feat(streamer): add ffmpeg encoder and mcap recording

include/cvmmap_streamer/record/mcap_record_sink.hpp

@@ -0,0 +1,42 @@
+#pragma once
+
+#include "cvmmap_streamer/config/runtime_config.hpp"
+#include "cvmmap_streamer/encode/encoded_access_unit.hpp"
+
+#include <expected>
+#include <string>
+#include <string_view>
+
+namespace cvmmap_streamer::record {
+
+class McapRecordSink {
+public:
+	McapRecordSink() = default;
+	~McapRecordSink();
+
+	McapRecordSink(const McapRecordSink &)            = delete;
+	McapRecordSink &operator=(const McapRecordSink &) = delete;
+
+	McapRecordSink(McapRecordSink &&other) noexcept;
+	McapRecordSink &operator=(McapRecordSink &&other) noexcept;
+
+	[[nodiscard]]
+	static std::expected<McapRecordSink, std::string> create(const RuntimeConfig &config);
+
+	[[nodiscard]]
+	std::expected<void, std::string> write_access_unit(const encode::EncodedAccessUnit &access_unit);
+
+	[[nodiscard]]
+	bool is_open() const;
+
+	[[nodiscard]]
+	std::string_view path() const;
+
+	void close();
+
+private:
+	struct State;
+	State *state_{nullptr};
+};
+
+}