@verdant-robotics/cbuf
v2.0.0
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A parser and serializer/deserializer for the cbuf Interface Definition Language (IDL)
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cbuf.js
A TypeScript parser and serializer/deserializer for the Verdant Robotics cbuf Interface Definition Language (IDL)
What is this?
Verdant Robotics robots use an Interface Definition Language and message serialization format called "cbuf". This is similar to other IDLs such as Google Protobufs, FlatBuffers, Cap'n'Proto, DDS IDL+CDR, ROS message definitions, etc. It optimizes for matching on-wire and in-memory representations where possible, and the definition language is oriented toward C++ code generation, although dynamic parsing and non-C++ languages are also supported.
This library provides a TypeScript/JavaScript API for parsing .cbuf
message definitions, and serializing and deserializing binary cbuf payloads.
Usage
Here's a simple example of parsing a single schema definition with no #import statements:
import { preprocessSchema, parseSchema } from "@verdant-robotics/cbuf"
// `preprocessSchema()` is used here to strip comments
const stripped = preprocessSchema(`struct vec2 { float x; float y; } // test`)
const result = parseSchema(stripped)
console.dir(result, { depth: null })
/**
[
{
name: 'vec2',
namespaces: [],
definitions: [ { name: 'x', type: 'float32' }, { name: 'y', type: 'float32' } ],
hashValue: 6141859528966909963n,
isEnum: false,
}
]
*/
Here's a more complete parsing example that handles multiple schema definitions and #import statements:
import { preprocessSchema, parseSchema } from "@verdant-robotics/cbuf"
import { readFileSync, readdirSync } from "fs"
// Load `schemas/*.cbuf` file contents into a Map<string, string> where the
// key is the filename and the value is the file contents
const schemas = new Map<string, string>()
for (const filename of readdirSync("schemas")) {
schemas.set(filename, readFileSync(`schemas/${filename}`, "utf-8"))
}
const schemaToParse = schemas.get("example.cbuf")!
const preprocessed = preprocessSchema(schemaToParse)
const result = parseSchema(preprocessed, schemas)
console.dir(result, { depth: null })
// ...
Refer to the tests for more examples of how to use the library, including serialization and deserialization.
Development
You will need node.js >= 18.x and the yarn
package manager installed.
yarn install
yarn build
yarn test
License
cbuf.js is licensed under the MIT.
Releasing
- Run
yarn version --[major|minor|patch]
to bump version - Run
git push && git push --tags
to push new tag - GitHub Actions will take care of the rest