First release (#1)

* Initial setup for first release

* Initial setup

* fix typo

* node version

* node version on second pipeline

* missing references

.eslintrc.yaml

@@ -5,12 +5,12 @@ ignorePatterns:
   - dist
 
 extends:
-  - plugin:@foxglove/base
-  - plugin:@foxglove/jest
+  - plugin:@lichtblick/base
+  - plugin:@lichtblick/jest
 
 overrides:
   - files: ["*.ts", "*.tsx"]
     extends:
-      - plugin:@foxglove/typescript
+      - plugin:@lichtblick/typescript
     parserOptions:
       project: ./tsconfig.eslint.json

.github/workflows/ci.yml

@@ -5,7 +5,6 @@ on:
     branches: [main]
     tags: ["v*"]
   pull_request:
-    branches: ["*"]
 
 jobs:
   push:
@@ -16,7 +15,7 @@ jobs:
       - uses: actions/checkout@v3
       - uses: actions/setup-node@v3
         with:
-          node-version: 16.x
+          node-version: 18.x
           registry-url: https://registry.npmjs.org
           cache: yarn
 
@@ -39,7 +38,7 @@ jobs:
       - uses: actions/checkout@v3
       - uses: actions/setup-node@v3
         with:
-          node-version: 16.x
+          node-version: 18.x
           registry-url: https://registry.npmjs.org
           cache: yarn
 

README.md

@@ -1,17 +1,17 @@
-# @foxglove/rosmsg-serialization
+# @lichtblick/rosmsg-serialization
 
 > _ROS1 (Robot Operating System) message serialization, for reading and writing bags and network messages_
 
-[![npm version](https://img.shields.io/npm/v/@foxglove/rosmsg-serialization.svg?style=flat)](https://www.npmjs.com/package/@foxglove/rosmsg-serialization)
+[![npm version](https://img.shields.io/npm/v/@lichtblick/rosmsg-serialization.svg?style=flat)](https://www.npmjs.com/package/@lichtblick/rosmsg-serialization)
 
 ## MessageReader
 
 Message reader deserializes ROS messages into plain objects. The messages are fully deserialized.
 
 ```typescript
-import { MessageReader } from "@foxglove/rosmsg-serialization";
+import { MessageReader } from "@lichtblick/rosmsg-serialization";
 
-// message definition comes from `parse()` in @foxglove/rosmsg
+// message definition comes from `parse()` in @lichtblick/rosmsg
 const reader = new MessageReader(messageDefinition);
 
 // deserialize a buffer into an object
@@ -28,9 +28,9 @@ a lazy message from a buffer performs no de-serialization during creation. Only
 deserialized; the deserialization occurs at access time.
 
 ```Typescript
-import { LazyMessageReader } from "@foxglove/rosmsg-serialization";
+import { LazyMessageReader } from "@lichtblick/rosmsg-serialization";
 
-// message definition comes from `parse()` in @foxglove/rosmsg
+// message definition comes from `parse()` in @lichtblick/rosmsg
 const reader = new LazyMessageReader(messageDefinition);
 
 // build a new lazy message instance for our serialized message from the Uint8Array
@@ -46,9 +46,9 @@ message.header.stamp;
 Convert an object, array, or primitive value into binary data using ROS message serialization.
 
 ```Typescript
-import { MessageWriter } from "@foxglove/rosmsg-serialization";
+import { MessageWriter } from "@lichtblick/rosmsg-serialization";
 
-// message definition comes from `parse()` in @foxglove/rosmsg
+// message definition comes from `parse()` in @lichtblick/rosmsg
 const writer = new MessageWriter(pointStampedMessageDefinition);
 
 // serialize the passed in object to a Uint8Array as a geometry_msgs/PointStamped message
@@ -70,7 +70,7 @@ const uint8Array = writer.writeMessage({
 
 ## License
 
-@foxglove/rosmsg-serialization is licensed under the [MIT License](https://opensource.org/licenses/MIT).
+@lichtblick/rosmsg-serialization is licensed under the [MIT License](https://opensource.org/licenses/MIT).
 
 ## Releasing
 
@@ -82,17 +82,13 @@ const uint8Array = writer.writeMessage({
 
 The `bench` folder contains benchmarks. Run with:
 
-```
+```plain
 yarn bench
 yarn bench:benny
 ```
 
