diff --git a/src/clpi.rs b/src/clpi.rs
new file mode 100644
index 0000000..c4ffd8f
--- /dev/null
+++ b/src/clpi.rs
@@ -0,0 +1,249 @@
+//! CLPI clip info parser — maps clips to sector ranges on disc.
+//!
+//! Each .clpi file in BDMV/CLIPINF/ describes one M2TS clip.
+//! The EP (Entry Point) map provides timestamp → SPN mapping.
+//! SPN × 192 = byte offset in the m2ts file.
+//!
+//! Reference: https://github.com/lw/BluRay/wiki/CLPI
+
+use crate::error::{Error, Result};
+use crate::disc::Extent;
+
+/// Parsed CLPI clip info.
+#[derive(Debug)]
+pub struct ClipInfo {
+    pub version: String,
+    /// Total source packets in the m2ts (each 192 bytes)
+    pub source_packet_count: u32,
+    /// Coarse EP entries for the primary video stream
+    pub ep_coarse: Vec<EpCoarse>,
+    /// Fine EP entries for the primary video stream
+    pub ep_fine: Vec<EpFine>,
+}
+
+#[derive(Debug, Clone)]
+pub struct EpCoarse {
+    pub ref_to_fine_id: u32,
+    pub pts_coarse: u32,
+    pub spn_coarse: u32,
+}
+
+#[derive(Debug, Clone)]
+pub struct EpFine {
+    pub pts_fine: u32,
+    pub spn_fine: u32,
+}
+
+impl ClipInfo {
+    /// Reconstruct full PTS from coarse + fine entry.
+    pub fn full_pts(coarse: &EpCoarse, fine: &EpFine) -> u32 {
+        (coarse.pts_coarse << 19) + (fine.pts_fine << 8)
+    }
+
+    /// Reconstruct full SPN from coarse + fine entry.
+    pub fn full_spn(coarse: &EpCoarse, fine: &EpFine) -> u32 {
+        (coarse.spn_coarse & 0xFFFE0000) + fine.spn_fine
+    }
+
+    /// Get all EP entries as (PTS, SPN) pairs, fully resolved.
+    pub fn resolved_ep_map(&self) -> Vec<(u32, u32)> {
+        let mut entries = Vec::new();
+
+        for (ci, coarse) in self.ep_coarse.iter().enumerate() {
+            let fine_start = coarse.ref_to_fine_id as usize;
+            let fine_end = if ci + 1 < self.ep_coarse.len() {
+                self.ep_coarse[ci + 1].ref_to_fine_id as usize
+            } else {
+                self.ep_fine.len()
+            };
+
+            for fi in fine_start..fine_end.min(self.ep_fine.len()) {
+                let fine = &self.ep_fine[fi];
+                let pts = Self::full_pts(coarse, fine);
+                let spn = Self::full_spn(coarse, fine);
+                entries.push((pts, spn));
+            }
+        }
+
+        entries
+    }
+
+    /// Get sector extents for a given in/out time range.
+    ///
+    /// Converts PTS timestamps to SPN ranges, then SPN to LBA
+    /// using the file's starting LBA on disc.
+    pub fn get_extents(&self, in_time: u32, out_time: u32) -> Vec<Extent> {
+        let ep_map = self.resolved_ep_map();
+        if ep_map.is_empty() {
+            return Vec::new();
+        }
+
+        // Find SPN at or before in_time
+        let start_spn = match ep_map.binary_search_by_key(&in_time, |(pts, _)| *pts) {
+            Ok(i) => ep_map[i].1,
+            Err(0) => ep_map[0].1,
+            Err(i) => ep_map[i - 1].1,
+        };
+
+        // Find SPN at or after out_time
+        let end_spn = match ep_map.binary_search_by_key(&out_time, |(pts, _)| *pts) {
+            Ok(i) => ep_map[i].1,
+            Err(i) if i < ep_map.len() => ep_map[i].1,
+            _ => ep_map.last().unwrap().1 + 1,
+        };
+
+        if end_spn <= start_spn {
+            return Vec::new();
+        }
+
+        // SPN → byte offset: spn × 192
+        // Byte offset → sectors: offset / 2048
+        // Note: the caller needs to add the file's starting LBA from UDF
+        let start_byte = start_spn as u64 * 192;
+        let end_byte = end_spn as u64 * 192;
+        let start_sector = (start_byte / 2048) as u32;
+        let end_sector = ((end_byte + 2047) / 2048) as u32;
+
+        vec![Extent {
+            start_lba: start_sector, // relative to m2ts file start
+            sector_count: end_sector - start_sector,
+        }]
+    }
+}
+
+/// Parse a CLPI file from raw bytes.
+pub fn parse(data: &[u8]) -> Result<ClipInfo> {
+    if data.len() < 40 {
+        return Err(Error::DiscError { detail: "CLPI too short".into() });
+    }
+
+    if &data[0..4] != b"HDMV" {
+        return Err(Error::DiscError { detail: "not a CLPI file".into() });
+    }
+    let version = String::from_utf8_lossy(&data[4..8]).to_string();
+
+    // Header offsets
+    let _seq_info_start = u32::from_be_bytes([data[8], data[9], data[10], data[11]]) as usize;
+    let _prog_info_start = u32::from_be_bytes([data[12], data[13], data[14], data[15]]) as usize;
+    let cpi_start = u32::from_be_bytes([data[16], data[17], data[18], data[19]]) as usize;
+
+    // ClipInfo section at offset 40
+    // source_packet_count at offset 40 + 4(len) + 2(reserved) + 1(stream_type) + 1(app_type) + 4(reserved) + 4(ts_rate)
+    let source_packet_count = if data.len() > 56 {
+        u32::from_be_bytes([data[56], data[57], data[58], data[59]])
+    } else {
+        0
+    };
+
+    // Parse CPI / EP Map
+    let (ep_coarse, ep_fine) = if cpi_start > 0 && cpi_start + 8 < data.len() {
+        parse_cpi(&data[cpi_start..])?
+    } else {
+        (Vec::new(), Vec::new())
+    };
+
+    Ok(ClipInfo {
+        version,
+        source_packet_count,
+        ep_coarse,
+        ep_fine,
+    })
+}
+
+/// Parse the CPI section containing the EP map.
+fn parse_cpi(data: &[u8]) -> Result<(Vec<EpCoarse>, Vec<EpFine>)> {
+    if data.len() < 8 {
+        return Ok((Vec::new(), Vec::new()));
+    }
+
+    let cpi_length = u32::from_be_bytes([data[0], data[1], data[2], data[3]]) as usize;
+    if cpi_length < 4 {
+        return Ok((Vec::new(), Vec::new()));
+    }
+
+    // CPI type at bits 44-47 (byte 5, lower 4 bits)
+    // Skip to EP map: offset 4 (after length) + 2 (reserved/type)
+    let ep_map = &data[6..];
+    if ep_map.len() < 4 {
+        return Ok((Vec::new(), Vec::new()));
+    }
+
+    // EP map header
+    // [0] reserved
+    // [1] number of stream PID entries
+    let num_streams = ep_map[1] as usize;
+    if num_streams == 0 {
+        return Ok((Vec::new(), Vec::new()));
+    }
+
+    // Stream PID entry headers start at offset 2
+    // Each: 2(PID) + 2(reserved+type) + 2(num_coarse) + 4(num_fine) + 4(ep_map_start) = 14 bytes
+    // We only care about the first stream (primary video)
+    if ep_map.len() < 16 {
+        return Ok((Vec::new(), Vec::new()));
+    }
+
+    let _stream_pid = u16::from_be_bytes([ep_map[2], ep_map[3]]);
+    // ep_map[4..6] = reserved + EP stream type
+    let num_coarse = u16::from_be_bytes([ep_map[6], ep_map[7]]) as usize;
+    let num_fine = u32::from_be_bytes([ep_map[8], ep_map[9], ep_map[10], ep_map[11]]) as usize;
+    let ep_map_offset = u32::from_be_bytes([ep_map[12], ep_map[13], ep_map[14], ep_map[15]]) as usize;
+
+    // EP map for this stream starts at ep_map_offset relative to ep_map start
+    if ep_map_offset + 4 > ep_map.len() {
+        return Ok((Vec::new(), Vec::new()));
+    }
+
+    let stream_ep = &ep_map[ep_map_offset..];
+    if stream_ep.len() < 4 {
+        return Ok((Vec::new(), Vec::new()));
+    }
+
+    // Fine table start address (relative to this stream EP map)
+    let fine_start = u32::from_be_bytes([stream_ep[0], stream_ep[1], stream_ep[2], stream_ep[3]]) as usize;
+
+    // Coarse entries start at offset 4, 8 bytes each
+    let coarse_data = &stream_ep[4..];
+    let mut ep_coarse = Vec::with_capacity(num_coarse);
+    for i in 0..num_coarse {
+        let off = i * 8;
+        if off + 8 > coarse_data.len() {
+            break;
+        }
+
+        let dword0 = u32::from_be_bytes([coarse_data[off], coarse_data[off + 1],
+                                          coarse_data[off + 2], coarse_data[off + 3]]);
+        let ref_to_fine_id = dword0 >> 14;
+        let pts_coarse = dword0 & 0x3FFF;
+        let spn_coarse = u32::from_be_bytes([coarse_data[off + 4], coarse_data[off + 5],
+                                              coarse_data[off + 6], coarse_data[off + 7]]);
+
+        ep_coarse.push(EpCoarse {
+            ref_to_fine_id,
+            pts_coarse,
+            spn_coarse,
+        });
+    }
+
+    // Fine entries at fine_start, 4 bytes each
+    let mut ep_fine = Vec::with_capacity(num_fine);
+    if fine_start < stream_ep.len() {
+        let fine_data = &stream_ep[fine_start..];
+        for i in 0..num_fine {
+            let off = i * 4;
+            if off + 4 > fine_data.len() {
+                break;
+            }
+
+            let dword = u32::from_be_bytes([fine_data[off], fine_data[off + 1],
+                                            fine_data[off + 2], fine_data[off + 3]]);
+            // Bits: is_angle(1) + i_end_offset(3) + pts_fine(11) + spn_fine(17)
+            let pts_fine = (dword >> 17) & 0x7FF;
+            let spn_fine = dword & 0x1FFFF;
+
+            ep_fine.push(EpFine { pts_fine, spn_fine });
+        }
+    }
+
+    Ok((ep_coarse, ep_fine))
+}
diff --git a/src/disc.rs b/src/disc.rs
new file mode 100644
index 0000000..a3b8032
--- /dev/null
+++ b/src/disc.rs
@@ -0,0 +1,173 @@
+//! Disc structure — titles, clips, and sector ranges.
