archebase · zhexuany · Feb 7, 2026 · Feb 7, 2026 · Feb 7, 2026 · Feb 7, 2026
diff --git a/Cargo.lock b/Cargo.lock
diff --git a/Cargo.toml b/Cargo.toml
@@ -22,7 +22,12 @@ version.workspace = true
 edition.workspace = true
 authors.workspace = true
 license.workspace = true
-description = "High-performance robotics data codec library for reading, writing, and converting MCAP and ROS1 bag files with support for CDR, Protobuf, and JSON encodings"
+description = "High-performance robotics data codec library for reading, writing, and converting MCAP, ROS1 bag, and RRF2 files"
+keywords = ["robotics", "mcap", "ros", "rosbag", "codec"]
+categories = ["parser-implementations", "encoding", "science::robotics"]
+readme = "README.md"
+repository = "https://github.com/archebase/robocodec"
+documentation = "https://docs.rs/robocodec"
 
 [lib]
 crate-type = ["rlib", "cdylib"]
@@ -57,7 +62,6 @@ bzip2 = "0.4"
 crc32fast = "1.4"
 mcap = "0.24"
 rosbag = "0.6"
-bumpalo = "3.16"
 bytemuck = "1.15"
 chrono = "0.4"
 tracing = "0.1"

diff --git a/README.md b/README.md
@@ -12,7 +12,7 @@
 - **Auto-Detection** - Format detected from file extension or URL scheme
 - **Fast** - Parallel processing with rayon, zero-copy memory-mapped files
 - **S3-Native** - First-class support for `s3://` URLs (AWS S3, MinIO, Alibaba OSS, etc.)
-- **Transformations** - Topic/type renaming and format conversion built-in
+- **Transformations** - Topic/type renaming during file rewriting
 
 ## Quick Start
 
@@ -122,61 +122,6 @@ export AWS_SECRET_ACCESS_KEY="your-oss-secret-key"
 
 > **Note:** While we use AWS-standard environment variable names for compatibility, robocodec works with any S3-compatible storage service.
 
-### Read from HTTP/HTTPS
-
-Robocodec also supports reading directly from HTTP/HTTPS URLs:
-
-```rust
-use robocodec::RoboReader;
-
-// Format detected from URL path, access via HTTP
-let reader = RoboReader::open("https://example.com/data.mcap")?;
-println!("Found {} channels", reader.channels().len());
-```
-
-> **Note:** HTTP reading supports range requests for efficient access to large files.
-
-#### HTTP Authentication
-
-For authenticated HTTP endpoints, robocodec supports Bearer tokens and Basic authentication via `ReaderConfig`:
-
-```rust
-use robocodec::io::{RoboReader, ReaderConfig};
-
-// Bearer token (OAuth2/JWT)
-let config = ReaderConfig::default().with_http_bearer_token("your-token-here");
-let reader = RoboReader::open_with_config("https://example.com/data.mcap", config)?;
-
-// Basic authentication
-let config = ReaderConfig::default().with_http_basic_auth("username", "password");
-let reader = RoboReader::open_with_config("https://example.com/data.mcap", config)?;
-```
-
-Alternatively, you can provide authentication via URL query parameters:
-
-```rust
-use robocodec::RoboReader;
-
-// Bearer token via URL
-let reader = RoboReader::open("https://example.com/data.mcap?bearer_token=your-token")?;
-
-// Basic auth via URL (user:pass encoded)
-let reader = RoboReader::open("https://example.com/data.mcap?basic_auth=user:pass")?;
-```
-
-### Write to S3
-
-```rust
-use robocodec::RoboWriter;
-
-// Format detected from .mcap extension, S3 from s3:// URL
-let mut writer = RoboWriter::create("s3://my-bucket/output.mcap")?;
-let channel_id = writer.add_channel("/topic", "MessageType", "cdr", None)?;
-// ... write messages ...
-writer.finish()?;
-}
-```
-
 ### Custom S3 endpoints
 
 For S3-compatible services with custom endpoints:
@@ -200,31 +145,25 @@ let reader = RoboReader::open(
 )?;
 ```
 
-### Convert between formats
+### Rewrite files with transformations
 
-```rust
-use robocodec::RoboRewriter;
-
-let rewriter = RoboRewriter::open("input.bag")?;
-rewriter.rewrite("output.mcap")?;
-```
-
-### Rename topics during conversion
+The rewriter processes files in the same format, optionally applying topic and type transformations:
 
 ```rust
-use robocodec::{RoboRewriter, TransformBuilder};
+use robocodec::{RoboRewriter, TransformBuilder, RewriteOptions};
 
 let transform = TransformBuilder::new()
     .with_topic_rename("/old/topic", "/new/topic")
     .build();
 
-let rewriter = RoboRewriter::with_options(
-    "input.mcap",
-    robocodec::RewriteOptions::default().with_transforms(transform)
-)?;
+let options = RewriteOptions::default().with_transforms(transform);
+let rewriter = RoboRewriter::with_options("input.mcap", options)?;
 rewriter.rewrite("output.mcap")?;
 ```
 
+**Note:** The rewriter preserves the same format. Cross-format conversion is not currently supported.
+
+
 ## Installation
 
 ### Rust Users
@@ -247,6 +186,8 @@ robocodec = { version = "0.1", features = ["jemalloc"] }
 | `s3` | S3-compatible storage support (AWS S3, MinIO, etc.) | ✅ Yes |
 | `python` | Python bindings | ❌ No |
 | `jemalloc` | Use jemalloc allocator (Linux only) | ❌ No |
+| `python` | Python bindings | ❌ No |
+| `jemalloc` | Use jemalloc allocator (Linux only) | ❌ No |
 
 ### Python Users
 

diff --git a/README_zh.md b/README_zh.md
@@ -14,7 +14,7 @@
 - **自动检测** - 从文件扩展名或 URL scheme 自动检测格式
 - **高性能** - 使用 rayon 并行处理，零拷贝内存映射文件
 - **原生 S3 支持** - 对 `s3://` URL 的一流支持（AWS S3、MinIO、阿里云 OSS 等）
-- **数据转换** - 内置主题/类型重命名和格式转换功能
+- **数据转换** - 内置主题/类型重命名和文件重写功能
 
 ## 快速开始
 
@@ -124,60 +124,6 @@ export AWS_SECRET_ACCESS_KEY="your-oss-secret-key"
 
 > **注意：** 虽然我们使用 AWS 标准的环境变量名称以确保兼容性，但 robocodec 可与任何兼容 S3 的存储服务配合使用。
 
-### 从 HTTP/HTTPS 读取
-
-Robocodec 也支持直接从 HTTP/HTTPS URL 读取数据：
-
-```rust
-use robocodec::RoboReader;
-
-// 格式从 URL 路径检测，通过 HTTP 访问
-let reader = RoboReader::open("https://example.com/data.mcap")?;
-println!("找到 {} 个通道", reader.channels().len());
-```
-
-> **注意：** HTTP 读取支持范围请求，可高效访问大文件。
-
-#### HTTP 身份验证
-
-对于需要身份验证的 HTTP 端点，robocodec 通过 `ReaderConfig` 支持 Bearer 令牌和基本身份验证：
-
-```rust
-use robocodec::io::{RoboReader, ReaderConfig};
-
-// Bearer 令牌（OAuth2/JWT）
-let config = ReaderConfig::default().with_http_bearer_token("your-token-here");
-let reader = RoboReader::open_with_config("https://example.com/data.mcap", config)?;
-
-// 基本身份验证
-let config = ReaderConfig::default().with_http_basic_auth("username", "password");
-let reader = RoboReader::open_with_config("https://example.com/data.mcap", config)?;
-```
-
-或者，您可以通过 URL 查询参数提供身份验证：
-
-```rust
-use robocodec::RoboReader;
-
-// 通过 URL 提供 Bearer 令牌
-let reader = RoboReader::open("https://example.com/data.mcap?bearer_token=your-token")?;
-
-// 通过 URL 提供基本身份验证（user:pass 编码）
-let reader = RoboReader::open("https://example.com/data.mcap?basic_auth=user:pass")?;
-```
-
-### 写入到 S3
-
-```rust
-use robocodec::RoboWriter;
-
-// 格式从 .mcap 扩展名检测，S3 从 s3:// URL 检测
-let mut writer = RoboWriter::create("s3://my-bucket/output.mcap")?;
-let channel_id = writer.add_channel("/topic", "MessageType", "cdr", None)?;
-// ... 写入消息 ...
-writer.finish()?;
-```
-
 ### 自定义 S3 端点
 
 对于具有自定义端点的兼容 S3 服务：
@@ -201,31 +147,24 @@ let reader = RoboReader::open(
 )?;
 ```
 
-### 格式之间转换
+### 使用转换重写文件
 
-```rust
-use robocodec::RoboRewriter;
-
-let rewriter = RoboRewriter::open("input.bag")?;
-rewriter.rewrite("output.mcap")?;
-```
-
-### 转换时重命名主题
+重写器以相同格式处理文件，可选择应用主题和类型转换：
 
 ```rust
-use robocodec::{RoboRewriter, TransformBuilder};
+use robocodec::{RoboRewriter, TransformBuilder, RewriteOptions};
 
 let transform = TransformBuilder::new()
     .with_topic_rename("/old/topic", "/new/topic")
     .build();
 
-let rewriter = RoboRewriter::with_options(
-    "input.mcap",
-    robocodec::RewriteOptions::default().with_transforms(transform)
-)?;
+let options = RewriteOptions::default().with_transforms(transform);
+let rewriter = RoboRewriter::with_options("input.mcap", options)?;
 rewriter.rewrite("output.mcap")?;
 ```
 
+**注意：** 重写器保持相同的格式。目前不支持跨格式转换。
+
 ## 安装
 
 ### Rust 用户

diff --git a/benches/decoder_bench.rs b/benches/decoder_bench.rs
@@ -180,25 +180,25 @@ fn bench_value_operations(c: &mut Criterion) {
 
