turbodata 0.1.0

package/LICENSE

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package/NOTICE

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+turbodata
+Copyright 2026 Wanjia He
+
+This product includes software developed by Wanjia He and the turbodata
+contributors.
+
+Licensed under the Apache License, Version 2.0 (see the LICENSE file).
+
+---
+
+This software depends on third-party packages that are downloaded at build
+time and are not redistributed as part of this source tree. Each remains
+under its own license. Notable dependencies include:
+
+Go SDK (go/):
+  - github.com/foxglove/mcap/go/mcap        (MIT)
+  - github.com/klauspost/compress           (BSD-3-Clause / Apache-2.0 / MIT)
+  - github.com/vmihailenco/msgpack/v5       (BSD-2-Clause)
+  - github.com/google/go-cmp                (BSD-3-Clause)
+
+Python SDK (py/):
+  - msgpack                                 (Apache-2.0)
+  - zstandard                               (BSD-3-Clause)
+
+TypeScript SDK (ts/):
+  - @msgpack/msgpack                        (ISC)
+  - fzstd                                   (MIT)

package/README.md

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+# turbodata (TypeScript)
+
+Browser TypeScript reader for the turbodata format. **Read-only** port of the
+Go reference implementation. Built primarily so web apps (e.g. Lichtblick) can
+load `.td`/turbodata files locally (`Blob`/`File`) or remotely (HTTP Range
+requests). The on-disk format is identical across SDKs, so files written by Go
+or Python read back here unchanged.
+
+```bash
+npm install turbodata
+```
+
+See the [top-level README](../README.md) for scope and the format overview.
+This guide is API usage by feature: **read → sample → multi-file** (writing is
+not supported in the browser SDK). Runnable versions of every snippet live in
+[`examples/`](./examples).
+
+## Numeric types
+
+| Go field type | TS type |
+| --- | --- |
+| `int64` (timestamps, offsets, lengths) | `bigint` |
+| `uint8`, `uint16`, `uint32` | `number` |
+
+This matches the convention used by `@mcap/core`. Mixing `bigint` and `number`
+in arithmetic raises `TypeError` in JavaScript, so callers must pass `bigint`
+values for `startTimestamp`, `endTimestamp`, etc.
+
+## Read
+
+```ts
+import { Reader, BlobReadSource } from "turbodata";
+
+const file: File = /* from <input type="file"> */;
+const reader = new Reader(new BlobReadSource(file));
+
+for await (const msg of reader.readMessages()) {
+  // msg.timestamp: bigint
+  // msg.topicName: string
+  // msg.data: Uint8Array (aliases an internal buffer; copy to persist)
+}
+```
+
+### Buffer aliasing
+
+By default, `msg.data` aliases an internal reusable buffer and is only valid
+until the next iteration step. For Lichtblick-style code that posts messages
+to other workers, pass `{ copy: true }` to get a fresh `Uint8Array` per
+message:
+
+```ts
+for await (const msg of reader.readMessages({ copy: true })) { ... }
+```
+
+### Order, time, and topic filters
+
+Topics not listed are skipped; chunks fully outside the `[start, end]` window
+are never fetched. Timestamps are `bigint`.
+
+```ts
+for await (const msg of reader.readMessages({
+  order: "reverse-time",                 // default: "time"
+  topicNames: ["/imu", "/cam"],          // default: all topics
+  startTimestamp: 1_000n,                // inclusive lower bound
+  endTimestamp: 2_000n,                  // inclusive upper bound
+})) { ... }
+```
+
+### Cost-aware reading (HTTP Range)
+
+Pass a `strategy` to switch onto the cost-aware concurrent path — it pre-plans
+every needed byte range, coalesces neighbors, optionally splits large reads,
+and fetches concurrently. Without a strategy, the reader uses the default lazy
+path. Helper constructors: `StrategyForLatency`, `StrategyForMoney`,
+`StrategyForBlended`.
+
+```ts
+import { Reader, HttpRangeReadSource, StrategyForLatency } from "turbodata";
+
+const reader = new Reader(new HttpRangeReadSource(url));
+for await (const msg of reader.readMessages({
+  strategy: StrategyForLatency({
+    rttSeconds: 0.05,
+    perStreamBytesPerSec: 8_000_000,
+    concurrency: 8,
+  }),
+})) { ... }
+```
+
+### Video
+
+A non-key frame is only decodable after its GOP's key frame, so a plain time
+filter that starts mid-GOP yields bytes a decoder can't cold-start on. Pass
+`{ videoDecodable: true }` to snap the effective `startTimestamp` back to the