+//!
+//! Reads the BDMV directory structure from a disc to enumerate titles.
+//! Each title is a playlist (MPLS) containing one or more clips,
+//! each clip mapping to a range of sectors (LBAs) on disc.
+
+use crate::error::{Error, Result};
+use crate::drive::DriveSession;
+use crate::udf;
+use crate::mpls;
+use crate::clpi;
+
+/// A disc title (one MPLS playlist).
+#[derive(Debug, Clone)]
+pub struct Title {
+    /// Playlist number (e.g. 800 for 00800.mpls)
+    pub playlist_id: u16,
+    /// Playlist filename (e.g. "00800.mpls")
+    pub filename: String,
+    /// Duration in 45kHz ticks
+    pub duration_ticks: u64,
+    /// Duration formatted as human-readable string
+    pub duration: String,
+    /// Total size in bytes (sum of all clip extents × 2048)
+    pub size_bytes: u64,
+    /// Clips in playback order
+    pub clips: Vec<Clip>,
+    /// Number of video streams
+    pub video_streams: u16,
+    /// Number of audio streams
+    pub audio_streams: u16,
+}
+
+/// A clip within a title.
+#[derive(Debug, Clone)]
+pub struct Clip {
+    /// Clip filename (e.g. "00001")
+    pub clip_id: String,
+    /// In-time (45kHz ticks)
+    pub in_time: u32,
+    /// Out-time (45kHz ticks)
+    pub out_time: u32,
+    /// Sector ranges on disc for this clip
+    pub extents: Vec<Extent>,
+}
+
+/// A contiguous range of sectors on disc.
+#[derive(Debug, Clone, Copy)]
+pub struct Extent {
+    /// Starting LBA
+    pub start_lba: u32,
+    /// Number of sectors
+    pub sector_count: u32,
+}
+
+impl Title {
+    /// Duration in seconds.
+    pub fn duration_secs(&self) -> f64 {
+        self.duration_ticks as f64 / 45000.0
+    }
+
+    /// Total sectors across all clips.
+    pub fn total_sectors(&self) -> u64 {
+        self.clips.iter()
+            .flat_map(|c| &c.extents)
+            .map(|e| e.sector_count as u64)
+            .sum()
+    }
+
+    /// Format duration as "Xh Ym" or "Xm Ys".
+    fn format_duration(ticks: u64) -> String {
+        let secs = ticks / 45000;
+        let hours = secs / 3600;
+        let mins = (secs % 3600) / 60;
+        if hours > 0 {
+            format!("{}h {:02}m", hours, mins)
+        } else {
+            format!("{}m {:02}s", mins, secs % 60)
+        }
+    }
+}
+
+/// Scan a disc and return all titles sorted by duration (longest first).
+pub fn scan_titles(session: &mut DriveSession) -> Result<Vec<Title>> {
+    // Read disc capacity
+    let capacity = read_capacity(session)?;
+
+    // Read UDF filesystem to find BDMV directory
+    let udf_fs = udf::read_filesystem(session)?;
+
+    // Find all playlist files
+    let playlist_dir = udf_fs.find_dir("/BDMV/PLAYLIST")
+        .ok_or_else(|| Error::DiscError { detail: "BDMV/PLAYLIST not found".into() })?;
+
+    let mut titles = Vec::new();
+
+    for entry in &playlist_dir.entries {
+        if !entry.name.ends_with(".mpls") {
+            continue;
+        }
+
+        // Read the MPLS file
+        let mpls_data = udf_fs.read_file(session, &format!("/BDMV/PLAYLIST/{}", entry.name))?;
+        let playlist = match mpls::parse(&mpls_data) {
+            Ok(p) => p,
+            Err(_) => continue, // skip malformed playlists
+        };
+
+        // For each play item, read the corresponding CLPI to get sector extents
+        let mut clips = Vec::new();
+        let mut total_ticks: u64 = 0;
+        let mut total_size: u64 = 0;
+
+        for item in &playlist.play_items {
+            let clpi_path = format!("/BDMV/CLIPINF/{}.clpi", item.clip_id);
+            let clpi_data = match udf_fs.read_file(session, &clpi_path) {
+                Ok(d) => d,
+                Err(_) => continue,
+            };
+            let clip_info = match clpi::parse(&clpi_data) {
+                Ok(c) => c,
+                Err(_) => continue,
+            };
+
+            // Map timestamps to sector extents
+            let extents = clip_info.get_extents(item.in_time, item.out_time);
+            let clip_sectors: u64 = extents.iter().map(|e| e.sector_count as u64).sum();
+
+            total_ticks += (item.out_time - item.in_time) as u64;
+            total_size += clip_sectors * 2048;
+
+            clips.push(Clip {
+                clip_id: item.clip_id.clone(),
+                in_time: item.in_time,
+                out_time: item.out_time,
+                extents,
+            });
+        }
+
+        if clips.is_empty() {
+            continue;
+        }
+
+        // Parse playlist ID from filename
+        let playlist_id = entry.name.trim_end_matches(".mpls")
+            .parse::<u16>().unwrap_or(0);
+
+        titles.push(Title {
+            playlist_id,
+            filename: entry.name.clone(),
+            duration_ticks: total_ticks,
+            duration: Title::format_duration(total_ticks),
+            size_bytes: total_size,
+            clips,
+            video_streams: playlist.video_stream_count,
+            audio_streams: playlist.audio_stream_count,
+        });
+    }
+
+    // Sort by duration, longest first
+    titles.sort_by(|a, b| b.duration_ticks.cmp(&a.duration_ticks));
+
+    Ok(titles)
+}
+
+/// Read disc capacity (total sectors).
+fn read_capacity(session: &mut DriveSession) -> Result<u32> {
+    let cdb = [0x25, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00];
+    let mut buf = [0u8; 8];
+    session.scsi_execute(&cdb, crate::scsi::DataDirection::FromDevice, &mut buf, 5000)?;
+    let lba = u32::from_be_bytes([buf[0], buf[1], buf[2], buf[3]]);
+    Ok(lba)
+}
diff --git a/src/drive.rs b/src/drive.rs
index 3770b0e..ba4bb30 100644
--- a/src/drive.rs
+++ b/src/drive.rs
@@ -128,4 +128,24 @@ impl DriveSession {
     pub fn probe(&mut self, sub_cmd: u8, address: u32, length: u32) -> Result<Vec<u8>> {
         self.platform.probe(self.scsi.as_mut(), sub_cmd, address, length)
     }
+
+    /// Standard READ(10) — reads unencrypted sectors (UDF filesystem, etc).
+    /// Does not require unlock. Use read_sectors() for raw/encrypted content.
+    pub fn read_disc(&mut self, lba: u32, count: u16, buf: &mut [u8]) -> Result<usize> {
+        let cdb = [
+            0x28, 0x00, // READ(10), no flags
+            (lba >> 24) as u8, (lba >> 16) as u8, (lba >> 8) as u8, lba as u8,
+            0x00,
+            (count >> 8) as u8, count as u8,
+            0x00,
+        ];
+        let result = self.scsi.as_mut().execute(
+            &cdb, crate::scsi::DataDirection::FromDevice, buf, 30_000)?;
+        Ok(result.bytes_transferred)
+    }
+
+    /// Send a raw SCSI CDB. Used by UDF reader and disc structure parsers.
+    pub fn scsi_execute(&mut self, cdb: &[u8], direction: crate::scsi::DataDirection, buf: &mut [u8], timeout_ms: u32) -> Result<crate::scsi::ScsiResult> {
+        self.scsi.as_mut().execute(cdb, direction, buf, timeout_ms)
+    }
 }
diff --git a/src/error.rs b/src/error.rs
index cc2fab5..ecd2134 100644
--- a/src/error.rs
+++ b/src/error.rs
@@ -43,6 +43,9 @@ pub enum Error {
 
     // 5xxx — I/O errors
     IoError { source: std::io::Error },
+
+    // 6xxx — Disc format errors
+    DiscError { detail: String },
 }
 
 impl Error {
@@ -61,6 +64,7 @@ impl Error {
             Error::ScsiError { .. }         => 4000,
             Error::ScsiTimeout { .. }       => 4001,
             Error::IoError { .. }           => 5000,
+            Error::DiscError { .. }         => 6000,
         }
     }
 }
@@ -87,6 +91,7 @@ impl std::fmt::Display for Error {
                 write!(f, "E4000: SCSI 0x{opcode:02x} failed: status=0x{status:02x} sense=0x{sense_key:02x}"),
             Error::ScsiTimeout { opcode } => write!(f, "E4001: SCSI 0x{opcode:02x} timeout"),
             Error::IoError { source } => write!(f, "E5000: {source}"),
+            Error::DiscError { detail } => write!(f, "E6000: disc: {detail}"),
         }
     }
 }
diff --git a/src/lib.rs b/src/lib.rs
index 8d04a3a..0c00acc 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -41,6 +41,10 @@ pub mod platform;
 pub mod drive;
 pub mod identity;
 pub mod speed;
+pub mod udf;
+pub mod mpls;
+pub mod clpi;
+pub mod disc;
 
 pub use error::{Error, Result};
 pub use drive::DriveSession;
@@ -49,3 +53,4 @@ pub use profile::{DriveProfile, Chipset};
 pub use platform::{Platform, DriveStatus};
 pub use scsi::ScsiTransport;
 pub use speed::DriveSpeed;
+pub use disc::{Title, Clip, Extent};
diff --git a/src/mpls.rs b/src/mpls.rs
new file mode 100644
index 0000000..831d79f
--- /dev/null
+++ b/src/mpls.rs
@@ -0,0 +1,123 @@
+//! MPLS playlist parser — Blu-ray movie playlists.
+//!
+//! Each .mpls file in BDMV/PLAYLIST/ defines a title.
+//! Contains play items (clips) with in/out timestamps,
+//! stream info (video, audio, subtitle tracks).
+//!
+//! Reference: https://github.com/lw/BluRay/wiki/MPLS
+
+use crate::error::{Error, Result};
+
+/// Parsed MPLS playlist.
+#[derive(Debug)]
+pub struct Playlist {
+    /// MPLS version (e.g. "0200" or "0300")
+    pub version: String,
+    /// Play items in playback order
+    pub play_items: Vec<PlayItem>,
+    /// Number of video streams
+    pub video_stream_count: u16,
+    /// Number of audio streams
+    pub audio_stream_count: u16,
+}
+
+/// A play item — one clip reference with in/out times.
+#[derive(Debug)]
+pub struct PlayItem {
+    /// Clip filename without extension (e.g. "00001")
+    pub clip_id: String,
+    /// In-time in 45kHz ticks
+    pub in_time: u32,
+    /// Out-time in 45kHz ticks
+    pub out_time: u32,
+    /// Connection condition (1=seamless, 5/6=non-seamless)
+    pub connection_condition: u8,
+}
+
+/// Parse an MPLS file from raw bytes.
+pub fn parse(data: &[u8]) -> Result<Playlist> {
+    if data.len() < 40 {
+        return Err(Error::DiscError { detail: "MPLS too short".into() });
+    }
+
+    // Header: "MPLS" + version (4 bytes ASCII)
+    if &data[0..4] != b"MPLS" {
+        return Err(Error::DiscError { detail: "not an MPLS file".into() });
+    }
+    let version = String::from_utf8_lossy(&data[4..8]).to_string();
+
+    // Offsets table at bytes 8-19
+    let playlist_start = u32::from_be_bytes([data[8], data[9], data[10], data[11]]) as usize;
+    let _playlist_mark_start = u32::from_be_bytes([data[12], data[13], data[14], data[15]]) as usize;
+
+    if playlist_start + 10 > data.len() {
+        return Err(Error::DiscError { detail: "MPLS playlist offset out of range".into() });
+    }
+
+    // PlayList section
+    let pl = &data[playlist_start..];
+    let _pl_length = u32::from_be_bytes([pl[0], pl[1], pl[2], pl[3]]) as usize;
+    // pl[4..6] reserved
+    let num_play_items = u16::from_be_bytes([pl[6], pl[7]]) as usize;
+    let _num_sub_paths = u16::from_be_bytes([pl[8], pl[9]]) as usize;
+
+    let mut play_items = Vec::with_capacity(num_play_items);
+    let mut pos = 10; // start of first play item
+
+    let mut video_streams: u16 = 0;
+    let mut audio_streams: u16 = 0;
+
+    for _ in 0..num_play_items {
+        if playlist_start + pos + 2 > data.len() {
+            break;
+        }
+
+        let item_length = u16::from_be_bytes([pl[pos], pl[pos + 1]]) as usize;
