feat(encode): add Jetson Multimedia API encoder backend

Integrate a native Jetson Multimedia API encoder path and keep the existing encoded access-unit contract for RTMP, RTP, and recording consumers. This adds conditional Jetson MMAPI detection in CMake, builds the required NVIDIA sample common classes into a dedicated support library, and compiles the new backend only when the platform dependencies are present. The runtime selector now lets encoder.backend=auto prefer Jetson MM for NVIDIA hardware requests while keeping encoder.backend=ffmpeg as an explicit FFmpeg path. Device selection semantics are updated so nvidia requires the Jetson backend, auto can fall back to FFmpeg software, and software remains FFmpeg-only. The Jetson backend converts supported raw inputs through swscale, feeds NvVideoEncoder in YUV420M, emits Annex-B access units, and harvests decoder configuration from a warmup keyframe so downstream packetizers keep their existing contract. This also splits FFmpeg encoder option handling into a shared header, updates runtime config/help text and tester defaults, and refreshes compatibility/caveat documentation to reflect the new selection behavior. Build-tree runtime RPATH handling is tightened so GCC 15 builds keep the matching libstdc++ visible locally. Verification covered GCC 15 builds, RTP H.264/H.265 tester runs, RTMP H.264 stub publish, local live SRS smoke with cvmmap://zed1, and remote execution on 192.168.2.155 using the deployed bundle lib directory for the GCC 15 runtime.
2026-04-15 18:37:44 +08:00
parent 16a1a38645
commit 51d03d4279
12 changed files with 1538 additions and 323 deletions
@@ -8,6 +8,9 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

 include(GNUInstallDirs)

+set(CVMMAP_STREAMER_INSTALL_RPATH "$ORIGIN/../${CMAKE_INSTALL_LIBDIR}")
+
+
 function(cvmmap_streamer_append_runtime_dir out_var runtime_library)
 	execute_process(
 		COMMAND "${CMAKE_CXX_COMPILER}" -print-file-name=${runtime_library}
@@ -69,6 +72,17 @@ set(
 	"${CMAKE_CURRENT_LIST_DIR}/third_party/mcap/include"
 	CACHE PATH
 	"Path to MCAP headers")
+set(
+	CVMMAP_STREAMER_ENABLE_JETSON_MM
+	"AUTO"
+	CACHE STRING
+	"Enable Jetson Multimedia API encoder backend: AUTO, ON, or OFF")
+set_property(CACHE CVMMAP_STREAMER_ENABLE_JETSON_MM PROPERTY STRINGS AUTO ON OFF)
+set(
+	CVMMAP_STREAMER_JETSON_MMAPI_ROOT
+	"/usr/src/jetson_multimedia_api"
+	CACHE PATH
+	"Path to the Jetson Multimedia API root")

 find_package(Threads REQUIRED)
 find_package(OpenSSL REQUIRED)
@@ -117,7 +131,7 @@ if (CVMMAP_CNATS_PROVIDER STREQUAL "system")
 	find_package(cnats CONFIG REQUIRED)
 	find_package(cvmmap-core CONFIG QUIET PATHS "${CVMMAP_LOCAL_CORE_DIR}" NO_DEFAULT_PATH)
 	if (NOT TARGET cvmmap::client)
-		find_package(cvmmap-core CONFIG QUIET)
+		find_package(cvmmap-core CONFIG REQUIRED PATHS "${CVMMAP_LOCAL_CORE_DIR}" NO_DEFAULT_PATH)
 	endif()
 else()
 	if (NOT EXISTS "${CVMMAP_LOCAL_NATS_STATIC}")
@@ -240,6 +254,78 @@ else()
 	set(CVMMAP_STREAMER_HAS_MCAP_DEPTH 0)
 endif()

