MCAP is a modular container format and logging library for pub/sub messages with arbitrary message serialization. It is primarily intended for use in robotics applications, and works well under various workloads, resource constraints, and durability requirements.
Time values (log_time, publish_time, create_time) are represented in
nanoseconds since a user-understood epoch (i.e. Unix epoch, robot boot time,
etc.)
This page hosts a formal specification of MCAP using Kaitai Struct. This specification can be automatically translated into a variety of programming languages to get a parsing library.
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<TR><TD PORT="data_section_crc32_pos">0</TD><TD PORT="data_section_crc32_size">4</TD><TD>u4le</TD><TD PORT="data_section_crc32_type">data_section_crc32</TD></TR>
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<TR><TD PORT="magic_pos">0</TD><TD PORT="magic_size">8</TD><TD>89 4D 43 41 50 30 0D 0A</TD><TD PORT="magic_type">magic</TD></TR>
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label="Mcap::MetadataIndex";
graph[style=dotted];
metadata_index__seq [label=<<TABLE BORDER="0" CELLBORDER="1" CELLSPACING="0">
<TR><TD BGCOLOR="#E0FFE0">pos</TD><TD BGCOLOR="#E0FFE0">size</TD><TD BGCOLOR="#E0FFE0">type</TD><TD BGCOLOR="#E0FFE0">id</TD></TR>
<TR><TD PORT="ofs_metadata_pos">0</TD><TD PORT="ofs_metadata_size">8</TD><TD>u8le</TD><TD PORT="ofs_metadata_type">ofs_metadata</TD></TR>
<TR><TD PORT="len_metadata_pos">8</TD><TD PORT="len_metadata_size">8</TD><TD>u8le</TD><TD PORT="len_metadata_type">len_metadata</TD></TR>
<TR><TD PORT="name_pos">16</TD><TD PORT="name_size">...</TD><TD>PrefixedStr</TD><TD PORT="name_type">name</TD></TR>
</TABLE>>];
metadata_index__inst__metadata [label=<<TABLE BORDER="0" CELLBORDER="1" CELLSPACING="0">
<TR><TD BGCOLOR="#E0FFE0">pos</TD><TD BGCOLOR="#E0FFE0">size</TD><TD BGCOLOR="#E0FFE0">type</TD><TD BGCOLOR="#E0FFE0">id</TD></TR>
<TR><TD PORT="metadata_pos">ofs_metadata</TD><TD PORT="metadata_size">len_metadata</TD><TD>Record</TD><TD PORT="metadata_type">metadata</TD></TR>
</TABLE>>];
}
subgraph cluster__prefixed_str {
label="Mcap::PrefixedStr";
graph[style=dotted];
prefixed_str__seq [label=<<TABLE BORDER="0" CELLBORDER="1" CELLSPACING="0">
<TR><TD BGCOLOR="#E0FFE0">pos</TD><TD BGCOLOR="#E0FFE0">size</TD><TD BGCOLOR="#E0FFE0">type</TD><TD BGCOLOR="#E0FFE0">id</TD></TR>
<TR><TD PORT="len_str_pos">0</TD><TD PORT="len_str_size">4</TD><TD>u4le</TD><TD PORT="len_str_type">len_str</TD></TR>
<TR><TD PORT="str_pos">4</TD><TD PORT="str_size">len_str</TD><TD>str(UTF-8)</TD><TD PORT="str_type">str</TD></TR>
</TABLE>>];
}
subgraph cluster__record {
label="Mcap::Record";
graph[style=dotted];
record__seq [label=<<TABLE BORDER="0" CELLBORDER="1" CELLSPACING="0">
<TR><TD BGCOLOR="#E0FFE0">pos</TD><TD BGCOLOR="#E0FFE0">size</TD><TD BGCOLOR="#E0FFE0">type</TD><TD BGCOLOR="#E0FFE0">id</TD></TR>
<TR><TD PORT="op_pos">0</TD><TD PORT="op_size">1</TD><TD>u1→Opcode</TD><TD PORT="op_type">op</TD></TR>
<TR><TD PORT="len_body_pos">1</TD><TD PORT="len_body_size">8</TD><TD>u8le</TD><TD PORT="len_body_type">len_body</TD></TR>
<TR><TD PORT="body_pos">9</TD><TD PORT="body_size">...</TD><TD>switch (op)</TD><TD PORT="body_type">body</TD></TR>
</TABLE>>];
record__seq_body_switch [label=<<TABLE BORDER="0" CELLBORDER="1" CELLSPACING="0">
<TR><TD BGCOLOR="#F0F2E4">case</TD><TD BGCOLOR="#F0F2E4">type</TD></TR>
<TR><TD>:opcode_attachment</TD><TD PORT="case0">Attachment</TD></TR>
<TR><TD>:opcode_attachment_index</TD><TD PORT="case1">AttachmentIndex</TD></TR>
<TR><TD>:opcode_channel</TD><TD PORT="case2">Channel</TD></TR>
<TR><TD>:opcode_chunk</TD><TD PORT="case3">Chunk</TD></TR>
<TR><TD>:opcode_chunk_index</TD><TD PORT="case4">ChunkIndex</TD></TR>
<TR><TD>:opcode_data_end</TD><TD PORT="case5">DataEnd</TD></TR>
<TR><TD>:opcode_footer</TD><TD PORT="case6">Footer</TD></TR>
<TR><TD>:opcode_header</TD><TD PORT="case7">Header</TD></TR>
<TR><TD>:opcode_message</TD><TD PORT="case8">Message</TD></TR>
<TR><TD>:opcode_message_index</TD><TD PORT="case9">MessageIndex</TD></TR>
<TR><TD>:opcode_metadata</TD><TD PORT="case10">Metadata</TD></TR>
<TR><TD>:opcode_metadata_index</TD><TD PORT="case11">MetadataIndex</TD></TR>
<TR><TD>:opcode_schema</TD><TD PORT="case12">Schema</TD></TR>
<TR><TD>:opcode_statistics</TD><TD PORT="case13">Statistics</TD></TR>
<TR><TD>:opcode_summary_offset</TD><TD PORT="case14">SummaryOffset</TD></TR>
</TABLE>>];
}
subgraph cluster__records {
label="Mcap::Records";
graph[style=dotted];
records__seq [label=<<TABLE BORDER="0" CELLBORDER="1" CELLSPACING="0">
<TR><TD BGCOLOR="#E0FFE0">pos</TD><TD BGCOLOR="#E0FFE0">size</TD><TD BGCOLOR="#E0FFE0">type</TD><TD BGCOLOR="#E0FFE0">id</TD></TR>
<TR><TD PORT="records_pos">0</TD><TD PORT="records_size">...</TD><TD>Record</TD><TD PORT="records_type">records</TD></TR>
<TR><TD COLSPAN="4" PORT="records__repeat">repeat to end of stream</TD></TR>
</TABLE>>];
}
subgraph cluster__schema {
label="Mcap::Schema";
graph[style=dotted];
schema__seq [label=<<TABLE BORDER="0" CELLBORDER="1" CELLSPACING="0">
<TR><TD BGCOLOR="#E0FFE0">pos</TD><TD BGCOLOR="#E0FFE0">size</TD><TD BGCOLOR="#E0FFE0">type</TD><TD BGCOLOR="#E0FFE0">id</TD></TR>
<TR><TD PORT="id_pos">0</TD><TD PORT="id_size">2</TD><TD>u2le</TD><TD PORT="id_type">id</TD></TR>
<TR><TD PORT="name_pos">2</TD><TD PORT="name_size">...</TD><TD>PrefixedStr</TD><TD PORT="name_type">name</TD></TR>
<TR><TD PORT="encoding_pos">...</TD><TD PORT="encoding_size">...</TD><TD>PrefixedStr</TD><TD PORT="encoding_type">encoding</TD></TR>
<TR><TD PORT="len_data_pos">...</TD><TD PORT="len_data_size">4</TD><TD>u4le</TD><TD PORT="len_data_type">len_data</TD></TR>
<TR><TD PORT="data_pos">...</TD><TD PORT="data_size">len_data</TD><TD></TD><TD PORT="data_type">data</TD></TR>
</TABLE>>];
}
subgraph cluster__statistics {
label="Mcap::Statistics";
graph[style=dotted];
statistics__seq [label=<<TABLE BORDER="0" CELLBORDER="1" CELLSPACING="0">
