rosmsg: infer enum types from constants

packages/ros1/package.json

@@ -57,7 +57,7 @@
     "typescript": "5.7.2"
   },
   "dependencies": {
-    "@foxglove/message-definition": "^0.2.0",
+    "@foxglove/message-definition": "^0.4.0",
     "@foxglove/rosmsg": "workspace:^",
     "@foxglove/rosmsg-serialization": "workspace:^",
     "@foxglove/xmlrpc": "workspace:^",

packages/rosmsg-msgs-common/package.json

@@ -50,7 +50,7 @@
     "typescript": "5.7.2"
   },
   "dependencies": {
-    "@foxglove/message-definition": "^0.3.1",
+    "@foxglove/message-definition": "^0.4.0",
     "@foxglove/rosmsg": "workspace:^"
   }
 }

packages/rosmsg-serialization/package.json

@@ -62,6 +62,6 @@
     "typescript": "5.7.2"
   },
   "dependencies": {
-    "@foxglove/message-definition": "^0.3.1"
+    "@foxglove/message-definition": "^0.4.0"
   }
 }

packages/rosmsg/package.json

@@ -39,7 +39,7 @@
     "node": ">= 14"
   },
   "dependencies": {
-    "@foxglove/message-definition": "^0.3.1",
+    "@foxglove/message-definition": "^0.4.0",
     "md5-typescript": "^1.0.5"
   },
   "devDependencies": {

packages/rosmsg/src/buildRos2Type.ts

@@ -1,4 +1,6 @@
-import { MessageDefinition, MessageDefinitionField } from "@foxglove/message-definition";
+import { MessageDefinitionField } from "@foxglove/message-definition";
+
+import { NamedMessageDefinition } from "./types";
 
 /**
  * Parser for ROS 2 type definition lines.
@@ -211,14 +213,24 @@ function normalizeType(type: string): string {
   }
   return type;
 }
-export function buildRos2Type(lines: { line: string }[]): MessageDefinition {
+
+/**
+ * @param topLevelTypeName Required if this is a top-level type that does not contain a "MSG:" line.
+ */
+export function buildRos2Type(
+  lines: { line: string }[],
+  topLevelTypeName?: string,
+): NamedMessageDefinition {
   const definitions: MessageDefinitionField[] = [];
-  let complexTypeName: string | undefined;
+  let complexTypeName = topLevelTypeName;
   for (const { line } of lines) {
     let match;
     if (line.startsWith("#")) {
       continue;
     } else if ((match = /^MSG: ([^ ]+)\s*(?:#.+)?$/.exec(line))) {
+      if (complexTypeName != undefined) {
+        throw new Error(`Unexpected MSG name in top-level type: ${complexTypeName}, ${match[1]!}`);
+      }
       complexTypeName = match[1];
       continue;
     } else if ((match = DEFINITION_LINE_REGEX.exec(line))) {
@@ -274,5 +286,8 @@ export function buildRos2Type(lines: { line: string }[]): MessageDefinition {
       throw new Error(`Could not parse line: '${line}'`);
     }
   }
+  if (complexTypeName == undefined) {
+    throw new Error("Missing name for top-level type definition");
+  }
   return { name: complexTypeName, definitions };
 }

packages/rosmsg/src/index.ts

@@ -3,3 +3,4 @@
 export * from "./md5";
 export * from "./parse";
 export * from "./stringify";
+export * from "./types";

packages/rosmsg/src/md5.test.ts

@@ -111,6 +111,6 @@ string frame_id`,
 
 describe("md5", () => {
   it.each(md5Tests)("should checksum %s", (_name, msgDef, expected) => {
-    expect(md5(parse(msgDef))).toBe(expected);
+    expect(md5(parse(msgDef, { topLevelTypeName: "Ignored" }))).toBe(expected);
   });
 });