+        if playlist_start + pos + item_length + 2 > data.len() {
+            break;
+        }
+
+        let item = &pl[pos + 2..pos + 2 + item_length];
+
+        // Clip ID: 5 bytes ASCII at offset 0 (e.g. "00001")
+        let clip_id = String::from_utf8_lossy(&item[0..5]).to_string();
+        // item[5..9] = codec ID ("M2TS")
+        // item[9] = connection condition (bits)
+        let connection_condition = item[9] & 0x0F;
+        // item[10] = ref to STC_id
+        // item[12..16] = IN_time
+        let in_time = u32::from_be_bytes([item[12], item[13], item[14], item[15]]);
+        // item[16..20] = OUT_time
+        let out_time = u32::from_be_bytes([item[16], item[17], item[18], item[19]]);
+
+        // STN table follows at offset 20 within the play item
+        if item.len() > 22 {
+            let stn_length = u16::from_be_bytes([item[20], item[21]]) as usize;
+            if stn_length > 4 && item.len() > 24 {
+                // Number of primary video/audio entries
+                let n_video = item[24] as u16;
+                let n_audio = item[25] as u16;
+                if video_streams == 0 {
+                    video_streams = n_video;
+                    audio_streams = n_audio;
+                }
+            }
+        }
+
+        play_items.push(PlayItem {
+            clip_id,
+            in_time,
+            out_time,
+            connection_condition,
+        });
+
+        pos += 2 + item_length;
+    }
+
+    Ok(Playlist {
+        version,
+        play_items,
+        video_stream_count: video_streams,
+        audio_stream_count: audio_streams,
+    })
+}
diff --git a/src/udf.rs b/src/udf.rs
new file mode 100644
index 0000000..353ca6f
--- /dev/null
+++ b/src/udf.rs
@@ -0,0 +1,321 @@
+//! UDF filesystem reader — read files from Blu-ray discs.
+//!
+//! Minimal UDF implementation: just enough to find and read files
+//! in the BDMV directory structure. Not a full UDF implementation.
+//!
+//! Reference: ECMA-167, UDF 2.50 (OSTA)
+
+use crate::error::{Error, Result};
+use crate::drive::DriveSession;
+use crate::scsi::DataDirection;
+
+/// A UDF filesystem parsed from disc.
+#[derive(Debug)]
+pub struct UdfFs {
+    /// Root directory entries
+    pub root: DirEntry,
+    /// Partition start LBA
+    partition_start: u32,
+}
+
+/// A directory entry (file or directory).
+#[derive(Debug, Clone)]
+pub struct DirEntry {
+    pub name: String,
+    pub is_dir: bool,
+    /// LBA of the file/directory data
+    pub lba: u32,
+    /// Size in bytes
+    pub size: u32,
+    /// Child entries (if directory)
+    pub entries: Vec<DirEntry>,
+}
+
+impl UdfFs {
+    /// Find a directory by path (e.g. "/BDMV/PLAYLIST").
+    pub fn find_dir(&self, path: &str) -> Option<&DirEntry> {
+        let parts: Vec<&str> = path.trim_matches('/').split('/').collect();
+        let mut current = &self.root;
+
+        for part in &parts {
+            current = current.entries.iter().find(|e| {
+                e.is_dir && e.name.eq_ignore_ascii_case(part)
+            })?;
+        }
+
+        Some(current)
+    }
+
+    /// Read a file by path, returning its contents.
+    pub fn read_file(&self, session: &mut DriveSession, path: &str) -> Result<Vec<u8>> {
+        let parts: Vec<&str> = path.trim_matches('/').split('/').collect();
+        let mut current = &self.root;
+
+        // Navigate to parent directory
+        for part in &parts[..parts.len() - 1] {
+            current = current.entries.iter().find(|e| {
+                e.is_dir && e.name.eq_ignore_ascii_case(part)
+            }).ok_or_else(|| Error::DiscError {
+                detail: format!("directory not found: {}", part),
+            })?;
+        }
+
+        // Find the file
+        let filename = parts.last().unwrap();
+        let entry = current.entries.iter().find(|e| {
+            !e.is_dir && e.name.eq_ignore_ascii_case(filename)
+        }).ok_or_else(|| Error::DiscError {
+            detail: format!("file not found: {}", path),
+        })?;
+
+        // Read the file sectors
+        let sector_count = (entry.size + 2047) / 2048;
+        let mut data = vec![0u8; (sector_count * 2048) as usize];
+
+        for i in 0..sector_count {
+            let lba = self.partition_start + entry.lba + i;
+            let offset = (i * 2048) as usize;
+            read_sector(session, lba, &mut data[offset..offset + 2048])?;
+        }
+
+        data.truncate(entry.size as usize);
+        Ok(data)
+    }
+}
+
+/// Read the UDF filesystem from a disc.
