Merge pull request #16 from dimensionalOS/typescript-gen

Typescript gen

Author: leshy

.github/workflows/release.yml

@@ -0,0 +1,29 @@
+name: Release to PyPI
+
+on:
+  push:
+    tags: ['v*']
+
+jobs:
+  release:
+    runs-on: ubuntu-latest
+    permissions:
+      id-token: write  # for trusted publishing
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install Nix
+        uses: cachix/install-nix-action@v27
+        with:
+          extra_nix_config: |
+            experimental-features = nix-command flakes
+
+      # likely we don't need to have these bindings in the actual repo
+      - name: Generate LCM bindings
+        run: nix develop --command ./generate.sh
+
+      - name: Build package
+        run: nix develop --command python -m build
+
+      - name: Publish to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1

README.md

@@ -20,6 +20,7 @@ This will:
 3. Generate C++ bindings (`generated/cpp_lcm_msgs/`)
 4. Generate C# bindings (`generated/cs_lcm_msgs/`)
 5. Generate Java bindings (`generated/java_lcm_msgs/`)
+6. Generate Typescript bindings (`generated/ts_lcm_msgs/`)
 
 ## Directory Structure
 

flake.nix

@@ -18,6 +18,9 @@
           buildInputs = [
             lcmgen
             pkgs.python3
+            pkgs.python3Packages.build
+            pkgs.ruff
+            pkgs.deno
           ];
         };
       });

generate.sh

@@ -4,12 +4,14 @@ set -euo pipefail
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 
+mkdir -p "$SCRIPT_DIR/generated"
+
 python3 "$SCRIPT_DIR/sources/ros_to_lcm.py"
 
 echo -e "\033[32mRos -> LCM done\033[0m"
 
 # Generate Python bindings
-"$SCRIPT_DIR/generated/generate_python.sh"
+"$SCRIPT_DIR/tools/generate_python.sh"
 echo -e "\033[32mLCM -> Python done\033[0m"
 
 # Generate C++ bindings
@@ -26,3 +28,8 @@ echo -e "\033[32mLCM -> C# done\033[0m"
 rm -rf "$SCRIPT_DIR/generated/java_lcm_msgs"
 "$SCRIPT_DIR/sources/lcm_to_generated.sh" -j "$SCRIPT_DIR/lcm_types" -o "$SCRIPT_DIR/generated/java_lcm_msgs"
 echo -e "\033[32mLCM -> Java done\033[0m"
+
+# Generate TypeScript bindings
+rm -rf "$SCRIPT_DIR/generated/ts_lcm_msgs"
+deno run --allow-read --allow-write "$SCRIPT_DIR/tools/ts/gen/mod.ts" -q -o "$SCRIPT_DIR/generated/ts_lcm_msgs" "$SCRIPT_DIR/lcm_types"/*.lcm
+echo -e "\033[32mLCM -> TypeScript done\033[0m"

