Foxglove DSD active action user script

script.ts

// Parses the debug json message from the DSD and publishes the currently active action

import { Input } from "./types";

// Define message
type Output = {
  name: string;
};

interface DSDDebugDataElement {
  type: string;
  classname: string;
  next?: DSDDebugDataElement;
  debug_data?: {
    [key: string]: any;
  };
}

export const inputs = ["/debug/dsd/body_behavior"];

export const output = "/active_action";

export default function script(
  event: Input<"/debug/dsd/body_behavior">
): Output {
  function findDeepestElement(data: DSDDebugDataElement): DSDDebugDataElement {
    if (data.next) {
      return findDeepestElement(data.next);
    }
    return data;
  }

  const deepestElement = findDeepestElement(JSON.parse(event.message.data));

  let action_name = deepestElement.classname;

  // Handle sequence elements
  if (
    deepestElement.type === "sequence" &&
    deepestElement.debug_data &&
    deepestElement.debug_data["Active Element"]
  ) {
    action_name = deepestElement.debug_data["Active Element"];
  }

  // Check if we have an action
  if (!["action", "sequence"].includes(deepestElement.type)) {
    action_name = "";
  }

  return {
    name: action_name,
  };
}