+pub fn read_filesystem(session: &mut DriveSession) -> Result<UdfFs> {
+    // UDF Anchor Volume Descriptor Pointer at sector 256
+    let mut avdp = [0u8; 2048];
+    read_sector(session, 256, &mut avdp)?;
+
+    // Check descriptor tag (tag ID = 2 for AVDP)
+    let tag_id = u16::from_le_bytes([avdp[0], avdp[1]]);
+    if tag_id != 2 {
+        return Err(Error::DiscError { detail: format!("not UDF: tag {} at sector 256", tag_id) });
+    }
+
+    // Main VDS extent: bytes 16-23
+    let mvds_lba = u32::from_le_bytes([avdp[16], avdp[17], avdp[18], avdp[19]]);
+    let mvds_len = u32::from_le_bytes([avdp[20], avdp[21], avdp[22], avdp[23]]);
+
+    // Read Volume Descriptor Sequence to find Partition Descriptor and Logical Volume Descriptor
+    let mut partition_start: u32 = 0;
+    let mut root_icb_lba: u32 = 0;
+
+    let mvds_sectors = (mvds_len + 2047) / 2048;
+    for i in 0..mvds_sectors.min(32) {
+        let mut desc = [0u8; 2048];
+        read_sector(session, mvds_lba + i, &mut desc)?;
+
+        let desc_tag = u16::from_le_bytes([desc[0], desc[1]]);
+        match desc_tag {
+            5 => {
+                // Partition Descriptor
+                partition_start = u32::from_le_bytes([desc[188], desc[189], desc[190], desc[191]]);
+            }
+            6 => {
+                // Logical Volume Descriptor — contains root FSD location
+                // LV Contents Use at offset 248: extent of File Set Descriptor
+                let fsd_lba = u32::from_le_bytes([desc[248], desc[249], desc[250], desc[251]]);
+                root_icb_lba = fsd_lba;
+            }
+            8 => break, // Terminating Descriptor
+            _ => continue,
+        }
+    }
+
+    if partition_start == 0 {
+        return Err(Error::DiscError { detail: "UDF: no partition descriptor found".into() });
+    }
+
+    // Read File Set Descriptor to get root directory ICB
+    let mut fsd = [0u8; 2048];
+    read_sector(session, partition_start + root_icb_lba, &mut fsd)?;
+
+    let fsd_tag = u16::from_le_bytes([fsd[0], fsd[1]]);
+    if fsd_tag != 256 {
+        return Err(Error::DiscError { detail: format!("UDF: expected FSD (256), got tag {}", fsd_tag) });
+    }
+
+    // Root Directory ICB at offset 400 in FSD
+    let root_dir_lba = u32::from_le_bytes([fsd[400], fsd[401], fsd[402], fsd[403]]);
+
+    // Read root directory
+    let root = read_directory(session, partition_start, root_dir_lba, "")?;
+
+    Ok(UdfFs {
+        root,
+        partition_start,
+    })
+}
+
+/// Read a UDF directory and its immediate children.
+fn read_directory(session: &mut DriveSession, part_start: u32, dir_lba: u32, name: &str) -> Result<DirEntry> {
+    // Read the ICB (Information Control Block) for this directory
+    let mut icb = [0u8; 2048];
+    read_sector(session, part_start + dir_lba, &mut icb)?;
+
+    let icb_tag = u16::from_le_bytes([icb[0], icb[1]]);
+
+    // File Entry (tag 261) or Extended File Entry (tag 266)
+    let (alloc_offset, alloc_len) = match icb_tag {
+        261 => {
+            // File Entry
+            let l_ea = u32::from_le_bytes([icb[168], icb[169], icb[170], icb[171]]) as usize;
+            let l_ad = u32::from_le_bytes([icb[172], icb[173], icb[174], icb[175]]) as usize;
+            (176 + l_ea, l_ad)
+        }
+        266 => {
+            // Extended File Entry
+            let l_ea = u32::from_le_bytes([icb[208], icb[209], icb[210], icb[211]]) as usize;
+            let l_ad = u32::from_le_bytes([icb[212], icb[213], icb[214], icb[215]]) as usize;
+            (216 + l_ea, l_ad)
+        }
+        _ => {
+            return Ok(DirEntry {
+                name: name.to_string(),
+                is_dir: true,
+                lba: dir_lba,
+                size: 0,
+                entries: Vec::new(),
+            });
+        }
+    };
+
+    // Parse allocation descriptors to find directory data location
+    // Short Allocation Descriptor: 8 bytes (4 length + 4 position)
+    let data_lba = if alloc_offset + 8 <= icb.len() {
+        u32::from_le_bytes([icb[alloc_offset + 4], icb[alloc_offset + 5],
+                           icb[alloc_offset + 6], icb[alloc_offset + 7]])
+    } else {
+        dir_lba + 1 // assume data follows ICB
+    };
+
+    let data_len = if alloc_offset + 4 <= icb.len() {
+        u32::from_le_bytes([icb[alloc_offset], icb[alloc_offset + 1],