<TR><TD BGCOLOR="#E0FFE0">pos</TD><TD BGCOLOR="#E0FFE0">size</TD><TD BGCOLOR="#E0FFE0">type</TD><TD BGCOLOR="#E0FFE0">id</TD></TR>
<TR><TD PORT="message_count_pos">0</TD><TD PORT="message_count_size">8</TD><TD>u8le</TD><TD PORT="message_count_type">message_count</TD></TR>
<TR><TD PORT="schema_count_pos">8</TD><TD PORT="schema_count_size">2</TD><TD>u2le</TD><TD PORT="schema_count_type">schema_count</TD></TR>
<TR><TD PORT="channel_count_pos">10</TD><TD PORT="channel_count_size">4</TD><TD>u4le</TD><TD PORT="channel_count_type">channel_count</TD></TR>
<TR><TD PORT="attachment_count_pos">14</TD><TD PORT="attachment_count_size">4</TD><TD>u4le</TD><TD PORT="attachment_count_type">attachment_count</TD></TR>
<TR><TD PORT="metadata_count_pos">18</TD><TD PORT="metadata_count_size">4</TD><TD>u4le</TD><TD PORT="metadata_count_type">metadata_count</TD></TR>
<TR><TD PORT="chunk_count_pos">22</TD><TD PORT="chunk_count_size">4</TD><TD>u4le</TD><TD PORT="chunk_count_type">chunk_count</TD></TR>
<TR><TD PORT="message_start_time_pos">26</TD><TD PORT="message_start_time_size">8</TD><TD>u8le</TD><TD PORT="message_start_time_type">message_start_time</TD></TR>
<TR><TD PORT="message_end_time_pos">34</TD><TD PORT="message_end_time_size">8</TD><TD>u8le</TD><TD PORT="message_end_time_type">message_end_time</TD></TR>
<TR><TD PORT="len_channel_message_counts_pos">42</TD><TD PORT="len_channel_message_counts_size">4</TD><TD>u4le</TD><TD PORT="len_channel_message_counts_type">len_channel_message_counts</TD></TR>
<TR><TD PORT="channel_message_counts_pos">46</TD><TD PORT="channel_message_counts_size">len_channel_message_counts</TD><TD>ChannelMessageCounts</TD><TD PORT="channel_message_counts_type">channel_message_counts</TD></TR>
</TABLE>>];
subgraph cluster__channel_message_count {
label="Mcap::Statistics::ChannelMessageCount";
graph[style=dotted];
channel_message_count__seq [label=<<TABLE BORDER="0" CELLBORDER="1" CELLSPACING="0">
<TR><TD BGCOLOR="#E0FFE0">pos</TD><TD BGCOLOR="#E0FFE0">size</TD><TD BGCOLOR="#E0FFE0">type</TD><TD BGCOLOR="#E0FFE0">id</TD></TR>
<TR><TD PORT="channel_id_pos">0</TD><TD PORT="channel_id_size">2</TD><TD>u2le</TD><TD PORT="channel_id_type">channel_id</TD></TR>
<TR><TD PORT="message_count_pos">2</TD><TD PORT="message_count_size">8</TD><TD>u8le</TD><TD PORT="message_count_type">message_count</TD></TR>
</TABLE>>];
}
subgraph cluster__channel_message_counts {
label="Mcap::Statistics::ChannelMessageCounts";
graph[style=dotted];
channel_message_counts__seq [label=<<TABLE BORDER="0" CELLBORDER="1" CELLSPACING="0">
<TR><TD BGCOLOR="#E0FFE0">pos</TD><TD BGCOLOR="#E0FFE0">size</TD><TD BGCOLOR="#E0FFE0">type</TD><TD BGCOLOR="#E0FFE0">id</TD></TR>
<TR><TD PORT="entries_pos">0</TD><TD PORT="entries_size">10</TD><TD>ChannelMessageCount</TD><TD PORT="entries_type">entries</TD></TR>
<TR><TD COLSPAN="4" PORT="entries__repeat">repeat to end of stream</TD></TR>
</TABLE>>];
}
}
subgraph cluster__summary_offset {
label="Mcap::SummaryOffset";
graph[style=dotted];
