Bump packages and add MessageReaderOptions (#22)

### Changelog
- **[BREAKING]** Time and Duration values are now deserialized as
`{sec,nanosec}` rather than `{sec,nsec}`. The `{sec,nsec}` behavior is
still available via a new `timeType` constructor option.


### Description

- Bump rosmsg2-serialization to ^3 for
foxglove/rosmsg2-serialization#32
- Bump package version to 6.0.0
- Add MessageReaderOptions to constructor

package.json

@@ -1,7 +1,7 @@
 {
   "name": "@foxglove/rosbag2",
-  "version": "5.0.1",
-  "description": "ROS2 (Robot Operating System) bag reader and writer abstract implementation",
+  "version": "6.0.0",
+  "description": "ROS 2 (Robot Operating System) bag reader and writer abstract implementation",
   "license": "MIT",
   "keywords": [
     "ros",
@@ -50,10 +50,10 @@
     "typescript-eslint": "8.17.0"
   },
   "dependencies": {
-    "@foxglove/rosmsg-msgs-common": "^3.0.0",
-    "@foxglove/rosmsg2-serialization": "^2.0.0",
+    "@foxglove/rosmsg-msgs-common": "^3.2.1",
+    "@foxglove/rosmsg2-serialization": "^3.0.0",
     "@foxglove/rostime": "^1.1.2",
-    "@foxglove/schemas": "^1.3.1",
+    "@foxglove/schemas": "^1.6.5",
     "js-yaml": "^4.1.0"
   },
   "packageManager": "yarn@4.5.3"

src/Rosbag2.ts

@@ -1,6 +1,6 @@
 import type { MessageDefinition } from "@foxglove/message-definition";
 import { ros2galactic } from "@foxglove/rosmsg-msgs-common";
-import { MessageReader } from "@foxglove/rosmsg2-serialization";
+import { MessageReader, MessageReaderOptions } from "@foxglove/rosmsg2-serialization";
 import { Time, isLessThan as isTimeLessThan } from "@foxglove/rostime";
 import { foxgloveMessageSchemas, generateRosMsgDefinition } from "@foxglove/schemas/internal";
 
@@ -41,51 +41,51 @@ ROS2_DEFINITIONS_ARRAY.push(imageMarkerArray);
 ROS2_TO_DEFINITIONS.set("foxglove_msgs/msg/ImageMarkerArray", imageMarkerArray);
 
 export class Rosbag2 {
-  // eslint-disable-next-line @foxglove/prefer-hash-private
-  private messageReaders_ = new Map<string, MessageReader>();
-  // eslint-disable-next-line @foxglove/prefer-hash-private
-  private databases_: SqliteDb[];
+  #messageReaders = new Map<string, MessageReader>();
+  #databases: SqliteDb[];
+  #messageReaderOptions?: MessageReaderOptions;
 
-  public constructor(files: SqliteDb[]) {
-    this.databases_ = files;
+  public constructor(files: SqliteDb[], messageReaderOptions?: MessageReaderOptions) {
+    this.#databases = files;
+    this.#messageReaderOptions = messageReaderOptions;
   }
 
   public async open(): Promise<void> {
-    for (const db of this.databases_) {
+    for (const db of this.#databases) {
       await db.open();
     }
   }
 
   public async close(): Promise<void> {
-    for (const db of this.databases_) {
+    for (const db of this.#databases) {
       await db.close();
     }
-    this.databases_ = [];
+    this.#databases = [];
   }
 
   public async readTopics(): Promise<TopicDefinition[]> {
-    if (this.databases_.length === 0) {
+    if (this.#databases.length === 0) {
       return [];
     }
 
-    const firstDb = this.databases_[0]!;
+    const firstDb = this.#databases[0]!;
     return await firstDb.readTopics();
   }
 
   public readMessages(opts: MessageReadOptions = {}): AsyncIterableIterator<Message> {
-    if (this.databases_.length === 0) {
+    if (this.#databases.length === 0) {
       return new MessageIterator([]);
     }
 
