feat(streamer): add ffmpeg encoder and mcap recording

2026-03-10 22:12:22 +08:00
parent 769d36f86f
commit 6af97ee5d3
86 changed files with 30551 additions and 1482 deletions
@@ -0,0 +1,120 @@
+#pragma once
+
+#include <string>
+
+namespace mcap {
+
+/**
+ * @brief Status codes for MCAP readers and writers.
+ */
+enum class StatusCode {
+  Success = 0,
+  NotOpen,
+  InvalidSchemaId,
+  InvalidChannelId,
+  FileTooSmall,
+  ReadFailed,
+  MagicMismatch,
+  InvalidFile,
+  InvalidRecord,
+  InvalidOpCode,
+  InvalidChunkOffset,
+  InvalidFooter,
+  DecompressionFailed,
+  DecompressionSizeMismatch,
+  UnrecognizedCompression,
+  OpenFailed,
+  MissingStatistics,
+  InvalidMessageReadOptions,
+  NoMessageIndexesAvailable,
+  UnsupportedCompression,
+};
+
+/**
+ * @brief Wraps a status code and string message carrying additional context.
+ */
+struct [[nodiscard]] Status {
+  StatusCode code;
+  std::string message;
+
+  Status()
+      : code(StatusCode::Success) {}
+
+  Status(StatusCode _code)
+      : code(_code) {
+    switch (code) {
+      case StatusCode::Success:
+        break;
+      case StatusCode::NotOpen:
+        message = "not open";
+        break;
+      case StatusCode::InvalidSchemaId:
+        message = "invalid schema id";
+        break;
+      case StatusCode::InvalidChannelId:
+        message = "invalid channel id";
+        break;
+      case StatusCode::FileTooSmall:
+        message = "file too small";
+        break;
+      case StatusCode::ReadFailed:
+        message = "read failed";
+        break;
+      case StatusCode::MagicMismatch:
+        message = "magic mismatch";
+        break;
+      case StatusCode::InvalidFile:
+        message = "invalid file";
+        break;
+      case StatusCode::InvalidRecord:
+        message = "invalid record";
+        break;
+      case StatusCode::InvalidOpCode:
+        message = "invalid opcode";
+        break;
+      case StatusCode::InvalidChunkOffset:
+        message = "invalid chunk offset";
+        break;
+      case StatusCode::InvalidFooter:
+        message = "invalid footer";
+        break;
+      case StatusCode::DecompressionFailed:
+        message = "decompression failed";
+        break;
+      case StatusCode::DecompressionSizeMismatch:
+        message = "decompression size mismatch";
+        break;
+      case StatusCode::UnrecognizedCompression:
+        message = "unrecognized compression";
+        break;
+      case StatusCode::OpenFailed:
+        message = "open failed";
+        break;
+      case StatusCode::MissingStatistics:
+        message = "missing statistics";
+        break;
+      case StatusCode::InvalidMessageReadOptions:
+        message = "message read options conflict";
+        break;
+      case StatusCode::NoMessageIndexesAvailable:
+        message = "file has no message indices";
+        break;
+      case StatusCode::UnsupportedCompression:
+        message = "unsupported compression";
+        break;
+      default:
+        message = "unknown";
+        break;
+    }
+  }
+
+  Status(StatusCode _code, const std::string& _message)
+      : code(_code)
+      , message(_message) {}
+
+  bool ok() const {
+    return code == StatusCode::Success;
+  }
+};
+
+}  // namespace mcap