 To run benchmarks in web:
 
-```
+```plain
 yarn bench:web
 ```
-
-## Stay in touch
-
-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.

bench/bench.ts

@@ -1,4 +1,4 @@
-import { parse } from "@foxglove/rosmsg";
+import { parse } from "@lichtblick/rosmsg";
 import { printTable } from "console-table-printer";
 import { Benchmark, BenchmarkData, Measurement } from "kelonio";
 import percentile from "percentile";

bench/benny.ts

@@ -1,4 +1,4 @@
-import { parse } from "@foxglove/rosmsg";
+import { parse } from "@lichtblick/rosmsg";
 import benny from "benny";
 
 import { Testcase, testCases } from "./testCases";

bench/web.ts

@@ -1,4 +1,4 @@
-import { parse } from "@foxglove/rosmsg";
+import { parse } from "@lichtblick/rosmsg";
 
 import { testCases } from "./testCases";
 import { LazyMessageReader, MessageReader, MessageWriter } from "../src";
@@ -83,7 +83,9 @@ async function main() {
     runCases("read", [
       {
         name: "reg",
-        benchCase: () => reader.readMessage(msgData),
+        benchCase: () => {
+          reader.readMessage(msgData);
+        },
       },
       {
         name: "lazy",

package.json

@@ -1,6 +1,6 @@
 {
-  "name": "@foxglove/rosmsg-serialization",
-  "version": "2.0.3",
+  "name": "@lichtblick/rosmsg-serialization",
+  "version": "1.0.0",
   "description": "ROS1 (Robot Operating System) message serialization, for reading and writing bags and network messages",
   "license": "MIT",
   "keywords": [
@@ -16,13 +16,13 @@
   ],
   "repository": {
     "type": "git",
-    "url": "https://github.com/foxglove/rosmsg-serialization.git"
+    "url": "https://github.com/lichtblick-suite/rosmsg-serialization"
   },
   "author": {
-    "name": "Foxglove Technologies Inc",
-    "email": "[email protected]"
+    "name": "Lichtblick",
+    "email": "[email protected]"
   },
-  "homepage": "https://github.com/foxglove/rosmsg-serialization",
+  "homepage": "https://github.com/lichtblick-suite",
   "module": "dist/esm/index.js",
   "main": "dist/cjs/index.js",
   "typings": "dist/esm/index.d.ts",
@@ -45,17 +45,18 @@
     "bench:web": "yarn build:web && open bench/web.html"
   },
   "engines": {
-    "node": ">= 14"
+    "node": ">= 18"
   },
   "devDependencies": {
-    "@foxglove/eslint-plugin": "0.22.1",
-    "@foxglove/rosmsg": "^4.0.0",
-    "@foxglove/tsconfig": "1.1.0",
+    "@lichtblick/eslint-plugin": "^1.0.1",
+    "@lichtblick/message-definition": "^1.0.0",
+    "@lichtblick/rosmsg": "^1.0.0",
+    "@lichtblick/tsconfig": "^1.0.0",
     "@types/jest": "^29.4.0",
     "@types/node": "^20.3.2",
     "@types/prettier": "2.7.2",
-    "@typescript-eslint/eslint-plugin": "5.54.0",
-    "@typescript-eslint/parser": "5.62.0",
+    "@typescript-eslint/eslint-plugin": "^6",
+    "@typescript-eslint/parser": "^8.6.0",
     "benny": "3.7.1",
     "console-table-printer": "2.11.1",
     "esbuild": "0.17.11",
@@ -73,8 +74,5 @@
     "ts-jest": "29.1.2",
     "ts-node": "10.9.1",
     "typescript": "5.1.6"
-  },
-  "dependencies": {
-    "@foxglove/message-definition": "^0.3.1"
   }
 }

src/BuiltinDeserialize.ts

@@ -216,8 +216,8 @@ export const deserializers: BuiltinReaders & {
       const intArr = new Int32Array(view.buffer, totalOffset, len * 2);
       for (let i = 0, j = 0; i < len; ++i, j = j + 2) {
         timeArr[i] = {
-          sec: intArr[j] as number,
-          nsec: intArr[j + 1] as number,
+          sec: intArr[j]!,
+          nsec: intArr[j + 1]!,
         };
       }
     } else {

src/LazyMessageReader.test.ts

@@ -1,4 +1,4 @@
-import { parse as parseMessageDefinition } from "@foxglove/rosmsg";
