# This Kaitai Struct definition describes the MCAP binary file format. It can be used with tools # like the web IDE (https://ide.kaitai.io/) or CLI visualizer # (https://github.com/kaitai-io/kaitai_struct_visualizer) to parse and visualize MCAP files. meta: id: mcap title: MCAP file-extension: mcap license: MIT endian: le doc: | 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.) doc-ref: https://github.com/foxglove/mcap/tree/c1cc51d/docs/specification#readme seq: - id: header_magic type: magic - id: records type: record repeat: until repeat-until: _.op == opcode::footer - id: footer_magic type: magic instances: footer: pos: ofs_footer size-eos: true type: record ofs_footer: value: "_io.size - footer.op._sizeof - footer.len_body._sizeof - sizeof