pymcap-cli 0.12.0__tar.gz → 0.14.0__tar.gz

{pymcap_cli-0.12.0 → pymcap_cli-0.14.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.3
 Name: pymcap-cli
-Version: 0.12.0
+Version: 0.14.0
 Summary: High-performance Python CLI for MCAP file processing with advanced recovery, filtering, and optimization capabilities
 Keywords: mcap,cli,robotics,ros,ros2,recovery,filtering,compression
 Author: Marko Bausch
@@ -29,7 +29,7 @@ Requires-Dist: ros-parser
 Requires-Dist: platformdirs>=4.0.0
 Requires-Dist: pyyaml>=6.0
 Requires-Dist: typing-extensions>=4.15.0
-Requires-Dist: pymcap-cli[video,pointcloud,plot,parquet,image,draco,bridge,xxhash] ; extra == 'all'
+Requires-Dist: pymcap-cli[video,pointcloud,plot,parquet,image,draco,bridge,xxhash,serve] ; extra == 'all'
 Requires-Dist: robo-ws-bridge ; extra == 'bridge'
 Requires-Dist: mcap-codec-support[draco] ; extra == 'draco'
 Requires-Dist: pillow>=10.0 ; extra == 'image'
@@ -39,6 +39,12 @@ Requires-Dist: numpy>=1.24.0 ; extra == 'parquet'
 Requires-Dist: mcap-codec-support[pointcloud] ; extra == 'parquet'
 Requires-Dist: plotly>=6.0.0 ; extra == 'plot'
 Requires-Dist: mcap-codec-support[pointcloud] ; extra == 'pointcloud'
+Requires-Dist: datasette>=0.65.2,<1 ; extra == 'serve'
+Requires-Dist: datasette-block-robots>=1.1,<2 ; extra == 'serve'
+Requires-Dist: datasette-copyable>=0.3.2,<1 ; extra == 'serve'
+Requires-Dist: datasette-dashboards>=0.8.0,<1 ; extra == 'serve'
+Requires-Dist: datasette-export-notebook>=1.0.1,<2 ; extra == 'serve'
+Requires-Dist: datasette-vega>=0.6.2,<1 ; extra == 'serve'
 Requires-Dist: mcap-codec-support[video] ; extra == 'video'
 Requires-Dist: xxhash>=3.0.0 ; extra == 'xxhash'
 Requires-Python: >=3.10
@@ -53,6 +59,7 @@ Provides-Extra: lite
 Provides-Extra: parquet
 Provides-Extra: plot
 Provides-Extra: pointcloud
+Provides-Extra: serve
 Provides-Extra: video
 Provides-Extra: xxhash
 Description-Content-Type: text/markdown
@@ -76,8 +83,14 @@ uvx pymcap-cli info data.mcap
 # Or add to your project
 uv add pymcap-cli
 
-# With video support (for video and roscompress commands)
-uv add pymcap-cli[video]
+# With video support (for video generation and ROS image compression)
+uv add "pymcap-cli[video]"
+
+# With ROS image and point-cloud compression support
+uv add "pymcap-cli[video,pointcloud]"
+
+# Add Draco point-cloud compression support
+uv add "pymcap-cli[video,pointcloud,draco]"
 ```
 
 ## Why pymcap-cli over the official Go CLI?
@@ -158,6 +171,16 @@ pymcap-cli cat recording.mcap --bytes base64   # base64-encoded
 pymcap-cli cat recording.mcap --bytes skip     # omit binary fields
 ```
 
+### `doctor` — MCAP Container Validation
+
+Check an MCAP file structure against the MCAP container specification, with
+summary, index, chunk, message-order, and advisory findings.
+
+```bash
+pymcap-cli doctor data.mcap
+pymcap-cli doctor data.mcap --strict-message-order --show-all
+```
+
 ### `tftree` — TF Transform Tree
 
 Visualize the ROS TF transform tree with colored static/dynamic transforms, translation and rotation values.
@@ -176,6 +199,16 @@ pymcap-cli tftree data.mcap
 pymcap-cli tftree data.mcap --static-only
 ```
 
+### `tf-get` — TF Transform Lookup
+
+Resolve the transform from a source frame into a target frame using `/tf_static`
+and `/tf`. Without `--at`, dynamic edges use their latest sample.
+
+```bash
+pymcap-cli tf-get data.mcap map base_link
+pymcap-cli tf-get data.mcap odom base_link --at 2024-01-01T10:00:00Z
+```
+
 ### `tf-export` — TF Tree to URDF / SDF / JSON
 
 Reconstruct robot description files from `/tf_static` (and optionally `/tf` at a
@@ -376,7 +409,7 @@ Filter messages by topic patterns (simpler version of `process`).
 
 ```bash
 # Include specific topics
-pymcap-cli filter data.mcap -o filtered.mcap --include-topics "/camera/image" "/lidar/points"
+pymcap-cli filter data.mcap -o filtered.mcap --topics "/camera/image" "/lidar/points"
 
 # Exclude topics
 pymcap-cli filter data.mcap -o filtered.mcap --exclude-topics "/debug.*" "/test.*"
@@ -389,6 +422,13 @@ Change MCAP file compression.
 ```bash
 pymcap-cli compress input.mcap -o output.mcap --compression zstd
 pymcap-cli compress input.mcap -o output.mcap --compression lz4
+
+# Compress in place: write to a temp file, validate it, then replace the source
+pymcap-cli compress input.mcap --in-place --compression zstd
+
+# Trade a little ratio for throughput: --fast (zstd fast mode), or pick a level
+pymcap-cli compress input.mcap -o output.mcap --fast
+pymcap-cli compress input.mcap -o output.mcap --compression-level -5
 ```
 
 ### `du` — Disk Usage Analysis
@@ -407,10 +447,32 @@ List various record types in an MCAP file.
 pymcap-cli list channels data.mcap
 pymcap-cli list chunks data.mcap
 pymcap-cli list schemas data.mcap
+pymcap-cli list schema data.mcap --name sensor_msgs/msg/Image
 pymcap-cli list attachments data.mcap
 pymcap-cli list metadata data.mcap
 ```
 
+### `msg` — ROS2 Message Definitions
+
+Resolve, list, and browse ROS2 `.msg` definitions. `msg def` prints complete
+definitions including dependencies; `msg list` lists package message types; and
+`msg serve` starts a local browser UI.
+
+```bash
+# Resolve a standard ROS2 message
+pymcap-cli msg def sensor_msgs/msg/Image --distro humble
+
+# Include custom package roots before AMENT_PREFIX_PATH and the user cache
+pymcap-cli msg def my_robot_msgs/msg/Status -I ./install/share
+
+# List messages in a package or browse definitions locally
+pymcap-cli msg list sensor_msgs --distro jazzy
+pymcap-cli msg serve --distro jazzy --no-browser
+```
+
+Missing standard packages are resolved from rosdistro/GitHub and cached under
+the `pymcap_cli_msg_def` user cache.
+
 ### `get` — Extract Attachments and Metadata
 
 Extract a single attachment's bytes or a metadata record's key/value map.
@@ -460,6 +522,38 @@ pymcap-cli duplicates /data/recordings --all
 pymcap-cli duplicates /data/recordings --rebuild-missing
 ```
 
+### `index` — Sidecar Catalog
+
+Maintain a sidecar SQLite catalog of MCAP summaries for fast lookup across
+large recording trees. Requires the `xxhash` extra.
+
+```bash
+# Scan a tree and skip unchanged files on later runs
+pymcap-cli index scan /data/recordings
+
+# Coverage and directory-level rollups
+pymcap-cli index status /data/recordings
+pymcap-cli index tree /data/recordings --max-depth 3
+
+# Query by topic/schema/time and inspect catalog-wide topics
+pymcap-cli index query /data/recordings --topic /camera/front --format json
+pymcap-cli index topics /camera --sort-by messages
+
+# Apply pending schema migrations to an existing catalog
+pymcap-cli index migrate
+
+# Browse the catalog in a local Datasette web UI (dashboards, charts, cross-links)
+pymcap-cli index serve
+```
+
+`index serve` launches [Datasette](https://datasette.io/) against the sidecar DB
+with bundled dashboards, canned queries, and a render plugin. It needs the
+`serve` extra (`pip install 'pymcap-cli[serve]'`; in this workspace, use
+`uv run --package pymcap-cli --extra serve pymcap-cli index serve`). Datasette
+runs from the same environment so the plugin resolves. Use `--db` to point at a
+non-default catalog, `--port` to change the port (default 8001), and
+`--no-browser` to skip auto-open.
+
 ### `records` — Raw Record Dump
 
 Print every MCAP record in file order using its `repr`. Useful for inspecting
@@ -480,22 +574,26 @@ pymcap-cli topic-chunks data.mcap
 
 ### `video` — Video Generation
 
-Generate MP4 videos from image topics using hardware-accelerated encoding. Requires the `video` extra.
+Generate one MP4 per image topic using hardware-accelerated encoding. Requires
+the `video` extra.
 
 ```bash
 # Basic video generation
-pymcap-cli video data.mcap --topic /camera/front --output front.mp4
+pymcap-cli video data.mcap --topic /camera/front --output ./videos
 
 # With quality preset
-pymcap-cli video data.mcap --topic /camera/rear --output rear.mp4 --quality high
+pymcap-cli video data.mcap --topic /camera/rear --output ./videos --quality high
 
 # Use specific codec and encoder
-pymcap-cli video data.mcap --topic /lidar/image --output lidar.mp4 --codec h265 --encoder videotoolbox
+pymcap-cli video data.mcap --topic /lidar/image --output ./videos --codec h265 --encoder videotoolbox
 ```
 
-### `roscompress` — ROS Image Compression
+### `roscompress` — ROS Image and Point-Cloud Compression
 
-Compress ROS MCAP files by converting CompressedImage/Image topics to CompressedVideo format and PointCloud2 topics to Cloudini or Draco compressed point clouds.
+Compress ROS MCAP files by converting CompressedImage/Image topics to
+CompressedVideo format and PointCloud2 topics to Cloudini or Draco compressed
+point clouds. Requires the `video` and `pointcloud` extras; Draco compression
+also requires the `draco` extra.
 
 ```bash
 # Basic compression
@@ -510,7 +608,7 @@ pymcap-cli roscompress data.mcap -o compressed.mcap --pc-format draco --pc-schem
 
 ### `rosdecompress` — ROS Decompression
 
-Decompress CompressedVideo, CompressedPointCloud2, and Foxglove CompressedPointCloud topics back to standard ROS formats.
+Decompress CompressedVideo, CompressedPointCloud2, and Foxglove CompressedPointCloud topics back to standard ROS formats. Requires the `video` and `pointcloud` extras.
 
 ```bash
 # Decompress to CompressedImage (JPEG)
@@ -605,6 +703,22 @@ pymcap-cli export-geo data.mcap -o ./geo --format gpx --mode track --stride 5
 pymcap-cli export-geo data.mcap -o ./geo --include-no-fix
 ```
 
+### `bridge` — Live Foxglove Bridge
+
+Inspect, stream, or record live topics from a Foxglove WebSocket bridge. Requires
+the `bridge` extra.
+
+```bash
+# Inspect advertised channels
+pymcap-cli bridge localhost:8765
+
+# Stream decoded messages
+pymcap-cli bridge cat localhost:8765 --topics /tf --limit 10
+
+# Record all advertised topics to MCAP
+pymcap-cli bridge record localhost:8765 --all -o live.mcap
+```
+
 ### Shell Autocompletion
 
 ```bash
@@ -631,9 +745,9 @@ pymcap-cli process full_log.mcap -o camera.mcap \
 # Recover corrupt file and compress in one pass
 pymcap-cli process corrupt.mcap -o recovered.mcap --recovery-mode --compression lz4
 
