remove parseChannel stuff

.vscode/extensions.json

@@ -6,6 +6,7 @@
     "orta.vscode-jest",
     "ms-vscode.cpptools-extension-pack",
     "ms-vscode-remote.vscode-remote-extensionpack",
-    "streetsidesoftware.code-spell-checker"
+    "streetsidesoftware.code-spell-checker",
+    "ms-python.flake8"
   ]
 }

.vscode/settings.json

@@ -27,17 +27,17 @@
     "**/dist": true
   },
 
-  "python.formatting.provider": "black",
+  "[python]": {
+    "editor.defaultFormatter": "ms-python.black-formatter"
+  },
   "python.analysis.typeCheckingMode": "strict",
-  "python.linting.flake8Enabled": true,
-  "python.linting.enabled": true,
-  "python.linting.flake8Args": ["--config", "python/.flake8"],
   "python.analysis.extraPaths": [
     "./python/mcap",
     "./python/mcap-protobuf-support",
     "./python/mcap-ros1-support",
     "./python/mcap-ros2-support"
   ],
+  "flake8.args": ["--config", "python/.flake8"],
 
   // https://github.com/microsoft/vscode-cpptools/issues/722
   "C_Cpp.autoAddFileAssociations": false,

typescript/examples/bag2mcap/package.json

@@ -45,7 +45,7 @@
     "eslint-plugin-prettier": "5.0.1",
     "lodash": "4.17.21",
     "prettier": "3.1.0",
-    "protobufjs": "7.2.2",
+    "protobufjs": "7.2.5",
     "ts-node": "10.9.1",
     "tsconfig-paths": "4.1.2",
     "typescript": "5.2.2"

typescript/examples/validate/package.json

@@ -29,7 +29,9 @@
     "@foxglove/wasm-bz2": "0.1.1",
     "@foxglove/wasm-lz4": "1.0.2",
     "@foxglove/wasm-zstd": "1.0.1",
-    "@mcap/core": "*",
+    "@mcap/core": "workspace:*",
+    "@mcap/nodejs": "workspace:*",
+    "@mcap/support": "workspace:*",
     "@types/jest": "29.5.8",
     "@types/lodash": "4.14.191",
     "@types/node": "18.13.0",
@@ -46,7 +48,7 @@
     "jest": "29.7.0",
     "lodash": "4.17.21",
     "prettier": "3.1.0",
-    "protobufjs": "7.2.2",
+    "protobufjs": "7.2.5",
     "ts-jest": "29.1.1",
     "ts-node": "10.9.1",
     "tsconfig-paths": "4.1.2",

typescript/examples/validate/scripts/validate.ts

@@ -1,3 +1,6 @@
+import { parse as parseMessageDefinition } from "@foxglove/rosmsg";
+import { LazyMessageReader as ROS1LazyMessageReader } from "@foxglove/rosmsg-serialization";
+import { MessageReader as ROS2MessageReader } from "@foxglove/rosmsg2-serialization";
 import {
   hasMcapPrefix,
   McapConstants,
@@ -6,13 +9,16 @@ import {
   McapTypes,
 } from "@mcap/core";
 import { FileHandleReadable } from "@mcap/nodejs";
-import { loadDecompressHandlers, parseChannel, ParsedChannel } from "@mcap/support";
+import { loadDecompressHandlers } from "@mcap/support";
 import { program } from "commander";
 import { createReadStream } from "fs";
 import fs from "fs/promises";
 import { isEqual } from "lodash";
 import { performance } from "perf_hooks";
+import protobufjs from "protobufjs";
+import { FileDescriptorSet } from "protobufjs/ext/descriptor";
 