+import { parse as parseMessageDefinition } from "@lichtblick/rosmsg";
 import parserBabel from "prettier/parser-babel";
 import prettier from "prettier/standalone";
 

src/LazyMessageReader.ts

@@ -1,4 +1,4 @@
-import { MessageDefinition } from "@foxglove/message-definition";
+import { MessageDefinition } from "@lichtblick/message-definition";
 
 import buildReader from "./buildReader";
 

src/MessageReader.test.ts

@@ -7,7 +7,7 @@
 //   found at http://www.apache.org/licenses/LICENSE-2.0
 //   You may not use this file except in compliance with the License.
 
-import { parse as parseMessageDefinition } from "@foxglove/rosmsg";
+import { parse as parseMessageDefinition } from "@lichtblick/rosmsg";
 
 import { MessageReader } from "./MessageReader";
 import messageReaderTests from "./fixtures/messageReaderTests";

src/MessageReader.ts

@@ -7,7 +7,7 @@
 //   found at http://www.apache.org/licenses/LICENSE-2.0
 //   You may not use this file except in compliance with the License.
 
-import { MessageDefinition } from "@foxglove/message-definition";
+import { MessageDefinition } from "@lichtblick/message-definition";
 
 import decodeString from "./decodeString";
 
@@ -80,7 +80,7 @@ export class StandardTypeReader {
     len: number | null | undefined,
     TypedArrayConstructor: TypedArrayConstructor,
   ): TypedArray {
-    const arrayLength = len == undefined ? this.uint32() : len;
+    const arrayLength = len ?? this.uint32();
     const view = this.view;
     const totalOffset = this.offset + view.byteOffset;
     this.offset += arrayLength * TypedArrayConstructor.BYTES_PER_ELEMENT;
@@ -228,7 +228,7 @@ export const createParsers = ({
   definitions: readonly MessageDefinition[];
   options?: { freeze?: boolean };
   topLevelReaderKey: string;
-}): Map<string, { new (reader: StandardTypeReader): unknown }> => {
+}): Map<string, new (reader: StandardTypeReader) => unknown> => {
   if (definitions.length === 0) {
     throw new Error(`no types given`);
   }
@@ -264,11 +264,7 @@ export const createParsers = ({
         const lenField = `length_${def.name}`;
         // set a variable pointing to the parsed fixed array length
         // or read the byte indicating the dynamic length
-        readerLines.push(
-          `var ${lenField} = ${
-            def.arrayLength != undefined ? def.arrayLength : "reader.uint32();"
-          }`,
-        );
+        readerLines.push(`var ${lenField} = ${def.arrayLength ?? "reader.uint32();"}`);
 
         // only allocate an array if there is a length - skips empty allocations
         const arrayName = `this.${def.name}`;
@@ -322,12 +318,12 @@ export const createParsers = ({
   // eslint-disable-next-line @typescript-eslint/no-implied-eval,no-new-func
   return new Function("topLevelReaderKey", js)(topLevelReaderKey) as Map<
     string,
-    { new (reader: StandardTypeReader): unknown }
+    new (reader: StandardTypeReader) => unknown
   >;
 };
 
 export class MessageReader {
-  reader: { new (reader: StandardTypeReader): unknown };
+  reader: new (reader: StandardTypeReader) => unknown;
 
   // takes an object message definition and returns
   // a message reader which can be used to read messages based

src/MessageWriter.test.ts

@@ -7,7 +7,7 @@
 //   found at http://www.apache.org/licenses/LICENSE-2.0
 //   You may not use this file except in compliance with the License.
 
-import { parse as parseMessageDefinition } from "@foxglove/rosmsg";
+import { parse as parseMessageDefinition } from "@lichtblick/rosmsg";
 
 import { MessageReader } from "./MessageReader";
 import { MessageWriter } from "./MessageWriter";