summary_offset__seq [label=<<TABLE BORDER="0" CELLBORDER="1" CELLSPACING="0">
<TR><TD BGCOLOR="#E0FFE0">pos</TD><TD BGCOLOR="#E0FFE0">size</TD><TD BGCOLOR="#E0FFE0">type</TD><TD BGCOLOR="#E0FFE0">id</TD></TR>
<TR><TD PORT="group_opcode_pos">0</TD><TD PORT="group_opcode_size">1</TD><TD>u1→Opcode</TD><TD PORT="group_opcode_type">group_opcode</TD></TR>
<TR><TD PORT="ofs_group_pos">1</TD><TD PORT="ofs_group_size">8</TD><TD>u8le</TD><TD PORT="ofs_group_type">ofs_group</TD></TR>
<TR><TD PORT="len_group_pos">9</TD><TD PORT="len_group_size">8</TD><TD>u8le</TD><TD PORT="len_group_type">len_group</TD></TR>
</TABLE>>];
summary_offset__inst__group [label=<<TABLE BORDER="0" CELLBORDER="1" CELLSPACING="0">
<TR><TD BGCOLOR="#E0FFE0">pos</TD><TD BGCOLOR="#E0FFE0">size</TD><TD BGCOLOR="#E0FFE0">type</TD><TD BGCOLOR="#E0FFE0">id</TD></TR>
<TR><TD PORT="group_pos">ofs_group</TD><TD PORT="group_size">len_group</TD><TD>Records</TD><TD PORT="group_type">group</TD></TR>
</TABLE>>];
}
subgraph cluster__tuple_str_str {
label="Mcap::TupleStrStr";
graph[style=dotted];
tuple_str_str__seq [label=<<TABLE BORDER="0" CELLBORDER="1" CELLSPACING="0">
<TR><TD BGCOLOR="#E0FFE0">pos</TD><TD BGCOLOR="#E0FFE0">size</TD><TD BGCOLOR="#E0FFE0">type</TD><TD BGCOLOR="#E0FFE0">id</TD></TR>
<TR><TD PORT="key_pos">0</TD><TD PORT="key_size">...</TD><TD>PrefixedStr</TD><TD PORT="key_type">key</TD></TR>
<TR><TD PORT="value_pos">...</TD><TD PORT="value_size">...</TD><TD>PrefixedStr</TD><TD PORT="value_type">value</TD></TR>
</TABLE>>];
}
}
mcap__seq:header_magic_type -> magic__seq [style=bold];
mcap__seq:records_type -> record__seq [style=bold];
record__seq:op_type -> mcap__seq:records__repeat [color="#404040"];
mcap__seq:footer_magic_type -> magic__seq [style=bold];
mcap__inst__ofs_footer:ofs_footer_type -> mcap__inst__footer:footer_pos [color="#404040"];
mcap__inst__footer:footer_type -> record__seq [style=bold];
record__seq:op_size -> mcap__inst__ofs_footer [color="#404040"];
record__seq:len_body_size -> mcap__inst__ofs_footer [color="#404040"];
attachment__seq:name_type -> prefixed_str__seq [style=bold];
attachment__seq:content_type_type -> prefixed_str__seq [style=bold];
attachment__seq:len_data_type -> attachment__seq:data_size [color="#404040"];
attachment__inst__crc32_input_end:crc32_input_end_type -> attachment__seq:invoke_crc32_input_end__if [color="#404040"];
attachment__inst__crc32_input_end:crc32_input_end_type -> attachment__inst__crc32_input:crc32_input_size [color="#404040"];
attachment_index__seq:name_type -> prefixed_str__seq [style=bold];
attachment_index__seq:content_type_type -> prefixed_str__seq [style=bold];
attachment_index__seq:ofs_attachment_type -> attachment_index__inst__attachment:attachment_pos [color="#404040"];
attachment_index__seq:len_attachment_type -> attachment_index__inst__attachment:attachment_size [color="#404040"];
attachment_index__inst__attachment:attachment_type -> record__seq [style=bold];
channel__seq:topic_type -> prefixed_str__seq [style=bold];
channel__seq:message_encoding_type -> prefixed_str__seq [style=bold];
channel__seq:metadata_type -> map_str_str__seq [style=bold];
chunk__seq:compression_type -> prefixed_str__seq [style=bold];
chunk__seq:records_type -> chunk__seq_records_switch [style=bold];
chunk__seq_records_switch:case0 -> records__seq [style=bold];
prefixed_str__seq:str_type -> chunk__seq:records_type [color="#404040"];
chunk_index__seq:len_message_index_offsets_type -> chunk_index__seq:message_index_offsets_size [color="#404040"];
chunk_index__seq:message_index_offsets_type -> message_index_offsets__seq [style=bold];
chunk_index__seq:compression_type -> prefixed_str__seq [style=bold];
chunk_index__seq:ofs_chunk_type -> chunk_index__inst__chunk:chunk_pos [color="#404040"];
chunk_index__seq:len_chunk_type -> chunk_index__inst__chunk:chunk_size [color="#404040"];
chunk_index__inst__chunk:chunk_type -> record__seq [style=bold];
message_index_offsets__seq:entries_type -> message_index_offset__seq [style=bold];
footer__seq:ofs_summary_section_type -> footer__inst__ofs_summary_crc32_input [color="#404040"];
mcap__inst__ofs_footer:ofs_footer_type -> footer__inst__ofs_summary_crc32_input [color="#404040"];
footer__inst__ofs_summary_crc32_input:ofs_summary_crc32_input_type -> footer__inst__summary_crc32_input:summary_crc32_input_pos [color="#404040"];
footer__inst__ofs_summary_crc32_input:ofs_summary_crc32_input_type -> footer__inst__summary_crc32_input:summary_crc32_input_size [color="#404040"];
footer__seq:summary_crc32_size -> footer__inst__summary_crc32_input:summary_crc32_input_size [color="#404040"];
footer__seq:ofs_summary_offset_section_type -> footer__inst__summary_offset_section:summary_offset_section_pos [color="#404040"];
mcap__inst__ofs_footer:ofs_footer_type -> footer__inst__summary_offset_section:summary_offset_section_size [color="#404040"];
footer__seq:ofs_summary_offset_section_type -> footer__inst__summary_offset_section:summary_offset_section_size [color="#404040"];
footer__inst__summary_offset_section:summary_offset_section_type -> records__seq [style=bold];
footer__seq:ofs_summary_offset_section_type -> footer__inst__summary_offset_section:summary_offset_section__if [color="#404040"];
footer__seq:ofs_summary_section_type -> footer__inst__summary_section:summary_section_pos [color="#404040"];
footer__seq:ofs_summary_offset_section_type -> footer__inst__summary_section:summary_section_size [color="#404040"];
mcap__inst__ofs_footer:ofs_footer_type -> footer__inst__summary_section:summary_section_size [color="#404040"];
footer__seq:ofs_summary_section_type -> footer__inst__summary_section:summary_section_size [color="#404040"];
footer__inst__summary_section:summary_section_type -> records__seq [style=bold];
footer__seq:ofs_summary_section_type -> footer__inst__summary_section:summary_section__if [color="#404040"];
header__seq:profile_type -> prefixed_str__seq [style=bold];
header__seq:library_type -> prefixed_str__seq [style=bold];