+type Channel = McapTypes.Channel;
 type TypedMcapRecord = McapTypes.TypedMcapRecord;
 
 function log(...data: unknown[]) {
@@ -90,7 +96,10 @@ async function validate(
   const schemasById = new Map<number, McapTypes.TypedMcapRecords["Schema"]>();
   const channelInfoById = new Map<
     number,
-    { info: McapTypes.Channel; parsedChannel: ParsedChannel }
+    {
+      info: Channel;
+      messageDeserializer?: (data: ArrayBufferView) => unknown;
+    }
   >();
 
   function processRecord(record: TypedMcapRecord) {
@@ -120,17 +129,47 @@ async function validate(
           }
           break;
         }
-        let schema: McapTypes.Schema | undefined;
-        if (record.schemaId !== 0) {
-          schema = schemasById.get(record.schemaId);
-          if (!schema) {
-            throw new Error(`Missing schema ${record.schemaId} for channel ${record.id}`);
-          }
+        if (record.schemaId === 0) {
+          throw new Error(
+            `Channel ${record.id} has no schema; channels without schemas are not supported`,
+          );
+        }
+        const schema = schemasById.get(record.schemaId);
+        if (!schema) {
+          throw new Error(`Missing schema ${record.schemaId} for channel ${record.id}`);
         }
-        channelInfoById.set(record.id, {
-          info: record,
-          parsedChannel: parseChannel({ schema, messageEncoding: record.messageEncoding }),
-        });
+        let messageDeserializer: (data: ArrayBufferView) => unknown;
+        if (record.messageEncoding === "ros1") {
+          const reader = new ROS1LazyMessageReader(
+            parseMessageDefinition(new TextDecoder().decode(schema.data)),
+          );
+          messageDeserializer = (data) => {
+            const size = reader.size(data);
+            if (size !== data.byteLength) {
+              throw new Error(`Message size ${size} should match buffer length ${data.byteLength}`);
+            }
+            return reader.readMessage(data).toJSON();
+          };
+        } else if (record.messageEncoding === "ros2") {
+          const reader = new ROS2MessageReader(
+            parseMessageDefinition(new TextDecoder().decode(schema.data), {
+              ros2: true,
+            }),
+          );
+          messageDeserializer = (data) => reader.readMessage(data);
+        } else if (record.messageEncoding === "protobuf") {
+          const root = protobufjs.Root.fromDescriptor(FileDescriptorSet.decode(schema.data));
+          const type = root.lookupType(schema.name);
+
+          messageDeserializer = (data) =>
+            type.decode(new Uint8Array(data.buffer, data.byteOffset, data.byteLength));
+        } else if (record.messageEncoding === "json") {
+          const textDecoder = new TextDecoder();
+          messageDeserializer = (data) => JSON.parse(textDecoder.decode(data));
+        } else {
+          throw new Error(`unsupported encoding ${record.messageEncoding}`);
+        }
+        channelInfoById.set(record.id, { info: record, messageDeserializer });
         break;
       }
 
@@ -140,7 +179,12 @@ async function validate(
           throw new Error(`message for channel ${record.channelId} with no prior channel info`);
         }
         if (deserialize) {
-          const message = channelInfo.parsedChannel.deserialize(record.data);
+          if (channelInfo.messageDeserializer == undefined) {
+            throw new Error(
+              `No deserializer available for channel id: ${channelInfo.info.id} ${channelInfo.info.messageEncoding}`,
+            );
+          }
+          const message = channelInfo.messageDeserializer(record.data);
           if (dump) {
             log(message);
           }

typescript/support/package.json

@@ -55,7 +55,6 @@
     "@foxglove/message-definition": "^0.3.0",
     "@foxglove/omgidl-parser": "^1.0.0",
     "@foxglove/omgidl-serialization": "^1.0.0",
-    "@foxglove/protobufjs": "0.0.1-toobject-bigint.1",
     "@foxglove/ros2idl-parser": "^0.3.0",
     "@foxglove/rosmsg": "^4.2.2",
     "@foxglove/rosmsg-serialization": "^2.0.2",
@@ -66,6 +65,7 @@
     "@foxglove/wasm-zstd": "^1.0.1",
     "@protobufjs/base64": "^1.1.2",
     "flatbuffers": "^23.5.26",
-    "flatbuffers_reflection": "^0.0.7"
+    "flatbuffers_reflection": "^0.0.7",
+    "protobufjs": "7.2.5"
   }
 }

typescript/support/src/index.ts

@@ -1,7 +1,2 @@
 export * from "./decompressHandlers";
-export * from "./parseChannel";
-export * from "./parseFlatbufferSchema";
-export * from "./parseJsonSchema";
-export * from "./parseProtobufSchema";
-export * from "./protobufDefinitionsToDatatypes";
 export * from "./protobufDescriptors";