generated/ts_lcm_msgs/actionlib_msgs/GoalID.ts

@@ -0,0 +1,79 @@
+// Auto-generated by lcm-ts. DO NOT EDIT.
+
+import { Time } from "../std_msgs/Time.ts";
+
+export class GoalID {
+  static readonly _HASH = 0xe6e8e4d2dcced2c8n;
+  static readonly _NAME = "actionlib_msgs.GoalID";
+
+  stamp: Time;
+  id: string;
+
+  constructor(init?: Partial<GoalID>) {
+    this.stamp = init?.stamp ?? new Time();
+    this.id = init?.id ?? "";
+  }
+
+  static decode(data: Uint8Array): GoalID {
+    const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+    let offset = 0;
+
+    // Verify fingerprint
+    const hash = view.getBigUint64(offset, false);
+    offset += 8;
+    if (hash !== GoalID._HASH) {
+      throw new Error(`Hash mismatch: expected ${GoalID._HASH.toString(16)}, got ${hash.toString(16)}`);
+    }
+
+    const result = new GoalID();
+    ({ offset } = GoalID._decodeOne(view, offset, result));
+    return result;
+  }
+
+  static _decodeOne(view: DataView, offset: number, target: GoalID): { offset: number } {
+    target.stamp = new Time();
+    ({ offset } = Time._decodeOne(view, offset, target.stamp));
+    {
+      const len = view.getUint32(offset, false);
+      offset += 4;
+      target.id = new TextDecoder().decode(new Uint8Array(view.buffer, view.byteOffset + offset, len - 1));
+      offset += len;
+    }
+    return { offset };
+  }
+
+  encode(): Uint8Array {
+    const size = 8 + this._encodedSize();
+    const data = new Uint8Array(size);
+    const view = new DataView(data.buffer);
+    let offset = 0;
+
+    // Write fingerprint
+    view.setBigUint64(offset, GoalID._HASH, false);
+    offset += 8;
+
+    offset = this._encodeOne(view, offset);
+    return data;
+  }
+
+  _encodeOne(view: DataView, offset: number): number {
+    offset = this.stamp._encodeOne(view, offset);
+    {
+      const encoded = new TextEncoder().encode(this.id);
+      view.setUint32(offset, encoded.length + 1, false);
+      offset += 4;
+      new Uint8Array(view.buffer, view.byteOffset + offset).set(encoded);
+      offset += encoded.length;
+      view.setUint8(offset, 0); // null terminator
+      offset += 1;
+    }
+    return offset;
+  }
+
+  _encodedSize(): number {
+    let size = 0;
+    size += this.stamp._encodedSize();
+    size += 4 + new TextEncoder().encode(this.id).length + 1;
+    return size;
+  }
+}

generated/ts_lcm_msgs/actionlib_msgs/GoalStatus.ts

@@ -0,0 +1,97 @@
+// Auto-generated by lcm-ts. DO NOT EDIT.
+
+import { GoalID } from "./GoalID.ts";
+
+export class GoalStatus {
+  static readonly _HASH = 0xe4d2dccee8caf0e8n;
+  static readonly _NAME = "actionlib_msgs.GoalStatus";
+
+  static readonly PENDING = 0;
+  static readonly ACTIVE = 1;
+  static readonly PREEMPTED = 2;
+  static readonly SUCCEEDED = 3;
+  static readonly ABORTED = 4;
+  static readonly REJECTED = 5;
+  static readonly PREEMPTING = 6;
+  static readonly RECALLING = 7;
+  static readonly RECALLED = 8;
+  static readonly LOST = 9;
+
+  goal_id: GoalID;
+  status: number;
+  text: string;
+
+  constructor(init?: Partial<GoalStatus>) {
+    this.goal_id = init?.goal_id ?? new GoalID();
+    this.status = init?.status ?? 0;
+    this.text = init?.text ?? "";
+  }
+
+  static decode(data: Uint8Array): GoalStatus {
+    const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+    let offset = 0;
+
+    // Verify fingerprint
+    const hash = view.getBigUint64(offset, false);
+    offset += 8;
+    if (hash !== GoalStatus._HASH) {
+      throw new Error(`Hash mismatch: expected ${GoalStatus._HASH.toString(16)}, got ${hash.toString(16)}`);
+    }
+
+    const result = new GoalStatus();
+    ({ offset } = GoalStatus._decodeOne(view, offset, result));
+    return result;
+  }
+
+  static _decodeOne(view: DataView, offset: number, target: GoalStatus): { offset: number } {
+    target.goal_id = new GoalID();
+    ({ offset } = GoalID._decodeOne(view, offset, target.goal_id));
+    target.status = view.getUint8(offset);
+    offset += 1;
+    {
+      const len = view.getUint32(offset, false);
+      offset += 4;
+      target.text = new TextDecoder().decode(new Uint8Array(view.buffer, view.byteOffset + offset, len - 1));
+      offset += len;
+    }
+    return { offset };
+  }
+
+  encode(): Uint8Array {
+    const size = 8 + this._encodedSize();
+    const data = new Uint8Array(size);
+    const view = new DataView(data.buffer);
+    let offset = 0;
+
+    // Write fingerprint
+    view.setBigUint64(offset, GoalStatus._HASH, false);
+    offset += 8;
+
+    offset = this._encodeOne(view, offset);
+    return data;
+  }
+
+  _encodeOne(view: DataView, offset: number): number {
+    offset = this.goal_id._encodeOne(view, offset);
+    view.setUint8(offset, this.status);
+    offset += 1;
+    {
+      const encoded = new TextEncoder().encode(this.text);
+      view.setUint32(offset, encoded.length + 1, false);
+      offset += 4;
+      new Uint8Array(view.buffer, view.byteOffset + offset).set(encoded);
+      offset += encoded.length;
+      view.setUint8(offset, 0); // null terminator
+      offset += 1;
+    }
+    return offset;
+  }
+
+  _encodedSize(): number {
+    let size = 0;
+    size += this.goal_id._encodedSize();
+    size += 1;
+    size += 4 + new TextEncoder().encode(this.text).length + 1;
+    return size;
+  }
+}