-# Fast filtering with chunk copying (up to 10x faster)
+# Fast filtering with automatic chunk copying when possible
 pymcap-cli process 100gb_file.mcap -o filtered.mcap \
-  -y "/lidar.*" --chunk-copying --compression zstd
+  -y "/lidar.*" --compression zstd
 
 # Optimize for topic-specific playback
 pymcap-cli rechunk robot_log.mcap -o optimized.mcap \
@@ -653,14 +767,14 @@ pymcap-cli rechunk robot_log.mcap -o optimized.mcap \
 
 ```bash
 # Setup development environment
-uv sync
+uv sync --all-groups --all-extras --all-packages
 
 # Run locally during development
 uv run pymcap-cli --help
 
 # Format and lint code
-uv run pre-commit run --all-files
+pre-commit run --all-files
 
 # Run tests
-uv run pytest pymcap-cli/tests
+uv run pytest pymcap-cli/tests -m "not benchmark" --no-cov -q
 ```

{pymcap_cli-0.12.0 → pymcap_cli-0.14.0}/README.md

@@ -17,8 +17,14 @@ uvx pymcap-cli info data.mcap
 # Or add to your project
 uv add pymcap-cli
 
-# With video support (for video and roscompress commands)
-uv add pymcap-cli[video]
+# With video support (for video generation and ROS image compression)
+uv add "pymcap-cli[video]"
+
+# With ROS image and point-cloud compression support
+uv add "pymcap-cli[video,pointcloud]"
+
+# Add Draco point-cloud compression support
+uv add "pymcap-cli[video,pointcloud,draco]"
 ```
 
 ## Why pymcap-cli over the official Go CLI?
@@ -99,6 +105,16 @@ pymcap-cli cat recording.mcap --bytes base64   # base64-encoded
 pymcap-cli cat recording.mcap --bytes skip     # omit binary fields
 ```
 
+### `doctor` — MCAP Container Validation
+
+Check an MCAP file structure against the MCAP container specification, with
+summary, index, chunk, message-order, and advisory findings.
+
+```bash
+pymcap-cli doctor data.mcap
+pymcap-cli doctor data.mcap --strict-message-order --show-all
+```
+
 ### `tftree` — TF Transform Tree
 
 Visualize the ROS TF transform tree with colored static/dynamic transforms, translation and rotation values.
@@ -117,6 +133,16 @@ pymcap-cli tftree data.mcap
 pymcap-cli tftree data.mcap --static-only
 ```
 
+### `tf-get` — TF Transform Lookup
+
+Resolve the transform from a source frame into a target frame using `/tf_static`
+and `/tf`. Without `--at`, dynamic edges use their latest sample.
+
+```bash
+pymcap-cli tf-get data.mcap map base_link
+pymcap-cli tf-get data.mcap odom base_link --at 2024-01-01T10:00:00Z
+```
+
 ### `tf-export` — TF Tree to URDF / SDF / JSON
 
 Reconstruct robot description files from `/tf_static` (and optionally `/tf` at a
@@ -317,7 +343,7 @@ Filter messages by topic patterns (simpler version of `process`).
 
 ```bash
 # Include specific topics
-pymcap-cli filter data.mcap -o filtered.mcap --include-topics "/camera/image" "/lidar/points"
+pymcap-cli filter data.mcap -o filtered.mcap --topics "/camera/image" "/lidar/points"
 
 # Exclude topics
 pymcap-cli filter data.mcap -o filtered.mcap --exclude-topics "/debug.*" "/test.*"
@@ -330,6 +356,13 @@ Change MCAP file compression.
 ```bash
 pymcap-cli compress input.mcap -o output.mcap --compression zstd
 pymcap-cli compress input.mcap -o output.mcap --compression lz4
+
+# Compress in place: write to a temp file, validate it, then replace the source
+pymcap-cli compress input.mcap --in-place --compression zstd
+
+# Trade a little ratio for throughput: --fast (zstd fast mode), or pick a level
+pymcap-cli compress input.mcap -o output.mcap --fast
+pymcap-cli compress input.mcap -o output.mcap --compression-level -5
 ```
 
