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.
import kaitai_struct_nim_runtime
import options
type
Mcap* = ref object of KaitaiStruct
`headerMagic`*: Mcap_Magic
`records`*: seq[Mcap_Record]
`footerMagic`*: Mcap_Magic
`parent`*: KaitaiStruct
`rawFooterInst`*: seq[byte]
`footerInst`: Mcap_Record
`footerInstFlag`: bool
`ofsFooterInst`: int
`ofsFooterInstFlag`: bool
Mcap_Opcode* = enum
header = 1
footer = 2
schema = 3
channel = 4
message = 5
chunk = 6
message_index = 7
chunk_index = 8
attachment = 9
attachment_index = 10
statistics = 11
metadata = 12
metadata_index = 13
summary_offset = 14
data_end = 15
Mcap_PrefixedStr* = ref object of KaitaiStruct
`lenStr`*: uint32
`str`*: string
`parent`*: KaitaiStruct
Mcap_Chunk* = ref object of KaitaiStruct
`messageStartTime`*: uint64
`messageEndTime`*: uint64
`uncompressedSize`*: uint64
`uncompressedCrc32`*: uint32
`compression`*: Mcap_PrefixedStr
`lenRecords`*: uint64
`records`*: KaitaiStruct
`parent`*: Mcap_Record
`rawRecords`*: seq[byte]
Mcap_DataEnd* = ref object of KaitaiStruct
`dataSectionCrc32`*: uint32
`parent`*: Mcap_Record
Mcap_Channel* = ref object of KaitaiStruct
`id`*: uint16
`schemaId`*: uint16
`topic`*: Mcap_PrefixedStr
`messageEncoding`*: Mcap_PrefixedStr
`metadata`*: Mcap_MapStrStr
`parent`*: Mcap_Record
Mcap_MessageIndex* = ref object of KaitaiStruct
`channelId`*: uint16
`lenRecords`*: uint32
`records`*: Mcap_MessageIndex_MessageIndexEntries
`parent`*: Mcap_Record
`rawRecords`*: seq[byte]
Mcap_MessageIndex_MessageIndexEntry* = ref object of KaitaiStruct
`logTime`*: uint64
`offset`*: uint64
`parent`*: Mcap_MessageIndex_MessageIndexEntries
Mcap_MessageIndex_MessageIndexEntries* = ref object of KaitaiStruct
`entries`*: seq[Mcap_MessageIndex_MessageIndexEntry]
`parent`*: Mcap_MessageIndex
Mcap_Statistics* = ref object of KaitaiStruct
`messageCount`*: uint64
`schemaCount`*: uint16
`channelCount`*: uint32
`attachmentCount`*: uint32
`metadataCount`*: uint32
`chunkCount`*: uint32
`messageStartTime`*: uint64
`messageEndTime`*: uint64
`lenChannelMessageCounts`*: uint32
`channelMessageCounts`*: Mcap_Statistics_ChannelMessageCounts
`parent`*: Mcap_Record
`rawChannelMessageCounts`*: seq[byte]
Mcap_Statistics_ChannelMessageCounts* = ref object of KaitaiStruct
`entries`*: seq[Mcap_Statistics_ChannelMessageCount]
`parent`*: Mcap_Statistics
Mcap_Statistics_ChannelMessageCount* = ref object of KaitaiStruct
`channelId`*: uint16
`messageCount`*: uint64
`parent`*: Mcap_Statistics_ChannelMessageCounts
Mcap_AttachmentIndex* = ref object of KaitaiStruct
`ofsAttachment`*: uint64
`lenAttachment`*: uint64
`logTime`*: uint64
`createTime`*: uint64
`dataSize`*: uint64
`name`*: Mcap_PrefixedStr
`contentType`*: Mcap_PrefixedStr
`parent`*: Mcap_Record
`rawAttachmentInst`*: seq[byte]
`attachmentInst`: Mcap_Record
`attachmentInstFlag`: bool
Mcap_Schema* = ref object of KaitaiStruct
`id`*: uint16
`name`*: Mcap_PrefixedStr
`encoding`*: Mcap_PrefixedStr
`lenData`*: uint32
`data`*: seq[byte]
`parent`*: Mcap_Record
Mcap_MapStrStr* = ref object of KaitaiStruct
`lenEntries`*: uint32
`entries`*: Mcap_MapStrStr_Entries
`parent`*: KaitaiStruct
`rawEntries`*: seq[byte]
Mcap_MapStrStr_Entries* = ref object of KaitaiStruct
`entries`*: seq[Mcap_TupleStrStr]
`parent`*: Mcap_MapStrStr
Mcap_SummaryOffset* = ref object of KaitaiStruct
`groupOpcode`*: Mcap_Opcode
`ofsGroup`*: uint64
`lenGroup`*: uint64
`parent`*: Mcap_Record
`rawGroupInst`*: seq[byte]
`groupInst`: Mcap_Records
`groupInstFlag`: bool
Mcap_Attachment* = ref object of KaitaiStruct
`logTime`*: uint64
`createTime`*: uint64
`name`*: Mcap_PrefixedStr
`contentType`*: Mcap_PrefixedStr
`lenData`*: uint64
`data`*: seq[byte]
`invokeCrc32InputEnd`*: seq[byte]
`crc32`*: uint32
`parent`*: Mcap_Record
`crc32InputEndInst`: int
`crc32InputEndInstFlag`: bool
`crc32InputInst`: seq[byte]
`crc32InputInstFlag`: bool
Mcap_Metadata* = ref object of KaitaiStruct
`name`*: Mcap_PrefixedStr
`metadata`*: Mcap_MapStrStr
`parent`*: Mcap_Record
Mcap_Header* = ref object of KaitaiStruct
`profile`*: Mcap_PrefixedStr
`library`*: Mcap_PrefixedStr
`parent`*: Mcap_Record
Mcap_Message* = ref object of KaitaiStruct
`channelId`*: uint16
`sequence`*: uint32
`logTime`*: uint64
`publishTime`*: uint64
`data`*: seq[byte]
`parent`*: Mcap_Record
Mcap_TupleStrStr* = ref object of KaitaiStruct
`key`*: Mcap_PrefixedStr
`value`*: Mcap_PrefixedStr
`parent`*: Mcap_MapStrStr_Entries
Mcap_MetadataIndex* = ref object of KaitaiStruct
`ofsMetadata`*: uint64
`lenMetadata`*: uint64
`name`*: Mcap_PrefixedStr
`parent`*: Mcap_Record
`rawMetadataInst`*: seq[byte]
`metadataInst`: Mcap_Record
`metadataInstFlag`: bool
Mcap_Magic* = ref object of KaitaiStruct
`magic`*: seq[byte]
`parent`*: Mcap
Mcap_Records* = ref object of KaitaiStruct
`records`*: seq[Mcap_Record]
`parent`*: KaitaiStruct
Mcap_Footer* = ref object of KaitaiStruct
`ofsSummarySection`*: uint64
`ofsSummaryOffsetSection`*: uint64
`summaryCrc32`*: uint32
`parent`*: Mcap_Record
`rawSummarySectionInst`*: seq[byte]
`rawSummaryOffsetSectionInst`*: seq[byte]
`summarySectionInst`: Mcap_Records
`summarySectionInstFlag`: bool
`summaryOffsetSectionInst`: Mcap_Records
`summaryOffsetSectionInstFlag`: bool
`ofsSummaryCrc32InputInst`: int