generated/ts_lcm_msgs/actionlib_msgs/GoalStatusArray.ts

@@ -0,0 +1,82 @@
+// Auto-generated by lcm-ts. DO NOT EDIT.
+
+import { Header } from "../std_msgs/Header.ts";
+import { GoalStatus } from "./GoalStatus.ts";
+
+export class GoalStatusArray {
+  static readonly _HASH = 0xeae6bed8d2e6e800n;
+  static readonly _NAME = "actionlib_msgs.GoalStatusArray";
+
+  status_list_length: number;
+  header: Header;
+  status_list: GoalStatus[];
+
+  constructor(init?: Partial<GoalStatusArray>) {
+    this.status_list_length = init?.status_list_length ?? 0;
+    this.header = init?.header ?? new Header();
+    this.status_list = init?.status_list ?? [];
+  }
+
+  static decode(data: Uint8Array): GoalStatusArray {
+    const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+    let offset = 0;
+
+    // Verify fingerprint
+    const hash = view.getBigUint64(offset, false);
+    offset += 8;
+    if (hash !== GoalStatusArray._HASH) {
+      throw new Error(`Hash mismatch: expected ${GoalStatusArray._HASH.toString(16)}, got ${hash.toString(16)}`);
+    }
+
+    const result = new GoalStatusArray();
+    ({ offset } = GoalStatusArray._decodeOne(view, offset, result));
+    return result;
+  }
+
+  static _decodeOne(view: DataView, offset: number, target: GoalStatusArray): { offset: number } {
+    target.status_list_length = view.getInt32(offset, false);
+    offset += 4;
+    target.header = new Header();
+    ({ offset } = Header._decodeOne(view, offset, target.header));
+    target.status_list = new Array(target.status_list_length);
+    for (let i0 = 0; i0 < target.status_list_length; i0++) {
+      target.status_list[i0] = new GoalStatus();
+      ({ offset } = GoalStatus._decodeOne(view, offset, target.status_list[i0]));
+    }
+    return { offset };
+  }
+
+  encode(): Uint8Array {
+    const size = 8 + this._encodedSize();
+    const data = new Uint8Array(size);
+    const view = new DataView(data.buffer);
+    let offset = 0;
+
+    // Write fingerprint
+    view.setBigUint64(offset, GoalStatusArray._HASH, false);
+    offset += 8;
+
+    offset = this._encodeOne(view, offset);
+    return data;
+  }
+
+  _encodeOne(view: DataView, offset: number): number {
+    view.setInt32(offset, this.status_list_length, false);
+    offset += 4;
+    offset = this.header._encodeOne(view, offset);
+    for (let i0 = 0; i0 < this.status_list_length; i0++) {
+      offset = this.status_list[i0]._encodeOne(view, offset);
+    }
+    return offset;
+  }
+
+  _encodedSize(): number {
+    let size = 0;
+    size += 4;
+    size += this.header._encodedSize();
+    for (let i0 = 0; i0 < this.status_list_length; i0++) {
+      size += this.status_list[i0]._encodedSize();
+    }
+    return size;
+  }
+}