Concrete BagWriter implementation for the MCAP bag file format. More...

#include <memory>
#include <string>
#include "./bag_writer.h"

Include dependency graph for mcap_writer.h:

Classes
class	vlink::McapWriter
	Concrete MCAP-format bag file recorder. More...

Namespaces
namespace	vlink

Detailed Description

Concrete BagWriter implementation for the MCAP bag file format.

McapWriter records VLink messages to the MCAP format (.vcap / .vcapx extension). It inherits all configuration, compression, and split capabilities from BagWriter.

MCAP files can be opened by the Foxglove Studio visualisation tool and other MCAP-compatible readers. The file is finalised with an index footer on clean shutdown.

Usage: auto writer = vlink::BagWriter::create("/data/recording.vcap");

// or explicitly:

auto writer = std::make_shared<vlink::McapWriter>("/data/recording.vcap");

writer->async_run();

writer->push("dds://my/topic", "demo.proto.PointCloud", vlink::SchemaType::kProtobuf,

vlink::ActionType::kPublish, data);

vlink::BagWriter::create
static std::shared_ptr< BagWriter > create(const std::string &path, const Config &config={})
Creates a concrete BagWriter instance for path.

vlink::SchemaType::kProtobuf
@ kProtobuf
Decode using the Protocol Buffers stack.
Definition types.h:188

vlink::ActionType::kPublish
@ kPublish
Message published by a Publisher node.
Definition types.h:168

See also: BagWriter, DatabaseWriter

Classes

Namespaces

Detailed Description