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()

docs/depth_alignment.md

@@ -0,0 +1,86 @@
+# Depth Alignment
+
+Exported ZED MCAP files can carry RGB video and depth at different raster sizes.
+
+For the current kindergarten `zed4` exports, the common pair is:
+
+- video: `1920x1200`
+- depth: `960x512`
+
+That means RGB and depth do not share aspect ratio. The files stay alignable because the exporter writes two separate calibration topics:
+
+- `/{label}/calibration` for video
+- `/{label}/depth_calibration` for depth
+
+See [mcap_layout.md](./mcap_layout.md) for the topic contract.
+
+## What The Mapping Means
+
+The correct way to align depth onto RGB is to use the two calibration matrices, not to assume matching pixel grids.
+
+For the same camera, with zero distortion and identity rectification, the mapping reduces to a 2D affine transform:
+
+```text
+u_rgb = (fx_rgb / fx_depth) * u_depth + (cx_rgb - (fx_rgb / fx_depth) * cx_depth)
+v_rgb = (fy_rgb / fy_depth) * v_depth + (cy_rgb - (fy_rgb / fy_depth) * cy_depth)
+```
+
+and the inverse:
+
+```text
+u_depth = (fx_depth / fx_rgb) * u_rgb + (cx_depth - (fx_depth / fx_rgb) * cx_rgb)
+v_depth = (fy_depth / fy_rgb) * v_rgb + (cy_depth - (fy_depth / fy_rgb) * cy_rgb)
+```
+
+For the sampled kindergarten `zed4` files, those offsets are effectively zero, so the mapping becomes an anisotropic resize:
+
+```text
+u_rgb ~= 2.0 * u_depth
+v_rgb ~= 2.34375 * v_depth
+```
+
+This is why the practical overlay behavior is a stretch, not a crop.
+
+It is still better to derive the mapping from the two calibration topics than to hardcode `2.0` and `2.34375`, because the exact calibration can vary by camera and export settings.
+
+## Helper Script
+
+Use the alignment helper to inspect the calibration pair and optionally export an example overlay:
+
+```bash
+uv run --extra viewer python scripts/mcap_depth_alignment.py \
+  /workspaces/data/kindergarten/bar/2026-03-18T11-59-41/2026-03-18T11-59-41_zed4.mcap \
+  --camera-label zed4
+```
+
+To export example images:
+
+```bash
+uv run --extra viewer python scripts/mcap_depth_alignment.py \
+  /workspaces/data/kindergarten/bar/2026-03-18T11-59-41/2026-03-18T11-59-41_zed4.mcap \
+  --camera-label zed4 \
+  --frame-index 400 \
+  --output-dir /tmp/zed4_alignment_demo
+```
+
+That command writes:
+
+- `rgb_frame.png`
+- `depth_native_colorized.png`
+- `depth_aligned_to_rgb_colorized.png`
+- `depth_overlay_on_rgb.png`
+- `rgb_aligned_to_depth.png`
+
+## What The Helper Actually Does
+
+The script:
+
+1. reads `/{label}/calibration` and `/{label}/depth_calibration`
+2. computes the affine mapping implied by the two intrinsic matrices
+3. decodes one RGB frame and one depth frame from the MCAP
+4. warps depth into RGB space with `cv2.warpAffine`
+5. optionally warps RGB into depth space with the inverse mapping
+
+For the current exported ZED MCAP contract, that is the right simple alignment path.
+
+If a future export starts carrying non-zero distortion or non-identity rectification, consumers should switch from this affine shortcut to a full camera-model reprojection path.

include/cvmmap_streamer/protocol/nats_request_reply_server.hpp

@@ -0,0 +1,93 @@
+#pragma once
+
+#include "proto/cvmmap_streamer/recorder_control.pb.h"
+
+#include <cstdint>
+#include <expected>
+#include <functional>
+#include <memory>
+#include <span>
+#include <string>
+
+namespace cvmmap_streamer::protocol {
+
+enum class RpcErrorCode : std::uint8_t {
+	InvalidRequest,
+	Unsupported,
+	Busy,
+	Internal,
+};
+
+struct RpcError {
+	RpcErrorCode code{RpcErrorCode::Internal};
+	std::string message{};
+};
+
+struct NatsRequestReplyServerOptions {
+	std::string nats_url{};
+	std::string instance_name{};
+	std::string namespace_name{};
+	std::string ipc_prefix{};
+	std::string base_name{};
+	std::string nats_target_key{};
+	std::string backend{"cvmmap-streamer"};
+	std::string recording_formats{};
+};
+
+class NatsRequestReplyServer {
+public:
+	explicit NatsRequestReplyServer(NatsRequestReplyServerOptions options);
+	~NatsRequestReplyServer();
+
+	NatsRequestReplyServer(const NatsRequestReplyServer &) = delete;
+	NatsRequestReplyServer &operator=(const NatsRequestReplyServer &) = delete;
+
+	template <class Request, class Response>
+	void register_proto_endpoint(
+		std::string endpoint_name,
+		std::string subject,
+		std::function<std::expected<Response, RpcError>(const Request &)> handler) {
+		register_raw_endpoint(
+			std::move(endpoint_name),
+			std::move(subject),
+			[handler = std::move(handler)](std::span<const std::uint8_t> payload) {
+				Request request;
+				Response response;
+				if (!request.ParseFromArray(
+						payload.data(),
+						static_cast<int>(payload.size()))) {
+					response.set_code(cvmmap_streamer::proto::RPC_CODE_INVALID_REQUEST);
+					response.set_error_message("failed to parse protobuf request");
+					return response.SerializeAsString();
+				}
+
+				auto handled = handler(request);
+				if (!handled) {
+					response.set_code(to_proto_rpc_code(handled.error().code));
+					response.set_error_message(handled.error().message);
+					return response.SerializeAsString();
+				}
+
+				return handled->SerializeAsString();
+			});
+	}
+
+	[[nodiscard]]
+	bool start();
+	void stop();
+
+private:
+	struct Endpoint;
+	struct Impl;
+
+	void register_raw_endpoint(
+		std::string endpoint_name,
+		std::string subject,
+		std::function<std::string(std::span<const std::uint8_t>)> handler);
+
+	static cvmmap_streamer::proto::RpcCode to_proto_rpc_code(RpcErrorCode code);
+
+	std::unique_ptr<Impl> impl_;
+};
+
+}  // namespace cvmmap_streamer::protocol

include/cvmmap_streamer/protocol/streamer_subjects.hpp

@@ -0,0 +1,36 @@
+#pragma once
+
+#include <string>
+#include <string_view>
+
+namespace cvmmap_streamer::protocol {
+
+inline std::string streamer_subject_prefix(std::string_view target_key) {
+	return std::string("cvmmap.") + std::string(target_key) + ".streamer";
+}
+
+inline std::string subject_recorder_mp4_start(std::string_view target_key) {
+	return streamer_subject_prefix(target_key) + ".recorder.mp4.start";
+}
+
+inline std::string subject_recorder_mp4_stop(std::string_view target_key) {
+	return streamer_subject_prefix(target_key) + ".recorder.mp4.stop";
+}
+
+inline std::string subject_recorder_mp4_status(std::string_view target_key) {
+	return streamer_subject_prefix(target_key) + ".recorder.mp4.status";
+}
+
+inline std::string subject_recorder_mcap_start(std::string_view target_key) {
+	return streamer_subject_prefix(target_key) + ".recorder.mcap.start";
+}
+
+inline std::string subject_recorder_mcap_stop(std::string_view target_key) {
+	return streamer_subject_prefix(target_key) + ".recorder.mcap.stop";
+}
+
+inline std::string subject_recorder_mcap_status(std::string_view target_key) {
+	return streamer_subject_prefix(target_key) + ".recorder.mcap.status";
+}
+
+}  // namespace cvmmap_streamer::protocol

include/cvmmap_streamer/record/mp4_record_writer.hpp

@@ -0,0 +1,70 @@
+#pragma once
+
+#include "cvmmap_streamer/config/runtime_config.hpp"
+
+#include <cstddef>
+#include <cstdint>
+#include <expected>
+#include <filesystem>
+#include <memory>
+#include <string_view>
+
+namespace cvmmap_streamer::record {
+
+inline constexpr int kDefaultMp4Quality = 23;
+
+enum class Mp4InputPixelFormat : std::uint8_t {
+	Bgr24,
+	Rgb24,
+	Bgra32,
+	Rgba32,
+	Gray8,
+};
+
+struct Mp4EncodeTuning {
+	int quality{kDefaultMp4Quality};
+	std::uint32_t gop{30};
+	std::uint32_t b_frames{0};
+};
+
+[[nodiscard]]
+std::string_view input_pixel_format_name(Mp4InputPixelFormat pixel_format);
+
+class Mp4RecordWriter {
+public:
+	Mp4RecordWriter();
+	Mp4RecordWriter(const Mp4RecordWriter &) = delete;
+	Mp4RecordWriter &operator=(const Mp4RecordWriter &) = delete;
+	Mp4RecordWriter(Mp4RecordWriter &&) noexcept;
+	Mp4RecordWriter &operator=(Mp4RecordWriter &&) noexcept;
+	~Mp4RecordWriter();
+
+	[[nodiscard]]
+	std::expected<void, std::string> open(
+		const std::filesystem::path &output_path,
+		CodecType codec,
+		EncoderDeviceType encoder_device,
+		std::uint32_t width,
+		std::uint32_t height,
+		float fps,
+		const Mp4EncodeTuning &tuning,
+		Mp4InputPixelFormat input_pixel_format);
+
+	[[nodiscard]]
+	std::expected<void, std::string> write_frame(
+		const std::uint8_t *data,
+		std::size_t row_stride_bytes,
+		std::uint64_t relative_timestamp_ns);
+
+	[[nodiscard]]
+	std::expected<void, std::string> flush();
+
+	[[nodiscard]]
+	bool using_hardware() const;
+
+private:
+	struct Impl;
+	std::unique_ptr<Impl> impl_{};
+};
+
+}  // namespace cvmmap_streamer::record

proto/cvmmap_streamer/recorder_control.proto

@@ -0,0 +1,88 @@
+syntax = "proto3";
+package cvmmap_streamer.proto;
+option cc_enable_arenas = true;
+
+enum RpcCode {
+  RPC_CODE_OK = 0;
+  RPC_CODE_INVALID_REQUEST = 1;
+  RPC_CODE_UNSUPPORTED = 2;
+  RPC_CODE_BUSY = 3;
+  RPC_CODE_INTERNAL = 4;
+}
+
+message Mp4RecorderState {
+  bool can_record = 1;
+  bool is_recording = 2;
+  bool last_frame_ok = 3;
+  uint32 frames_ingested = 4;
+  uint32 frames_encoded = 5;
+  string active_path = 6;
+  string error_message = 7;
+}
+
+message Mp4StartRequest {
+  string output_path = 1;
+}
+
+message Mp4StartResponse {
+  RpcCode code = 1;
+  string error_message = 2;
+  Mp4RecorderState state = 3;
+}
+
+message Mp4StopRequest {}
+
+message Mp4StopResponse {
+  RpcCode code = 1;
+  string error_message = 2;
+  Mp4RecorderState state = 3;
+}
+
+message Mp4StatusRequest {}
+
+message Mp4StatusResponse {
+  RpcCode code = 1;
+  string error_message = 2;
+  Mp4RecorderState state = 3;
+}
+
+message McapRecorderState {
+  bool can_record = 1;
+  bool is_recording = 2;
+  bool last_frame_ok = 3;
+  uint32 frames_ingested = 4;
+  uint32 frames_encoded = 5;
+  string active_path = 6;
+  string error_message = 7;
+}
+
+message McapStartRequest {
+  string output_path = 1;
+  optional string compression = 2;
+  optional string topic = 3;
+  optional string depth_topic = 4;
+  optional string body_topic = 5;
+  optional string frame_id = 6;
+}
+
+message McapStartResponse {
+  RpcCode code = 1;
+  string error_message = 2;
+  McapRecorderState state = 3;
+}
+
+message McapStopRequest {}
+
+message McapStopResponse {
+  RpcCode code = 1;
+  string error_message = 2;
+  McapRecorderState state = 3;
+}
+
+message McapStatusRequest {}
+
+message McapStatusResponse {
+  RpcCode code = 1;
+  string error_message = 2;
+  McapRecorderState state = 3;
+}

