# record

**Repository Path**: rippleos/record

## Basic Information

- **Project Name**: record
- **Description**: MOSS 数据录制回放模块
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-05-12
- **Last Updated**: 2026-05-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# mrecord - MOSS Data Recording Module

Data recording and playback module for MOSS middleware. Records Topic data to MCAP files and plays back recorded data.

## Features

- **MCAP Format**: Industry-standard container format for robotics/AV data
- **Multi-Topic Recording**: Record multiple topics to a single file
- **Topic Filtering**: Include/exclude topics by pattern
- **Time Range Selection**: Play back specific time ranges
- **Rate Control**: 0.5x to 2.0x playback speed
- **Loop Playback**: Continuously loop recorded data
- **FoxGlove Compatible**: Open recorded files in FoxGlove Studio

## Dependencies

- mlog (Logging)
- mdds (DDS - optional for full integration)
- C++17 compiler
- CMake 3.14+

## Building

```bash
cd mrecord
mkdir -p build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DMRECORD_BUILD_TESTS=ON
make -j$(nproc)
```

## CLI Usage

### Record Topics

```bash
# Record specific topics
mrecord record -o output.mcap -t /camera/image,/lidar/points

# Record all topics (with exclusions)
mrecord record -o output.mcap -e /debug/*

# Record with size limit (100MB)
mrecord record -o output.mcap -s 104857600

# Record with time limit (60 seconds)
mrecord record -o output.mcap -d 60

# With compression
mrecord record -o output.mcap -c 3
```

### Play Back Data

```bash
# Play back at normal speed
mrecord play output.mcap

# Play at half speed
mrecord play output.mcap -r 0.5

# Play specific topics
mrecord play output.mcap -t /camera/image

# Loop playback
mrecord play output.mcap --loop

# Play specific time range
mrecord play output.mcap --start 1000000000 --end 5000000000
```

### View File Info

```bash
mrecord info output.mcap
```

Output:
```
MCAP File: output.mcap
────────────────────────────────────────
Messages:    1500
Duration:    30s
Start Time:  2026-04-19 10:00:00.000
End Time:    2026-04-19 10:00:30.000
File Size:   15.23 MB

Topics (3):
  /camera/image
    Type:     foxglove.Image
    Messages: 900

  /lidar/points
    Type:     foxglove.PointCloud
    Messages: 300

  /localization/pose
    Type:     foxglove.Pose
    Messages: 300
```

## API Usage

### Recording

```cpp
#include <record/mrecord.h>
#include <dds/domain_participant.h>

// Create participant
auto participant = mdds::DomainParticipant::create(0);

// Configure recording
mrecord::RecordConfig config;
config.output_path = "output.mcap";
config.topics = {"/camera/image", "/lidar/points"};
config.use_compression = true;

// Create and start recorder
auto recorder = std::make_unique<mrecord::Recorder>();
recorder->init(config, participant);
recorder->start();

// ... recording happens in background ...

// Stop recording
recorder->stop();
```

### Playback

```cpp
#include <record/mrecord.h>
#include <dds/domain_participant.h>

auto participant = mdds::DomainParticipant::create(0);

mrecord::PlaybackConfig config;
config.input_path = "output.mcap";
config.playback_rate = 1.0;
config.loop = true;

auto player = std::make_unique<mrecord::Player>();
player->init(config, participant);

// Set message callback
player->set_message_callback([](const mrecord::MessageRecord& record) {
    std::cout << "Topic: " << record.topic_name
              << " Timestamp: " << record.timestamp_ns << std::endl;
});

player->start();

// ... playback happens in background ...

player->stop();
```

## Architecture

```
record/
├── include/record/
│   ├── mrecord.h          # Main include
│   ├── types.h            # Type definitions
│   ├── mcap_writer.h      # MCAP file writer
│   ├── mcap_reader.h      # MCAP file reader
│   ├── recorder.h         # Data recorder
│   └── player.h           # Data player
├── src/
│   ├── mcap_writer.cpp
│   ├── mcap_reader.cpp
│   ├── recorder.cpp
│   ├── player.cpp
│   └── main.cpp           # CLI tool
├── test/
│   ├── test_mcap_writer.cpp
│   ├── test_mcap_reader.cpp
│   ├── test_recorder.cpp
│   └── test_player.cpp
└── CMakeLists.txt
```

## MCAP Format

MCAP is a container file format developed by FoxGlove for storing robot and autonomous vehicle data. It provides:

- Efficient sequential read/write
- Support for multiple topics/channels
- Built-in compression (zstd)
- Schema storage
- Time indexing

Learn more: https://mcap.dev/

## Running Tests

```bash
cd build
ctest
```

## License

MIT License