`ofsSummaryCrc32InputInstFlag`: bool
`summaryCrc32InputInst`: seq[byte]
`summaryCrc32InputInstFlag`: bool
Mcap_Record* = ref object of KaitaiStruct
`op`*: Mcap_Opcode
`lenBody`*: uint64
`body`*: KaitaiStruct
`parent`*: KaitaiStruct
`rawBody`*: seq[byte]
Mcap_ChunkIndex* = ref object of KaitaiStruct
`messageStartTime`*: uint64
`messageEndTime`*: uint64
`ofsChunk`*: uint64
`lenChunk`*: uint64
`lenMessageIndexOffsets`*: uint32
`messageIndexOffsets`*: Mcap_ChunkIndex_MessageIndexOffsets
`messageIndexLength`*: uint64
`compression`*: Mcap_PrefixedStr
`compressedSize`*: uint64
`uncompressedSize`*: uint64
`parent`*: Mcap_Record
`rawMessageIndexOffsets`*: seq[byte]
`rawChunkInst`*: seq[byte]
`chunkInst`: Mcap_Record
`chunkInstFlag`: bool
Mcap_ChunkIndex_MessageIndexOffset* = ref object of KaitaiStruct
`channelId`*: uint16
`offset`*: uint64
`parent`*: Mcap_ChunkIndex_MessageIndexOffsets
Mcap_ChunkIndex_MessageIndexOffsets* = ref object of KaitaiStruct
`entries`*: seq[Mcap_ChunkIndex_MessageIndexOffset]
`parent`*: Mcap_ChunkIndex
proc read*(_: typedesc[Mcap], io: KaitaiStream, root: KaitaiStruct, parent: KaitaiStruct): Mcap
proc read*(_: typedesc[Mcap_PrefixedStr], io: KaitaiStream, root: KaitaiStruct, parent: KaitaiStruct): Mcap_PrefixedStr
proc read*(_: typedesc[Mcap_Chunk], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Chunk
proc read*(_: typedesc[Mcap_DataEnd], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_DataEnd
proc read*(_: typedesc[Mcap_Channel], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Channel
proc read*(_: typedesc[Mcap_MessageIndex], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_MessageIndex
proc read*(_: typedesc[Mcap_MessageIndex_MessageIndexEntry], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_MessageIndex_MessageIndexEntries): Mcap_MessageIndex_MessageIndexEntry
proc read*(_: typedesc[Mcap_MessageIndex_MessageIndexEntries], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_MessageIndex): Mcap_MessageIndex_MessageIndexEntries
proc read*(_: typedesc[Mcap_Statistics], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Statistics
proc read*(_: typedesc[Mcap_Statistics_ChannelMessageCounts], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Statistics): Mcap_Statistics_ChannelMessageCounts
proc read*(_: typedesc[Mcap_Statistics_ChannelMessageCount], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Statistics_ChannelMessageCounts): Mcap_Statistics_ChannelMessageCount
proc read*(_: typedesc[Mcap_AttachmentIndex], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_AttachmentIndex
proc read*(_: typedesc[Mcap_Schema], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Schema
proc read*(_: typedesc[Mcap_MapStrStr], io: KaitaiStream, root: KaitaiStruct, parent: KaitaiStruct): Mcap_MapStrStr
proc read*(_: typedesc[Mcap_MapStrStr_Entries], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_MapStrStr): Mcap_MapStrStr_Entries
proc read*(_: typedesc[Mcap_SummaryOffset], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_SummaryOffset
proc read*(_: typedesc[Mcap_Attachment], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Attachment
proc read*(_: typedesc[Mcap_Metadata], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Metadata
proc read*(_: typedesc[Mcap_Header], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Header
proc read*(_: typedesc[Mcap_Message], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Message
proc read*(_: typedesc[Mcap_TupleStrStr], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_MapStrStr_Entries): Mcap_TupleStrStr
proc read*(_: typedesc[Mcap_MetadataIndex], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_MetadataIndex
proc read*(_: typedesc[Mcap_Magic], io: KaitaiStream, root: KaitaiStruct, parent: Mcap): Mcap_Magic
proc read*(_: typedesc[Mcap_Records], io: KaitaiStream, root: KaitaiStruct, parent: KaitaiStruct): Mcap_Records
proc read*(_: typedesc[Mcap_Footer], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Footer
proc read*(_: typedesc[Mcap_Record], io: KaitaiStream, root: KaitaiStruct, parent: KaitaiStruct): Mcap_Record
proc read*(_: typedesc[Mcap_ChunkIndex], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_ChunkIndex
proc read*(_: typedesc[Mcap_ChunkIndex_MessageIndexOffset], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_ChunkIndex_MessageIndexOffsets): Mcap_ChunkIndex_MessageIndexOffset
proc read*(_: typedesc[Mcap_ChunkIndex_MessageIndexOffsets], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_ChunkIndex): Mcap_ChunkIndex_MessageIndexOffsets
proc footer*(this: Mcap): Mcap_Record
proc ofsFooter*(this: Mcap): int
proc attachment*(this: Mcap_AttachmentIndex): Mcap_Record
proc group*(this: Mcap_SummaryOffset): Mcap_Records
proc crc32InputEnd*(this: Mcap_Attachment): int
proc crc32Input*(this: Mcap_Attachment): seq[byte]
proc metadata*(this: Mcap_MetadataIndex): Mcap_Record
proc summarySection*(this: Mcap_Footer): Mcap_Records
proc summaryOffsetSection*(this: Mcap_Footer): Mcap_Records
proc ofsSummaryCrc32Input*(this: Mcap_Footer): int
proc summaryCrc32Input*(this: Mcap_Footer): seq[byte]
proc chunk*(this: Mcap_ChunkIndex): Mcap_Record
##[
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.)
