Add encoded SHM passthrough support

include/cvmmap_streamer/config/runtime_config.hpp

@@ -40,6 +40,12 @@ enum class EncoderDeviceType {
 	Software,
 };
 
+enum class InputVideoSource {
+	Auto,
+	Raw,
+	Encoded,
+};
+
 enum class McapCompression {
 	None,
 	Lz4,
@@ -49,6 +55,7 @@ enum class McapCompression {
 struct InputConfig {
 	std::string uri{"cvmmap://default"};
 	std::string nats_url{"nats://localhost:4222"};
+	InputVideoSource video_source{InputVideoSource::Auto};
 };
 
 struct EncoderConfig {
@@ -125,6 +132,7 @@ std::string_view to_string(RtmpMode mode);
 std::string_view to_string(RtmpTransportType transport);
 std::string_view to_string(EncoderBackendType backend);
 std::string_view to_string(EncoderDeviceType device);
+std::string_view to_string(InputVideoSource source);
 std::string_view to_string(McapCompression compression);
 std::expected<McapCompression, std::string> parse_mcap_compression(std::string_view raw);
 

include/cvmmap_streamer/ipc/contracts.hpp

@@ -51,6 +51,19 @@ enum class DepthUnit : std::uint8_t {
 	Meter = 2,
 };
 
+enum class EncodedCodec : std::uint8_t {
+	Unknown = 0,
+	H264 = 1,
+	H265 = 2,
+};
+
+enum class EncodedBitstreamFormat : std::uint8_t {
+	Unknown = 0,
+	AnnexB = 1,
+};
+
+constexpr std::uint16_t kEncodedFlagKeyframe = 0x0001u;
+
 enum class ModuleStatus : std::int32_t {
 	Online      = 0xa1,
 	Offline     = 0xa0,
@@ -163,22 +176,36 @@ struct ControlResponseMessage {
 struct ValidatedShmView {
 	FrameMetadata metadata;
 	DepthUnit depth_unit{DepthUnit::Unknown};
+	EncodedCodec encoded_codec{EncodedCodec::Unknown};
+	EncodedBitstreamFormat encoded_bitstream_format{EncodedBitstreamFormat::Unknown};
+	std::uint16_t encoded_flags{0};
+	std::uint16_t encoded_frame_rate_num{0};
+	std::uint16_t encoded_frame_rate_den{0};
+	std::uint64_t encoded_stream_pts_ns{0};
 	std::span<const std::uint8_t> payload;
 	std::span<const std::uint8_t> left;
 	std::optional<FrameInfo> depth_info{};
 	std::span<const std::uint8_t> depth{};
 	std::optional<FrameInfo> confidence_info{};
 	std::span<const std::uint8_t> confidence{};
+	std::span<const std::uint8_t> encoded_access_unit{};
 };
 
 struct CoherentSnapshot {
 	FrameMetadata metadata;
 	DepthUnit depth_unit{DepthUnit::Unknown};
+	EncodedCodec encoded_codec{EncodedCodec::Unknown};
+	EncodedBitstreamFormat encoded_bitstream_format{EncodedBitstreamFormat::Unknown};
+	std::uint16_t encoded_flags{0};
+	std::uint16_t encoded_frame_rate_num{0};
+	std::uint16_t encoded_frame_rate_den{0};
+	std::uint64_t encoded_stream_pts_ns{0};
 	std::span<const std::uint8_t> left;
 	std::optional<FrameInfo> depth_info{};
 	std::span<const std::uint8_t> depth{};
 	std::optional<FrameInfo> confidence_info{};
 	std::span<const std::uint8_t> confidence{};
+	std::span<const std::uint8_t> encoded_access_unit{};
 	std::size_t bytes_copied;
 };