mcap.writer module

class mcap.writer.CompressionType(value)[source]

Bases: Enum

An enumeration.

LZ4 = 2
NONE = 1
ZSTD = 3
class mcap.writer.IndexType(value)[source]

Bases: Flag

An enumeration.

ALL = 30
ATTACHMENT = 2
CHUNK = 4
MESSAGE = 8
METADATA = 16
NONE = 1
class mcap.writer.Writer(output: Union[str, IO[Any], BufferedWriter], chunk_size: int = 1048576, compression: CompressionType = CompressionType.ZSTD, index_types: IndexType = IndexType.ALL, repeat_channels: bool = True, repeat_schemas: bool = True, use_chunking: bool = True, use_statistics: bool = True, use_summary_offsets: bool = True)[source]

Bases: object

Writes MCAP data.

add_attachment(create_time: int, log_time: int, name: str, media_type: str, data: bytes)[source]

Adds an attachment to the file.

Parameters:
  • log_time – Time at which the attachment was recorded.

  • create_time – Time at which the attachment was created. If not available, must be set to zero.

  • name – Name of the attachment, e.g “scene1.jpg”.

  • media_type – Media Type (e.g “text/plain”).

  • data – Attachment data.

add_message(channel_id: int, log_time: int, data: bytes, publish_time: int, sequence: int = 0)[source]

Adds a new message to the file. If chunking is enabled the message will be added to the current chunk.

Parameters:
  • channel_id – The id of the channel to which the message should be added.

  • sequence – Optional message counter assigned by publisher.

  • log_time – Time at which the message was recorded.

  • publish_time – Time at which the message was published. If not available, must be set to the log time.

  • data – Message data, to be decoded according to the schema of the channel.

add_metadata(name: str, data: Dict[str, str])[source]

Adds key-value metadata to the file.

Parameters:
  • name – A name to associate with the metadata.

  • data – Key-value metadata.

finish()[source]

Writes any final indexes, summaries etc to the file. Note that it does not close the underlying output stream.

register_channel(topic: str, message_encoding: str, schema_id: int, metadata: Dict[str, str] = {}) int[source]

Registers a new message channel. Returns the numeric id of the new channel.

Parameters:
  • schema_id – The schema for messages on this channel. A schema_id of 0 indicates there is no schema for this channel.

  • topic – The channel topic.

  • message_encoding – Encoding for messages on this channel. See the list of well-known message encodings for common values.

  • metadata – Metadata about this channel.

register_schema(name: str, encoding: str, data: bytes)[source]

Registers a new message schema. Returns the new integer schema id.

Parameters:
  • name – An identifier for the schema.

  • encoding – Format for the schema. See the list of well-known schema encodings for common values. An empty string indicates no schema is available.

  • data – Schema data. Must conform to the schema encoding. If encoding is an empty string, data should be 0 length.

start(profile: str = '', library: str = 'python mcap 1.0.0')[source]

Starts writing to the output stream.

Parameters:
  • profile – The profile is used for indicating requirements for fields throughout the file (encoding, user_data, etc).

  • library – Free-form string for writer to specify its name, version, or other information for use in debugging.