@see <a href="https://github.com/foxglove/mcap/tree/c1cc51d/docs/specification#readme">Source</a>
]##
proc read*(_: typedesc[Mcap], io: KaitaiStream, root: KaitaiStruct, parent: KaitaiStruct): Mcap =
template this: untyped = result
this = new(Mcap)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let headerMagicExpr = Mcap_Magic.read(this.io, this.root, this)
this.headerMagic = headerMagicExpr
block:
var i: int
while true:
let it = Mcap_Record.read(this.io, this.root, this)
this.records.add(it)
if it.op == mcap.footer:
break
inc i
let footerMagicExpr = Mcap_Magic.read(this.io, this.root, this)
this.footerMagic = footerMagicExpr
proc footer(this: Mcap): Mcap_Record =
if this.footerInstFlag:
return this.footerInst
let pos = this.io.pos()
this.io.seek(int(this.ofsFooter))
let rawFooterInstExpr = this.io.readBytesFull()
this.rawFooterInst = rawFooterInstExpr
let rawFooterInstIo = newKaitaiStream(rawFooterInstExpr)
let footerInstExpr = Mcap_Record.read(rawFooterInstIo, this.root, this)
this.footerInst = footerInstExpr
this.io.seek(pos)
this.footerInstFlag = true
return this.footerInst
proc ofsFooter(this: Mcap): int =
if this.ofsFooterInstFlag:
return this.ofsFooterInst
let ofsFooterInstExpr = int(((((this.io.size - 1) - 8) - 20) - 8))
this.ofsFooterInst = ofsFooterInstExpr
this.ofsFooterInstFlag = true
return this.ofsFooterInst
proc fromFile*(_: typedesc[Mcap], filename: string): Mcap =
Mcap.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_PrefixedStr], io: KaitaiStream, root: KaitaiStruct, parent: KaitaiStruct): Mcap_PrefixedStr =
template this: untyped = result
this = new(Mcap_PrefixedStr)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let lenStrExpr = this.io.readU4le()
this.lenStr = lenStrExpr
let strExpr = encode(this.io.readBytes(int(this.lenStr)), "UTF-8")
this.str = strExpr
proc fromFile*(_: typedesc[Mcap_PrefixedStr], filename: string): Mcap_PrefixedStr =
Mcap_PrefixedStr.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_Chunk], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Chunk =
template this: untyped = result
this = new(Mcap_Chunk)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let messageStartTimeExpr = this.io.readU8le()
this.messageStartTime = messageStartTimeExpr
let messageEndTimeExpr = this.io.readU8le()
this.messageEndTime = messageEndTimeExpr
let uncompressedSizeExpr = this.io.readU8le()
this.uncompressedSize = uncompressedSizeExpr
##[
CRC-32 checksum of uncompressed `records` field. A value of zero indicates that
CRC validation should not be performed.
]##
let uncompressedCrc32Expr = this.io.readU4le()
this.uncompressedCrc32 = uncompressedCrc32Expr
let compressionExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.compression = compressionExpr
let lenRecordsExpr = this.io.readU8le()
this.lenRecords = lenRecordsExpr
block:
let on = this.compression.str
if on == "":
let rawRecordsExpr = this.io.readBytes(int(this.lenRecords))
this.rawRecords = rawRecordsExpr
let rawRecordsIo = newKaitaiStream(rawRecordsExpr)
let recordsExpr = Mcap_Records.read(rawRecordsIo, this.root, this)
this.records = recordsExpr
else:
let recordsExpr = this.io.readBytes(int(this.lenRecords))
this.records = recordsExpr
proc fromFile*(_: typedesc[Mcap_Chunk], filename: string): Mcap_Chunk =
Mcap_Chunk.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_DataEnd], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_DataEnd =
template this: untyped = result
this = new(Mcap_DataEnd)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
##[
CRC-32 of all bytes in the data section. A value of 0 indicates the CRC-32 is not
available.
]##
let dataSectionCrc32Expr = this.io.readU4le()
this.dataSectionCrc32 = dataSectionCrc32Expr
proc fromFile*(_: typedesc[Mcap_DataEnd], filename: string): Mcap_DataEnd =
Mcap_DataEnd.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_Channel], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Channel =
template this: untyped = result
this = new(Mcap_Channel)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let idExpr = this.io.readU2le()
this.id = idExpr
let schemaIdExpr = this.io.readU2le()
this.schemaId = schemaIdExpr
let topicExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.topic = topicExpr
let messageEncodingExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.messageEncoding = messageEncodingExpr
let metadataExpr = Mcap_MapStrStr.read(this.io, this.root, this)
this.metadata = metadataExpr
proc fromFile*(_: typedesc[Mcap_Channel], filename: string): Mcap_Channel =
Mcap_Channel.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_MessageIndex], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_MessageIndex =
template this: untyped = result
this = new(Mcap_MessageIndex)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let channelIdExpr = this.io.readU2le()
this.channelId = channelIdExpr
let lenRecordsExpr = this.io.readU4le()
this.lenRecords = lenRecordsExpr
let rawRecordsExpr = this.io.readBytes(int(this.lenRecords))
this.rawRecords = rawRecordsExpr
let rawRecordsIo = newKaitaiStream(rawRecordsExpr)
let recordsExpr = Mcap_MessageIndex_MessageIndexEntries.read(rawRecordsIo, this.root, this)
this.records = recordsExpr
proc fromFile*(_: typedesc[Mcap_MessageIndex], filename: string): Mcap_MessageIndex =
Mcap_MessageIndex.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_MessageIndex_MessageIndexEntry], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_MessageIndex_MessageIndexEntries): Mcap_MessageIndex_MessageIndexEntry =
template this: untyped = result
this = new(Mcap_MessageIndex_MessageIndexEntry)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let logTimeExpr = this.io.readU8le()
this.logTime = logTimeExpr
let offsetExpr = this.io.readU8le()
this.offset = offsetExpr
proc fromFile*(_: typedesc[Mcap_MessageIndex_MessageIndexEntry], filename: string): Mcap_MessageIndex_MessageIndexEntry =
Mcap_MessageIndex_MessageIndexEntry.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_MessageIndex_MessageIndexEntries], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_MessageIndex): Mcap_MessageIndex_MessageIndexEntries =
template this: untyped = result
this = new(Mcap_MessageIndex_MessageIndexEntries)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
block:
var i: int
while not this.io.isEof:
let it = Mcap_MessageIndex_MessageIndexEntry.read(this.io, this.root, this)
this.entries.add(it)
inc i
proc fromFile*(_: typedesc[Mcap_MessageIndex_MessageIndexEntries], filename: string): Mcap_MessageIndex_MessageIndexEntries =
Mcap_MessageIndex_MessageIndexEntries.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_Statistics], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Statistics =
template this: untyped = result
this = new(Mcap_Statistics)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let messageCountExpr = this.io.readU8le()
this.messageCount = messageCountExpr
let schemaCountExpr = this.io.readU2le()
this.schemaCount = schemaCountExpr
let channelCountExpr = this.io.readU4le()
this.channelCount = channelCountExpr
let attachmentCountExpr = this.io.readU4le()
this.attachmentCount = attachmentCountExpr
let metadataCountExpr = this.io.readU4le()
this.metadataCount = metadataCountExpr
let chunkCountExpr = this.io.readU4le()
this.chunkCount = chunkCountExpr
let messageStartTimeExpr = this.io.readU8le()
this.messageStartTime = messageStartTimeExpr
let messageEndTimeExpr = this.io.readU8le()
this.messageEndTime = messageEndTimeExpr
let lenChannelMessageCountsExpr = this.io.readU4le()
this.lenChannelMessageCounts = lenChannelMessageCountsExpr
let rawChannelMessageCountsExpr = this.io.readBytes(int(this.lenChannelMessageCounts))
this.rawChannelMessageCounts = rawChannelMessageCountsExpr
let rawChannelMessageCountsIo = newKaitaiStream(rawChannelMessageCountsExpr)
let channelMessageCountsExpr = Mcap_Statistics_ChannelMessageCounts.read(rawChannelMessageCountsIo, this.root, this)
this.channelMessageCounts = channelMessageCountsExpr
proc fromFile*(_: typedesc[Mcap_Statistics], filename: string): Mcap_Statistics =
Mcap_Statistics.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_Statistics_ChannelMessageCounts], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Statistics): Mcap_Statistics_ChannelMessageCounts =
template this: untyped = result
this = new(Mcap_Statistics_ChannelMessageCounts)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
block:
var i: int
while not this.io.isEof:
let it = Mcap_Statistics_ChannelMessageCount.read(this.io, this.root, this)
this.entries.add(it)
inc i
proc fromFile*(_: typedesc[Mcap_Statistics_ChannelMessageCounts], filename: string): Mcap_Statistics_ChannelMessageCounts =
Mcap_Statistics_ChannelMessageCounts.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_Statistics_ChannelMessageCount], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Statistics_ChannelMessageCounts): Mcap_Statistics_ChannelMessageCount =
template this: untyped = result
this = new(Mcap_Statistics_ChannelMessageCount)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let channelIdExpr = this.io.readU2le()
this.channelId = channelIdExpr
let messageCountExpr = this.io.readU8le()
this.messageCount = messageCountExpr
proc fromFile*(_: typedesc[Mcap_Statistics_ChannelMessageCount], filename: string): Mcap_Statistics_ChannelMessageCount =
Mcap_Statistics_ChannelMessageCount.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_AttachmentIndex], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_AttachmentIndex =
template this: untyped = result
this = new(Mcap_AttachmentIndex)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let ofsAttachmentExpr = this.io.readU8le()
this.ofsAttachment = ofsAttachmentExpr
let lenAttachmentExpr = this.io.readU8le()
this.lenAttachment = lenAttachmentExpr
let logTimeExpr = this.io.readU8le()
this.logTime = logTimeExpr
let createTimeExpr = this.io.readU8le()
this.createTime = createTimeExpr
let dataSizeExpr = this.io.readU8le()
this.dataSize = dataSizeExpr
let nameExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.name = nameExpr
let contentTypeExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.contentType = contentTypeExpr
proc attachment(this: Mcap_AttachmentIndex): Mcap_Record =
if this.attachmentInstFlag:
return this.attachmentInst
let io = Mcap(this.root).io
let pos = io.pos()
io.seek(int(this.ofsAttachment))
let rawAttachmentInstExpr = io.readBytes(int(this.lenAttachment))
this.rawAttachmentInst = rawAttachmentInstExpr
let rawAttachmentInstIo = newKaitaiStream(rawAttachmentInstExpr)
let attachmentInstExpr = Mcap_Record.read(rawAttachmentInstIo, this.root, this)
this.attachmentInst = attachmentInstExpr
io.seek(pos)
this.attachmentInstFlag = true
return this.attachmentInst
proc fromFile*(_: typedesc[Mcap_AttachmentIndex], filename: string): Mcap_AttachmentIndex =
Mcap_AttachmentIndex.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_Schema], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Schema =
template this: untyped = result
this = new(Mcap_Schema)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let idExpr = this.io.readU2le()
this.id = idExpr
let nameExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.name = nameExpr
let encodingExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.encoding = encodingExpr
let lenDataExpr = this.io.readU4le()
this.lenData = lenDataExpr
let dataExpr = this.io.readBytes(int(this.lenData))
this.data = dataExpr
proc fromFile*(_: typedesc[Mcap_Schema], filename: string): Mcap_Schema =
Mcap_Schema.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_MapStrStr], io: KaitaiStream, root: KaitaiStruct, parent: KaitaiStruct): Mcap_MapStrStr =
template this: untyped = result
this = new(Mcap_MapStrStr)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let lenEntriesExpr = this.io.readU4le()
this.lenEntries = lenEntriesExpr
let rawEntriesExpr = this.io.readBytes(int(this.lenEntries))
this.rawEntries = rawEntriesExpr
let rawEntriesIo = newKaitaiStream(rawEntriesExpr)
let entriesExpr = Mcap_MapStrStr_Entries.read(rawEntriesIo, this.root, this)
this.entries = entriesExpr
proc fromFile*(_: typedesc[Mcap_MapStrStr], filename: string): Mcap_MapStrStr =
Mcap_MapStrStr.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_MapStrStr_Entries], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_MapStrStr): Mcap_MapStrStr_Entries =
template this: untyped = result
this = new(Mcap_MapStrStr_Entries)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
block:
var i: int
while not this.io.isEof:
let it = Mcap_TupleStrStr.read(this.io, this.root, this)
this.entries.add(it)
inc i
proc fromFile*(_: typedesc[Mcap_MapStrStr_Entries], filename: string): Mcap_MapStrStr_Entries =
Mcap_MapStrStr_Entries.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_SummaryOffset], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_SummaryOffset =
template this: untyped = result
this = new(Mcap_SummaryOffset)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let groupOpcodeExpr = Mcap_Opcode(this.io.readU1())
this.groupOpcode = groupOpcodeExpr
let ofsGroupExpr = this.io.readU8le()
this.ofsGroup = ofsGroupExpr
let lenGroupExpr = this.io.readU8le()
this.lenGroup = lenGroupExpr
proc group(this: Mcap_SummaryOffset): Mcap_Records =
if this.groupInstFlag:
return this.groupInst
let io = Mcap(this.root).io
let pos = io.pos()
io.seek(int(this.ofsGroup))
let rawGroupInstExpr = io.readBytes(int(this.lenGroup))
this.rawGroupInst = rawGroupInstExpr
let rawGroupInstIo = newKaitaiStream(rawGroupInstExpr)
let groupInstExpr = Mcap_Records.read(rawGroupInstIo, this.root, this)
this.groupInst = groupInstExpr
io.seek(pos)
this.groupInstFlag = true
return this.groupInst
proc fromFile*(_: typedesc[Mcap_SummaryOffset], filename: string): Mcap_SummaryOffset =
Mcap_SummaryOffset.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_Attachment], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Attachment =
template this: untyped = result
this = new(Mcap_Attachment)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let logTimeExpr = this.io.readU8le()
this.logTime = logTimeExpr
let createTimeExpr = this.io.readU8le()
this.createTime = createTimeExpr
let nameExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.name = nameExpr
let contentTypeExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.contentType = contentTypeExpr
let lenDataExpr = this.io.readU8le()
this.lenData = lenDataExpr
let dataExpr = this.io.readBytes(int(this.lenData))
this.data = dataExpr
if this.crc32InputEnd >= 0:
let invokeCrc32InputEndExpr = this.io.readBytes(int(0))
this.invokeCrc32InputEnd = invokeCrc32InputEndExpr
##[
CRC-32 checksum of preceding fields in the record. A value of zero indicates that
CRC validation should not be performed.
