commit 1e418f65d6d361a3620b683a97b37e0a3c5a62d7
author James Kuszmaul <jabukuszmaul@gmail.com> Sun Feb 26 14:40:20 2023 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Sun Feb 26 17:38:40 2023 -0800
tree 6ea0873c5a27f1355d06333065d7d25b02aab18d
parent 72a4434efce0ae38b8ba5ff1e6fc59815d8de2d9

Allow using shortened channel names in foxglove_websocket

This makes the websocket server's defaults consistent with log_to_mcap.
By using shortened channel names, we make ti easier to reuse layouts
across nodes (e.g., this way, the /piX prefix will be removed for
the channels available on the current pi being debugged).

Change-Id: Ief1f0c5a8932425017b4718ec9f9d2bae1de2c72
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

aos/util/foxglove_websocket_lib.cc

diff --git a/aos/util/foxglove_websocket_lib.cc b/aos/util/foxglove_websocket_lib.cc
index 1cc3a8a..06c551e 100644
--- a/aos/util/foxglove_websocket_lib.cc
+++ b/aos/util/foxglove_websocket_lib.cc
@@ -1,8 +1,8 @@
 #include "aos/util/foxglove_websocket_lib.h"
 
-#include "aos/util/mcap_logger.h"
-#include "aos/flatbuffer_merge.h"
 #include "absl/strings/escaping.h"
+#include "aos/flatbuffer_merge.h"
+#include "aos/util/mcap_logger.h"
 #include "gflags/gflags.h"
 
 DEFINE_uint32(sorting_buffer_ms, 100,
@@ -17,10 +17,12 @@
 namespace aos {
 FoxgloveWebsocketServer::FoxgloveWebsocketServer(
     aos::EventLoop *event_loop, uint32_t port, Serialization serialization,
-    FetchPinnedChannels fetch_pinned_channels)
+    FetchPinnedChannels fetch_pinned_channels,
+    CanonicalChannelNames canonical_channels)
     : event_loop_(event_loop),
       serialization_(serialization),
       fetch_pinned_channels_(fetch_pinned_channels),
+      canonical_channels_(canonical_channels),
       server_(port, "aos_foxglove") {
   for (const aos::Channel *channel :
        *event_loop_->configuration()->channels()) {
@@ -30,18 +32,28 @@
         (!is_pinned || fetch_pinned_channels_ == FetchPinnedChannels::kYes)) {
       const FlatbufferDetachedBuffer<reflection::Schema> schema =
           RecursiveCopyFlatBuffer(channel->schema());
+      const std::string shortest_name =
+          ShortenedChannelName(event_loop_->configuration(), channel,
+                               event_loop_->name(), event_loop_->node());
+      std::string name_to_send;
+      switch (canonical_channels_) {
+        case CanonicalChannelNames::kCanonical:
+          name_to_send = channel->name()->string_view();
+          break;
+        case CanonicalChannelNames::kShortened:
+          name_to_send = shortest_name;
+          break;
+      }
       const ChannelId id =
           (serialization_ == Serialization::kJson)
               ? server_.addChannel(foxglove::websocket::ChannelWithoutId{
-                    .topic =
-                        channel->name()->str() + " " + channel->type()->str(),
+                    .topic = name_to_send + " " + channel->type()->str(),
                     .encoding = "json",
                     .schemaName = channel->type()->str(),
                     .schema =
                         JsonSchemaForFlatbuffer({channel->schema()}).dump()})
               : server_.addChannel(foxglove::websocket::ChannelWithoutId{
-                    .topic =
-                        channel->name()->str() + " " + channel->type()->str(),
+                    .topic = name_to_send + " " + channel->type()->str(),
                     .encoding = "flatbuffer",
                     .schemaName = channel->type()->str(),
                     .schema = absl::Base64Escape(