crosstyan/cvmmap-streamer
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat: add mcap recorder control and cnats providers

Browse Source 
Register an MCAP recorder service on the streamer control subjects, reuse the shared recording request and status model, and expose the zed recording preview/conversion helper.

This also replaces the temporary cnats boolean with the explicit CVMMAP_CNATS_PROVIDER modes and documents the supported system and workspace build paths.
This commit is contained in:
crosstyan
2026-03-18 03:02:30 +00:00
parent 0fef0595fb
commit ae19b881b0
6 changed files with 721 additions and 47 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+41 -2
View File
@@ -8,10 +8,42 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
find_package(Threads REQUIRED)
find_package(cppzmq QUIET)
if (DEFINED CVMMAP_STREAMER_USE_SYSTEM_CNATS)
message(FATAL_ERROR
"CVMMAP_STREAMER_USE_SYSTEM_CNATS was removed; use CVMMAP_CNATS_PROVIDER=system")
endif()
set(
CVMMAP_CNATS_PROVIDER
"system"
CACHE STRING
"How to resolve cnats: system or workspace")
set_property(CACHE CVMMAP_CNATS_PROVIDER PROPERTY STRINGS system workspace)
set(_CVMMAP_STREAMER_CNATS_PROVIDER_VALUES system workspace)
list(FIND _CVMMAP_STREAMER_CNATS_PROVIDER_VALUES "${CVMMAP_CNATS_PROVIDER}" _CVMMAP_STREAMER_CNATS_PROVIDER_INDEX)
if (_CVMMAP_STREAMER_CNATS_PROVIDER_INDEX EQUAL -1)
message(FATAL_ERROR
"Invalid CVMMAP_CNATS_PROVIDER='${CVMMAP_CNATS_PROVIDER}' (expected: system|workspace)")
endif()
set(CVMMAP_LOCAL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../cv-mmap" CACHE PATH "Path to a local cv-mmap checkout")
set(CVMMAP_LOCAL_BUILD "${CVMMAP_LOCAL_ROOT}/build/core" CACHE PATH "Path to local cv-mmap build artifacts")
if (cvmmap-core_DIR)
set(CVMMAP_LOCAL_CORE_DIR "${CVMMAP_LOCAL_ROOT}/build/core" CACHE PATH "Path to local cvmmap-core package config")
set(CVMMAP_LOCAL_NATS_STATIC "${CVMMAP_LOCAL_ROOT}/build/lib/libnats_static.a" CACHE PATH "Path to local cnats static library")
if (CVMMAP_CNATS_PROVIDER STREQUAL "system")
find_package(cnats CONFIG REQUIRED)
find_package(cvmmap-core CONFIG QUIET)
else()
if (NOT EXISTS "${CVMMAP_LOCAL_NATS_STATIC}")
message(FATAL_ERROR
"workspace cnats provider requires ${CVMMAP_LOCAL_NATS_STATIC}")
endif()
find_package(OpenSSL REQUIRED)
if (NOT TARGET cnats::nats_static)
add_library(cnats::nats_static STATIC IMPORTED GLOBAL)
set_target_properties(cnats::nats_static PROPERTIES
IMPORTED_LOCATION "${CVMMAP_LOCAL_NATS_STATIC}"
INTERFACE_INCLUDE_DIRECTORIES "${CVMMAP_LOCAL_ROOT}/third_party/nats.c/src"
INTERFACE_LINK_LIBRARIES "OpenSSL::SSL;OpenSSL::Crypto;Threads::Threads")
endif()
endif()
find_package(ZeroMQ QUIET)
find_package(spdlog REQUIRED)
@@ -33,12 +65,18 @@ if (NOT TARGET cvmmap::client)
if (
EXISTS "${CVMMAP_LOCAL_ROOT}/core/include/cvmmap/client.hpp"
AND EXISTS "${CVMMAP_LOCAL_BUILD}/libcvmmap_client.a"
AND EXISTS "${CVMMAP_LOCAL_BUILD}/libcvmmap_nats.a"
AND EXISTS "${CVMMAP_LOCAL_BUILD}/libcvmmap_proto.a"
AND EXISTS "${CVMMAP_LOCAL_BUILD}/libcvmmap_ipc.a"
AND EXISTS "${CVMMAP_LOCAL_BUILD}/libcvmmap_target.a")
add_library(cvmmap::nats INTERFACE IMPORTED)
add_library(cvmmap::client INTERFACE IMPORTED)
set_target_properties(cvmmap::nats PROPERTIES
INTERFACE_INCLUDE_DIRECTORIES "${CVMMAP_LOCAL_ROOT}/core/include"
INTERFACE_LINK_LIBRARIES "${CVMMAP_LOCAL_BUILD}/libcvmmap_nats.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_proto.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_ipc.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_target.a;cnats::nats_static")
set_target_properties(cvmmap::client PROPERTIES
INTERFACE_INCLUDE_DIRECTORIES "${CVMMAP_LOCAL_ROOT}/core/include"
INTERFACE_LINK_LIBRARIES "${CVMMAP_LOCAL_BUILD}/libcvmmap_client.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_ipc.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_target.a")
INTERFACE_LINK_LIBRARIES "${CVMMAP_LOCAL_BUILD}/libcvmmap_client.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_nats.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_proto.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_ipc.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_target.a;cnats::nats_static")
else()
message(FATAL_ERROR "cvmmap::client target is unavailable and local cv-mmap build artifacts were not found")
endif()
@@ -169,6 +207,7 @@ set(CVMMAP_STREAMER_LINK_DEPS
PkgConfig::ZSTD
PkgConfig::LZ4
cvmmap::client
cvmmap::nats
CLI11::CLI11
tomlplusplus::tomlplusplus
mcap::mcap)