]##
let crc32Expr = this.io.readU4le()
this.crc32 = crc32Expr
proc crc32InputEnd(this: Mcap_Attachment): int =
if this.crc32InputEndInstFlag:
return this.crc32InputEndInst
let crc32InputEndInstExpr = int(this.io.pos)
this.crc32InputEndInst = crc32InputEndInstExpr
this.crc32InputEndInstFlag = true
return this.crc32InputEndInst
proc crc32Input(this: Mcap_Attachment): seq[byte] =
if this.crc32InputInstFlag:
return this.crc32InputInst
let pos = this.io.pos()
this.io.seek(int(0))
let crc32InputInstExpr = this.io.readBytes(int(this.crc32InputEnd))
this.crc32InputInst = crc32InputInstExpr
this.io.seek(pos)
this.crc32InputInstFlag = true
return this.crc32InputInst
proc fromFile*(_: typedesc[Mcap_Attachment], filename: string): Mcap_Attachment =
Mcap_Attachment.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_Metadata], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Metadata =
template this: untyped = result
this = new(Mcap_Metadata)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let nameExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.name = nameExpr
let metadataExpr = Mcap_MapStrStr.read(this.io, this.root, this)
this.metadata = metadataExpr
proc fromFile*(_: typedesc[Mcap_Metadata], filename: string): Mcap_Metadata =
Mcap_Metadata.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_Header], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Header =
template this: untyped = result
this = new(Mcap_Header)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let profileExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.profile = profileExpr
let libraryExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.library = libraryExpr
proc fromFile*(_: typedesc[Mcap_Header], filename: string): Mcap_Header =
Mcap_Header.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_Message], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Message =
template this: untyped = result
this = new(Mcap_Message)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let channelIdExpr = this.io.readU2le()
this.channelId = channelIdExpr
let sequenceExpr = this.io.readU4le()
this.sequence = sequenceExpr
let logTimeExpr = this.io.readU8le()
this.logTime = logTimeExpr
let publishTimeExpr = this.io.readU8le()
this.publishTime = publishTimeExpr
let dataExpr = this.io.readBytesFull()
this.data = dataExpr
proc fromFile*(_: typedesc[Mcap_Message], filename: string): Mcap_Message =
Mcap_Message.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_TupleStrStr], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_MapStrStr_Entries): Mcap_TupleStrStr =
template this: untyped = result
this = new(Mcap_TupleStrStr)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let keyExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.key = keyExpr
let valueExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.value = valueExpr
proc fromFile*(_: typedesc[Mcap_TupleStrStr], filename: string): Mcap_TupleStrStr =
Mcap_TupleStrStr.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_MetadataIndex], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_MetadataIndex =
template this: untyped = result
this = new(Mcap_MetadataIndex)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let ofsMetadataExpr = this.io.readU8le()
this.ofsMetadata = ofsMetadataExpr
let lenMetadataExpr = this.io.readU8le()
this.lenMetadata = lenMetadataExpr
let nameExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.name = nameExpr
proc metadata(this: Mcap_MetadataIndex): Mcap_Record =
if this.metadataInstFlag:
return this.metadataInst
let io = Mcap(this.root).io
let pos = io.pos()
io.seek(int(this.ofsMetadata))
let rawMetadataInstExpr = io.readBytes(int(this.lenMetadata))
this.rawMetadataInst = rawMetadataInstExpr
let rawMetadataInstIo = newKaitaiStream(rawMetadataInstExpr)
let metadataInstExpr = Mcap_Record.read(rawMetadataInstIo, this.root, this)
this.metadataInst = metadataInstExpr
io.seek(pos)
this.metadataInstFlag = true
return this.metadataInst
proc fromFile*(_: typedesc[Mcap_MetadataIndex], filename: string): Mcap_MetadataIndex =
Mcap_MetadataIndex.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_Magic], io: KaitaiStream, root: KaitaiStruct, parent: Mcap): Mcap_Magic =
template this: untyped = result
this = new(Mcap_Magic)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let magicExpr = this.io.readBytes(int(8))
this.magic = magicExpr
proc fromFile*(_: typedesc[Mcap_Magic], filename: string): Mcap_Magic =
Mcap_Magic.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_Records], io: KaitaiStream, root: KaitaiStruct, parent: KaitaiStruct): Mcap_Records =
template this: untyped = result
this = new(Mcap_Records)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
block:
var i: int
while not this.io.isEof:
let it = Mcap_Record.read(this.io, this.root, this)
this.records.add(it)
inc i
proc fromFile*(_: typedesc[Mcap_Records], filename: string): Mcap_Records =
Mcap_Records.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_Footer], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_Footer =
template this: untyped = result
this = new(Mcap_Footer)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let ofsSummarySectionExpr = this.io.readU8le()
this.ofsSummarySection = ofsSummarySectionExpr
let ofsSummaryOffsetSectionExpr = this.io.readU8le()
this.ofsSummaryOffsetSection = ofsSummaryOffsetSectionExpr
##[
A CRC-32 of all bytes from the start of the Summary section up through and
including the end of the previous field (summary_offset_start) in the footer
record. A value of 0 indicates the CRC-32 is not available.