     // Benchmark string value access
     group.bench_function("access_string_value", |b| {
-        let value = robocodec::CodecValue::String("test string value".to_string());
+        let value = robocodec::core::CodecValue::String("test string value".to_string());
         b.iter(|| {
-            if let robocodec::CodecValue::String(s) = black_box(&value) {
+            if let robocodec::core::CodecValue::String(s) = black_box(&value) {
                 black_box(s.len());
             }
         })
     });
 
     // Benchmark array value access
     group.bench_function("access_array_value", |b| {
-        let value = robocodec::CodecValue::Array(vec![
-            robocodec::CodecValue::Int64(1),
-            robocodec::CodecValue::Int64(2),
-            robocodec::CodecValue::Int64(3),
-            robocodec::CodecValue::Int64(4),
-            robocodec::CodecValue::Int64(5),
+        let value = robocodec::core::CodecValue::Array(vec![
+            robocodec::core::CodecValue::Int64(1),
+            robocodec::core::CodecValue::Int64(2),
+            robocodec::core::CodecValue::Int64(3),
+            robocodec::core::CodecValue::Int64(4),
+            robocodec::core::CodecValue::Int64(5),
         ]);
         b.iter(|| {
-            if let robocodec::CodecValue::Array(arr) = black_box(&value) {
+            if let robocodec::core::CodecValue::Array(arr) = black_box(&value) {
                 black_box(arr.len());
             }
         })
@@ -210,13 +210,13 @@ fn bench_value_operations(c: &mut Criterion) {
         for i in 0..10 {
             fields.insert(
                 format!("field_{}", i),
-                robocodec::CodecValue::Int64(i as i64),
+                robocodec::core::CodecValue::Int64(i as i64),
             );
         }
-        let value = robocodec::CodecValue::Struct(fields);
+        let value = robocodec::core::CodecValue::Struct(fields);
 
         b.iter(|| {
-            if let robocodec::CodecValue::Struct(fields) = black_box(&value) {
+            if let robocodec::core::CodecValue::Struct(fields) = black_box(&value) {
                 black_box(fields.len());
             }
         })

diff --git a/examples/README.md b/examples/README.md
@@ -4,7 +4,7 @@ This directory contains practical examples demonstrating the public API of the r
 
 ## Running Examples
 
-Each example accepts a file path as an argument:
+### Local Files
 
 ```bash
 # Inspect a file
@@ -13,8 +13,25 @@ cargo run --example read_file -- tests/fixtures/robocodec_test_14.mcap
 # Decode and display messages
 cargo run --example decode_messages -- tests/fixtures/robocodec_test_14.mcap
 
-# Convert between formats
-cargo run --example convert_format -- tests/fixtures/robocodec_test_14.mcap output.bag
+# Rewrite a file (same format)
+cargo run --example convert_format -- tests/fixtures/robocodec_test_14.mcap output.mcap
+
+# Transform topics and types
+cargo run --example transform -- tests/fixtures/robocodec_test_14.mcap output.mcap
+```
+
+### Remote Files (S3)
+
+```bash
+# Set S3 credentials (for AWS S3, MinIO, Alibaba OSS, etc.)
+export AWS_ACCESS_KEY_ID="your-access-key"
+export AWS_SECRET_ACCESS_KEY="your-secret-key"
+
+# Read from S3
+cargo run --example s3_example -- s3://my-bucket/path/to/data.mcap
+
+# Read from S3 with custom endpoint (MinIO, Alibaba OSS, etc.)
+cargo run --example s3_example -- "s3://bucket/data.mcap?endpoint=http://localhost:9000"
 ```
 
 ## Examples
@@ -28,13 +45,15 @@ Demonstrates opening a robotics data file and inspecting its metadata, channels,
 - Accessing file metadata
 - Listing channels with their properties
 
-### `convert_format.rs` - Format Conversion
+### `convert_format.rs` - File Rewriting
 
-Demonstrates converting between MCAP and ROS1 bag formats.
+Demonstrates rewriting a robotics data file in the same format.
 
 **What you'll learn:**
-- Using `RoboRewriter` for format conversion
-- Understanding conversion statistics
+- Using `RoboRewriter` to rewrite files
+- Understanding rewrite statistics
+
+**Note:** The rewriter preserves the same format as the input file. Cross-format conversion is not currently supported.
 
 ### `decode_messages.rs` - Message Decoding
 
@@ -44,6 +63,25 @@ Demonstrates iterating through decoded messages with timestamps.
 - Using the `decoded()` iterator
 - Accessing message data, timestamps, and channel info
 
+### `s3_example.rs` - S3 Remote File Access
+
+Demonstrates reading robotics data files from S3-compatible storage.
+
+**What you'll learn:**
+- Reading from S3-compatible storage (AWS S3, MinIO, Alibaba OSS, etc.)
+- S3 authentication via environment variables
+- Custom S3 endpoints via URL parameters
+
+### `transform.rs` - Topic and Type Transformations
+
+Demonstrates renaming topics and message types during format conversion.
+
+**What you'll learn:**
+- Using `TransformBuilder` to create transformation pipelines
+- Topic renaming with exact name matching
+- Type renaming for schema migration
+- Combining transformations with `RoboRewriter`
+
 ## Public API
 
 The examples demonstrate the **public API** only: