wasm-cbuf

Verdant CBUF IDL and message serialization compiled to WebAssembly.

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 a lightweight syntax geared toward C/C++ code generation.

This library provides a WebAssembly build of cbuf wrapped in a TypeScript/JavaScript API for parsing .cbuf message definitions and deserializing cbuf payloads.

Usage

Here's an example of parsing a .cbuf schema. Note that this does not handle #include statements; you must replace all includes with the contents of the included file before calling this method.

import * as Cbuf from "wasm-cbuf"

async function main() {
  await Cbuf.isLoaded

  const result = Cbuf.parseCBufSchema(`struct vec2 { float x; float y; }`)
  console.dir(result)
  /**
    {
      schema: [
        {
          name: 'vec2',
          hashValue: 6141859528966909963n,
          line: 1,
          column: 13,
          naked: false,
          definitions: [
            { name: 'x', type: 'float32' },
            { name: 'y', type: 'float32' }
          ]
        }
      ]
    }
  */
}

main()

Development

You will need node.js >= 16.x, the yarn package manager, and Docker installed.

1. yarn install
2. yarn build
3. yarn test

License

wasm-cbuf is licensed under the Apache-2.0 License.

Releasing

1. Run yarn version --[major|minor|patch] to bump version
2. Run git push && git push --tags to push new tag
3. GitHub Actions will take care of the rest