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 +1,290 @@
+//# This file is a part of toml++ and is subject to the the terms of the MIT license.
+//# Copyright (c) Mark Gillard <mark.gillard@outlook.com.au>
+//# See https://github.com/marzer/tomlplusplus/blob/master/LICENSE for the full license text.
+// SPDX-License-Identifier: MIT
+#pragma once
+
+//# {{
+#include "preprocessor.hpp"
+#if !TOML_IMPLEMENTATION
+#error This is an implementation-only header.
+#endif
+//# }}
+
+#include "at_path.hpp"
+#include "array.hpp"
+#include "table.hpp"
+TOML_DISABLE_WARNINGS;
+#if TOML_INT_CHARCONV
+#include <charconv>
+#else
+#include <sstream>
+#endif
+TOML_ENABLE_WARNINGS;
+#include "header_start.hpp"
+
+TOML_IMPL_NAMESPACE_START
+{
+	TOML_EXTERNAL_LINKAGE
+	bool TOML_CALLCONV parse_path(const std::string_view path,
+								  void* const data,
+								  const parse_path_callback<std::string_view> on_key,
+								  const parse_path_callback<size_t> on_index)
+	{
+		// a blank string is a valid path; it's just one component representing the "" key
+		if (path.empty())
+			return on_key(data, ""sv);
+
+		size_t pos					= 0;
+		const auto end				= path.length();
+		bool prev_was_array_indexer = false;
+		bool prev_was_dot			= true; // invisible root 'dot'
+
+		while (pos < end)
+		{
+			// start of an array indexer
+			if (path[pos] == '[')
+			{
+				// find first digit in index
+				size_t index_start = pos + 1u;
+				while (true)
+				{
+					if TOML_UNLIKELY(index_start >= path.length())
+						return false;
+
+					const auto c = path[index_start];
+					if TOML_LIKELY(c >= '0' && c <= '9')
+						break;
+					else if (c == ' ' || c == '\t')
+						index_start++;
+					else
+						return false;
+				}
+				TOML_ASSERT(path[index_start] >= '0');
+				TOML_ASSERT(path[index_start] <= '9');
+
+				// find end of index (first non-digit character)
+				size_t index_end = index_start + 1u;
+				while (true)
+				{
+					// if an array indexer is missing the trailing ']' at the end of the string, permissively accept it
+					if TOML_UNLIKELY(index_end >= path.length())
+						break;
+
+					const auto c = path[index_end];
+					if (c >= '0' && c <= '9')
+						index_end++;
+					else if (c == ']' || c == ' ' || c == '\t' || c == '.' || c == '[')
+						break;
+					else
+						return false;
+				}
+				TOML_ASSERT(path[index_end - 1u] >= '0');
+				TOML_ASSERT(path[index_end - 1u] <= '9');
+
+				// move pos to after indexer (char after closing ']' or permissively EOL/subkey '.'/next opening '[')
+				pos = index_end;
+				while (true)
+				{
+					if TOML_UNLIKELY(pos >= path.length())
+						break;
+
+					const auto c = path[pos];
+					if (c == ']')
+					{
+						pos++;
+						break;
+					}
+					else if TOML_UNLIKELY(c == '.' || c == '[')
+						break;
+					else if (c == '\t' || c == ' ')
+						pos++;
+					else
+						return false;
+				}
+
+				// get array index substring
+				auto index_str = path.substr(index_start, index_end - index_start);
+
+				// parse the actual array index to an integer type
+				size_t index;
+				if (index_str.length() == 1u)
+					index = static_cast<size_t>(index_str[0] - '0');
+				else
+				{
+#if TOML_INT_CHARCONV
+
+					auto fc_result = std::from_chars(index_str.data(), index_str.data() + index_str.length(), index);
+					if (fc_result.ec != std::errc{})
+						return false;
+
+#else
+
+					std::stringstream ss;
+					ss.imbue(std::locale::classic());
+					ss.write(index_str.data(), static_cast<std::streamsize>(index_str.length()));
+					if (!(ss >> index))
+						return false;
+
+#endif
+				}
+
+				prev_was_dot		   = false;
+				prev_was_array_indexer = true;
+
+				if (!on_index(data, index))
+					return false;
+			}
+
+			// start of a new table child
+			else if (path[pos] == '.')
+			{
+				// a dot immediately following another dot (or at the beginning of the string) is as if we'd asked
+				// for an empty child in between, e.g.
+				//
+				//     foo..bar
+				//
+				// is equivalent to
+				//
+				//     "foo".""."bar"
+				//
+				if (prev_was_dot && !on_key(data, ""sv))
+					return false;
+
+				pos++;
+				prev_was_dot		   = true;
+				prev_was_array_indexer = false;
+			}
+
+			// an errant closing ']'
+			else if TOML_UNLIKELY(path[pos] == ']')
+				return false;
+
+			// some regular subkey
+			else
+			{
+				const auto subkey_start = pos;
+				const auto subkey_len =
+					impl::min(path.find_first_of(".[]"sv, subkey_start + 1u), path.length()) - subkey_start;
+				const auto subkey = path.substr(subkey_start, subkey_len);
+
+				// a regular subkey segment immediately after an array indexer is OK if it was all whitespace, e.g.:
+				//
+				//     "foo[0]  .bar"
+				//            ^^ skip this
+				//
+				// otherwise its an error (since it would have to be preceeded by a dot)
+				if (prev_was_array_indexer)
+				{
+					auto non_ws = subkey.find_first_not_of(" \t");
+					if (non_ws == std::string_view::npos)
+					{
+						pos += subkey_len;
+						prev_was_dot		   = false;
+						prev_was_array_indexer = false;
+						continue;
+					}
+					else
+						return false;
+				}
+
+				pos += subkey_len;
+				prev_was_dot		   = false;
+				prev_was_array_indexer = false;
+
+				if (!on_key(data, subkey))
+					return false;
+			}
+		}
+
+		// Last character was a '.', which implies an empty string key at the end of the path
+		if (prev_was_dot && !on_key(data, ""sv))
+			return false;
+
+		return true;
+	}
+}
+TOML_IMPL_NAMESPACE_END;
+
+TOML_NAMESPACE_START
+{
+	TOML_EXTERNAL_LINKAGE
+	node_view<node> TOML_CALLCONV at_path(node & root, std::string_view path) noexcept
+	{
+		// early-exit sanity-checks
+		if (root.is_value())
+			return {};
+		if (auto tbl = root.as_table(); tbl && tbl->empty())
+			return {};
+		if (auto arr = root.as_array(); arr && arr->empty())
+			return {};
+
+		node* current = &root;
+
+		static constexpr auto on_key = [](void* data, std::string_view key) noexcept -> bool
+		{
+			auto& curr = *static_cast<node**>(data);
+			TOML_ASSERT_ASSUME(curr);
+
+			const auto current_table = curr->as<table>();
+			if (!current_table)
+				return false;
+
+			curr = current_table->get(key);
+			return curr != nullptr;
+		};
+
+		static constexpr auto on_index = [](void* data, size_t index) noexcept -> bool
+		{
+			auto& curr = *static_cast<node**>(data);
+			TOML_ASSERT_ASSUME(curr);
+
+			const auto current_array = curr->as<array>();
+			if (!current_array)
+				return false;
+
+			curr = current_array->get(index);
+			return curr != nullptr;
+		};
+
+		if (!impl::parse_path(path, &current, on_key, on_index))
+			current = nullptr;
+
+		return node_view{ current };
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node_view<const node> TOML_CALLCONV at_path(const node& root, std::string_view path) noexcept
+	{
+		return node_view<const node>{ at_path(const_cast<node&>(root), path).node() };
+	}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_EXTERNAL_LINKAGE
+	node_view<node> TOML_CALLCONV at_path(node & root, std::wstring_view path)
+	{
+		// these are the same top-level checks from the narrow-string version;
+		// they're hoisted up here to avoid doing the wide -> narrow conversion where it would not be necessary
+		// (avoids an allocation)
+		if (root.is_value())
+			return {};
+		if (auto tbl = root.as_table(); tbl && tbl->empty())
+			return {};
+		if (auto arr = root.as_array(); arr && arr->empty())
+			return {};
+
+		return at_path(root, impl::narrow(path));
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node_view<const node> TOML_CALLCONV at_path(const node& root, std::wstring_view path)
+	{
+		return node_view<const node>{ at_path(const_cast<node&>(root), path).node() };
+	}
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+}
+TOML_NAMESPACE_END;
+
+#include "header_end.hpp"