+                           icb[alloc_offset + 2], icb[alloc_offset + 3]]) & 0x3FFFFFFF
+    } else {
+        2048
+    };
+
+    // Read directory data
+    let sectors = ((data_len + 2047) / 2048).min(64) as usize;
+    let mut dir_data = vec![0u8; sectors * 2048];
+    for i in 0..sectors {
+        read_sector(session, part_start + data_lba + i as u32,
+                   &mut dir_data[i * 2048..(i + 1) * 2048])?;
+    }
+
+    // Parse File Identifier Descriptors
+    let mut entries = Vec::new();
+    let mut pos = 0;
+
+    while pos + 38 < dir_data.len().min(data_len as usize) {
+        let fid_tag = u16::from_le_bytes([dir_data[pos], dir_data[pos + 1]]);
+        if fid_tag != 257 {
+            break; // not a FID
+        }
+
+        let file_chars = dir_data[pos + 18];
+        let l_fi = dir_data[pos + 19] as usize; // filename length
+        let icb_lba = u32::from_le_bytes([dir_data[pos + 20], dir_data[pos + 21],
+                                          dir_data[pos + 22], dir_data[pos + 23]]);
+        let l_iu = u16::from_le_bytes([dir_data[pos + 36], dir_data[pos + 37]]) as usize;
+
+        let name_offset = pos + 38 + l_iu;
+        let is_dir = (file_chars & 0x02) != 0;
+        let is_parent = (file_chars & 0x08) != 0;
+
+        if !is_parent && l_fi > 0 && name_offset + l_fi <= dir_data.len() {
+            let raw_name = &dir_data[name_offset..name_offset + l_fi];
+            let entry_name = parse_udf_name(raw_name);
+
+            if !entry_name.is_empty() {
+                if is_dir {
+                    // Recurse into subdirectory (max 2 levels deep for BDMV)
+                    let subdir = read_directory(session, part_start, icb_lba, &entry_name)?;
+                    entries.push(subdir);
+                } else {
+                    // Get file size from its ICB
+                    let file_size = read_file_size(session, part_start, icb_lba).unwrap_or(0);
+                    entries.push(DirEntry {
+                        name: entry_name,
+                        is_dir: false,
+                        lba: icb_lba,
+                        size: file_size,
+                        entries: Vec::new(),
+                    });
+                }
+            }
+        }
+
+        // Advance to next FID (4-byte aligned)
+        let fid_len = 38 + l_iu + l_fi;
+        let padded = (fid_len + 3) & !3;
+        pos += padded;
+    }
+
+    Ok(DirEntry {
+        name: name.to_string(),
+        is_dir: true,
+        lba: dir_lba,
+        size: data_len,
+        entries,
+    })
+}
+
+/// Read file size from a File Entry ICB.
+fn read_file_size(session: &mut DriveSession, part_start: u32, icb_lba: u32) -> Result<u32> {
+    let mut icb = [0u8; 2048];
+    read_sector(session, part_start + icb_lba, &mut icb)?;
+
+    let tag = u16::from_le_bytes([icb[0], icb[1]]);
+    match tag {
+        261 => {
+            // File Entry: info length at offset 56 (8 bytes LE)
+            Ok(u32::from_le_bytes([icb[56], icb[57], icb[58], icb[59]]))
+        }
+        266 => {
+            // Extended File Entry: info length at offset 56
+            Ok(u32::from_le_bytes([icb[56], icb[57], icb[58], icb[59]]))
+        }
+        _ => Ok(0),
+    }
+}
+
+/// Parse a UDF filename from raw bytes.
+/// UDF uses either 8-bit or 16-bit encoding (first byte = compression ID).
+fn parse_udf_name(data: &[u8]) -> String {
+    if data.is_empty() {
+        return String::new();
+    }
+
+    match data[0] {
+        8 => {
+            // 8-bit characters
+            String::from_utf8_lossy(&data[1..]).trim().to_string()
+        }
+        16 => {
+            // 16-bit big-endian Unicode
+            let mut s = String::new();
+            let chars = &data[1..];
+            for i in (0..chars.len()).step_by(2) {
+                if i + 1 < chars.len() {
+                    let c = ((chars[i] as u16) << 8) | chars[i + 1] as u16;
+                    if let Some(ch) = char::from_u32(c as u32) {
+                        s.push(ch);
+                    }
+                }
+            }
+            s.trim().to_string()
+        }
+        _ => String::from_utf8_lossy(&data[1..]).trim().to_string(),
+    }
+}
+
+/// Read a single 2048-byte sector from the drive.
+fn read_sector(session: &mut DriveSession, lba: u32, buf: &mut [u8]) -> Result<()> {
+    session.read_disc(lba, 1, buf)?;
+    Ok(())
+}