+set(_CVMMAP_STREAMER_JETSON_MM_INCLUDE_DIR "${CVMMAP_STREAMER_JETSON_MMAPI_ROOT}/include")
+set(_CVMMAP_STREAMER_JETSON_MM_COMMON_DIR "${CVMMAP_STREAMER_JETSON_MMAPI_ROOT}/samples/common/classes")
+set(_CVMMAP_STREAMER_JETSON_MM_COMMON_SOURCES
+    "${_CVMMAP_STREAMER_JETSON_MM_COMMON_DIR}/NvBuffer.cpp"
+    "${_CVMMAP_STREAMER_JETSON_MM_COMMON_DIR}/NvElement.cpp"
+    "${_CVMMAP_STREAMER_JETSON_MM_COMMON_DIR}/NvElementProfiler.cpp"
+    "${_CVMMAP_STREAMER_JETSON_MM_COMMON_DIR}/NvLogging.cpp"
+    "${_CVMMAP_STREAMER_JETSON_MM_COMMON_DIR}/NvV4l2Element.cpp"
+    "${_CVMMAP_STREAMER_JETSON_MM_COMMON_DIR}/NvV4l2ElementPlane.cpp"
+    "${_CVMMAP_STREAMER_JETSON_MM_COMMON_DIR}/NvVideoEncoder.cpp")
+
+set(_CVMMAP_STREAMER_JETSON_MM_MISSING_DEPS)
+if (NOT EXISTS "${_CVMMAP_STREAMER_JETSON_MM_INCLUDE_DIR}/NvVideoEncoder.h")
+    list(APPEND _CVMMAP_STREAMER_JETSON_MM_MISSING_DEPS
+        "Jetson Multimedia API headers at ${_CVMMAP_STREAMER_JETSON_MM_INCLUDE_DIR}")
+endif()
+foreach(_cvmmap_streamer_jetson_mm_source IN LISTS _CVMMAP_STREAMER_JETSON_MM_COMMON_SOURCES)
+    if (NOT EXISTS "${_cvmmap_streamer_jetson_mm_source}")
+        list(APPEND _CVMMAP_STREAMER_JETSON_MM_MISSING_DEPS
+            "Jetson Multimedia API common source ${_cvmmap_streamer_jetson_mm_source}")
+    endif()
+endforeach()
+
+find_library(
+    CVMMAP_STREAMER_NVBUFSURFACE_LIBRARY
+    NAMES nvbufsurface
+    PATHS
+        /usr/lib/aarch64-linux-gnu/nvidia
+        /usr/lib/aarch64-linux-gnu/tegra
+        /usr/lib/aarch64-linux-gnu
+    PATH_SUFFIXES nvidia tegra)
+if (NOT CVMMAP_STREAMER_NVBUFSURFACE_LIBRARY)
+    list(APPEND _CVMMAP_STREAMER_JETSON_MM_MISSING_DEPS "libnvbufsurface")
+endif()
+
+find_library(CVMMAP_STREAMER_LIBV4L2_LIBRARY NAMES v4l2)
+if (NOT CVMMAP_STREAMER_LIBV4L2_LIBRARY)
+    list(APPEND _CVMMAP_STREAMER_JETSON_MM_MISSING_DEPS "libv4l2")
+endif()
+
+if (_CVMMAP_STREAMER_JETSON_MM_MISSING_DEPS)
+    list(JOIN _CVMMAP_STREAMER_JETSON_MM_MISSING_DEPS ", " _CVMMAP_STREAMER_JETSON_MM_UNAVAILABLE_REASON)
+    set(_CVMMAP_STREAMER_JETSON_MM_AVAILABLE FALSE)
+else()
+    set(_CVMMAP_STREAMER_JETSON_MM_UNAVAILABLE_REASON "Jetson Multimedia API dependencies")
+    set(_CVMMAP_STREAMER_JETSON_MM_AVAILABLE TRUE)
+endif()
+
+cvmmap_streamer_resolve_feature_mode(
+    CVMMAP_STREAMER_HAS_JETSON_MM_BOOL
+    CVMMAP_STREAMER_ENABLE_JETSON_MM
+    "${CVMMAP_STREAMER_ENABLE_JETSON_MM}"
+    ${_CVMMAP_STREAMER_JETSON_MM_AVAILABLE}
+    "${_CVMMAP_STREAMER_JETSON_MM_UNAVAILABLE_REASON}")
+
+if (CVMMAP_STREAMER_HAS_JETSON_MM_BOOL)
+    set(CVMMAP_STREAMER_HAS_JETSON_MM 1)
+
+    add_library(cvmmap_streamer_jetson_mmapi STATIC
+        ${_CVMMAP_STREAMER_JETSON_MM_COMMON_SOURCES})
+    target_include_directories(cvmmap_streamer_jetson_mmapi
+        PUBLIC
+            "${_CVMMAP_STREAMER_JETSON_MM_INCLUDE_DIR}")
+    target_link_libraries(cvmmap_streamer_jetson_mmapi
+        PUBLIC
+            Threads::Threads
+            ${CVMMAP_STREAMER_LIBV4L2_LIBRARY}
+            ${CVMMAP_STREAMER_NVBUFSURFACE_LIBRARY})
+else()
+    set(CVMMAP_STREAMER_HAS_JETSON_MM 0)
+endif()
+
 if (NOT TARGET cvmmap::client)
 	if (
 		EXISTS "${CVMMAP_LOCAL_ROOT}/core/include/cvmmap/client.hpp"
@@ -344,13 +430,17 @@ add_library(cvmmap_streamer_feature_flags INTERFACE)
 target_compile_definitions(cvmmap_streamer_feature_flags
 	INTERFACE
 		CVMMAP_STREAMER_HAS_MCAP=${CVMMAP_STREAMER_HAS_MCAP}
-		CVMMAP_STREAMER_HAS_MCAP_DEPTH=${CVMMAP_STREAMER_HAS_MCAP_DEPTH})
+		CVMMAP_STREAMER_HAS_MCAP_DEPTH=${CVMMAP_STREAMER_HAS_MCAP_DEPTH}
+		CVMMAP_STREAMER_HAS_JETSON_MM=${CVMMAP_STREAMER_HAS_JETSON_MM})