 ### `du` — Disk Usage Analysis
@@ -348,10 +381,32 @@ List various record types in an MCAP file.
 pymcap-cli list channels data.mcap
 pymcap-cli list chunks data.mcap
 pymcap-cli list schemas data.mcap
+pymcap-cli list schema data.mcap --name sensor_msgs/msg/Image
 pymcap-cli list attachments data.mcap
 pymcap-cli list metadata data.mcap
 ```
 
+### `msg` — ROS2 Message Definitions
+
+Resolve, list, and browse ROS2 `.msg` definitions. `msg def` prints complete
+definitions including dependencies; `msg list` lists package message types; and
+`msg serve` starts a local browser UI.
+
+```bash
+# Resolve a standard ROS2 message
+pymcap-cli msg def sensor_msgs/msg/Image --distro humble
+
+# Include custom package roots before AMENT_PREFIX_PATH and the user cache
+pymcap-cli msg def my_robot_msgs/msg/Status -I ./install/share
+
+# List messages in a package or browse definitions locally
+pymcap-cli msg list sensor_msgs --distro jazzy
+pymcap-cli msg serve --distro jazzy --no-browser
+```
+
+Missing standard packages are resolved from rosdistro/GitHub and cached under
+the `pymcap_cli_msg_def` user cache.
+
 ### `get` — Extract Attachments and Metadata
 
 Extract a single attachment's bytes or a metadata record's key/value map.
@@ -401,6 +456,38 @@ pymcap-cli duplicates /data/recordings --all
 pymcap-cli duplicates /data/recordings --rebuild-missing
 ```
 
+### `index` — Sidecar Catalog
+
+Maintain a sidecar SQLite catalog of MCAP summaries for fast lookup across
+large recording trees. Requires the `xxhash` extra.
+
+```bash
+# Scan a tree and skip unchanged files on later runs
+pymcap-cli index scan /data/recordings
+
+# Coverage and directory-level rollups
+pymcap-cli index status /data/recordings
+pymcap-cli index tree /data/recordings --max-depth 3
+
+# Query by topic/schema/time and inspect catalog-wide topics
+pymcap-cli index query /data/recordings --topic /camera/front --format json
+pymcap-cli index topics /camera --sort-by messages
+
+# Apply pending schema migrations to an existing catalog
+pymcap-cli index migrate
+
+# Browse the catalog in a local Datasette web UI (dashboards, charts, cross-links)
+pymcap-cli index serve
+```
+
+`index serve` launches [Datasette](https://datasette.io/) against the sidecar DB
+with bundled dashboards, canned queries, and a render plugin. It needs the
+`serve` extra (`pip install 'pymcap-cli[serve]'`; in this workspace, use
+`uv run --package pymcap-cli --extra serve pymcap-cli index serve`). Datasette
+runs from the same environment so the plugin resolves. Use `--db` to point at a
+non-default catalog, `--port` to change the port (default 8001), and
+`--no-browser` to skip auto-open.
+
 ### `records` — Raw Record Dump
 
 Print every MCAP record in file order using its `repr`. Useful for inspecting
@@ -421,22 +508,26 @@ pymcap-cli topic-chunks data.mcap
 
 ### `video` — Video Generation
 
-Generate MP4 videos from image topics using hardware-accelerated encoding. Requires the `video` extra.
+Generate one MP4 per image topic using hardware-accelerated encoding. Requires
+the `video` extra.
 
 ```bash
 # Basic video generation
-pymcap-cli video data.mcap --topic /camera/front --output front.mp4
+pymcap-cli video data.mcap --topic /camera/front --output ./videos
 
 # With quality preset
-pymcap-cli video data.mcap --topic /camera/rear --output rear.mp4 --quality high
+pymcap-cli video data.mcap --topic /camera/rear --output ./videos --quality high
 
 # Use specific codec and encoder
-pymcap-cli video data.mcap --topic /lidar/image --output lidar.mp4 --codec h265 --encoder videotoolbox
+pymcap-cli video data.mcap --topic /lidar/image --output ./videos --codec h265 --encoder videotoolbox
 ```
 
-### `roscompress` — ROS Image Compression
+### `roscompress` — ROS Image and Point-Cloud Compression
 
-Compress ROS MCAP files by converting CompressedImage/Image topics to CompressedVideo format and PointCloud2 topics to Cloudini or Draco compressed point clouds.
+Compress ROS MCAP files by converting CompressedImage/Image topics to
+CompressedVideo format and PointCloud2 topics to Cloudini or Draco compressed
+point clouds. Requires the `video` and `pointcloud` extras; Draco compression
+also requires the `draco` extra.
 
 ```bash
 # Basic compression
@@ -451,7 +542,7 @@ pymcap-cli roscompress data.mcap -o compressed.mcap --pc-format draco --pc-schem
 
 ### `rosdecompress` — ROS Decompression
 
-Decompress CompressedVideo, CompressedPointCloud2, and Foxglove CompressedPointCloud topics back to standard ROS formats.
+Decompress CompressedVideo, CompressedPointCloud2, and Foxglove CompressedPointCloud topics back to standard ROS formats. Requires the `video` and `pointcloud` extras.
 
 ```bash
 # Decompress to CompressedImage (JPEG)
@@ -546,6 +637,22 @@ pymcap-cli export-geo data.mcap -o ./geo --format gpx --mode track --stride 5
 pymcap-cli export-geo data.mcap -o ./geo --include-no-fix
 ```
 
+### `bridge` — Live Foxglove Bridge
+
+Inspect, stream, or record live topics from a Foxglove WebSocket bridge. Requires
+the `bridge` extra.
+
+```bash
+# Inspect advertised channels
+pymcap-cli bridge localhost:8765
+
+# Stream decoded messages
+pymcap-cli bridge cat localhost:8765 --topics /tf --limit 10
+
+# Record all advertised topics to MCAP
+pymcap-cli bridge record localhost:8765 --all -o live.mcap
+```
+
 ### Shell Autocompletion
 
 ```bash
@@ -572,9 +679,9 @@ pymcap-cli process full_log.mcap -o camera.mcap \
 # Recover corrupt file and compress in one pass
 pymcap-cli process corrupt.mcap -o recovered.mcap --recovery-mode --compression lz4
 
-# Fast filtering with chunk copying (up to 10x faster)
+# Fast filtering with automatic chunk copying when possible
 pymcap-cli process 100gb_file.mcap -o filtered.mcap \
-  -y "/lidar.*" --chunk-copying --compression zstd
+  -y "/lidar.*" --compression zstd
 
 # Optimize for topic-specific playback
 pymcap-cli rechunk robot_log.mcap -o optimized.mcap \
@@ -594,14 +701,14 @@ pymcap-cli rechunk robot_log.mcap -o optimized.mcap \
 
 ```bash
 # Setup development environment
-uv sync
+uv sync --all-groups --all-extras --all-packages
 
 # Run locally during development
 uv run pymcap-cli --help
 
 # Format and lint code
-uv run pre-commit run --all-files
+pre-commit run --all-files
 
 # Run tests
-uv run pytest pymcap-cli/tests
+uv run pytest pymcap-cli/tests -m "not benchmark" --no-cov -q
 ```

{pymcap_cli-0.12.0 → pymcap_cli-0.14.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "pymcap-cli"
-version = "0.12.0"
+version = "0.14.0"
 description = "High-performance Python CLI for MCAP file processing with advanced recovery, filtering, and optimization capabilities"
 readme = "README.md"
 requires-python = ">=3.10"
@@ -46,7 +46,7 @@ dependencies = [
 ]
 