map_str_str__seq:len_entries_type -> map_str_str__seq:entries_size [color="#404040"];
map_str_str__seq:entries_type -> entries__seq [style=bold];
entries__seq:entries_type -> tuple_str_str__seq [style=bold];
message_index__seq:len_records_type -> message_index__seq:records_size [color="#404040"];
message_index__seq:records_type -> message_index_entries__seq [style=bold];
message_index_entries__seq:entries_type -> message_index_entry__seq [style=bold];
metadata__seq:name_type -> prefixed_str__seq [style=bold];
metadata__seq:metadata_type -> map_str_str__seq [style=bold];
metadata_index__seq:name_type -> prefixed_str__seq [style=bold];
metadata_index__seq:ofs_metadata_type -> metadata_index__inst__metadata:metadata_pos [color="#404040"];
metadata_index__seq:len_metadata_type -> metadata_index__inst__metadata:metadata_size [color="#404040"];
metadata_index__inst__metadata:metadata_type -> record__seq [style=bold];
prefixed_str__seq:len_str_type -> prefixed_str__seq:str_size [color="#404040"];
record__seq:body_type -> record__seq_body_switch [style=bold];
record__seq_body_switch:case0 -> attachment__seq [style=bold];
record__seq_body_switch:case1 -> attachment_index__seq [style=bold];
record__seq_body_switch:case2 -> channel__seq [style=bold];
record__seq_body_switch:case3 -> chunk__seq [style=bold];
record__seq_body_switch:case4 -> chunk_index__seq [style=bold];
record__seq_body_switch:case5 -> data_end__seq [style=bold];
record__seq_body_switch:case6 -> footer__seq [style=bold];
record__seq_body_switch:case7 -> header__seq [style=bold];
record__seq_body_switch:case8 -> message__seq [style=bold];
record__seq_body_switch:case9 -> message_index__seq [style=bold];
record__seq_body_switch:case10 -> metadata__seq [style=bold];
record__seq_body_switch:case11 -> metadata_index__seq [style=bold];
record__seq_body_switch:case12 -> schema__seq [style=bold];
record__seq_body_switch:case13 -> statistics__seq [style=bold];
record__seq_body_switch:case14 -> summary_offset__seq [style=bold];
record__seq:op_type -> record__seq:body_type [color="#404040"];
records__seq:records_type -> record__seq [style=bold];
schema__seq:name_type -> prefixed_str__seq [style=bold];
schema__seq:encoding_type -> prefixed_str__seq [style=bold];
schema__seq:len_data_type -> schema__seq:data_size [color="#404040"];
statistics__seq:len_channel_message_counts_type -> statistics__seq:channel_message_counts_size [color="#404040"];
statistics__seq:channel_message_counts_type -> channel_message_counts__seq [style=bold];
channel_message_counts__seq:entries_type -> channel_message_count__seq [style=bold];
summary_offset__seq:ofs_group_type -> summary_offset__inst__group:group_pos [color="#404040"];
summary_offset__seq:len_group_type -> summary_offset__inst__group:group_size [color="#404040"];
summary_offset__inst__group:group_type -> records__seq [style=bold];
tuple_str_str__seq:key_type -> prefixed_str__seq [style=bold];
tuple_str_str__seq:value_type -> prefixed_str__seq [style=bold];
}