scripts/mcap_depth_alignment.py

@@ -0,0 +1,400 @@
+#!/usr/bin/env python3
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from pathlib import Path
+from typing import BinaryIO
+
+import click
+import cv2
+import numpy as np
+
+import mcap_rgbd_viewer as viewer
+
+
+@dataclass(slots=True, frozen=True)
+class CameraCalibration:
+    width: int
+    height: int
+    distortion_model: str
+    distortion: tuple[float, float, float, float, float]
+    intrinsic_matrix: tuple[float, float, float, float, float, float, float, float, float]
+    rectification_matrix: tuple[float, float, float, float, float, float, float, float, float]
+    projection_matrix: tuple[float, float, float, float, float, float, float, float, float, float, float, float]
+
+    @property
+    def fx(self) -> float:
+        return self.intrinsic_matrix[0]
+
+    @property
+    def fy(self) -> float:
+        return self.intrinsic_matrix[4]
+
+    @property
+    def cx(self) -> float:
+        return self.intrinsic_matrix[2]
+
+    @property
+    def cy(self) -> float:
+        return self.intrinsic_matrix[5]
+
+
+@dataclass(slots=True, frozen=True)
+class CalibrationPair:
+    video: CameraCalibration
+    depth: CameraCalibration
+
+
+@dataclass(slots=True, frozen=True)
+class AffineMapping:
+    scale_x: float
+    scale_y: float
+    offset_x: float
+    offset_y: float
+
+    def matrix(self) -> np.ndarray:
+        return np.array(
+            [
+                [self.scale_x, 0.0, self.offset_x],
+                [0.0, self.scale_y, self.offset_y],
+            ],
+            dtype=np.float32,
+        )
+
+
+def select_camera_label(layout_info: viewer.McapLayoutInfo, camera_label: str | None) -> str:
+    if camera_label is None:
+        return layout_info.camera_labels[0]
+    if camera_label not in layout_info.camera_labels:
+        available = ", ".join(layout_info.camera_labels)
+        raise click.ClickException(f"camera label '{camera_label}' not found; available: {available}")
+    return camera_label
+
+
+def load_calibration(path: Path, topic: str) -> CameraCalibration:
+    reader_module = viewer.load_mcap_reader()
+    with path.open("rb") as stream:
+        reader = reader_module.make_reader(stream)
+        for schema, channel, message in reader.iter_messages():
+            if channel.topic != topic:
+                continue
+            if schema is None or schema.name != "foxglove.CameraCalibration":
+                raise click.ClickException(f"unexpected schema on {topic}: {schema.name if schema else 'none'}")
+            message_class = viewer.load_message_class(schema.data, "foxglove.CameraCalibration")
+            payload = message_class()
+            payload.ParseFromString(message.data)
+            return CameraCalibration(
+                width=int(payload.width),
+                height=int(payload.height),
+                distortion_model=str(payload.distortion_model),
+                distortion=tuple(float(value) for value in payload.D[:5]),
+                intrinsic_matrix=tuple(float(value) for value in payload.K[:9]),
+                rectification_matrix=tuple(float(value) for value in payload.R[:9]),
+                projection_matrix=tuple(float(value) for value in payload.P[:12]),
+            )
+    raise click.ClickException(f"missing calibration topic {topic} in {path}")
+
+
+def load_calibration_pair(path: Path, layout_info: viewer.McapLayoutInfo, camera_label: str) -> CalibrationPair:
+    video_topic = viewer.topic_for(layout_info.layout, camera_label, "calibration")
+    depth_topic = viewer.topic_for(layout_info.layout, camera_label, "depth_calibration")
+    return CalibrationPair(
+        video=load_calibration(path, video_topic),
+        depth=load_calibration(path, depth_topic),
+    )
+
+
+def mapping_from_depth_to_rgb(pair: CalibrationPair) -> AffineMapping:
+    scale_x = pair.video.fx / pair.depth.fx
+    scale_y = pair.video.fy / pair.depth.fy
+    offset_x = pair.video.cx - (scale_x * pair.depth.cx)
+    offset_y = pair.video.cy - (scale_y * pair.depth.cy)
+    return AffineMapping(scale_x=scale_x, scale_y=scale_y, offset_x=offset_x, offset_y=offset_y)
+
+
+def mapping_from_rgb_to_depth(pair: CalibrationPair) -> AffineMapping:
+    scale_x = pair.depth.fx / pair.video.fx
+    scale_y = pair.depth.fy / pair.video.fy
+    offset_x = pair.depth.cx - (scale_x * pair.video.cx)
+    offset_y = pair.depth.cy - (scale_y * pair.video.cy)
+    return AffineMapping(scale_x=scale_x, scale_y=scale_y, offset_x=offset_x, offset_y=offset_y)
+
+
+def describe_mapping(pair: CalibrationPair) -> str:
+    depth_to_rgb = mapping_from_depth_to_rgb(pair)
+    rgb_to_depth = mapping_from_rgb_to_depth(pair)
+    anisotropic = abs(depth_to_rgb.scale_x - depth_to_rgb.scale_y) > 1e-6
+    has_offset = abs(depth_to_rgb.offset_x) > 1e-3 or abs(depth_to_rgb.offset_y) > 1e-3
+    shape = "anisotropic stretch" if anisotropic else "uniform scale"
+    if has_offset:
+        shape += " with offset"
+    else:
+        shape += " with zero offset"
+    return (
+        f"mapping type: {shape}\n"
+        f"depth->rgb: u_rgb = {depth_to_rgb.scale_x:.9f} * u_depth + {depth_to_rgb.offset_x:.9f}\n"
+        f"depth->rgb: v_rgb = {depth_to_rgb.scale_y:.9f} * v_depth + {depth_to_rgb.offset_y:.9f}\n"
+        f"rgb->depth: u_depth = {rgb_to_depth.scale_x:.9f} * u_rgb + {rgb_to_depth.offset_x:.9f}\n"
+        f"rgb->depth: v_depth = {rgb_to_depth.scale_y:.9f} * v_rgb + {rgb_to_depth.offset_y:.9f}"
+    )
+
+
+def is_identity_rectification(calibration: CameraCalibration) -> bool:
+    expected = (1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0)
+    return max(abs(value - target) for value, target in zip(calibration.rectification_matrix, expected, strict=True)) < 1e-6
+
+
+def has_zero_distortion(calibration: CameraCalibration) -> bool:
+    return max(abs(value) for value in calibration.distortion) < 1e-9
+
+
+def depth_pixel_to_rgb(depth_u: float, depth_v: float, pair: CalibrationPair) -> tuple[float, float]:
+    mapping = mapping_from_depth_to_rgb(pair)
+    return (
+        (mapping.scale_x * depth_u) + mapping.offset_x,
+        (mapping.scale_y * depth_v) + mapping.offset_y,
+    )
+
+
+def rgb_pixel_to_depth(rgb_u: float, rgb_v: float, pair: CalibrationPair) -> tuple[float, float]:
+    mapping = mapping_from_rgb_to_depth(pair)
+    return (
+        (mapping.scale_x * rgb_u) + mapping.offset_x,
+        (mapping.scale_y * rgb_v) + mapping.offset_y,
+    )
+
+
+def align_depth_to_rgb(
+    depth_image: np.ndarray,
+    pair: CalibrationPair,
+    *,
+    interpolation: int = cv2.INTER_NEAREST,
+) -> np.ndarray:
+    mapping = mapping_from_depth_to_rgb(pair)
+    return cv2.warpAffine(
+        depth_image,
+        mapping.matrix(),
+        (pair.video.width, pair.video.height),
+        flags=interpolation,
+        borderMode=cv2.BORDER_CONSTANT,
+        borderValue=0,
+    )
+
+
+def align_rgb_to_depth(
+    rgb_image: np.ndarray,
+    pair: CalibrationPair,
+    *,
+    interpolation: int = cv2.INTER_LINEAR,
+) -> np.ndarray:
+    mapping = mapping_from_rgb_to_depth(pair)
+    return cv2.warpAffine(
+        rgb_image,
+        mapping.matrix(),
+        (pair.depth.width, pair.depth.height),
+        flags=interpolation,
+        borderMode=cv2.BORDER_CONSTANT,
+        borderValue=0,
+    )
+
+
+def load_depth_array(state: viewer.CameraViewState, depth_index: int, depth_cache_stream: BinaryIO | None = None) -> np.ndarray:
+    try:
+        import rvl
+    except ModuleNotFoundError as error:
+        raise click.ClickException(
+            "image export needs the optional rvl-impl binding; run `uv sync --extra viewer`"
+        ) from error
+
+    ref = state.depth_frames[depth_index]
+    if depth_cache_stream is None:
+        with state.depth_cache_path.open("rb") as stream:
+            stream.seek(ref.offset)
+            payload = stream.read(ref.length)
+    else:
+        depth_cache_stream.seek(ref.offset)
+        payload = depth_cache_stream.read(ref.length)
+
+    if ref.encoding_name == "RVL_U16_LOSSLESS":
+        depth = rvl.decompress_u16(payload).reshape(ref.height, ref.width)
+        return depth.astype(np.float32)
+    if ref.encoding_name == "RVL_F32":
+        return rvl.decompress_f32(payload).reshape(ref.height, ref.width).astype(np.float32)
+    raise click.ClickException(f"unsupported depth encoding '{ref.encoding_name}'")
+
+
+def resolve_present_slot(state: viewer.CameraViewState, frame_index: int) -> tuple[int, viewer.BundleSlot]:
+    if not state.slots:
+        raise click.ClickException("MCAP does not contain any viewable RGB+depth pairs")
+    clamped = max(0, min(frame_index, len(state.slots) - 1))
+    slot = state.slots[clamped]
+    if slot.video_index is not None and slot.depth_index is not None:
+        return clamped, slot
+    for delta in range(1, len(state.slots)):
+        left = clamped - delta
+        if left >= 0:
+            candidate = state.slots[left]
+            if candidate.video_index is not None and candidate.depth_index is not None:
+                return left, candidate
+        right = clamped + delta
+        if right < len(state.slots):
+            candidate = state.slots[right]
+            if candidate.video_index is not None and candidate.depth_index is not None:
+                return right, candidate
+    raise click.ClickException("could not find a present RGB+depth slot")
+
+
+def colorize_depth(depth_m: np.ndarray, palette_name: str) -> np.ndarray:
+    valid = np.isfinite(depth_m) & (depth_m > 0.0)
+    normalized = np.zeros(depth_m.shape, dtype=np.uint8)
+    if valid.any():
+        lo = float(np.percentile(depth_m[valid], 5.0))
+        hi = float(np.percentile(depth_m[valid], 95.0))
+        span = max(hi - lo, 1e-6)
+        scaled = np.clip((depth_m - lo) / span, 0.0, 1.0)
+        normalized[valid] = np.round((1.0 - scaled[valid]) * 255.0).astype(np.uint8)
+    colormap = viewer.DEPTH_PALETTE_TO_OPENCV[palette_name]
+    if colormap is None:
+        colored = cv2.cvtColor(normalized, cv2.COLOR_GRAY2BGR)
+    else:
+        colored = cv2.applyColorMap(normalized, colormap)
+    colored[~valid] = 0
+    return colored
+
+
+def export_example_images(
+    path: Path,
+    *,
+    layout_info: viewer.McapLayoutInfo,
+    camera_label: str,
+    pair: CalibrationPair,
+    frame_index: int,
+    ffmpeg_bin: str,
+    output_dir: Path,
+    palette_name: str,
+) -> None:
+    state = viewer.read_camera_state(
+        path,
+        layout_info=layout_info,
+        camera_label=camera_label,
+        ffmpeg_bin=ffmpeg_bin,
+        preview_width=pair.video.width,
+    )
+    try:
+        resolved_index, slot = resolve_present_slot(state, frame_index)
+        capture = cv2.VideoCapture(str(state.preview_video_path))
+        capture.set(cv2.CAP_PROP_POS_FRAMES, float(slot.video_index))
+        ok, rgb_bgr = capture.read()
+        capture.release()
+        if not ok or rgb_bgr is None:
+            raise click.ClickException(f"could not decode RGB frame {slot.video_index}")
+
+        depth_native = load_depth_array(state, slot.depth_index) / 1000.0
+        depth_aligned = align_depth_to_rgb(depth_native, pair, interpolation=cv2.INTER_NEAREST)
+        rgb_aligned = align_rgb_to_depth(rgb_bgr, pair, interpolation=cv2.INTER_LINEAR)
+
+        output_dir.mkdir(parents=True, exist_ok=True)
+        rgb_path = output_dir / "rgb_frame.png"
+        depth_native_path = output_dir / "depth_native_colorized.png"
+        depth_aligned_path = output_dir / "depth_aligned_to_rgb_colorized.png"
+        overlay_path = output_dir / "depth_overlay_on_rgb.png"
+        rgb_to_depth_path = output_dir / "rgb_aligned_to_depth.png"
+
+        depth_native_color = colorize_depth(depth_native, palette_name)
+        depth_aligned_color = colorize_depth(depth_aligned, palette_name)
+        overlay = cv2.addWeighted(rgb_bgr, 0.72, depth_aligned_color, 0.28, 0.0)
+
+        cv2.imwrite(str(rgb_path), rgb_bgr)
+        cv2.imwrite(str(depth_native_path), depth_native_color)
+        cv2.imwrite(str(depth_aligned_path), depth_aligned_color)
+        cv2.imwrite(str(overlay_path), overlay)
+        cv2.imwrite(str(rgb_to_depth_path), rgb_aligned)
+
+        click.echo(f"exported slot index: {resolved_index}")
+        click.echo(f"rgb frame: {rgb_path}")
+        click.echo(f"native depth: {depth_native_path}")
+        click.echo(f"depth aligned to rgb: {depth_aligned_path}")
+        click.echo(f"depth overlay on rgb: {overlay_path}")
+        click.echo(f"rgb aligned to depth: {rgb_to_depth_path}")
+    finally:
+        state.close()
+
+
+@click.command()
+@click.argument("mcap_path", type=click.Path(path_type=Path, exists=True, dir_okay=False))
+@click.option("--camera-label", type=str, help="Camera label to inspect; defaults to the first camera in the MCAP.")
+@click.option("--frame-index", type=int, default=0, show_default=True, help="Frame or bundle index used for example image export.")
+@click.option("--output-dir", type=click.Path(path_type=Path, file_okay=False), help="When set, export an aligned depth example and overlay PNGs here.")
+@click.option("--ffmpeg-bin", default="ffmpeg", show_default=True, help="ffmpeg binary used to decode MCAP video for the example export.")
+@click.option(
+    "--depth-palette",
+    type=click.Choice(tuple(viewer.DEPTH_PALETTE_TO_OPENCV.keys()), case_sensitive=False),
+    default="Turbo",
+    show_default=True,
+    help="Depth palette used for exported example PNGs.",
+)
+def main(
+    mcap_path: Path,
+    camera_label: str | None,
+    frame_index: int,
+    output_dir: Path | None,
+    ffmpeg_bin: str,
+    depth_palette: str,
+) -> None:
+    """Explain and demonstrate how depth/rgb alignment works for an exported MCAP."""
+    layout_info = viewer.infer_layout(mcap_path)
+    selected_camera = select_camera_label(layout_info, camera_label)
+    pair = load_calibration_pair(mcap_path, layout_info, selected_camera)
+
+    click.echo(f"path: {mcap_path}")
+    click.echo(f"layout: {layout_info.layout}")
+    click.echo(f"camera: {selected_camera}")
+    click.echo(f"video calibration: {pair.video.width}x{pair.video.height}")
+    click.echo(f"depth calibration: {pair.depth.width}x{pair.depth.height}")
+    click.echo(
+        "video intrinsics: "
+        f"fx={pair.video.fx:.6f} fy={pair.video.fy:.6f} cx={pair.video.cx:.6f} cy={pair.video.cy:.6f}"
+    )
+    click.echo(
+        "depth intrinsics: "
+        f"fx={pair.depth.fx:.6f} fy={pair.depth.fy:.6f} cx={pair.depth.cx:.6f} cy={pair.depth.cy:.6f}"
+    )
+    click.echo(
+        "zero distortion / identity rectification: "
+        f"video={has_zero_distortion(pair.video) and is_identity_rectification(pair.video)} "
+        f"depth={has_zero_distortion(pair.depth) and is_identity_rectification(pair.depth)}"
+    )
+    click.echo(describe_mapping(pair))
+
+    sample_depth_u = pair.depth.width * 0.5
+    sample_depth_v = pair.depth.height * 0.5
+    mapped_rgb_u, mapped_rgb_v = depth_pixel_to_rgb(sample_depth_u, sample_depth_v, pair)
+    click.echo(
+        "sample center mapping: "
+        f"depth({sample_depth_u:.3f}, {sample_depth_v:.3f}) -> rgb({mapped_rgb_u:.3f}, {mapped_rgb_v:.3f})"
+    )
+
+    sample_rgb_u = pair.video.width * 0.5
+    sample_rgb_v = pair.video.height * 0.5
+    mapped_depth_u, mapped_depth_v = rgb_pixel_to_depth(sample_rgb_u, sample_rgb_v, pair)
+    click.echo(
+        "sample inverse mapping: "
+        f"rgb({sample_rgb_u:.3f}, {sample_rgb_v:.3f}) -> depth({mapped_depth_u:.3f}, {mapped_depth_v:.3f})"
+    )
+
+    if output_dir is not None:
+        export_example_images(
+            mcap_path,
+            layout_info=layout_info,
+            camera_label=selected_camera,
+            pair=pair,
+            frame_index=frame_index,
+            ffmpeg_bin=ffmpeg_bin,
+            output_dir=output_dir,
+            palette_name=depth_palette,
+        )
+
+
+if __name__ == "__main__":
+    main()