@@ -80,15 +80,32 @@ describe("MessageWriter", () => {
       });
     };
 
-    testNum("int8", 1, -3, (data) => writeInt8(data, -3, 0));
-    testNum("uint8", 1, 13, (data) => writeInt8(data, 13, 0));
-    testNum("int16", 2, -21, (data) => writeInt16LE(data, -21, 0));
-    testNum("uint16", 2, 21, (data) => writeUInt16LE(data, 21, 0));
-    testNum("int32", 4, -210010, (data) => writeInt32LE(data, -210010, 0));
-    testNum("uint32", 4, 210010, (data) => writeUInt32LE(data, 210010, 0));
-    testNum("float32", 4, 5.5, (data) => writeFloatLE(data, 5.5, 0));
+    testNum("int8", 1, -3, (data) => {
+      writeInt8(data, -3, 0);
+    });
+    testNum("uint8", 1, 13, (data) => {
+      writeInt8(data, 13, 0);
+    });
+    testNum("int16", 2, -21, (data) => {
+      writeInt16LE(data, -21, 0);
+    });
+    testNum("uint16", 2, 21, (data) => {
+      writeUInt16LE(data, 21, 0);
+    });
+    testNum("int32", 4, -210010, (data) => {
+      writeInt32LE(data, -210010, 0);
+    });
+    testNum("uint32", 4, 210010, (data) => {
+      writeUInt32LE(data, 210010, 0);
+    });
+    testNum("float32", 4, 5.5, (data) => {
+      writeFloatLE(data, 5.5, 0);
+    });
     // eslint-disable-next-line @typescript-eslint/no-loss-of-precision
-    testNum("float64", 8, 0xdeadbeefcafebabe, (data) => writeDoubleLE(data, 0xdeadbeefcafebabe, 0));
+    testNum("float64", 8, 0xdeadbeefcafebab, (data) => {
+      // eslint-disable-next-line @typescript-eslint/no-loss-of-precision
+      writeDoubleLE(data, 0xdeadbeefcafebab, 0);
+    });
 
     it("writes strings", () => {
       const writer = new MessageWriter(parseMessageDefinition("string name"));

src/MessageWriter.ts

@@ -7,7 +7,7 @@
 //   found at http://www.apache.org/licenses/LICENSE-2.0
 //   You may not use this file except in compliance with the License.
 
-import { MessageDefinition, MessageDefinitionField } from "@foxglove/message-definition";
+import { MessageDefinition, MessageDefinitionField } from "@lichtblick/message-definition";
 
 import { stringLengthUtf8 } from "./stringLengthUtf8";
 
@@ -146,7 +146,7 @@ class StandardTypeWriter {
     }
   }
 
-  // eslint-disable-next-line @foxglove/no-boolean-parameters
+  // eslint-disable-next-line @lichtblick/no-boolean-parameters
   bool(value: boolean): void {
     this.uint8(value ? 1 : 0);
   }

src/buildReader.ts

@@ -1,4 +1,4 @@
-import { MessageDefinition, MessageDefinitionField } from "@foxglove/message-definition";
+import { MessageDefinition, MessageDefinitionField } from "@lichtblick/message-definition";
 
 import { createParsers, StandardTypeReader } from ".";
 import { deserializers, fixedSizeTypes, FixedSizeTypes } from "./BuiltinDeserialize";

src/decodeString.ts

@@ -9,6 +9,9 @@ export default function decodeString(data: Uint8Array): string {
   if (data.length >= 50) {
     return decoder.decode(data);
   }
+
+  // Disable the prefer-for-of rule for this specific case
+  // eslint-disable-next-line @typescript-eslint/prefer-for-of
   for (let i = 0; i < data.length; i++) {
     // eslint-disable-next-line @typescript-eslint/strict-boolean-expressions
     if (data[i]! & 0x80) {

tsconfig.eslint.json

@@ -1,7 +1,7 @@
 // -*- jsonc -*-
 // tsconfig for eslint
 {
-  "extends": "@foxglove/tsconfig/base",
+  "extends": "@lichtblick/tsconfig/base",
   "include": ["./src/**/*", "./bench/**/*"],
   "compilerOptions": {
     "lib": ["DOM", "es2020"]

tsconfig.json

@@ -1,6 +1,6 @@
 // -*- jsonc -*-
 {
-  "extends": "@foxglove/tsconfig/base",
+  "extends": "@lichtblick/tsconfig/base",
   "include": ["./src/**/*"],
   "compilerOptions": {
     "rootDir": "./src",