]##
let summaryCrc32Expr = this.io.readU4le()
this.summaryCrc32 = summaryCrc32Expr
proc summarySection(this: Mcap_Footer): Mcap_Records =
if this.summarySectionInstFlag:
return this.summarySectionInst
if this.ofsSummarySection != 0:
let io = Mcap(this.root).io
let pos = io.pos()
io.seek(int(this.ofsSummarySection))
let rawSummarySectionInstExpr = io.readBytes(int(((if this.ofsSummaryOffsetSection != 0: this.ofsSummaryOffsetSection else: Mcap(this.root).ofsFooter) - this.ofsSummarySection)))
this.rawSummarySectionInst = rawSummarySectionInstExpr
let rawSummarySectionInstIo = newKaitaiStream(rawSummarySectionInstExpr)
let summarySectionInstExpr = Mcap_Records.read(rawSummarySectionInstIo, this.root, this)
this.summarySectionInst = summarySectionInstExpr
io.seek(pos)
this.summarySectionInstFlag = true
return this.summarySectionInst
proc summaryOffsetSection(this: Mcap_Footer): Mcap_Records =
if this.summaryOffsetSectionInstFlag:
return this.summaryOffsetSectionInst
if this.ofsSummaryOffsetSection != 0:
let io = Mcap(this.root).io
let pos = io.pos()
io.seek(int(this.ofsSummaryOffsetSection))
let rawSummaryOffsetSectionInstExpr = io.readBytes(int((Mcap(this.root).ofsFooter - this.ofsSummaryOffsetSection)))
this.rawSummaryOffsetSectionInst = rawSummaryOffsetSectionInstExpr
let rawSummaryOffsetSectionInstIo = newKaitaiStream(rawSummaryOffsetSectionInstExpr)
let summaryOffsetSectionInstExpr = Mcap_Records.read(rawSummaryOffsetSectionInstIo, this.root, this)
this.summaryOffsetSectionInst = summaryOffsetSectionInstExpr
io.seek(pos)
this.summaryOffsetSectionInstFlag = true
return this.summaryOffsetSectionInst
proc ofsSummaryCrc32Input(this: Mcap_Footer): int =
if this.ofsSummaryCrc32InputInstFlag:
return this.ofsSummaryCrc32InputInst
let ofsSummaryCrc32InputInstExpr = int((if this.ofsSummarySection != 0: this.ofsSummarySection else: Mcap(this.root).ofsFooter))
this.ofsSummaryCrc32InputInst = ofsSummaryCrc32InputInstExpr
this.ofsSummaryCrc32InputInstFlag = true
return this.ofsSummaryCrc32InputInst
proc summaryCrc32Input(this: Mcap_Footer): seq[byte] =
if this.summaryCrc32InputInstFlag:
return this.summaryCrc32InputInst
let io = Mcap(this.root).io
let pos = io.pos()
io.seek(int(this.ofsSummaryCrc32Input))
let summaryCrc32InputInstExpr = io.readBytes(int((((Mcap(this.root).io.size - this.ofsSummaryCrc32Input) - 8) - 4)))
this.summaryCrc32InputInst = summaryCrc32InputInstExpr
io.seek(pos)
this.summaryCrc32InputInstFlag = true
return this.summaryCrc32InputInst
proc fromFile*(_: typedesc[Mcap_Footer], filename: string): Mcap_Footer =
Mcap_Footer.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_Record], io: KaitaiStream, root: KaitaiStruct, parent: KaitaiStruct): Mcap_Record =
template this: untyped = result
this = new(Mcap_Record)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let opExpr = Mcap_Opcode(this.io.readU1())
this.op = opExpr
let lenBodyExpr = this.io.readU8le()
this.lenBody = lenBodyExpr
block:
let on = this.op
if on == mcap.message:
let rawBodyExpr = this.io.readBytes(int(this.lenBody))
this.rawBody = rawBodyExpr
let rawBodyIo = newKaitaiStream(rawBodyExpr)
let bodyExpr = Mcap_Message.read(rawBodyIo, this.root, this)
this.body = bodyExpr
elif on == mcap.metadata_index:
let rawBodyExpr = this.io.readBytes(int(this.lenBody))
this.rawBody = rawBodyExpr
let rawBodyIo = newKaitaiStream(rawBodyExpr)
let bodyExpr = Mcap_MetadataIndex.read(rawBodyIo, this.root, this)
this.body = bodyExpr
elif on == mcap.chunk:
let rawBodyExpr = this.io.readBytes(int(this.lenBody))
this.rawBody = rawBodyExpr
let rawBodyIo = newKaitaiStream(rawBodyExpr)
let bodyExpr = Mcap_Chunk.read(rawBodyIo, this.root, this)
this.body = bodyExpr
elif on == mcap.schema:
let rawBodyExpr = this.io.readBytes(int(this.lenBody))
this.rawBody = rawBodyExpr
let rawBodyIo = newKaitaiStream(rawBodyExpr)
let bodyExpr = Mcap_Schema.read(rawBodyIo, this.root, this)
this.body = bodyExpr
elif on == mcap.chunk_index:
let rawBodyExpr = this.io.readBytes(int(this.lenBody))
this.rawBody = rawBodyExpr
let rawBodyIo = newKaitaiStream(rawBodyExpr)
let bodyExpr = Mcap_ChunkIndex.read(rawBodyIo, this.root, this)
this.body = bodyExpr
elif on == mcap.data_end:
let rawBodyExpr = this.io.readBytes(int(this.lenBody))
this.rawBody = rawBodyExpr
let rawBodyIo = newKaitaiStream(rawBodyExpr)
let bodyExpr = Mcap_DataEnd.read(rawBodyIo, this.root, this)
this.body = bodyExpr
elif on == mcap.attachment_index:
let rawBodyExpr = this.io.readBytes(int(this.lenBody))
this.rawBody = rawBodyExpr
let rawBodyIo = newKaitaiStream(rawBodyExpr)
let bodyExpr = Mcap_AttachmentIndex.read(rawBodyIo, this.root, this)
this.body = bodyExpr
elif on == mcap.statistics:
let rawBodyExpr = this.io.readBytes(int(this.lenBody))
this.rawBody = rawBodyExpr
let rawBodyIo = newKaitaiStream(rawBodyExpr)
let bodyExpr = Mcap_Statistics.read(rawBodyIo, this.root, this)
this.body = bodyExpr
elif on == mcap.message_index:
let rawBodyExpr = this.io.readBytes(int(this.lenBody))
this.rawBody = rawBodyExpr
let rawBodyIo = newKaitaiStream(rawBodyExpr)