src/pipeline/pipeline_runtime.cpp

@@ -3,13 +3,16 @@
 #include "cvmmap_streamer/encode/encoder_backend.hpp"
 #include "cvmmap_streamer/ipc/contracts.hpp"
 #include "cvmmap_streamer/metrics/latency_tracker.hpp"
+#include "cvmmap_streamer/protocol/nats_request_reply_server.hpp"
 #include "cvmmap_streamer/protocol/rtmp_output.hpp"
 #include "cvmmap_streamer/protocol/rtp_publisher.hpp"
+#include "cvmmap_streamer/protocol/streamer_subjects.hpp"
 #include "cvmmap_streamer/record/mcap_record_sink.hpp"
+#include "cvmmap_streamer/record/mp4_record_writer.hpp"
+#include "proto/cvmmap_streamer/recorder_control.pb.h"
 
 #include <cvmmap/client.hpp>
 #include <cvmmap/nats_client.hpp>
-#include <cvmmap/nats_service.hpp>
 #include <cvmmap/parser.hpp>
 
 #include <chrono>
@@ -19,6 +22,7 @@
 #include <deque>
 #include <exception>
 #include <expected>
+#include <filesystem>
 #include <mutex>
 #include <optional>
 #include <span>
@@ -46,6 +50,7 @@ namespace cvmmap_streamer::core {
 namespace {
 
 namespace ipc = cvmmap_streamer::ipc;
+namespace recorder_pb = cvmmap_streamer::proto;
 
 enum class PipelineExitCode : int {
 	Success = 0,
@@ -418,23 +423,58 @@ std::uint64_t body_tracking_timestamp_ns(const cvmmap::body_tracking_frame_t &fr
 	return frame.header.sdk_timestamp_ns;
 }
 
+[[nodiscard]]
+float stream_fps(const encode::EncodedStreamInfo &stream_info) {
+	if (stream_info.frame_rate_num == 0 || stream_info.frame_rate_den == 0) {
+		return 30.0f;
+	}
+	return static_cast<float>(stream_info.frame_rate_num) /
+		   static_cast<float>(stream_info.frame_rate_den);
+}
+
 struct McapRecorderState {
 	mutable std::mutex mutex{};
 	RuntimeConfig base_config{};
 	std::optional<RuntimeConfig> active_record_config{};
 	std::optional<encode::EncodedStreamInfo> current_stream_info{};
 	std::optional<record::McapRecordSink> sink{};
-	cvmmap::RecordingStatus status{
+	struct Status {
-		.format = cvmmap::RecordingFormat::Mcap,
+		bool can_record{true};
-		.can_record = true,
+		bool is_recording{false};
-	};
+		bool last_frame_ok{false};
+		std::uint32_t frames_ingested{0};
+		std::uint32_t frames_encoded{0};
+		std::string active_path{};
+		std::string error_message{};
+	} status{};
+};
+
+struct Mp4RecorderStatus {
+	bool can_record{false};
+	bool is_recording{false};
+	bool last_frame_ok{false};
+	std::uint32_t frames_ingested{0};
+	std::uint32_t frames_encoded{0};
+	std::string active_path{};
+	std::string error_message{};
+};
+
+struct Mp4RecorderState {
+	mutable std::mutex mutex{};
+	RuntimeConfig base_config{};
+	std::optional<ipc::FrameInfo> current_frame_info{};
+	std::optional<record::Mp4InputPixelFormat> current_input_pixel_format{};
+	float current_fps{30.0f};
+	std::optional<record::Mp4RecordWriter> writer{};
+	std::optional<std::uint64_t> first_frame_timestamp_ns{};
+	Mp4RecorderStatus status{};
 };
 
 [[nodiscard]]
-cvmmap::ControlError make_recording_control_error(
+protocol::RpcError make_recorder_rpc_error(
-	const int32_t code,
+	const protocol::RpcErrorCode code,
 	std::string message) {
-	return cvmmap::ControlError{
+	return protocol::RpcError{
 		.code = code,
 		.message = std::move(message),
 	};
@@ -443,60 +483,128 @@ cvmmap::ControlError make_recording_control_error(
 [[nodiscard]]
 RuntimeConfig make_mcap_record_config(
 	const RuntimeConfig &base_config,
-	const cvmmap::RecordingRequest &request) {
+	const recorder_pb::McapStartRequest &request) {
 	auto record_config = base_config;
 	record_config.record.mcap.enabled = true;
-	record_config.record.mcap.path = request.output_path;
+	record_config.record.mcap.path = request.output_path();
-	if (request.mcap_options) {
+	if (request.has_topic()) {
-		if (request.mcap_options->topic) {
+		record_config.record.mcap.topic = request.topic();
-			record_config.record.mcap.topic = *request.mcap_options->topic;
+	}
-		}
+	if (request.has_depth_topic()) {
-		if (request.mcap_options->depth_topic) {
+		record_config.record.mcap.depth_topic = request.depth_topic();
-			record_config.record.mcap.depth_topic = *request.mcap_options->depth_topic;
+	}
-		}
+	if (request.has_body_topic()) {
-		if (request.mcap_options->body_topic) {
+		record_config.record.mcap.body_topic = request.body_topic();
-			record_config.record.mcap.body_topic = *request.mcap_options->body_topic;
+	}
-		}
+	if (request.has_frame_id()) {
-		if (request.mcap_options->frame_id) {
+		record_config.record.mcap.frame_id = request.frame_id();
-			record_config.record.mcap.frame_id = *request.mcap_options->frame_id;
-		}
 	}
 	return record_config;
 }
 
-void reset_mcap_status_after_stop(cvmmap::RecordingStatus &status) {
+[[nodiscard]]
+record::Mp4EncodeTuning make_mp4_encode_tuning(const RuntimeConfig &base_config) {
+	return record::Mp4EncodeTuning{
+		.quality = record::kDefaultMp4Quality,
+		.gop = base_config.encoder.gop,
+		.b_frames = base_config.encoder.b_frames,
+	};
+}
+
+[[nodiscard]]
+std::expected<record::Mp4InputPixelFormat, std::string> mp4_input_pixel_format(
+	const ipc::FrameInfo &frame_info) {
+	if (frame_info.depth != ipc::Depth::U8) {
+		return std::unexpected("MP4 recorder requires 8-bit color frames");
+	}
+	switch (frame_info.pixel_format) {
+	case ipc::PixelFormat::BGR:
+		return record::Mp4InputPixelFormat::Bgr24;
+	case ipc::PixelFormat::RGB:
+		return record::Mp4InputPixelFormat::Rgb24;
+	case ipc::PixelFormat::BGRA:
+		return record::Mp4InputPixelFormat::Bgra32;
+	case ipc::PixelFormat::RGBA:
+		return record::Mp4InputPixelFormat::Rgba32;
+	case ipc::PixelFormat::GRAY:
+		return record::Mp4InputPixelFormat::Gray8;
+	case ipc::PixelFormat::YUV:
+	case ipc::PixelFormat::YUYV:
+		return std::unexpected("MP4 recorder does not support packed YUV snapshot frames");
+	}
+	return std::unexpected("MP4 recorder does not support the snapshot pixel format");
+}
+
+void reset_mcap_status_after_stop(McapRecorderState::Status &status) {
+	status.is_recording = false;
+	status.active_path.clear();
+}
+
+void reset_mp4_status_after_stop(Mp4RecorderStatus &status) {
 	status.is_recording = false;
-	status.is_paused = false;
 	status.active_path.clear();
 }
 
 [[nodiscard]]
-std::expected<cvmmap::RecordingStatus, cvmmap::ControlError> start_mcap_recording(
+recorder_pb::McapRecorderState to_proto_mcap_state(
+	const McapRecorderState::Status &status) {
+	recorder_pb::McapRecorderState wire_status;
+	wire_status.set_can_record(status.can_record);
+	wire_status.set_is_recording(status.is_recording);
+	wire_status.set_last_frame_ok(status.last_frame_ok);
+	wire_status.set_frames_ingested(status.frames_ingested);
+	wire_status.set_frames_encoded(status.frames_encoded);
+	wire_status.set_active_path(status.active_path);
+	wire_status.set_error_message(status.error_message);
+	return wire_status;
+}
+
+template <class Response>
+[[nodiscard]]
+Response make_ok_mcap_response(const McapRecorderState::Status &status) {
+	Response response;
+	response.set_code(recorder_pb::RPC_CODE_OK);
+	*response.mutable_state() = to_proto_mcap_state(status);
+	return response;
+}
+
+[[nodiscard]]
+std::expected<McapRecorderState::Status, protocol::RpcError> start_mcap_recording(
 	McapRecorderState &recorder_state,
-	const cvmmap::RecordingRequest &request) {
+	const recorder_pb::McapStartRequest &request) {
 	std::lock_guard lock(recorder_state.mutex);
-	if (request.format != cvmmap::RecordingFormat::Mcap) {
-		return std::unexpected(make_recording_control_error(
-			cvmmap::CONTROL_RESPONSE_UNSUPPORTED,
-			"recording format is not supported by the streamer"));
-	}
 	if (!recorder_state.current_stream_info) {
-		return std::unexpected(make_recording_control_error(
+		return std::unexpected(make_recorder_rpc_error(
-			cvmmap::CONTROL_RESPONSE_ERROR,
+			protocol::RpcErrorCode::Internal,
 			"MCAP recorder is not ready; stream info unavailable"));
 	}
 	if (recorder_state.sink) {
-		return std::unexpected(make_recording_control_error(
+		return std::unexpected(make_recorder_rpc_error(
-			cvmmap::CONTROL_RESPONSE_ERROR,
+			protocol::RpcErrorCode::Busy,
 			"MCAP recording is already active"));
 	}
+	if (request.output_path().empty()) {
+		return std::unexpected(make_recorder_rpc_error(
+			protocol::RpcErrorCode::InvalidRequest,
+			"output_path must not be empty"));
+	}
+	const auto output_path = std::filesystem::path(request.output_path());
+	std::error_code mkdir_error{};
+	if (output_path.has_parent_path()) {
+		std::filesystem::create_directories(output_path.parent_path(), mkdir_error);
+		if (mkdir_error) {
+			return std::unexpected(make_recorder_rpc_error(
+				protocol::RpcErrorCode::Internal,
+				"failed to create MCAP output directory: " + mkdir_error.message()));
+		}
+	}
 
 	auto record_config = make_mcap_record_config(recorder_state.base_config, request);
-	if (request.mcap_options && request.mcap_options->compression) {
+	if (request.has_compression()) {
-		auto parsed = parse_mcap_compression(*request.mcap_options->compression);
+		auto parsed = parse_mcap_compression(request.compression());
 		if (!parsed) {
-			return std::unexpected(make_recording_control_error(
+			return std::unexpected(make_recorder_rpc_error(
-				cvmmap::CONTROL_RESPONSE_INVALID_PAYLOAD,
+				protocol::RpcErrorCode::InvalidRequest,
 				parsed.error()));
 		}
 		record_config.record.mcap.compression = *parsed;
@@ -504,8 +612,8 @@ std::expected<cvmmap::RecordingStatus, cvmmap::ControlError> start_mcap_recordin
 
 	auto created = record::McapRecordSink::create(record_config, *recorder_state.current_stream_info);
 	if (!created) {
-		return std::unexpected(make_recording_control_error(
+		return std::unexpected(make_recorder_rpc_error(
-			cvmmap::CONTROL_RESPONSE_ERROR,
+			protocol::RpcErrorCode::Internal,
 			"pipeline MCAP sink init failed: " + created.error()));
 	}
 
@@ -513,35 +621,278 @@ std::expected<cvmmap::RecordingStatus, cvmmap::ControlError> start_mcap_recordin
 	recorder_state.sink.emplace(std::move(*created));
 	recorder_state.status.can_record = true;
 	recorder_state.status.is_recording = true;
-	recorder_state.status.is_paused = false;
 	recorder_state.status.last_frame_ok = true;
 	recorder_state.status.frames_ingested = 0;
 	recorder_state.status.frames_encoded = 0;
-	recorder_state.status.active_path = request.output_path;
+	recorder_state.status.active_path = request.output_path();
+	recorder_state.status.error_message.clear();
 	return recorder_state.status;
 }
 
 [[nodiscard]]
-std::expected<cvmmap::RecordingStatus, cvmmap::ControlError> stop_mcap_recording(
+std::expected<McapRecorderState::Status, protocol::RpcError> stop_mcap_recording(
-	McapRecorderState &recorder_state) {
+	McapRecorderState &recorder_state,
+	const recorder_pb::McapStopRequest &) {
 	std::lock_guard lock(recorder_state.mutex);
 	if (recorder_state.sink) {
 		recorder_state.sink->close();
 		recorder_state.sink.reset();
 	}
 	recorder_state.active_record_config.reset();
+	recorder_state.status.last_frame_ok = true;
+	recorder_state.status.error_message.clear();
 	reset_mcap_status_after_stop(recorder_state.status);
 	return recorder_state.status;
 }
 
 [[nodiscard]]
-std::expected<cvmmap::RecordingStatus, cvmmap::ControlError> get_mcap_recording_status(
+std::expected<McapRecorderState::Status, protocol::RpcError> get_mcap_recording_status(
-	McapRecorderState &recorder_state) {
+	McapRecorderState &recorder_state,
+	const recorder_pb::McapStatusRequest &) {
 	std::lock_guard lock(recorder_state.mutex);
 	recorder_state.status.can_record = true;
 	return recorder_state.status;
 }
 
+void close_mp4_writer_with_error(
+	Mp4RecorderState &recorder_state,
+	const std::string &message) {
+	spdlog::error("pipeline MP4 recorder stopping after error: {}", message);
+	if (recorder_state.writer) {
+		auto flush = recorder_state.writer->flush();
+		if (!flush) {
+			spdlog::warn("pipeline MP4 flush failed while closing recorder: {}", flush.error());
+		}
+		recorder_state.writer.reset();
+	}
+	recorder_state.first_frame_timestamp_ns.reset();
+	recorder_state.status.last_frame_ok = false;
+	recorder_state.status.error_message = message;
+	reset_mp4_status_after_stop(recorder_state.status);
+}
+
+[[nodiscard]]
+protocol::RpcError make_mp4_rpc_error(
+	const protocol::RpcErrorCode code,
+	std::string message) {
+	return protocol::RpcError{
+		.code = code,
+		.message = std::move(message),
+	};
+}
+
+[[nodiscard]]
+recorder_pb::Mp4RecorderState to_proto_mp4_state(const Mp4RecorderStatus &status) {
+	recorder_pb::Mp4RecorderState wire_status;
+	wire_status.set_can_record(status.can_record);
+	wire_status.set_is_recording(status.is_recording);
+	wire_status.set_last_frame_ok(status.last_frame_ok);
+	wire_status.set_frames_ingested(status.frames_ingested);
+	wire_status.set_frames_encoded(status.frames_encoded);
+	wire_status.set_active_path(status.active_path);
+	wire_status.set_error_message(status.error_message);
+	return wire_status;
+}
+
+template <class Response>
+[[nodiscard]]
+Response make_ok_mp4_response(const Mp4RecorderStatus &status) {
+	Response response;
+	response.set_code(recorder_pb::RPC_CODE_OK);
+	*response.mutable_state() = to_proto_mp4_state(status);
+	return response;
+}
+
+[[nodiscard]]
+std::expected<Mp4RecorderStatus, protocol::RpcError> start_mp4_recording(
+	Mp4RecorderState &recorder_state,
+	const recorder_pb::Mp4StartRequest &request) {
+	std::lock_guard lock(recorder_state.mutex);
+	if (!recorder_state.current_frame_info) {
+		return std::unexpected(make_mp4_rpc_error(
+			protocol::RpcErrorCode::Internal,
+			"MP4 recorder is not ready; snapshot frame info unavailable"));
+	}
+	if (!recorder_state.current_input_pixel_format) {
+		return std::unexpected(make_mp4_rpc_error(
+			protocol::RpcErrorCode::Unsupported,
+			recorder_state.status.error_message.empty()
+				? "MP4 recorder does not support the current snapshot format"
+				: recorder_state.status.error_message));
+	}
+	if (recorder_state.writer) {
+		return std::unexpected(make_mp4_rpc_error(
+			protocol::RpcErrorCode::Busy,
+			"MP4 recording is already active"));
+	}
+
+	const auto output_path = std::filesystem::path(request.output_path());
+	if (output_path.empty()) {
+		return std::unexpected(make_mp4_rpc_error(
+			protocol::RpcErrorCode::InvalidRequest,
+			"output_path must not be empty"));
+	}
+	std::error_code mkdir_error{};
+	if (output_path.has_parent_path()) {
+		std::filesystem::create_directories(output_path.parent_path(), mkdir_error);
+		if (mkdir_error) {
+			return std::unexpected(make_mp4_rpc_error(
+				protocol::RpcErrorCode::Internal,
+				"failed to create MP4 output directory: " + mkdir_error.message()));
+		}
+	}
+
+	record::Mp4RecordWriter writer{};
+	auto open = writer.open(
+		output_path,
+		recorder_state.base_config.encoder.codec,
+		recorder_state.base_config.encoder.device,
+		recorder_state.current_frame_info->width,
+		recorder_state.current_frame_info->height,
+		recorder_state.current_fps,
+		make_mp4_encode_tuning(recorder_state.base_config),
+		*recorder_state.current_input_pixel_format);
+	if (!open) {
+		return std::unexpected(make_mp4_rpc_error(
+			protocol::RpcErrorCode::Internal,
+			"pipeline MP4 writer init failed: " + open.error()));
+	}
+
+	recorder_state.writer.emplace(std::move(writer));
+	recorder_state.first_frame_timestamp_ns.reset();
+	recorder_state.status.can_record = true;
+	recorder_state.status.is_recording = true;
+	recorder_state.status.last_frame_ok = true;
+	recorder_state.status.frames_ingested = 0;
+	recorder_state.status.frames_encoded = 0;
+	recorder_state.status.active_path = request.output_path();
+	recorder_state.status.error_message.clear();
+	return recorder_state.status;
+}
+
+[[nodiscard]]
+std::expected<Mp4RecorderStatus, protocol::RpcError> stop_mp4_recording(
+	Mp4RecorderState &recorder_state,
+	const recorder_pb::Mp4StopRequest &) {
+	std::lock_guard lock(recorder_state.mutex);
+	if (recorder_state.writer) {
+		auto flush = recorder_state.writer->flush();
+		recorder_state.writer.reset();
+		recorder_state.first_frame_timestamp_ns.reset();
+		if (!flush) {
+			recorder_state.status.last_frame_ok = false;
+			recorder_state.status.error_message = "MP4 recording flush failed: " + flush.error();
+			reset_mp4_status_after_stop(recorder_state.status);
+			return std::unexpected(make_mp4_rpc_error(
+				protocol::RpcErrorCode::Internal,
+				recorder_state.status.error_message));
+		}
+	}
+	recorder_state.status.last_frame_ok = true;
+	recorder_state.status.error_message.clear();
+	reset_mp4_status_after_stop(recorder_state.status);
+	return recorder_state.status;
+}
+
+[[nodiscard]]
+std::expected<Mp4RecorderStatus, protocol::RpcError> get_mp4_recording_status(
+	Mp4RecorderState &recorder_state,
+	const recorder_pb::Mp4StatusRequest &) {
+	std::lock_guard lock(recorder_state.mutex);
+	recorder_state.status.can_record =
+		recorder_state.current_frame_info.has_value() &&
+		recorder_state.current_input_pixel_format.has_value();
+	return recorder_state.status;
+}
+
+void update_mp4_source_info(
+	Mp4RecorderState &recorder_state,
+	const ipc::FrameInfo &frame_info,
+	const float fps) {
+	std::lock_guard lock(recorder_state.mutex);
+	const auto previous_frame_info = recorder_state.current_frame_info;
+	recorder_state.current_frame_info = frame_info;
+	if (fps > 0.0f) {
+		recorder_state.current_fps = fps;
+	}
+
+	auto input_pixel_format = mp4_input_pixel_format(frame_info);
+	if (!input_pixel_format) {
+		recorder_state.current_input_pixel_format.reset();
+		recorder_state.status.can_record = false;
+		recorder_state.status.error_message = input_pixel_format.error();
+		if (recorder_state.writer) {
+			close_mp4_writer_with_error(recorder_state, input_pixel_format.error());
+		}
+		return;
+	}
+
+	const bool source_changed =
+		recorder_state.writer.has_value() &&
+		previous_frame_info.has_value() &&
+		!frame_info_equal(*previous_frame_info, frame_info);
+	recorder_state.current_input_pixel_format = *input_pixel_format;
+	recorder_state.status.can_record = true;
+	recorder_state.status.error_message.clear();
+	if (source_changed) {
+		close_mp4_writer_with_error(
+			recorder_state,
+			"MP4 recording stopped after snapshot frame format changed");
+		return;
+	}
+}
+
+void write_mp4_frame(
+	Mp4RecorderState *recorder_state,
+	const ipc::CoherentSnapshot &snapshot) {
+	if (recorder_state == nullptr) {
+		return;
+	}
+
+	std::lock_guard lock(recorder_state->mutex);
+	if (!recorder_state->writer) {
+		return;
+	}
+	if (snapshot.left.empty()) {
+		close_mp4_writer_with_error(*recorder_state, "MP4 recorder received an empty left frame");
+		return;
+	}
+	if (snapshot.metadata.info.height == 0) {
+		close_mp4_writer_with_error(*recorder_state, "MP4 recorder received an invalid frame height");
+		return;
+	}
+
+	const auto row_stride_bytes =
+		static_cast<std::size_t>(snapshot.metadata.info.buffer_size) /
+		static_cast<std::size_t>(snapshot.metadata.info.height);
+	if (row_stride_bytes == 0) {
+		close_mp4_writer_with_error(*recorder_state, "MP4 recorder computed a zero row stride");
+		return;
+	}
+	if (!recorder_state->first_frame_timestamp_ns) {
+		recorder_state->first_frame_timestamp_ns = snapshot.metadata.timestamp_ns;
+	}
+	const auto relative_timestamp_ns =
+		snapshot.metadata.timestamp_ns >= *recorder_state->first_frame_timestamp_ns
+			? snapshot.metadata.timestamp_ns - *recorder_state->first_frame_timestamp_ns
+			: 0ull;
+
+	auto write = recorder_state->writer->write_frame(
+		snapshot.left.data(),
+		row_stride_bytes,
+		relative_timestamp_ns);
+	if (!write) {
+		close_mp4_writer_with_error(*recorder_state, "MP4 frame write failed: " + write.error());
+		spdlog::error("pipeline MP4 frame write failed: {}", write.error());
+		return;
+	}
+
+	recorder_state->status.last_frame_ok = true;
+	recorder_state->status.is_recording = true;
+	recorder_state->status.frames_ingested += 1;
+	recorder_state->status.frames_encoded += 1;
+}
+
 void update_mcap_stream_info(
 	McapRecorderState &recorder_state,
 	const encode::EncodedStreamInfo &stream_info) {
@@ -776,30 +1127,29 @@ int run_pipeline(const RuntimeConfig &config) {
 	std::optional<protocol::UdpRtpPublisher> rtp_publisher{};
 	std::optional<protocol::RtmpOutput> rtmp_output{};
 	McapRecorderState mcap_recorder{};
+	Mp4RecorderState mp4_recorder{};
 	mcap_recorder.base_config = config;
 	mcap_recorder.status.can_record = true;
+	mp4_recorder.base_config = config;
 	cvmmap::NatsControlClient nats_client(
 		input_endpoints->nats_target_key,
 		config.input.nats_url);
-	cvmmap::NatsControlService recorder_service(
+	protocol::NatsRequestReplyServer recorder_rpc_server({
-		cvmmap::NatsControlServiceOptions{
+		.nats_url = config.input.nats_url,
-			.instance_name = input_endpoints->instance_name,
+		.instance_name = input_endpoints->instance_name,
-			.namespace_name = input_endpoints->namespace_name,
+		.namespace_name = input_endpoints->namespace_name,
-			.ipc_prefix = input_endpoints->ipc_prefix,
+		.ipc_prefix = input_endpoints->ipc_prefix,
-			.base_name = input_endpoints->base_name,
+		.base_name = input_endpoints->base_name,
-			.target_key = input_endpoints->nats_target_key,
+		.nats_target_key = input_endpoints->nats_target_key,
-			.shm_name = input_endpoints->shm_name,
+		.recording_formats = "mp4,mcap",
-			.zmq_addr = input_endpoints->zmq_endpoint,
+	});
-			.backend = std::string((*source)->backend_name()),
-			.nats_url = config.input.nats_url,
-		});
 	std::mutex nats_event_mutex{};
 	std::deque<std::vector<std::uint8_t>> pending_body_packets{};
 	std::deque<int32_t> pending_status_codes{};
 
-	nats_client.SetModuleStatusCallback([&nats_event_mutex, &pending_status_codes](int32_t status_code) {
+	nats_client.SetModuleStatusCallback([&nats_event_mutex, &pending_status_codes](cvmmap::ModuleStatus status_code) {
 		std::lock_guard lock(nats_event_mutex);
-		pending_status_codes.push_back(status_code);
+		pending_status_codes.push_back(static_cast<int32_t>(status_code));
 	});
 	nats_client.SetBodyTrackingRawCallback(
 		[&nats_event_mutex, &pending_body_packets](std::span<const std::uint8_t> bytes) {
@@ -811,38 +1161,86 @@ int run_pipeline(const RuntimeConfig &config) {
 		return exit_code(PipelineExitCode::SubscriberError);
 	}
 
-	cvmmap::NatsControlHandlers recorder_handlers{};
+	recorder_rpc_server.register_proto_endpoint<
-	recorder_handlers.on_recording_available =
+		recorder_pb::Mp4StartRequest,
-		[](const cvmmap::RecordingFormat format) {
+		recorder_pb::Mp4StartResponse>(
-		return format == cvmmap::RecordingFormat::Mcap;
+		"recorder_mp4_start",
-	};
+		protocol::subject_recorder_mp4_start(input_endpoints->nats_target_key),
-	recorder_handlers.on_start_recording =
+		[&mp4_recorder](const recorder_pb::Mp4StartRequest &request)
-		[&mcap_recorder](const cvmmap::RecordingRequest &request) {
+			-> std::expected<recorder_pb::Mp4StartResponse, protocol::RpcError> {
-		return start_mcap_recording(mcap_recorder, request);
+			auto status = start_mp4_recording(mp4_recorder, request);
-	};
+			if (!status) {
-	recorder_handlers.on_stop_recording =
+				return std::unexpected(status.error());
-		[&mcap_recorder](const cvmmap::RecordingFormat format)
+			}
-			-> std::expected<cvmmap::RecordingStatus, cvmmap::ControlError> {
+			return make_ok_mp4_response<recorder_pb::Mp4StartResponse>(*status);
-		if (format != cvmmap::RecordingFormat::Mcap) {
+		});
-			return std::unexpected(make_recording_control_error(
+	recorder_rpc_server.register_proto_endpoint<
-				cvmmap::CONTROL_RESPONSE_UNSUPPORTED,
+		recorder_pb::Mp4StopRequest,
-				"recording format is not supported by the streamer"));
+		recorder_pb::Mp4StopResponse>(
-		}
+		"recorder_mp4_stop",
-		return stop_mcap_recording(mcap_recorder);
+		protocol::subject_recorder_mp4_stop(input_endpoints->nats_target_key),
-	};
+		[&mp4_recorder](const recorder_pb::Mp4StopRequest &request)
-	recorder_handlers.on_get_recording_status =
+			-> std::expected<recorder_pb::Mp4StopResponse, protocol::RpcError> {
-		[&mcap_recorder](const cvmmap::RecordingFormat format)
+			auto status = stop_mp4_recording(mp4_recorder, request);
-			-> std::expected<cvmmap::RecordingStatus, cvmmap::ControlError> {
+			if (!status) {
-		if (format != cvmmap::RecordingFormat::Mcap) {
+				return std::unexpected(status.error());
-			return std::unexpected(make_recording_control_error(
+			}
-				cvmmap::CONTROL_RESPONSE_UNSUPPORTED,
+			return make_ok_mp4_response<recorder_pb::Mp4StopResponse>(*status);
-				"recording format is not supported by the streamer"));
+		});
-		}
+	recorder_rpc_server.register_proto_endpoint<
-		return get_mcap_recording_status(mcap_recorder);
+		recorder_pb::Mp4StatusRequest,
-	};
+		recorder_pb::Mp4StatusResponse>(
-	recorder_service.SetHandlers(std::move(recorder_handlers));
+		"recorder_mp4_status",
-	if (!recorder_service.Start()) {
+		protocol::subject_recorder_mp4_status(input_endpoints->nats_target_key),
-		spdlog::error("pipeline recorder control service failed on '{}'", config.input.nats_url);
+		[&mp4_recorder](const recorder_pb::Mp4StatusRequest &request)
+			-> std::expected<recorder_pb::Mp4StatusResponse, protocol::RpcError> {
+			auto status = get_mp4_recording_status(mp4_recorder, request);
+			if (!status) {
+				return std::unexpected(status.error());
+			}
+			return make_ok_mp4_response<recorder_pb::Mp4StatusResponse>(*status);
+		});
+	recorder_rpc_server.register_proto_endpoint<
+		recorder_pb::McapStartRequest,
+		recorder_pb::McapStartResponse>(
+		"recorder_mcap_start",
+		protocol::subject_recorder_mcap_start(input_endpoints->nats_target_key),
+		[&mcap_recorder](const recorder_pb::McapStartRequest &request)
+			-> std::expected<recorder_pb::McapStartResponse, protocol::RpcError> {
+			auto status = start_mcap_recording(mcap_recorder, request);
+			if (!status) {
+				return std::unexpected(status.error());
+			}
+			return make_ok_mcap_response<recorder_pb::McapStartResponse>(*status);
+		});
+	recorder_rpc_server.register_proto_endpoint<
+		recorder_pb::McapStopRequest,
+		recorder_pb::McapStopResponse>(
+		"recorder_mcap_stop",
+		protocol::subject_recorder_mcap_stop(input_endpoints->nats_target_key),
+		[&mcap_recorder](const recorder_pb::McapStopRequest &request)
+			-> std::expected<recorder_pb::McapStopResponse, protocol::RpcError> {
+			auto status = stop_mcap_recording(mcap_recorder, request);
+			if (!status) {
+				return std::unexpected(status.error());
+			}
+			return make_ok_mcap_response<recorder_pb::McapStopResponse>(*status);
+		});
+	recorder_rpc_server.register_proto_endpoint<
+		recorder_pb::McapStatusRequest,
+		recorder_pb::McapStatusResponse>(
+		"recorder_mcap_status",
+		protocol::subject_recorder_mcap_status(input_endpoints->nats_target_key),
+		[&mcap_recorder](const recorder_pb::McapStatusRequest &request)
+			-> std::expected<recorder_pb::McapStatusResponse, protocol::RpcError> {
+			auto status = get_mcap_recording_status(mcap_recorder, request);
+			if (!status) {
+				return std::unexpected(status.error());
+			}
+			return make_ok_mcap_response<recorder_pb::McapStatusResponse>(*status);
+		});
+	if (!recorder_rpc_server.start()) {
+		spdlog::error("pipeline streamer recorder service failed on '{}'", config.input.nats_url);
 		nats_client.Stop();
 		return exit_code(PipelineExitCode::SubscriberError);
 	}
@@ -951,6 +1349,7 @@ int run_pipeline(const RuntimeConfig &config) {
 		}
 
 		update_mcap_stream_info(mcap_recorder, stream_info);
+		update_mp4_source_info(mp4_recorder, target_info, stream_fps(stream_info));
 		if (config.record.mcap.enabled) {
 			std::lock_guard lock(mcap_recorder.mutex);
 			if (!mcap_recorder.sink) {
@@ -962,7 +1361,6 @@ int run_pipeline(const RuntimeConfig &config) {
 				}
 				mcap_recorder.active_record_config = config;
 				mcap_recorder.sink.emplace(std::move(*created));
-				mcap_recorder.status.format = cvmmap::RecordingFormat::Mcap;
 				mcap_recorder.status.can_record = true;
 				mcap_recorder.status.is_recording = true;
 				mcap_recorder.status.last_frame_ok = true;
@@ -1187,6 +1585,10 @@ int run_pipeline(const RuntimeConfig &config) {
 			const bool want_encoded_input =
 				config.input.video_source == InputVideoSource::Encoded ||
 				(config.input.video_source == InputVideoSource::Auto && has_encoded_access_unit);
+			update_mp4_source_info(
+				mp4_recorder,
+				snapshot->metadata.info,
+				active_stream_info ? stream_fps(*active_stream_info) : 30.0f);
 			if (config.input.video_source == InputVideoSource::Encoded && !has_encoded_access_unit) {
 				spdlog::error("pipeline encoded input requested but SHM snapshot does not contain an encoded access unit");
 				return exit_code(PipelineExitCode::InitializationError);
@@ -1229,6 +1631,7 @@ int run_pipeline(const RuntimeConfig &config) {
 			}
 
 			latency_tracker.note_ingest();
+			write_mp4_frame(&mp4_recorder, *snapshot);
 
 			if (want_encoded_input) {
 				auto access_unit = make_access_unit_from_snapshot(*snapshot);
@@ -1350,8 +1753,15 @@ int run_pipeline(const RuntimeConfig &config) {
 	if (backend) {
 		(*backend)->shutdown();
 	}
-	std::ignore = stop_mcap_recording(mcap_recorder);
+	auto stop_mp4 = stop_mp4_recording(mp4_recorder, recorder_pb::Mp4StopRequest{});
-	recorder_service.Stop();
+	if (!stop_mp4) {
+		spdlog::warn("pipeline MP4 recorder stop during shutdown failed: {}", stop_mp4.error().message);
+	}
+	auto stop_mcap = stop_mcap_recording(mcap_recorder, recorder_pb::McapStopRequest{});
+	if (!stop_mcap) {
+		spdlog::warn("pipeline MCAP recorder stop during shutdown failed: {}", stop_mcap.error().message);
+	}
+	recorder_rpc_server.stop();
 
 	spdlog::info(
 		"PIPELINE_METRICS codec={} backend={} sync_messages={} status_messages={} torn_frames={} pushed_frames={} encoded_access_units={} resets={} format_rebuilds={} supervised_restarts={}",

src/protocol/nats_request_reply_server.cpp

@@ -0,0 +1,263 @@
+#include "cvmmap_streamer/protocol/nats_request_reply_server.hpp"
+
+#include "cvmmap_streamer/protocol/streamer_subjects.hpp"
+
+#include <nats.h>
+#include <spdlog/spdlog.h>
+
+#include <string_view>
+#include <utility>
+#include <vector>
+
+namespace cvmmap_streamer::protocol {
+
+namespace {
+
+constexpr std::string_view kStreamerServiceName = "cvmmap_streamer";
+constexpr std::string_view kStreamerServiceVersion = "0.1.0";
+constexpr std::string_view kStreamerServiceDescription =
+	"cvmmap-streamer recorder service";
+
+[[nodiscard]]
+std::string nats_status_text(const natsStatus status) {
+	const char *text = natsStatus_GetText(status);
+	return text != nullptr ? std::string(text) : std::string("unknown NATS error");
+}
+
+[[nodiscard]]
+std::string micro_error_to_string(microError *error) {
+	if (error == nullptr) {
+		return {};
+	}
+	char buffer[512];
+	return std::string(microError_String(error, buffer, sizeof(buffer)));
+}
+
+}  // namespace
+
+struct NatsRequestReplyServer::Endpoint {
+	std::string name{};
+	std::string subject{};
+	std::function<std::string(std::span<const std::uint8_t>)> handler{};
+};
+
+struct NatsRequestReplyServer::Impl {
+	explicit Impl(NatsRequestReplyServerOptions options_arg)
+		: options(std::move(options_arg)) {}
+
+	NatsRequestReplyServerOptions options{};
+	natsConnection *connection{nullptr};
+	microService *service{nullptr};
+	std::vector<std::unique_ptr<Endpoint>> endpoints{};
+	std::vector<std::string> metadata_storage{};
+	bool started{false};
+
+	void build_metadata_storage() {
+		metadata_storage.clear();
+		metadata_storage.reserve(18);
+		auto append = [this](std::string key, std::string value) {
+			metadata_storage.push_back(std::move(key));
+			metadata_storage.push_back(std::move(value));
+		};
+
+		append("instance_name", options.instance_name);
+		append("namespace", options.namespace_name);
+		append("ipc_prefix", options.ipc_prefix);
+		append("base_name", options.base_name);
+		append("nats_target_key", options.nats_target_key);
+		append(
+			"streamer_subject_prefix",
+			streamer_subject_prefix(options.nats_target_key));
+		append("backend", options.backend);
+		append("recording_formats", options.recording_formats);
+	}
+};
+
+NatsRequestReplyServer::NatsRequestReplyServer(NatsRequestReplyServerOptions options)
+	: impl_(std::make_unique<Impl>(std::move(options))) {}
+
+NatsRequestReplyServer::~NatsRequestReplyServer() {
+	stop();
+}
+
+void NatsRequestReplyServer::register_raw_endpoint(
+	std::string endpoint_name,
+	std::string subject,
+	std::function<std::string(std::span<const std::uint8_t>)> handler) {
+	auto endpoint = std::make_unique<Endpoint>();
+	endpoint->name = std::move(endpoint_name);
+	endpoint->subject = std::move(subject);
+	endpoint->handler = std::move(handler);
+	impl_->endpoints.push_back(std::move(endpoint));
+}
+
+cvmmap_streamer::proto::RpcCode NatsRequestReplyServer::to_proto_rpc_code(
+	const RpcErrorCode code) {
+	switch (code) {
+	case RpcErrorCode::InvalidRequest:
+		return cvmmap_streamer::proto::RPC_CODE_INVALID_REQUEST;
+	case RpcErrorCode::Unsupported:
+		return cvmmap_streamer::proto::RPC_CODE_UNSUPPORTED;
+	case RpcErrorCode::Busy:
+		return cvmmap_streamer::proto::RPC_CODE_BUSY;
+	case RpcErrorCode::Internal:
+		return cvmmap_streamer::proto::RPC_CODE_INTERNAL;
+	}
+	return cvmmap_streamer::proto::RPC_CODE_INTERNAL;
+}
+
+bool NatsRequestReplyServer::start() {
+	if (impl_->started) {
+		return true;
+	}
+	if (impl_->endpoints.empty()) {
+		spdlog::error("streamer service start requested without any endpoints");
+		return false;
+	}
+
+	natsOptions *options = nullptr;
+	auto status = natsOptions_Create(&options);
+	if (status != NATS_OK) {
+		spdlog::error("failed to create NATS options: {}", nats_status_text(status));
+		return false;
+	}
+	status = natsOptions_SetURL(options, impl_->options.nats_url.c_str());
+	if (status != NATS_OK) {
+		spdlog::error(
+			"failed to set NATS url '{}': {}",
+			impl_->options.nats_url,
+			nats_status_text(status));
+		natsOptions_Destroy(options);
+		return false;
+	}
+
+	status = natsConnection_Connect(&impl_->connection, options);
+	natsOptions_Destroy(options);
+	if (status != NATS_OK) {
+		spdlog::error(
+			"failed to connect streamer service to '{}': {}",
+			impl_->options.nats_url,
+			nats_status_text(status));
+		return false;
+	}
+
+	impl_->build_metadata_storage();
+	std::vector<const char *> metadata_list{};
+	metadata_list.reserve(impl_->metadata_storage.size());
+	for (const auto &entry : impl_->metadata_storage) {
+		metadata_list.push_back(entry.c_str());
+	}
+
+	const auto &default_endpoint_ref = impl_->endpoints.front();
+	microEndpointConfig default_endpoint{};
+	default_endpoint.Name = default_endpoint_ref->name.c_str();
+	default_endpoint.Subject = default_endpoint_ref->subject.c_str();
+	default_endpoint.Handler =
+		[](microRequest *request) -> microError * {
+			auto *endpoint = static_cast<Endpoint *>(microRequest_GetEndpointState(request));
+			if (endpoint == nullptr) {
+				return micro_Errorf("streamer endpoint state is missing");
+			}
+			auto *wire_message = microRequest_GetMsg(request);
+			std::span<const std::uint8_t> payload{};
+			if (wire_message != nullptr && natsMsg_GetDataLength(wire_message) > 0) {
+				payload = std::span<const std::uint8_t>(
+					reinterpret_cast<const std::uint8_t *>(natsMsg_GetData(wire_message)),
+					static_cast<std::size_t>(natsMsg_GetDataLength(wire_message)));
+			}
+			const auto response_payload = endpoint->handler(payload);
+			return microRequest_Respond(
+				request,
+				response_payload.data(),
+				response_payload.size());
+		};
+	default_endpoint.State = default_endpoint_ref.get();
+
+	microServiceConfig service_config{};
+	service_config.Name = kStreamerServiceName.data();
+	service_config.Version = kStreamerServiceVersion.data();
+	service_config.Description = kStreamerServiceDescription.data();
+	service_config.Metadata = natsMetadata{
+		.List = metadata_list.data(),
+		.Count = static_cast<int>(metadata_list.size() / 2),
+	};
+	service_config.Endpoint = &default_endpoint;
+	service_config.State = impl_.get();
+	service_config.ErrHandler =
+		[](microService *, microEndpoint *, natsStatus internal_status) {
+			spdlog::error(
+				"streamer micro service internal error: {}",
+				natsStatus_GetText(internal_status));
+		};
+	service_config.DoneHandler =
+		[](microService *service) {
+			auto *self = static_cast<Impl *>(microService_GetState(service));
+			if (self == nullptr) {
+				return;
+			}
+			spdlog::info(
+				"streamer micro service stopped for target '{}'",
+				self->options.nats_target_key);
+		};
+
+	if (auto *error = micro_AddService(&impl_->service, impl_->connection, &service_config)) {
+		spdlog::error(
+			"failed to start streamer micro service '{}': {}",
+			kStreamerServiceName,
+			micro_error_to_string(error));
+		microError_Destroy(error);
+		natsConnection_Close(impl_->connection);
+		natsConnection_Destroy(impl_->connection);
+		impl_->connection = nullptr;
+		return false;
+	}
+
+	for (std::size_t index = 1; index < impl_->endpoints.size(); ++index) {
+		const auto &endpoint_ref = impl_->endpoints[index];
+		microEndpointConfig endpoint_config{};
+		endpoint_config.Name = endpoint_ref->name.c_str();
+		endpoint_config.Subject = endpoint_ref->subject.c_str();
+		endpoint_config.Handler = default_endpoint.Handler;
+		endpoint_config.State = endpoint_ref.get();
+		if (auto *error = microService_AddEndpoint(impl_->service, &endpoint_config)) {
+			spdlog::error(
+				"failed to add streamer endpoint '{}' on '{}': {}",
+				endpoint_ref->name,
+				endpoint_ref->subject,
+				micro_error_to_string(error));
+			microError_Destroy(error);
+			stop();
+			return false;
+		}
+	}
+
+	impl_->started = true;
+	spdlog::info(
+		"streamer micro service '{}' started for target '{}' with {} endpoints",
+		kStreamerServiceName,
+		impl_->options.nats_target_key,
+		impl_->endpoints.size());
+	return true;
+}
+
+void NatsRequestReplyServer::stop() {
+	if (impl_->service != nullptr) {
+		if (auto *error = microService_Destroy(impl_->service)) {
+			spdlog::error(
+				"failed to stop streamer micro service '{}': {}",
+				kStreamerServiceName,
+				micro_error_to_string(error));
+			microError_Destroy(error);
+		}
+		impl_->service = nullptr;
+	}
+
+	if (impl_->connection != nullptr) {
+		natsConnection_Close(impl_->connection);
+		natsConnection_Destroy(impl_->connection);
+		impl_->connection = nullptr;
+	}
+	impl_->started = false;
+}
+
+}  // namespace cvmmap_streamer::protocol

src/record/mp4_record_writer.cpp

@@ -0,0 +1,611 @@
+#include "cvmmap_streamer/record/mp4_record_writer.hpp"
+
+extern "C" {
+#include <libavcodec/avcodec.h>
+#include <libavformat/avformat.h>
+#include <libavutil/avutil.h>
+#include <libavutil/opt.h>
+#include <libavutil/pixfmt.h>
+#include <libswscale/swscale.h>
+}
+
+#include <cmath>
+#include <optional>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include <spdlog/spdlog.h>
+
+namespace cvmmap_streamer::record {
+
+namespace {
+
+inline constexpr std::uint64_t kNanosPerSecond = 1'000'000'000ull;
+
+struct EncoderCandidate {
+	std::string name{};
+	bool using_hardware{false};
+	AVPixelFormat pixel_format{AV_PIX_FMT_NONE};
+};
+
+struct ResolvedEncoderSettings {
+	std::string mapped_preset{};
+	std::optional<std::string> mapped_tune{};
+	std::optional<std::string> rate_control_mode{};
+	std::string quality_key{};
+	int quality_value{kDefaultMp4Quality};
+	std::uint32_t gop{30};
+	std::uint32_t b_frames{0};
+};
+
+[[nodiscard]]
+std::string av_error_string(const int error_code) {
+	char buffer[AV_ERROR_MAX_STRING_SIZE]{};
+	av_strerror(error_code, buffer, sizeof(buffer));
+	return std::string(buffer);
+}
+
+[[nodiscard]]
+AVCodecID codec_id(const CodecType codec) {
+	return codec == CodecType::H265 ? AV_CODEC_ID_HEVC : AV_CODEC_ID_H264;
+}
+
+[[nodiscard]]
+AVPixelFormat av_pixel_format(const Mp4InputPixelFormat pixel_format) {
+	switch (pixel_format) {
+	case Mp4InputPixelFormat::Bgr24:
+		return AV_PIX_FMT_BGR24;
+	case Mp4InputPixelFormat::Rgb24:
+		return AV_PIX_FMT_RGB24;
+	case Mp4InputPixelFormat::Bgra32:
+		return AV_PIX_FMT_BGRA;
+	case Mp4InputPixelFormat::Rgba32:
+		return AV_PIX_FMT_RGBA;
+	case Mp4InputPixelFormat::Gray8:
+		return AV_PIX_FMT_GRAY8;
+	}
+	return AV_PIX_FMT_NONE;
+}
+
+[[nodiscard]]
+AVRational frame_rate_rational(const float fps) {
+	if (!(fps > 0.0f)) {
+		return AVRational{30, 1};
+	}
+
+	const auto scaled = static_cast<int>(std::llround(static_cast<double>(fps) * 1000.0));
+	if (scaled <= 0) {
+		return AVRational{30, 1};
+	}
+	return AVRational{scaled, 1000};
+}
+
+[[nodiscard]]
+std::vector<EncoderCandidate> encoder_candidates(const CodecType codec, const EncoderDeviceType device) {
+	const std::string hardware_name = codec == CodecType::H265 ? "hevc_nvenc" : "h264_nvenc";
+	const std::string software_name = codec == CodecType::H265 ? "libx265" : "libx264";
+
+	switch (device) {
+	case EncoderDeviceType::Auto:
+		return {
+			EncoderCandidate{.name = hardware_name, .using_hardware = true, .pixel_format = AV_PIX_FMT_NV12},
+			EncoderCandidate{.name = software_name, .using_hardware = false, .pixel_format = AV_PIX_FMT_YUV420P},
+		};
+	case EncoderDeviceType::Nvidia:
+		return {
+			EncoderCandidate{.name = hardware_name, .using_hardware = true, .pixel_format = AV_PIX_FMT_NV12},
+		};
+	case EncoderDeviceType::Software:
+		return {
+			EncoderCandidate{.name = software_name, .using_hardware = false, .pixel_format = AV_PIX_FMT_YUV420P},
+		};
+	}
+
+	return {};
+}
+
+[[nodiscard]]
+std::string mapped_preset_value(const EncoderCandidate &candidate) {
+	return candidate.using_hardware ? "p1" : "veryfast";
+}
+
+[[nodiscard]]
+std::optional<std::string> mapped_tune_value(const EncoderCandidate &candidate) {
+	if (candidate.using_hardware) {
+		return std::optional<std::string>{"ull"};
+	}
+	if (candidate.name == "libx264") {
+		return std::optional<std::string>{"zerolatency"};
+	}
+	return std::nullopt;
+}
+
+[[nodiscard]]
+std::optional<std::string> x265_params_value(const EncoderCandidate &candidate) {
+	if (candidate.name != "libx265") {
+		return std::nullopt;
+	}
+	return std::optional<std::string>{"repeat-headers=1:scenecut=0"};
+}
+
+[[nodiscard]]
+std::expected<void, std::string> set_string_option(AVCodecContext *context, const char *key, const std::string &value) {
+	const auto result = av_opt_set(context->priv_data, key, value.c_str(), 0);
+	if (result < 0) {
+		return std::unexpected("failed to set encoder option '" + std::string(key) + "=" + value + "': " + av_error_string(result));
+	}
+	return {};
+}
+
+[[nodiscard]]
+std::expected<void, std::string> set_int_option(AVCodecContext *context, const char *key, const std::int64_t value) {
+	const auto result = av_opt_set_int(context->priv_data, key, value, 0);
+	if (result < 0) {
+		return std::unexpected("failed to set encoder option '" + std::string(key) + "=" + std::to_string(value) + "': " + av_error_string(result));
+	}
+	return {};
+}
+
+[[nodiscard]]
+std::expected<ResolvedEncoderSettings, std::string> configure_codec_context(
+	AVCodecContext *context,
+	const EncoderCandidate &candidate,
+	const CodecType codec,
+	const std::uint32_t width,
+	const std::uint32_t height,
+	const AVRational framerate,
+	const Mp4EncodeTuning &tuning) {
+	context->codec_type   = AVMEDIA_TYPE_VIDEO;
+	context->codec_id     = codec_id(codec);
+	context->width        = static_cast<int>(width);
+	context->height       = static_cast<int>(height);
+	context->pix_fmt      = candidate.pixel_format;
+	context->flags       |= AV_CODEC_FLAG_GLOBAL_HEADER;
+	context->time_base    = AVRational{1, static_cast<int>(kNanosPerSecond)};
+	context->framerate    = framerate;
+	context->gop_size     = static_cast<int>(tuning.gop);
+	context->max_b_frames = static_cast<int>(tuning.b_frames);
+	context->thread_count = 1;
+
+	ResolvedEncoderSettings resolved{
+		.mapped_preset = mapped_preset_value(candidate),
+		.mapped_tune = mapped_tune_value(candidate),
+		.quality_value = tuning.quality,
+		.gop = tuning.gop,
+		.b_frames = tuning.b_frames,
+	};
+
+	if (auto set = set_string_option(context, "preset", resolved.mapped_preset); !set) {
+		return std::unexpected(set.error());
+	}
+	if (resolved.mapped_tune) {
+		if (auto set = set_string_option(context, "tune", *resolved.mapped_tune); !set) {
+			return std::unexpected(set.error());
+		}
+	}
+
+	if (candidate.using_hardware) {
+		resolved.rate_control_mode = "vbr";
+		resolved.quality_key = "cq";
+		if (auto set = set_string_option(context, "rc", *resolved.rate_control_mode); !set) {
+			return std::unexpected(set.error());
+		}
+		if (auto set = set_int_option(context, "cq", resolved.quality_value); !set) {
+			return std::unexpected(set.error());
+		}
+		if (auto set = set_string_option(context, "zerolatency", "1"); !set) {
+			return std::unexpected(set.error());
+		}
+		if (auto set = set_string_option(context, "rc-lookahead", "0"); !set) {
+			return std::unexpected(set.error());
+		}
+	} else {
+		resolved.quality_key = "crf";
+		if (auto set = set_int_option(context, "crf", resolved.quality_value); !set) {
+			return std::unexpected(set.error());
+		}
+		if (const auto x265_params = x265_params_value(candidate); x265_params) {
+			if (auto set = set_string_option(context, "x265-params", *x265_params); !set) {
+				return std::unexpected(set.error());
+			}
+		}
+	}
+
+	if (auto set = set_int_option(context, "forced-idr", 1); !set) {
+		return std::unexpected(set.error());
+	}
+
+	return resolved;
+}
+
+struct OpenedEncoder {
+	AVCodecContext *context{nullptr};
+	EncoderCandidate candidate{};
+	ResolvedEncoderSettings resolved{};
+};
+
+[[nodiscard]]
+std::expected<OpenedEncoder, std::string> open_encoder(
+	const CodecType codec,
+	const EncoderDeviceType device,
+	const std::uint32_t width,
+	const std::uint32_t height,
+	const AVRational framerate,
+	const Mp4EncodeTuning &tuning) {
+	std::string last_error{};
+
+	for (const auto &candidate : encoder_candidates(codec, device)) {
+		const auto *encoder = avcodec_find_encoder_by_name(candidate.name.c_str());
+		if (encoder == nullptr) {
+			last_error = "FFmpeg encoder '" + candidate.name + "' is unavailable";
+			if (device == EncoderDeviceType::Auto) {
+				spdlog::warn(
+					"MP4 encoder '{}' unavailable in auto mode, trying next candidate",
+					candidate.name);
+				continue;
+			}
+			return std::unexpected(last_error);
+		}
+
+		auto *context = avcodec_alloc_context3(encoder);
+		if (context == nullptr) {
+			return std::unexpected("failed to allocate FFmpeg encoder context");
+		}
+
+		auto resolved = configure_codec_context(context, candidate, codec, width, height, framerate, tuning);
+		if (!resolved) {
+			avcodec_free_context(&context);
+			return std::unexpected(resolved.error());
+		}
+
+		const auto open_result = avcodec_open2(context, encoder, nullptr);
+		if (open_result < 0) {
+			last_error = "failed to open FFmpeg encoder '" + candidate.name + "': " + av_error_string(open_result);
+			avcodec_free_context(&context);
+			if (device == EncoderDeviceType::Auto) {
+				spdlog::warn(
+					"MP4 encoder '{}' failed to open in auto mode: {}. trying software fallback",
+					candidate.name,
+					av_error_string(open_result));
+				continue;
+			}
+			return std::unexpected(last_error);
+		}
+
+		return OpenedEncoder{
+			.context = context,
+			.candidate = candidate,
+			.resolved = std::move(*resolved),
+		};
+	}
+
+	if (last_error.empty()) {
+		last_error = "no usable FFmpeg MP4 encoder candidates were configured";
+	}
+	return std::unexpected(last_error);
+}
+
+}  // namespace
+
+struct Mp4RecordWriter::Impl {
+	[[nodiscard]]
+	std::expected<void, std::string> open(
+		const std::filesystem::path &output_path,
+		const CodecType codec_arg,
+		const EncoderDeviceType encoder_device,
+		const std::uint32_t width,
+		const std::uint32_t height,
+		const float fps,
+		const Mp4EncodeTuning &tuning,
+		const Mp4InputPixelFormat input_pixel_format_arg) {
+		close();
+
+		codec = codec_arg;
+		frame_rate = frame_rate_rational(fps);
+		input_pixel_format = input_pixel_format_arg;
+		source_pixel_format = av_pixel_format(input_pixel_format);
+		if (source_pixel_format == AV_PIX_FMT_NONE) {
+			return std::unexpected("unsupported MP4 writer input pixel format");
+		}
+
+		auto encoder = open_encoder(codec, encoder_device, width, height, frame_rate, tuning);
+		if (!encoder) {
+			return std::unexpected(encoder.error());
+		}
+
+		encoder_context = encoder->context;
+		encoder_name = encoder->candidate.name;
+		using_hardware = encoder->candidate.using_hardware;
+		encoder_pixel_format = encoder->candidate.pixel_format;
+		resolved_settings = std::move(encoder->resolved);
+
+		scaler = sws_getCachedContext(
+			nullptr,
+			static_cast<int>(width),
+			static_cast<int>(height),
+			source_pixel_format,
+			static_cast<int>(width),
+			static_cast<int>(height),
+			encoder_pixel_format,
+			SWS_BILINEAR,
+			nullptr,
+			nullptr,
+			nullptr);
+		if (scaler == nullptr) {
+			return std::unexpected("failed to create swscale conversion context");
+		}
+
+		frame = av_frame_alloc();
+		if (frame == nullptr) {
+			return std::unexpected("failed to allocate FFmpeg frame");
+		}
+		frame->format = encoder_pixel_format;
+		frame->width = encoder_context->width;
+		frame->height = encoder_context->height;
+		const auto frame_buffer_result = av_frame_get_buffer(frame, 32);
+		if (frame_buffer_result < 0) {
+			return std::unexpected("failed to allocate FFmpeg frame buffer: " + av_error_string(frame_buffer_result));
+		}
+
+		packet = av_packet_alloc();
+		if (packet == nullptr) {
+			return std::unexpected("failed to allocate FFmpeg packet");
+		}
+
+		const auto alloc_result = avformat_alloc_output_context2(
+			&format_context,
+			nullptr,
+			"mp4",
+			output_path.string().c_str());
+		if (alloc_result < 0 || format_context == nullptr) {
+			return std::unexpected("failed to allocate MP4 output context: " + av_error_string(alloc_result));
+		}
+
+		video_stream = avformat_new_stream(format_context, nullptr);
+		if (video_stream == nullptr) {
+			return std::unexpected("failed to allocate MP4 video stream");
+		}
+
+		video_stream->time_base = encoder_context->time_base;
+		video_stream->avg_frame_rate = frame_rate;
+
+		const auto params_result = avcodec_parameters_from_context(video_stream->codecpar, encoder_context);
+		if (params_result < 0) {
+			return std::unexpected("failed to copy encoder parameters into MP4 stream: " + av_error_string(params_result));
+		}
+
+		if ((format_context->oformat->flags & AVFMT_NOFILE) == 0) {
+			const auto open_result = avio_open2(
+				&format_context->pb,
+				output_path.string().c_str(),
+				AVIO_FLAG_WRITE,
+				nullptr,
+				nullptr);
+			if (open_result < 0) {
+				return std::unexpected("failed to open output MP4 '" + output_path.string() + "': " + av_error_string(open_result));
+			}
+		}
+
+		AVDictionary *muxer_options = nullptr;
+		av_dict_set(&muxer_options, "movflags", "+faststart", 0);
+		const auto header_result = avformat_write_header(format_context, &muxer_options);
+		av_dict_free(&muxer_options);
+		if (header_result < 0) {
+			return std::unexpected("failed to write MP4 header: " + av_error_string(header_result));
+		}
+
+		spdlog::info(
+			"MP4_RECORD_READY codec={} encoder={} hardware={} width={} height={} fps={}/{} rc={} {}={} gop={} b_frames={} input={} output={}",
+			cvmmap_streamer::to_string(codec),
+			encoder_name,
+			using_hardware,
+			width,
+			height,
+			frame_rate.num,
+			frame_rate.den,
+			resolved_settings.rate_control_mode.value_or("auto"),
+			resolved_settings.quality_key,
+			resolved_settings.quality_value,
+			resolved_settings.gop,
+			resolved_settings.b_frames,
+			input_pixel_format_name(input_pixel_format),
+			output_path.string());
+		return {};
+	}
+
+	[[nodiscard]]
+	std::expected<void, std::string> write_frame(
+		const std::uint8_t *data,
+		const std::size_t row_stride_bytes,
+		const std::uint64_t relative_timestamp_ns) {
+		if (encoder_context == nullptr || frame == nullptr || scaler == nullptr || packet == nullptr || video_stream == nullptr) {
+			return std::unexpected("MP4 writer is not initialized");
+		}
+
+		const auto writable_result = av_frame_make_writable(frame);
+		if (writable_result < 0) {
+			return std::unexpected("failed to make FFmpeg frame writable: " + av_error_string(writable_result));
+		}
+
+		const std::uint8_t *source_planes[4]{data, nullptr, nullptr, nullptr};
+		const int source_strides[4]{static_cast<int>(row_stride_bytes), 0, 0, 0};
+		sws_scale(
+			scaler,
+			source_planes,
+			source_strides,
+			0,
+			encoder_context->height,
+			frame->data,
+			frame->linesize);
+
+		frame->pts = static_cast<std::int64_t>(relative_timestamp_ns);
+
+		const auto send_result = avcodec_send_frame(encoder_context, frame);
+		if (send_result < 0) {
+			return std::unexpected("failed to send frame to FFmpeg encoder: " + av_error_string(send_result));
+		}
+
+		return drain_packets();
+	}
+
+	[[nodiscard]]
+	std::expected<void, std::string> flush() {
+		if (encoder_context == nullptr) {
+			return {};
+		}
+
+		const auto flush_result = avcodec_send_frame(encoder_context, nullptr);
+		if (flush_result < 0 && flush_result != AVERROR_EOF) {
+			return std::unexpected("failed to flush FFmpeg encoder: " + av_error_string(flush_result));
+		}
+
+		auto drained = drain_packets();
+		if (!drained) {
+			return drained;
+		}
+
+		return close_output();
+	}
+
+	[[nodiscard]]
+	std::expected<void, std::string> drain_packets() {
+		while (true) {
+			const auto receive_result = avcodec_receive_packet(encoder_context, packet);
+			if (receive_result == AVERROR(EAGAIN) || receive_result == AVERROR_EOF) {
+				break;
+			}
+			if (receive_result < 0) {
+				return std::unexpected("failed to receive FFmpeg packet: " + av_error_string(receive_result));
+			}
+
+			packet->stream_index = video_stream->index;
+			av_packet_rescale_ts(packet, encoder_context->time_base, video_stream->time_base);
+
+			const auto write_result = av_interleaved_write_frame(format_context, packet);
+			av_packet_unref(packet);
+			if (write_result < 0) {
+				return std::unexpected("failed to write MP4 packet: " + av_error_string(write_result));
+			}
+		}
+
+		return {};
+	}
+
+	[[nodiscard]]
+	std::expected<void, std::string> close_output() {
+		if (format_context == nullptr || trailer_written) {
+			return {};
+		}
+
+		const auto trailer_result = av_write_trailer(format_context);
+		if (trailer_result < 0) {
+			return std::unexpected("failed to write MP4 trailer: " + av_error_string(trailer_result));
+		}
+		trailer_written = true;
+		return {};
+	}
+
+	void close() {
+		(void)close_output();
+
+		if (packet != nullptr) {
+			av_packet_free(&packet);
+		}
+		if (frame != nullptr) {
+			av_frame_free(&frame);
+		}
+		if (encoder_context != nullptr) {
+			avcodec_free_context(&encoder_context);
+		}
+		if (scaler != nullptr) {
+			sws_freeContext(scaler);
+			scaler = nullptr;
+		}
+		if (format_context != nullptr) {
+			if ((format_context->oformat->flags & AVFMT_NOFILE) == 0 && format_context->pb != nullptr) {
+				avio_closep(&format_context->pb);
+			}
+			avformat_free_context(format_context);
+			format_context = nullptr;
+		}
+
+		video_stream = nullptr;
+		encoder_name.clear();
+		using_hardware = false;
+		trailer_written = false;
+		resolved_settings = ResolvedEncoderSettings{};
+	}
+
+	~Impl() {
+		close();
+	}
+
+	CodecType codec{CodecType::H265};
+	AVCodecContext *encoder_context{nullptr};
+	AVFormatContext *format_context{nullptr};
+	AVStream *video_stream{nullptr};
+	AVFrame *frame{nullptr};
+	AVPacket *packet{nullptr};
+	SwsContext *scaler{nullptr};
+	AVPixelFormat encoder_pixel_format{AV_PIX_FMT_NONE};
+	AVPixelFormat source_pixel_format{AV_PIX_FMT_NONE};
+	AVRational frame_rate{30, 1};
+	std::string encoder_name{};
+	ResolvedEncoderSettings resolved_settings{};
+	bool using_hardware{false};
+	bool trailer_written{false};
+	Mp4InputPixelFormat input_pixel_format{Mp4InputPixelFormat::Bgr24};
+};
+
+std::string_view input_pixel_format_name(const Mp4InputPixelFormat pixel_format) {
+	switch (pixel_format) {
+	case Mp4InputPixelFormat::Bgr24:
+		return "bgr24";
+	case Mp4InputPixelFormat::Rgb24:
+		return "rgb24";
+	case Mp4InputPixelFormat::Bgra32:
+		return "bgra";
+	case Mp4InputPixelFormat::Rgba32:
+		return "rgba";
+	case Mp4InputPixelFormat::Gray8:
+		return "gray8";
+	}
+	return "unknown";
+}
+
+Mp4RecordWriter::Mp4RecordWriter()
+	: impl_(std::make_unique<Impl>()) {}
+
+Mp4RecordWriter::Mp4RecordWriter(Mp4RecordWriter &&) noexcept = default;
+Mp4RecordWriter &Mp4RecordWriter::operator=(Mp4RecordWriter &&) noexcept = default;
+Mp4RecordWriter::~Mp4RecordWriter() = default;
+
+std::expected<void, std::string> Mp4RecordWriter::open(
+	const std::filesystem::path &output_path,
+	const CodecType codec,
+	const EncoderDeviceType encoder_device,
+	const std::uint32_t width,
+	const std::uint32_t height,
+	const float fps,
+	const Mp4EncodeTuning &tuning,
+	const Mp4InputPixelFormat input_pixel_format) {
+	return impl_->open(output_path, codec, encoder_device, width, height, fps, tuning, input_pixel_format);
+}
+
+std::expected<void, std::string> Mp4RecordWriter::write_frame(
+	const std::uint8_t *data,
+	const std::size_t row_stride_bytes,
+	const std::uint64_t relative_timestamp_ns) {
+	return impl_->write_frame(data, row_stride_bytes, relative_timestamp_ns);
+}
+
+std::expected<void, std::string> Mp4RecordWriter::flush() {
+	return impl_->flush();
+}
+
+bool Mp4RecordWriter::using_hardware() const {
+	return impl_ != nullptr && impl_->using_hardware;
+}
+
+}  // namespace cvmmap_streamer::record

uv.lock

@@ -10,22 +10,22 @@ resolution-markers = [
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 name = "click"
 version = "8.3.1"
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 [[package]]
@@ -35,8 +35,8 @@ source = { virtual = "." }
 dependencies = [
     { name = "click" },
     { name = "duckdb" },
-    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple/" }, marker = "python_full_version < '3.11'" },
-    { name = "numpy", version = "2.4.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
+    { name = "numpy", version = "2.4.3", source = { registry = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple/" }, marker = "python_full_version >= '3.11'" },
     { name = "opencv-python-headless" },
     { name = "progress-table" },
     { name = "protobuf" },
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