feat(streamer): add ffmpeg encoder and mcap recording

include/cvmmap_streamer/config/runtime_config.hpp

@@ -25,9 +25,34 @@ enum class RtmpMode {
 	Domestic,
 };
 
+enum class EncoderBackendType {
+	Auto,
+	FFmpeg,
+	GStreamerLegacy,
+};
+
+enum class EncoderDeviceType {
+	Auto,
+	Nvidia,
+	Software,
+};
+
+enum class McapCompression {
+	None,
+	Lz4,
+	Zstd,
+};
+
 struct InputConfig {
-	std::string shm_name{"cvmmap_default"};
-	std::string zmq_endpoint{"ipc:///tmp/cvmmap_default"};
+	std::string uri{"cvmmap://default"};
+};
+
+struct EncoderConfig {
+	EncoderBackendType backend{EncoderBackendType::Auto};
+	EncoderDeviceType device{EncoderDeviceType::Auto};
+	CodecType codec{CodecType::H264};
+	std::uint32_t gop{30};
+	std::uint32_t b_frames{0};
 };
 
 struct RtmpOutputConfig {
@@ -50,10 +75,20 @@ struct OutputsConfig {
 	RtpOutputConfig rtp{};
 };
 
+struct McapRecordConfig {
+	bool enabled{false};
+	std::string path{"capture.mcap"};
+	std::string topic{"/camera/video"};
+	std::string frame_id{"camera"};
+	McapCompression compression{McapCompression::Zstd};
+};
+
+struct RecordConfig {
+	McapRecordConfig mcap{};
+};
+
 struct LatencyConfig {
 	std::size_t queue_size{1};
-	std::uint32_t gop{30};
-	std::uint32_t b_frames{0};
 	bool realtime_sync{true};
 	bool force_idr_on_reset{true};
 	std::uint32_t ingest_max_frames{0};
@@ -66,8 +101,9 @@ struct LatencyConfig {
 struct RuntimeConfig {
 	InputConfig input{};
 	RunMode run_mode{RunMode::Pipeline};
-	CodecType codec{CodecType::H264};
+	EncoderConfig encoder{};
 	OutputsConfig outputs{};
+	RecordConfig record{};
 	LatencyConfig latency{};
 
 	static RuntimeConfig defaults();
@@ -76,6 +112,9 @@ struct RuntimeConfig {
 std::string_view to_string(CodecType codec);
 std::string_view to_string(RunMode mode);
 std::string_view to_string(RtmpMode mode);
+std::string_view to_string(EncoderBackendType backend);
+std::string_view to_string(EncoderDeviceType device);
+std::string_view to_string(McapCompression compression);
 
 std::expected<RuntimeConfig, std::string> parse_runtime_config(int argc, char **argv);
 std::expected<void, std::string> validate_runtime_config(const RuntimeConfig &config);