Websocket Bridge

        classDiagram
class WebsocketBridge {
    - WebsocketBridgeConfig
    - WebsocketBridgeState
    - IpcGraph
    - IpcEntityManager

    - Foxglove WebSocket Server

    + start()
    + stop()

    + callback__Ws__*()
    + callback_IpcGraph_*()
    + callback_Ipc_*()
}

class WebsocketBridgeConfig {
    - WS Server Config
    - IPC Config
    - Topic/Service Whitelists/Blacklists
}

class WebsocketBridgeState {
  - Map: IPC Topics <-> WS Channels
  - Map: WS Channels <-> WS Clients
  - Map: IPC Services <-> WS Services
  - Map: WS Services <-> WS Clients

  + add/remove/has...()
}

class IpcGraph {
    - Topic/Type Database
    - Discovery

    + start()
    + stop()

    + endPointInfoUpdateCallback()

    + add/removePublisherEndpoint()
    + add/removeSubscriberEndpoint()
    + topicHasAnyEndpoint()
    + add/remove/hasTopic()

    + add/remove/hasServiceServerEndpoint()
    + add/remove/hasServiceClientEndpoint()
    + add/remove/hasService()
}

class IpcEntityManager {
    - Subscribers
    - Publishers
    - ServiceClients

    + start()
    + stop()

    + add/remove/hasSubscriber()
    + add/remove/hasPublisher()

    + callService()
    + callServiceAsync()

    + callback__ServiceResponse()
}

class Foxglove WebSocket Server {
    - State/Clients
    - Config

    + start()
    + stop()

    + add/removeChannels()
    + sendMessage()

    + add/removeServices()
    + sendServiceResponse()
    + sendServiceError()

    + updateConnectionGraph()
}

WebsocketBridge --> WebsocketBridgeConfig
WebsocketBridge --> WebsocketBridgeState
WebsocketBridge --> IpcGraph
WebsocketBridge --> IpcEntityManager
WebsocketBridge --> Foxglove WebSocket Server