Merge remote-tracking branch 'upstream/main'

cpp/examples/protobuf/dynamic_reader.cpp

@@ -8,6 +8,7 @@
 #include <google/protobuf/dynamic_message.h>
 
 #include "mcap/reader.hpp"
+#include <memory>
 #include <vector>
 
 namespace gp = google::protobuf;
@@ -82,7 +83,7 @@ int main(int argc, char** argv) {
         return 1;
       }
     }
-    gp::Message* message = protoFactory.GetPrototype(descriptor)->New();
+    auto message = std::unique_ptr<gp::Message>(protoFactory.GetPrototype(descriptor)->New());
     if (!message->ParseFromArray(it->message.data, static_cast<int>(it->message.dataSize))) {
       std::cerr << "failed to parse message using included foxglove.PointCloud schema" << std::endl;
       reader.close();

cpp/examples/protobuf/writer.cpp

@@ -156,7 +156,6 @@ int main(int argc, char** argv) {
     if (!res.ok()) {
       std::cerr << "Failed to write message: " << res.message << "\n";
       writer.terminate();
-      writer.close();
       std::ignore = std::remove(outputFilename);
       return 1;
     }

go/mcap/indexed_message_iterator.go

@@ -147,13 +147,8 @@ func (it *indexedMessageIterator) parseSummarySection() error {
 				return fmt.Errorf("failed to parse attachment index: %w", err)
 			}
 			// if the chunk overlaps with the requested parameters, load it
-			for _, channel := range it.channels.Slice() {
-				if channel != nil && idx.MessageIndexOffsets[channel.ID] > 0 {
-					if (it.end == 0 && it.start == 0) || (idx.MessageStartTime < it.end && idx.MessageEndTime >= it.start) {
-						it.chunkIndexes = append(it.chunkIndexes, idx)
-					}
-					break
-				}
+			if (it.end == 0 && it.start == 0) || (idx.MessageStartTime < it.end && idx.MessageEndTime >= it.start) {
+				it.chunkIndexes = append(it.chunkIndexes, idx)
 			}
 		case TokenStatistics:
 			stats, err := ParseStatistics(record)
@@ -200,8 +195,8 @@ func (it *indexedMessageIterator) loadChunk(chunkIndex *ChunkIndex) error {
 
 	compressedChunkLength := chunkIndex.ChunkLength
 	if uint64(cap(it.recordBuf)) < compressedChunkLength {
-		newSize := int(float64(compressedChunkLength) * chunkBufferGrowthMultiple)
-		it.recordBuf = make([]byte, newSize)
+		newCapacity := int(float64(compressedChunkLength) * chunkBufferGrowthMultiple)
+		it.recordBuf = make([]byte, compressedChunkLength, newCapacity)
 	} else {
 		it.recordBuf = it.recordBuf[:compressedChunkLength]
 	}

go/mcap/version.go

@@ -1,4 +1,4 @@
 package mcap
 
 // Version of the MCAP library.
-var Version = "v1.4.0"
+var Version = "v1.4.1"

website/docs/guides/cpp/protobuf.md

@@ -31,6 +31,12 @@ We also include the MCAP reader implementation:
 #include "mcap/reader.hpp"
 ```
 
+And standard library dependencies:
+
+```cpp
+#include <memory>
+```
+
 Use the `mcap::McapReader::open()` method to open an MCAP file for reading:
 
 ```cpp
@@ -103,7 +109,7 @@ auto messageView = reader.readMessages();
 
 #### Load schema definitions
 
-We build a `DynamicMessageFactory`, using a `google::Protobuf::SimpleDescriptorDatabase` as the underlying descriptor database. By constructing this ourselves and retaining a reference to the database, we can more easily load that database with definitions from the MCAP file.
+We build a `DynamicMessageFactory`, using a `google::protobuf::SimpleDescriptorDatabase` as the underlying descriptor database. By constructing this ourselves and retaining a reference to the database, we can more easily load that database with definitions from the MCAP file.
 
 ```cpp
 gp::SimpleDescriptorDatabase protoDb;
@@ -157,7 +163,7 @@ descriptor = protoPool.FindMessageTypeByName(it->schema->name);
 We can use this descriptor to parse our message:
 
 ```cpp
-gp::Message* message = protoFactory.GetPrototype(descriptor)->New();
+auto message = std::unique_ptr<gp::Message>(protoFactory.GetPrototype(descriptor)->New());
 if (!message->ParseFromArray(static_cast<const void*>(it->message.data),
                               it->message.dataSize)) {
   std::cerr << "failed to parse message using included schema" << std::endl;

website/docs/spec/registry.md

@@ -60,7 +60,7 @@ Schema `encoding` may only be omitted for self-describing message encodings such
 
 - `name`: Fully qualified name to the message within the descriptor set. For example, in a proto file containing `package foo.bar; message Baz {}` the fully qualified message name is `foo.bar.Baz`.
 - `encoding`: `protobuf`
-- `data`: A binary [FileDescriptorSet](https://github.com/protocolbuffers/protobuf/blob/master/src/google/protobuf/descriptor.proto) as produced by `protoc --descriptor_set_out`.
+- `data`: A binary [FileDescriptorSet](https://github.com/protocolbuffers/protobuf/blob/master/src/google/protobuf/descriptor.proto) as produced by `protoc --include_imports --descriptor_set_out`.
 
 ### flatbuffer