+latest key frame at or before it. Non-video topics are unaffected.
+
+```ts
+for await (const msg of reader.readMessages({
+  topicNames: ["/cam/h264"],
+  startTimestamp: 650n,    // mid-GOP
+  videoDecodable: true,    // snaps back to the key frame at/<=650
+})) { ... }
+```
+
+## Sample (floor lookup at concrete timestamps)
+
+`sample` returns the floor message per `(topic, timestamp)` pair: the most
+recent message at or before each requested timestamp. `out[i][j]` corresponds
+to `queries[i].timestamps[j]`; `found` is false when nothing precedes the
+query. Timestamps within a query must be strictly increasing.
+
+```ts
+const out = await reader.sample([
+  { topic: "/imu", timestamps: [150n, 350n] },
+  { topic: "/cam", timestamps: [1_000n, 2_000n] },
+]);
+for (const row of out) {
+  for (const res of row) {
+    if (res.found) console.log(res.timestamp, res.data.length);
+  }
+}
+```
+
+Pass `{ strategy }` to override the default sample cost model for your backend.
+
+### Video
+
+With `{ videoDecodable: true }`, results for a video topic carry a
+decoder-ready GOP sequence in `frames` (and `data` is empty) instead of the
+single floor frame, and set `isVideo`. Within a row, the first result in each
+GOP sets `resetDecoder: true` with the full prefix `[keyframe ... target]`;
+later results in the same GOP carry only the new frames since the previous
+query.
+
+```ts
+const out = await reader.sample(
+  [{ topic: "/cam", timestamps: [25n, 55n] }],
+  { videoDecodable: true },
+);
+for (const res of out[0]) {
+  if (res.found) {
+    // feed res.frames to a decoder, resetting it first when res.resetDecoder.
+    console.log(res.timestamp, res.resetDecoder, res.frames.length);
+  }
+}
+```
+
+## Reading several files (MultiReader)
+
+`MultiReader` presents several single-file `Reader`s as one time-ordered
+stream. Options pass through to each underlying reader, so topic filtering,
+time bounds, order, and strategy apply per file before the merge. Topic-name
+collisions across files are resolved with per-`Reader` `topicRemap`: names
+meant to union share an exposed name; names meant to stay distinct are
+remapped apart.
+
+```ts
+import { MultiReader, Reader } from "turbodata";
+
+const mr = new MultiReader([
+  new Reader(sourceA),
+  // Keep file B's "/cam" distinct instead of unioning it with A's.
+  new Reader(sourceB, { topicRemap: { "/cam": "/cam_b" } }),
+]);
+
+for await (const msg of mr.readMessages()) {
+  console.log(msg.timestamp, msg.topicName);
+}
+
+// sample() returns, per cell, the latest floor across the union of files.
+const out = await mr.sample([{ topic: "/cam", timestamps: [150n, 350n] }]);
+```
+
+Under `{ videoDecodable: true }`, any in-scope video topic supplied by more
+than one reader must have time-disjoint source ranges; overlapping sources
+throw `VideoSourcesOverlapError` (merging them would interleave frames from
+different GOP chains into an undecodable stream).
+
+### Topic remap
+
+`topicRemap` is keyed by in-file name and valued by the exposed name reported
+by `summary()`, emitted from `readMessages`, and accepted by `topicNames` and
+`SampleQuery.topic`. Names absent from the map pass through unchanged. It works
+on a single `Reader` too:
+
+```ts
+const reader = new Reader(source, { topicRemap: { "/cam": "/cam_v2" } });
+for await (const msg of reader.readMessages({ topicNames: ["/cam_v2"] })) {
+  console.log(msg.topicName); // "/cam_v2"
+}
+```
+
+The remap is validated lazily against the file's summary on first use: it
+throws `TopicRemapError` if two topics collapse onto the same exposed name.
+
+## Examples
+
+Runnable examples live in [`examples/`](./examples). They run under Node via
+[`tsx`](https://github.com/privatenumber/tsx) by wrapping a committed test
+fixture's bytes in a `BlobReadSource`, so no writer step is needed:
+
+```bash
+cd ts
+npm install
+npm run example:read       # defaults, order, topic + time filters, strategy, video snap-back
+npm run example:sample     # floor lookup, multi-topic, strategy, video GOP-prefix
+npm run example:multiread  # union, split-via-remap, cross-file sample
+```
+
+### Schema metadata
+
+The package exports `META_KEY_SCHEMA_NAME`, `META_KEY_SCHEMA_ENCODING`, and
+`META_KEY_SCHEMA_DATA` for accessing each topic's metadata map. The first two
+values are strings; schema data decodes as `Uint8Array`. Older files may omit
+these keys. Reading does not warn or automatically decode message payloads.

package/dist/compression.d.ts

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+/**
+ * Decompress a zstd-compressed buffer. Must accept the exact bytes produced
+ * by github.com/klauspost/compress/zstd's EncodeAll (i.e. the standard zstd
+ * frame format).
+ */
+export type Decompressor = (compressed: Uint8Array) => Uint8Array;
+export declare const defaultDecompressor: Decompressor;
+//# sourceMappingURL=compression.d.ts.map

package/dist/compression.d.ts.map

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package/dist/compression.js

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+// Copyright 2026 Wanjia He
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// Pluggable zstd decompression. Default backend is fzstd (pure JS, sync).
+import { decompress as fzstdDecompress } from "fzstd";
+export const defaultDecompressor = (compressed) => {
+    return fzstdDecompress(compressed);
+};
+//# sourceMappingURL=compression.js.map

package/dist/compression.js.map

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package/dist/index.d.ts

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+export { Reader, SampleValidationError, TopicRemapError, DEFAULT_SAMPLE_STRATEGY, linSpaceTimestamps, } from "./reader.js";
+export type { Frame, Message, ReaderOptions, SampleQuery, SampleResult, SampleOptions, } from "./reader.js";
+export { MultiReader, VideoSourcesOverlapError } from "./multi_reader.js";
+export type { ReadOptions, Order } from "./read_options.js";
+export { MAX_INT64 } from "./read_options.js";
+export type { ReadStrategy } from "./read_strategy.js";
+export { StrategyForLatency, StrategyForMoney, StrategyForBlended, } from "./read_strategy.js";
+export type { ReadSource } from "./read_source.js";
+export { BlobReadSource } from "./sources/blob.js";
+export { HttpRangeReadSource } from "./sources/http.js";
+export type { HttpRangeReadSourceOptions } from "./sources/http.js";
+export type { Decompressor } from "./compression.js";
+export { defaultDecompressor } from "./compression.js";
+export type { Footer, Summary, TopicsInfo, TopicMetadata, IndexChunkInfo, IndexChunk, TopicIndex, MessageIndex, } from "./types.js";
+export { META_KEY_COMPRESSED, META_KEY_SCHEMA_NAME, META_KEY_SCHEMA_ENCODING, META_KEY_SCHEMA_DATA, META_KEY_VIDEO, META_KEY_CHUNK_CONFIG, } from "./types.js";
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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package/dist/index.js

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+// Copyright 2026 Wanjia He
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// Public API surface.
+export { Reader, SampleValidationError, TopicRemapError, DEFAULT_SAMPLE_STRATEGY, linSpaceTimestamps, } from "./reader.js";
+export { MultiReader, VideoSourcesOverlapError } from "./multi_reader.js";
+export { MAX_INT64 } from "./read_options.js";
+export { StrategyForLatency, StrategyForMoney, StrategyForBlended, } from "./read_strategy.js";
+export { BlobReadSource } from "./sources/blob.js";
+export { HttpRangeReadSource } from "./sources/http.js";
+export { defaultDecompressor } from "./compression.js";
+export { META_KEY_COMPRESSED, META_KEY_SCHEMA_NAME, META_KEY_SCHEMA_ENCODING, META_KEY_SCHEMA_DATA, META_KEY_VIDEO, META_KEY_CHUNK_CONFIG, } from "./types.js";
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -0,0 +1 @@
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package/dist/io.d.ts

@@ -0,0 +1,37 @@
+import { FOOTER_LEN, type Footer, type IndexChunk, type IndexChunkInfo, type MessageIndex, type Summary, type TopicIndex, type TopicMetadata, type TopicsInfo } from "./types.js";
+/**
+ * Forward-only cursor over a Uint8Array. The Go reader uses io.Reader+
+ * binary.Read; here we expose the equivalent calls. All reads are big-endian.
+ *
+ * We deliberately do NOT support seeking; everything in the format is
+ * sequentially decodable from a known start point.
+ */
+export declare class BinaryReader {
+    private readonly view;
+    private readonly bytes;
+    private off;
+    constructor(bytes: Uint8Array);
+    get offset(): number;
+    get remaining(): number;
+    private require;
+    readUint8(): number;
+    readUint16(): number;
+    readUint32(): number;
+    readInt64(): bigint;
+    readBytes(n: number): Uint8Array;
+}
+/**
+ * Parse a fixed-size (13-byte) footer.
+ *
+ * Layout: 8-byte int64 SummaryLen, then 5-byte Magic.
+ */
+export declare function readFooter(r: BinaryReader): Footer;
+export declare function readTopicMetadata(r: BinaryReader): TopicMetadata;
+export declare function readIndexChunkInfo(r: BinaryReader): IndexChunkInfo;
+export declare function readTopicsInfo(r: BinaryReader): TopicsInfo;
+export declare function readSummary(r: BinaryReader): Summary;
+export declare function readMessageIndex(r: BinaryReader): MessageIndex;
+export declare function readTopicIndex(r: BinaryReader): TopicIndex;
+export declare function readIndexChunk(r: BinaryReader): IndexChunk;
+export { FOOTER_LEN };
+//# sourceMappingURL=io.d.ts.map

package/dist/io.d.ts.map

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