feat: add streamer-owned recording control service

Introduce a dedicated streamer-side recording control plane instead of sharing the producer recorder API.

- register streamer-owned recorder endpoints as a NATS micro service
- add explicit MP4 and MCAP recorder control protobufs and subject helpers
- wire recorder lifecycle handling into the pipeline runtime
- add MP4 writer and depth-alignment support files used by the new recording flow

CMakeLists.txt

@@ -176,6 +176,14 @@ protobuf_generate(
 		"${CMAKE_CURRENT_LIST_DIR}/proto/cvmmap_streamer/DepthMap.proto"
 		"${CMAKE_CURRENT_LIST_DIR}/proto/cvmmap_streamer/BundleManifest.proto"
 	IMPORT_DIRS "${CMAKE_CURRENT_LIST_DIR}")
+add_library(cvmmap_streamer_control_proto STATIC)
+protobuf_generate(
+	TARGET cvmmap_streamer_control_proto
+	LANGUAGE cpp
+	PROTOC_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}"
+	PROTOS
+		"${CMAKE_CURRENT_LIST_DIR}/proto/cvmmap_streamer/recorder_control.proto"
+	IMPORT_DIRS "${CMAKE_CURRENT_LIST_DIR}")
 add_library(cvmmap_streamer_protobuf INTERFACE)
 target_include_directories(cvmmap_streamer_foxglove_proto
 	PUBLIC
@@ -187,6 +195,11 @@ target_include_directories(cvmmap_streamer_depth_proto
 		"${CMAKE_CURRENT_BINARY_DIR}"
 		"${CMAKE_CURRENT_BINARY_DIR}/proto"
 		${Protobuf_INCLUDE_DIRS})
+target_include_directories(cvmmap_streamer_control_proto
+	PUBLIC
+		"${CMAKE_CURRENT_BINARY_DIR}"
+		"${CMAKE_CURRENT_BINARY_DIR}/proto"
+		${Protobuf_INCLUDE_DIRS})
 target_include_directories(cvmmap_streamer_protobuf
 	INTERFACE
 		"${CMAKE_CURRENT_BINARY_DIR}/proto"
@@ -203,6 +216,7 @@ if (TARGET PkgConfig::PROTOBUF_PKG)
 endif()
 target_link_libraries(cvmmap_streamer_foxglove_proto PUBLIC cvmmap_streamer_protobuf)
 target_link_libraries(cvmmap_streamer_depth_proto PUBLIC cvmmap_streamer_protobuf)
+target_link_libraries(cvmmap_streamer_control_proto PUBLIC cvmmap_streamer_protobuf)
 
 add_library(cvmmap_streamer_mcap_runtime STATIC
 	src/record/mcap_runtime.cpp)
@@ -218,7 +232,8 @@ add_library(cvmmap_streamer_record_support STATIC
 	src/encode/encoder_backend.cpp
 	src/encode/ffmpeg_encoder_backend.cpp
 	src/record/protobuf_descriptor.cpp
-	src/record/mcap_record_sink.cpp)
+	src/record/mcap_record_sink.cpp
+	src/record/mp4_record_writer.cpp)
 target_include_directories(cvmmap_streamer_record_support
 	PUBLIC
 		"${CMAKE_CURRENT_LIST_DIR}/include"
@@ -250,6 +265,7 @@ add_library(cvmmap_streamer_common STATIC
 	src/core/frame_source.cpp
 	src/core/ingest_runtime.cpp
 	src/ipc/contracts.cpp
+	src/protocol/nats_request_reply_server.cpp
 	src/protocol/wire_codec.cpp
 	src/metrics/latency_tracker.cpp
 	src/pipeline/pipeline_runtime.cpp
@@ -293,6 +309,7 @@ elseif (TARGET spdlog)
 endif()
 
 list(APPEND CVMMAP_STREAMER_LINK_DEPS cvmmap_streamer_protobuf)
+list(APPEND CVMMAP_STREAMER_LINK_DEPS cvmmap_streamer_control_proto)
 if (TARGET PkgConfig::PROTOBUF_PKG)
 	list(APPEND CVMMAP_STREAMER_LINK_DEPS PkgConfig::PROTOBUF_PKG)
 endif()