-    const rowIterators = this.databases_.map((db) => db.readMessages(opts));
+    const rowIterators = this.#databases.map((db) => db.readMessages(opts));
     return new MessageIterator(
       rowIterators,
-      opts.rawMessages !== true ? this.decodeMessage : undefined,
+      opts.rawMessages !== true ? this.#decodeMessage : undefined,
     );
   }
 
   public async timeRange(): Promise<[min: Time, max: Time]> {
-    if (this.databases_.length === 0) {
+    if (this.#databases.length === 0) {
       return [
         { sec: 0, nsec: 0 },
         { sec: 0, nsec: 0 },
@@ -94,7 +94,7 @@ export class Rosbag2 {
 
     let min = { sec: Number.MAX_SAFE_INTEGER, nsec: 0 };
     let max = { sec: Number.MIN_SAFE_INTEGER, nsec: 0 };
-    for (const db of this.databases_) {
+    for (const db of this.#databases) {
       const [curMin, curMax] = await db.timeRange();
       min = minTime(min, curMin);
       max = maxTime(max, curMax);
@@ -104,11 +104,11 @@ export class Rosbag2 {
 
   public async messageCounts(): Promise<Map<string, number>> {
     const allCounts = new Map<string, number>();
-    if (this.databases_.length === 0) {
+    if (this.#databases.length === 0) {
       return allCounts;
     }
 
-    for (const db of this.databases_) {
+    for (const db of this.#databases) {
       const counts = await db.messageCounts();
       for (const [topic, count] of counts) {
         allCounts.set(topic, (allCounts.get(topic) ?? 0) + count);
@@ -117,17 +117,16 @@ export class Rosbag2 {
     return allCounts;
   }
 
-  // eslint-disable-next-line @foxglove/prefer-hash-private
-  private decodeMessage = (rawMessage: RawMessage): unknown => {
+  #decodeMessage = (rawMessage: RawMessage): unknown => {
     // Find or create a message reader for this message
-    let reader = this.messageReaders_.get(rawMessage.topic.type);
+    let reader = this.#messageReaders.get(rawMessage.topic.type);
     if (reader == undefined) {
       const msgdef = ROS2_TO_DEFINITIONS.get(rawMessage.topic.type);
       if (msgdef == undefined) {
         throw new Error(`Unknown message type: ${rawMessage.topic.type}`);
       }
-      reader = new MessageReader([msgdef, ...ROS2_DEFINITIONS_ARRAY]);
-      this.messageReaders_.set(rawMessage.topic.type, reader);
+      reader = new MessageReader([msgdef, ...ROS2_DEFINITIONS_ARRAY], this.#messageReaderOptions);
+      this.#messageReaders.set(rawMessage.topic.type, reader);
     }
 
     return reader.readMessage(rawMessage.data);

yarn.lock

@@ -439,7 +439,7 @@ __metadata:
   languageName: node
   linkType: hard
 
-"@foxglove/cdr@npm:^3.0.0":
+"@foxglove/cdr@npm:^3.3.0":
   version: 3.3.0
   resolution: "@foxglove/cdr@npm:3.3.0"
   checksum: 10c0/8d24d4468509e6bda9bf8c79eff914a699b806fc7bbed2c517f9da87315c692a8c001f4c0a97cc747a2cf6af7232f3fe9596bbbb81c27b0dbfdf8cb226d01b22
@@ -469,29 +469,29 @@ __metadata:
   languageName: node
   linkType: hard
 