 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/mp4_record_writer.cpp)
+if (CVMMAP_STREAMER_HAS_JETSON_MM_BOOL)
+	target_sources(cvmmap_streamer_record_support PRIVATE src/encode/jetson_mm_encoder_backend.cpp)
+endif()
 target_include_directories(cvmmap_streamer_record_support
 	PUBLIC
 		"${CMAKE_CURRENT_LIST_DIR}/include"
@@ -369,6 +459,9 @@ endif()
 if (TARGET PkgConfig::PROTOBUF_PKG)
 	target_link_libraries(cvmmap_streamer_record_support PUBLIC PkgConfig::PROTOBUF_PKG)
 endif()
+if (CVMMAP_STREAMER_HAS_JETSON_MM_BOOL)
+	target_link_libraries(cvmmap_streamer_record_support PUBLIC cvmmap_streamer_jetson_mmapi)
+endif()

 if (CVMMAP_STREAMER_HAS_MCAP)
 	add_library(cvmmap_streamer_mcap_runtime STATIC
@@ -465,7 +558,9 @@ endif()

 target_link_libraries(cvmmap_streamer_common PUBLIC ${CVMMAP_STREAMER_LINK_DEPS})

-function(cvmmap_streamer_apply_build_rpath target)
+function(cvmmap_streamer_apply_runtime_rpath target)
+	set_target_properties(${target} PROPERTIES
+		INSTALL_RPATH "${CVMMAP_STREAMER_INSTALL_RPATH}")
 	if (CVMMAP_STREAMER_BUILD_RPATH)
 		set_target_properties(${target} PROPERTIES
 			BUILD_RPATH "${CVMMAP_STREAMER_BUILD_RPATH}")
@@ -484,7 +579,7 @@ function(add_cvmmap_binary target source)
 	set_target_properties(${target} PROPERTIES
 		OUTPUT_NAME "${target}"
 		RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
-	cvmmap_streamer_apply_build_rpath(${target})
+	cvmmap_streamer_apply_runtime_rpath(${target})
 endfunction()

 add_cvmmap_binary(cvmmap_streamer src/main_streamer.cpp)
@@ -522,7 +617,7 @@ if (CVMMAP_STREAMER_HAS_MCAP)
 	set_target_properties(mcap_reader_tester PROPERTIES
 		OUTPUT_NAME "mcap_reader_tester"
 		RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
-	cvmmap_streamer_apply_build_rpath(mcap_reader_tester)
+	cvmmap_streamer_apply_runtime_rpath(mcap_reader_tester)

 	add_executable(mcap_replay_tester src/testers/mcap_replay_tester.cpp)
 	target_include_directories(mcap_replay_tester
@@ -548,7 +643,7 @@ if (CVMMAP_STREAMER_HAS_MCAP)
 	set_target_properties(mcap_replay_tester PROPERTIES
 		OUTPUT_NAME "mcap_replay_tester"
 		RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
-	cvmmap_streamer_apply_build_rpath(mcap_replay_tester)
+	cvmmap_streamer_apply_runtime_rpath(mcap_replay_tester)
 endif()

 if (CVMMAP_STREAMER_HAS_MCAP_DEPTH)