feat(downstream): add cvmmap downstream runtime implementation
This commit introduces the full downstream runtime implementation needed to ingest, transform, and publish streams. It preserves the original upstream request boundary by packaging the entire cvmmap-streamer module (build config, public API, protocol and IPC glue, and simulator/tester entrypoints) in one coherent core unit. Keeping this group isolated enables reviewers to validate runtime behavior and correctness without mixing test evidence or process documentation changes. Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-opencode) Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
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#include "cvmmap_streamer/sim/wire.hpp"
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#include <algorithm>
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#include <array>
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namespace cvmmap_streamer::sim {
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namespace {
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constexpr std::size_t kMetaVersionMajorOffset = 8;
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constexpr std::size_t kMetaVersionMinorOffset = 9;
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constexpr std::size_t kMetaFrameCountOffset = 12;
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constexpr std::size_t kMetaTimestampOffset = 16;
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constexpr std::size_t kMetaFrameInfoOffset = 24;
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constexpr std::size_t kFrameInfoWidthOffset = 0;
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constexpr std::size_t kFrameInfoHeightOffset = 2;
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constexpr std::size_t kFrameInfoChannelsOffset = 4;
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constexpr std::size_t kFrameInfoDepthOffset = 5;
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constexpr std::size_t kFrameInfoPixelFmtOffset = 6;
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constexpr std::size_t kFrameInfoBufferSizeOffset = 8;
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constexpr std::size_t kSyncMagicOffset = 0;
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constexpr std::size_t kSyncVersionMajor = 2;
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constexpr std::size_t kSyncVersionMinor = 3;
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constexpr std::size_t kSyncFrameCountOffset = 4;
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constexpr std::size_t kSyncTimestampOffset = 16;
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constexpr std::size_t kSyncLabelOffset = 24;
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constexpr std::size_t kModuleStatusMagicOffset = 0;
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constexpr std::size_t kModuleStatusVersionMajor = 2;
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constexpr std::size_t kModuleStatusVersionMinor = 3;
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constexpr std::size_t kModuleStatusCodeOffset = 4;
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constexpr std::size_t kModuleStatusLabelOffset = 8;
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void write_u16_le(std::span<std::uint8_t> bytes, std::size_t offset, std::uint16_t value) {
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bytes[offset] = static_cast<std::uint8_t>(value & 0xffu);
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bytes[offset + 1] = static_cast<std::uint8_t>((value >> 8) & 0xffu);
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}
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void write_u32_le(std::span<std::uint8_t> bytes, std::size_t offset, std::uint32_t value) {
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bytes[offset] = static_cast<std::uint8_t>(value & 0xffu);
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bytes[offset + 1] = static_cast<std::uint8_t>((value >> 8) & 0xffu);
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bytes[offset + 2] = static_cast<std::uint8_t>((value >> 16) & 0xffu);
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bytes[offset + 3] = static_cast<std::uint8_t>((value >> 24) & 0xffu);
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}
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void write_i32_le(std::span<std::uint8_t> bytes, std::size_t offset, std::int32_t value) {
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write_u32_le(bytes, offset, static_cast<std::uint32_t>(value));
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}
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void write_u64_le(std::span<std::uint8_t> bytes, std::size_t offset, std::uint64_t value) {
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for (std::size_t i = 0; i < sizeof(std::uint64_t); ++i) {
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bytes[offset + i] = static_cast<std::uint8_t>((value >> (i * 8)) & 0xffu);
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}
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}
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void write_label_bytes(std::span<std::uint8_t> out, std::size_t offset, std::string_view label) {
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const auto bounded = std::min<std::size_t>(label.size(), ipc::kLabelLenMax);
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std::fill_n(out.begin() + offset, ipc::kLabelLenMax, static_cast<std::uint8_t>(0));
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for (std::size_t i = 0; i < bounded; ++i) {
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out[offset + i] = static_cast<std::uint8_t>(label[i]);
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}
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}
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}
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void write_frame_metadata(
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std::span<std::uint8_t> metadata,
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const ipc::FrameInfo &info,
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std::uint32_t frame_count,
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std::uint64_t timestamp_ns) {
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std::fill(metadata.begin(), metadata.end(), static_cast<std::uint8_t>(0));
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std::copy(
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ipc::kFrameMetadataMagic.begin(),
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ipc::kFrameMetadataMagic.end(),
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metadata.begin());
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metadata[kMetaVersionMajorOffset] = ipc::kVersionMajor;
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metadata[kMetaVersionMinorOffset] = ipc::kVersionMinor;
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write_u32_le(metadata, kMetaFrameCountOffset, frame_count);
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write_u64_le(metadata, kMetaTimestampOffset, timestamp_ns);
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auto frame_info = metadata.subspan(kMetaFrameInfoOffset);
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write_u16_le(frame_info, kFrameInfoWidthOffset, info.width);
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write_u16_le(frame_info, kFrameInfoHeightOffset, info.height);
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frame_info[kFrameInfoChannelsOffset] = info.channels;
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frame_info[kFrameInfoDepthOffset] = static_cast<std::uint8_t>(info.depth);
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frame_info[kFrameInfoPixelFmtOffset] = static_cast<std::uint8_t>(info.pixel_format);
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write_u32_le(frame_info, kFrameInfoBufferSizeOffset, info.buffer_size);
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}
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void write_sync_message(
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std::span<std::uint8_t> out,
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std::string_view label,
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std::uint32_t frame_count,
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std::uint64_t timestamp_ns) {
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std::fill(out.begin(), out.end(), static_cast<std::uint8_t>(0));
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out[kSyncMagicOffset] = ipc::kFrameTopicMagic;
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out[kSyncVersionMajor] = ipc::kVersionMajor;
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out[kSyncVersionMinor] = ipc::kVersionMinor;
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write_u32_le(out, kSyncFrameCountOffset, frame_count);
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write_u64_le(out, kSyncTimestampOffset, timestamp_ns);
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write_label_bytes(out, kSyncLabelOffset, label);
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}
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void write_module_status_message(
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std::span<std::uint8_t> out,
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std::string_view label,
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ipc::ModuleStatus status) {
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std::fill(out.begin(), out.end(), static_cast<std::uint8_t>(0));
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out[kModuleStatusMagicOffset] = ipc::kModuleStatusMagic;
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out[kModuleStatusVersionMajor] = ipc::kVersionMajor;
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out[kModuleStatusVersionMinor] = ipc::kVersionMinor;
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write_i32_le(out, kModuleStatusCodeOffset, static_cast<std::int32_t>(status));
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write_label_bytes(out, kModuleStatusLabelOffset, label);
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}
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void write_deterministic_payload(
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std::span<std::uint8_t> out,
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std::uint32_t frame_count,
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std::uint16_t width,
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std::uint16_t height,
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std::uint8_t channels) {
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const auto row_stride = static_cast<std::size_t>(width) * channels;
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for (std::size_t idx = 0; idx < out.size(); ++idx) {
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const auto pixel = idx / channels;
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const auto row = pixel / width;
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const auto col = pixel % width;
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const auto ch = idx % channels;
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out[idx] = static_cast<std::uint8_t>((frame_count + (row * 7u) + (col * 13u) + (ch * 17u) + row_stride + height) & 0xffu);
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}
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}
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}
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