let bodyExpr = Mcap_MessageIndex.read(rawBodyIo, this.root, this)
this.body = bodyExpr
elif on == mcap.channel:
let rawBodyExpr = this.io.readBytes(int(this.lenBody))
this.rawBody = rawBodyExpr
let rawBodyIo = newKaitaiStream(rawBodyExpr)
let bodyExpr = Mcap_Channel.read(rawBodyIo, this.root, this)
this.body = bodyExpr
elif on == mcap.metadata:
let rawBodyExpr = this.io.readBytes(int(this.lenBody))
this.rawBody = rawBodyExpr
let rawBodyIo = newKaitaiStream(rawBodyExpr)
let bodyExpr = Mcap_Metadata.read(rawBodyIo, this.root, this)
this.body = bodyExpr
elif on == mcap.attachment:
let rawBodyExpr = this.io.readBytes(int(this.lenBody))
this.rawBody = rawBodyExpr
let rawBodyIo = newKaitaiStream(rawBodyExpr)
let bodyExpr = Mcap_Attachment.read(rawBodyIo, this.root, this)
this.body = bodyExpr
elif on == mcap.header:
let rawBodyExpr = this.io.readBytes(int(this.lenBody))
this.rawBody = rawBodyExpr
let rawBodyIo = newKaitaiStream(rawBodyExpr)
let bodyExpr = Mcap_Header.read(rawBodyIo, this.root, this)
this.body = bodyExpr
elif on == mcap.footer:
let rawBodyExpr = this.io.readBytes(int(this.lenBody))
this.rawBody = rawBodyExpr
let rawBodyIo = newKaitaiStream(rawBodyExpr)
let bodyExpr = Mcap_Footer.read(rawBodyIo, this.root, this)
this.body = bodyExpr
elif on == mcap.summary_offset:
let rawBodyExpr = this.io.readBytes(int(this.lenBody))
this.rawBody = rawBodyExpr
let rawBodyIo = newKaitaiStream(rawBodyExpr)
let bodyExpr = Mcap_SummaryOffset.read(rawBodyIo, this.root, this)
this.body = bodyExpr
else:
let bodyExpr = this.io.readBytes(int(this.lenBody))
this.body = bodyExpr
proc fromFile*(_: typedesc[Mcap_Record], filename: string): Mcap_Record =
Mcap_Record.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_ChunkIndex], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_Record): Mcap_ChunkIndex =
template this: untyped = result
this = new(Mcap_ChunkIndex)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let messageStartTimeExpr = this.io.readU8le()
this.messageStartTime = messageStartTimeExpr
let messageEndTimeExpr = this.io.readU8le()
this.messageEndTime = messageEndTimeExpr
let ofsChunkExpr = this.io.readU8le()
this.ofsChunk = ofsChunkExpr
let lenChunkExpr = this.io.readU8le()
this.lenChunk = lenChunkExpr
let lenMessageIndexOffsetsExpr = this.io.readU4le()
this.lenMessageIndexOffsets = lenMessageIndexOffsetsExpr
let rawMessageIndexOffsetsExpr = this.io.readBytes(int(this.lenMessageIndexOffsets))
this.rawMessageIndexOffsets = rawMessageIndexOffsetsExpr
let rawMessageIndexOffsetsIo = newKaitaiStream(rawMessageIndexOffsetsExpr)
let messageIndexOffsetsExpr = Mcap_ChunkIndex_MessageIndexOffsets.read(rawMessageIndexOffsetsIo, this.root, this)
this.messageIndexOffsets = messageIndexOffsetsExpr
let messageIndexLengthExpr = this.io.readU8le()
this.messageIndexLength = messageIndexLengthExpr
let compressionExpr = Mcap_PrefixedStr.read(this.io, this.root, this)
this.compression = compressionExpr
let compressedSizeExpr = this.io.readU8le()
this.compressedSize = compressedSizeExpr
let uncompressedSizeExpr = this.io.readU8le()
this.uncompressedSize = uncompressedSizeExpr
proc chunk(this: Mcap_ChunkIndex): Mcap_Record =
if this.chunkInstFlag:
return this.chunkInst
let io = Mcap(this.root).io
let pos = io.pos()
io.seek(int(this.ofsChunk))
let rawChunkInstExpr = io.readBytes(int(this.lenChunk))
this.rawChunkInst = rawChunkInstExpr
let rawChunkInstIo = newKaitaiStream(rawChunkInstExpr)
let chunkInstExpr = Mcap_Record.read(rawChunkInstIo, this.root, this)
this.chunkInst = chunkInstExpr
io.seek(pos)
this.chunkInstFlag = true
return this.chunkInst
proc fromFile*(_: typedesc[Mcap_ChunkIndex], filename: string): Mcap_ChunkIndex =
Mcap_ChunkIndex.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_ChunkIndex_MessageIndexOffset], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_ChunkIndex_MessageIndexOffsets): Mcap_ChunkIndex_MessageIndexOffset =
template this: untyped = result
this = new(Mcap_ChunkIndex_MessageIndexOffset)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
let channelIdExpr = this.io.readU2le()
this.channelId = channelIdExpr
let offsetExpr = this.io.readU8le()
this.offset = offsetExpr
proc fromFile*(_: typedesc[Mcap_ChunkIndex_MessageIndexOffset], filename: string): Mcap_ChunkIndex_MessageIndexOffset =
Mcap_ChunkIndex_MessageIndexOffset.read(newKaitaiFileStream(filename), nil, nil)
proc read*(_: typedesc[Mcap_ChunkIndex_MessageIndexOffsets], io: KaitaiStream, root: KaitaiStruct, parent: Mcap_ChunkIndex): Mcap_ChunkIndex_MessageIndexOffsets =
template this: untyped = result
this = new(Mcap_ChunkIndex_MessageIndexOffsets)
let root = if root == nil: cast[Mcap](this) else: cast[Mcap](root)
this.io = io
this.root = root
this.parent = parent
block:
var i: int
while not this.io.isEof:
let it = Mcap_ChunkIndex_MessageIndexOffset.read(this.io, this.root, this)
this.entries.add(it)
inc i
proc fromFile*(_: typedesc[Mcap_ChunkIndex_MessageIndexOffsets], filename: string): Mcap_ChunkIndex_MessageIndexOffsets =
Mcap_ChunkIndex_MessageIndexOffsets.read(newKaitaiFileStream(filename), nil, nil)