 [project.optional-dependencies]
-all = ["pymcap-cli[video,pointcloud,plot,parquet,image,draco,bridge,xxhash]"]
+all = ["pymcap-cli[video,pointcloud,plot,parquet,image,draco,bridge,xxhash,serve]"]
 lite = ["pymcap-cli[image,draco,bridge,xxhash]"]
 bridge = ["robo-ws-bridge"]
 draco = ["mcap-codec-support[draco]"]
@@ -56,6 +56,16 @@ plot = ["plotly>=6.0.0"]
 pointcloud = ["mcap-codec-support[pointcloud]"]
 video = ["mcap-codec-support[video]"]
 xxhash = ["xxhash>=3.0.0"]
+# `index serve` web UI. datasette<1 pin: datasette-dashboards 500s on the 1.0
+# pre-release. Run from the same env so the bundled pymcap_render plugin imports.
+serve = [
+    "datasette>=0.65.2,<1",
+    "datasette-block-robots>=1.1,<2",
+    "datasette-copyable>=0.3.2,<1",
+    "datasette-dashboards>=0.8.0,<1",
+    "datasette-export-notebook>=1.0.1,<2",
+    "datasette-vega>=0.6.2,<1",
+]
 
 
 [project.urls]

{pymcap_cli-0.12.0 → pymcap_cli-0.14.0}/src/pymcap_cli/cli.py

@@ -37,6 +37,7 @@ from pymcap_cli.cmd import (
     tftree_cmd,
     topic_chunks_cmd,
 )
+from pymcap_cli.cmd import msg as msg_pkg
 from pymcap_cli.log_setup import ERR, setup_logging
 
 CommandFunction: TypeAlias = Callable[..., int]
@@ -194,7 +195,7 @@ rosdecompress = _load_optional_command(
     install_command="uv add 'pymcap-cli[video,pointcloud]'",
 )
 index_app = _load_optional_app(
-    "pymcap_cli.cmd.index_cmd",
+    "pymcap_cli.cmd.index",
     "index_app",
     expected_missing_modules=("xxhash",),
     message="Index command requires the 'xxhash' extra "
@@ -225,6 +226,8 @@ app.command(name="diff", group=inspect_group)(diff_cmd.diff_cmd)
 app.command(name="duplicates", group=inspect_group)(duplicates_cmd.duplicates)
 app.command(name="info", group=inspect_group)(info_cmd.info)
 app.command(name="info-json", group=inspect_group)(info_json_cmd.info_json)
+msg_pkg.msg_app.group = (inspect_group,)
+app.command(msg_pkg.msg_app, name="msg")
 index_app.group = (inspect_group,)
 app.command(index_app, name="index")
 get_cmd.get_app.group = (inspect_group,)

{pymcap_cli-0.12.0 → pymcap_cli-0.14.0}/src/pymcap_cli/cmd/_run_processor.py

@@ -126,6 +126,27 @@ def delete_source_files(sources: list[str], outputs: list[Path]) -> None:
             logger.exception(f"Failed to delete '{src}'")
 
 
+def in_place_temp_path(source: Path) -> Path:
+    """Temp output path next to ``source`` so the final rename stays on one filesystem."""
+    return source.with_name(source.name + ".tmp")
+
+
+def finalize_replace_source(*, source: Path, tmp_output: Path) -> int:
+    """Validate ``tmp_output`` and atomically replace ``source`` with it.
+
+    Returns 0 on success and 1 if validation failed (source is preserved and
+    the temp file is removed).
+    """
+    if not validate_mcap_output(tmp_output):
+        logger.error(f"[red]Output failed validation: {tmp_output}[/red]")
+        logger.error("Source file preserved — output not safe to replace source.")
+        tmp_output.unlink(missing_ok=True)
+        return 1
+    tmp_output.replace(source)
+    logger.info(f"Replaced source: {source}")
+    return 0
+
+
 def finalize_delete_source(
     *,
     sources: list[str],

{pymcap_cli-0.12.0 → pymcap_cli-0.14.0}/src/pymcap_cli/cmd/bag2mcap_cmd.py

@@ -37,6 +37,7 @@ class Bag2McapOptions:
     compression: WriterCompression = DEFAULT_COMPRESSION
     enable_crcs: bool = True
     use_chunking: bool = True
+    zstd_level: int | None = None
 
 
 @dataclass