,20 @@ export function parseJsonSchema(
               fields.push({ name: fieldName, type: "string", isArray: true });
               break;
             case "number":
-            case "integer":
               fields.push({ name: fieldName, type: "float64", isArray: true });
               break;
+            case "integer":
+              fields.push({
+                name: fieldName,
+                type:
+                  (typeof itemSchema.minimum === "number" && itemSchema.minimum >= 0) ||
+                  (typeof itemSchema.exclusiveMinimum === "number" &&
+                    itemSchema.exclusiveMinimum >= 0)
+                    ? "uint32"
+                    : "int32",
+                isArray: true,
+              });
+              break;
             case "object": {
               const nestedTypeName = `${typeName}.${fieldName}`;
               const postprocessArrayItem = addFieldsRecursive(

diff --git a/packages/studio-base/package.json b/packages/studio-base/package.json
@@ -37,7 +37,7 @@
     "@foxglove/rosmsg-serialization": "2.0.2",
     "@foxglove/rosmsg2-serialization": "2.0.2",
     "@foxglove/rostime": "1.1.2",
-    "@foxglove/schemas": "1.5.1",
+    "@foxglove/schemas": "1.6.0",
     "@foxglove/studio": "workspace:*",
     "@foxglove/theme": "workspace:*",
     "@foxglove/three-text": "0.2.2",

diff --git a/packages/studio-base/src/components/TopicList/getMessagePathSearchItems.test.ts b/packages/studio-base/src/components/TopicList/getMessagePathSearchItems.test.ts
@@ -295,7 +295,7 @@ describe("getMessagePathSearchItems", () => {
           "suffix": {
             "isLeaf": true,
             "pathSuffix": ".circles[:].timestamp.sec",
-            "type": "float64",
+            "type": "uint32",
           },
           "topic": {
             "name": "annotations",
@@ -308,7 +308,7 @@ describe("getMessagePathSearchItems", () => {
           "suffix": {
             "isLeaf": true,
             "pathSuffix": ".circles[:].timestamp.nsec",
-            "type": "float64",
+            "type": "uint32",
           },
           "topic": {
             "name": "annotations",
@@ -542,7 +542,7 @@ describe("getMessagePathSearchItems", () => {
           "suffix": {
             "isLeaf": true,
             "pathSuffix": ".points[:].timestamp.sec",
-            "type": "float64",
+            "type": "uint32",
           },
           "topic": {
             "name": "annotations",
@@ -555,7 +555,7 @@ describe("getMessagePathSearchItems", () => {
           "suffix": {
             "isLeaf": true,
             "pathSuffix": ".points[:].timestamp.nsec",
-            "type": "float64",
+            "type": "uint32",
           },
           "topic": {
             "name": "annotations",
@@ -854,7 +854,7 @@ describe("getMessagePathSearchItems", () => {
           "suffix": {
             "isLeaf": true,
             "pathSuffix": ".texts[:].timestamp.sec",
-            "type": "float64",
+            "type": "uint32",
           },
           "topic": {
             "name": "annotations",
@@ -867,7 +867,7 @@ describe("getMessagePathSearchItems", () => {
           "suffix": {
             "isLeaf": true,
             "pathSuffix": ".texts[:].timestamp.nsec",
-            "type": "float64",
+            "type": "uint32",
           },
           "topic": {
             "name": "annotations",

diff --git a/packages/studio-base/src/players/UserNodePlayer/nodeTransformerWorker/transform.test.ts b/packages/studio-base/src/players/UserNodePlayer/nodeTransformerWorker/transform.test.ts
@@ -1176,6 +1176,63 @@ describe("pipeline", () => {
         datatypes: basicDatatypes,
         outputDatatype: "foxglove.Color",
       },
+      {
+        description: "Allows TypedArrays when output datatype is from @foxglove/schemas",
+        sourceCode: `
+          import { LaserScan } from "@foxglove/schemas";
+
+          export const inputs = [];
+          export const output = "${DEFAULT_STUDIO_NODE_PREFIX}";
+
+          const publisher = (message: any): LaserScan => {
+            return {
+              timestamp: {sec: 0, nsec: 1},
+              frame_id: "",
+              pose: {
+                position: {x: 0, y: 0, z: 0},
+                orientation: {x: 0, y: 0, z: 0, w: 1},
+              },
+              start_angle: 0,
+              end_angle: 0,
+              ranges: new Float64Array([1, 2, 3]),
+              intensities: new Float32Array([1, 2, 3]),
+            };
+          };
+
+          export default publisher;`,
+        datatypes: basicDatatypes,
+        outputDatatype: "foxglove.LaserScan",
+      },
+      {
+        description:
+          "Rejects wrong kind of TypedArray when output datatype is from @foxglove/schemas",
+        sourceCode: `
+          import { LaserScan } from "@foxglove/schemas";
+
+          export const inputs = [];
+          export const output = "${DEFAULT_STUDIO_NODE_PREFIX}";
+
+          const publisher = (message: any): LaserScan => {
+            return {
+              timestamp: {sec: 0, nsec: 1},
+              frame_id: "",
+              pose: {
+                position: {x: 0, y: 0, z: 0},
+                orientation: {x: 0, y: 0, z: 0, w: 1},
+              },
+              start_angle: 0,
+              end_angle: 0,
+              ranges: new Float64Array([1, 2, 3]),
+              intensities: new Uint32Array([1, 2, 3]),
+            };
+          };
+
+          export default publisher;`,
+        error: 2322,
+        errorMessage: expect.stringContaining(
+          `Type 'Uint32Array' is not assignable to type 'number[] | Float32Array | Float64Array'`,
+        ),
+      },
       {
         description: "Should handle deep subtype lookup",
         sourceCode: `

diff --git a/.../studio-base/src/players/UserNodePlayer/nodeTransformerWorker/typescript/projectConfig.ts b/.../studio-base/src/players/UserNodePlayer/nodeTransformerWorker/typescript/projectConfig.ts
@@ -28,7 +28,10 @@ import { UserScriptProjectConfig, UserScriptProjectFile } from "./types";
  * Generates virtual ts files for each type exported by the @foxglove/schemas package.
  */
 export function generateFoxgloveSchemaDeclarations(): UserScriptProjectFile[] {
-  const schemas = _.sortBy([...exportTypeScriptSchemas().entries()], ([name]) => name);
+  const schemas = _.sortBy(
+    [...exportTypeScriptSchemas({ includeTypedArrays: true }).entries()],
+    ([name]) => name,
+  );
   const files = schemas.map(([name, sourceCode]) => {
     return {
       fileName: `@foxglove/schemas/${name}.ts`,

diff --git a/yarn.lock b/yarn.lock
@@ -2493,7 +2493,7 @@ __metadata:
     "@foxglove/rosmsg": 4.2.2
     "@foxglove/rosmsg-serialization": 2.0.2
     "@foxglove/rosmsg2-serialization": 2.0.2
-    "@foxglove/schemas": 1.5.1
+    "@foxglove/schemas": 1.6.0
     "@foxglove/tsconfig": 2.0.0
     "@foxglove/wasm-bz2": 0.1.1
     "@foxglove/wasm-lz4": 1.0.2
@@ -2674,13 +2674,13 @@ __metadata:
   languageName: node
   linkType: hard
 
-"@foxglove/schemas@npm:1.5.1, @foxglove/schemas@npm:^1.3.1":
-  version: 1.5.1
-  resolution: "@foxglove/schemas@npm:1.5.1"
+"@foxglove/schemas@npm:1.6.0, @foxglove/schemas@npm:^1.3.1":
+  version: 1.6.0
+  resolution: "@foxglove/schemas@npm:1.6.0"
   dependencies:
     "@foxglove/rosmsg-msgs-common": ^3.0.0
     tslib: ^2.5.0
-  checksum: 4dd054a318ead308ce980e51eb50c3bcd1c59f9c94707234f8e293bc9b52f2727a21fdad4516f3c4ba0d19ec8058cd60315fe526b90ed9085d52519aa98d12ad
+  checksum: ff3552a9d22ed47dd05730735abbab4008502e1db76941605b850bddc65b8376a3a613a9885014b2744b4621901b21ee4d0071f899e89248c04165af0226e8a0
   languageName: node
   linkType: hard
 
@@ -2718,7 +2718,7 @@ __metadata:
     "@foxglove/rosmsg-serialization": 2.0.2
     "@foxglove/rosmsg2-serialization": 2.0.2
     "@foxglove/rostime": 1.1.2
-    "@foxglove/schemas": 1.5.1
+    "@foxglove/schemas": 1.6.0
     "@foxglove/studio": "workspace:*"
     "@foxglove/theme": "workspace:*"
     "@foxglove/three-text": 0.2.2
@@ -8622,7 +8622,7 @@ __metadata:
     "@foxglove/den": "workspace:*"
     "@foxglove/log": "workspace:*"
     "@foxglove/rostime": 1.1.2
-    "@foxglove/schemas": 1.5.1
+    "@foxglove/schemas": 1.6.0
     "@foxglove/studio": "workspace:*"
     "@foxglove/studio-base": "workspace:*"
     "@foxglove/tsconfig": 2.0.0