-"@foxglove/message-definition@npm:^0.2.0":
-  version: 0.2.0
-  resolution: "@foxglove/message-definition@npm:0.2.0"
-  checksum: 10c0/d9b873ae2b358882a58abab5d081fd37cb63e8c9005f333f5b635019eebe2b73e5d805797c79c2e3aef5acf6c80efd585c8be212c9a8527c121d5fd5b61f100d
-  languageName: node
-  linkType: hard
-
 "@foxglove/message-definition@npm:^0.3.1":
   version: 0.3.1
   resolution: "@foxglove/message-definition@npm:0.3.1"
   checksum: 10c0/521fadfadcdb9bbde7d28908e429b93a387ded524f8abeb361f27ae5a6f36b8d5dc29cf23dbf0791cc366de59c48dc03aede861faa59df1c64d030b6c659981a
   languageName: node
   linkType: hard
 
+"@foxglove/message-definition@npm:^0.4.0":
+  version: 0.4.0
+  resolution: "@foxglove/message-definition@npm:0.4.0"
+  checksum: 10c0/235db9d110cff442ebf2921d9c166a70ef6a7e2464228353fae5bf016ef0ba6a3e56c62af1620ba1e0430f184d3544ef99a8d9409f39c79f131cb4c0f4b63934
+  languageName: node
+  linkType: hard
+
 "@foxglove/rosbag2@workspace:.":
   version: 0.0.0-use.local
   resolution: "@foxglove/rosbag2@workspace:."
   dependencies:
     "@foxglove/eslint-plugin": "npm:2.0.0"
-    "@foxglove/rosmsg-msgs-common": "npm:^3.0.0"
-    "@foxglove/rosmsg2-serialization": "npm:^2.0.0"
+    "@foxglove/rosmsg-msgs-common": "npm:^3.2.1"
+    "@foxglove/rosmsg2-serialization": "npm:^3.0.0"
     "@foxglove/rostime": "npm:^1.1.2"
-    "@foxglove/schemas": "npm:^1.3.1"
+    "@foxglove/schemas": "npm:^1.6.5"
     "@types/jest": "npm:29.5.14"
     "@types/js-yaml": "npm:4.0.9"
     eslint: "npm:9.16.0"
@@ -504,7 +504,7 @@ __metadata:
   languageName: unknown
   linkType: soft
 
-"@foxglove/rosmsg-msgs-common@npm:^3.0.0":
+"@foxglove/rosmsg-msgs-common@npm:^3.0.0, @foxglove/rosmsg-msgs-common@npm:^3.2.1":
   version: 3.2.1
   resolution: "@foxglove/rosmsg-msgs-common@npm:3.2.1"
   dependencies:
@@ -514,14 +514,14 @@ __metadata:
   languageName: node
   linkType: hard
 
-"@foxglove/rosmsg2-serialization@npm:^2.0.0":
-  version: 2.0.4
-  resolution: "@foxglove/rosmsg2-serialization@npm:2.0.4"
+"@foxglove/rosmsg2-serialization@npm:^3.0.0":
+  version: 3.0.0
+  resolution: "@foxglove/rosmsg2-serialization@npm:3.0.0"
   dependencies:
-    "@foxglove/cdr": "npm:^3.0.0"
-    "@foxglove/message-definition": "npm:^0.2.0"
+    "@foxglove/cdr": "npm:^3.3.0"
+    "@foxglove/message-definition": "npm:^0.4.0"
     "@foxglove/rostime": "npm:^1.1.2"
-  checksum: 10c0/77ad77a63e24785ad4510b952b3088487139404b145c2982697e6421c0be1f6e34b9193ba5d947e10a54ea5a3f3bd7c6e2aaf3aa90d62382358953e4bdb2e31e
+  checksum: 10c0/c5d285dae56761f054faed0f3c1c9ab31b5fa94281a8aad17cc6abb637f0e2484dfaf3b0b9a2731fad4958d283a483a00a36074da5d508f26d65dec19dc7e3cb
   languageName: node
   linkType: hard
 
@@ -542,7 +542,7 @@ __metadata:
   languageName: node
   linkType: hard
 
-"@foxglove/schemas@npm:^1.3.1":
+"@foxglove/schemas@npm:^1.6.5":
   version: 1.6.5
   resolution: "@foxglove/schemas@npm:1.6.5"
   dependencies: