crosstyan/cvmmap-streamer
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ae19b881b06c1b298a9d2f1a6435711328e93161
cvmmap-streamer/CMakeLists.txt
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crosstyan ae19b881b0 feat: add mcap recorder control and cnats providers 
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.
2026-03-18 11:53:04 +08:00

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CMake
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cmake_minimum_required(VERSION 3.20)
project(cvmmap-streamer LANGUAGES CXX)
set(CMAKE_CXX_STANDARD 23)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
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")
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)
find_package(Protobuf REQUIRED)
find_package(PkgConfig REQUIRED)
find_package(rvl CONFIG QUIET)
set(ZED_DIR "/usr/local/zed" CACHE PATH "Path to the local ZED SDK")
find_package(ZED REQUIRED)
find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED)
add_subdirectory(third_party)
pkg_check_modules(FFMPEG REQUIRED IMPORTED_TARGET libavcodec libavformat libavutil libswscale)
pkg_check_modules(PROTOBUF_PKG QUIET IMPORTED_TARGET protobuf)
pkg_check_modules(ZSTD REQUIRED IMPORTED_TARGET libzstd)
pkg_check_modules(LZ4 REQUIRED IMPORTED_TARGET liblz4)
if (NOT TARGET cvmmap::client)
if (
EXISTS "${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;${CVMMAP_LOCAL_BUILD}/libcvmmap_nats.a;${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()
endif()
if (NOT TARGET rvl::rvl)
set(RVL_LOCAL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../rvl_impl" CACHE PATH "Path to a local rvl_impl checkout")
set(RVL_LOCAL_BUILD "${RVL_LOCAL_ROOT}/build/core")
if (
EXISTS "${RVL_LOCAL_ROOT}/core/include/rvl/rvl.hpp"
AND EXISTS "${RVL_LOCAL_BUILD}/librvl_core.a")
add_library(rvl::rvl INTERFACE IMPORTED)
set_target_properties(rvl::rvl PROPERTIES
INTERFACE_INCLUDE_DIRECTORIES "${RVL_LOCAL_ROOT}/core/include"
INTERFACE_LINK_LIBRARIES "${RVL_LOCAL_BUILD}/librvl_core.a")
else()
message(FATAL_ERROR "rvl::rvl target is unavailable and local rvl_impl build artifacts were not found")
endif()
endif()
add_library(cvmmap_streamer_foxglove_proto STATIC)
protobuf_generate(
TARGET cvmmap_streamer_foxglove_proto
LANGUAGE cpp
PROTOS
"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/CompressedVideo.proto"
"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/CameraCalibration.proto"
"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/PoseInFrame.proto"
"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/Pose.proto"
"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/Quaternion.proto"
"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/Vector3.proto"
IMPORT_DIRS "${CMAKE_CURRENT_LIST_DIR}/proto")
add_library(cvmmap_streamer_depth_proto STATIC)
protobuf_generate(
TARGET cvmmap_streamer_depth_proto
LANGUAGE cpp
PROTOS "${CMAKE_CURRENT_LIST_DIR}/proto/cvmmap_streamer/DepthMap.proto"
IMPORT_DIRS "${CMAKE_CURRENT_LIST_DIR}/proto")
add_library(cvmmap_streamer_protobuf INTERFACE)
target_include_directories(cvmmap_streamer_foxglove_proto
PUBLIC
"${CMAKE_CURRENT_BINARY_DIR}"
"${CMAKE_CURRENT_BINARY_DIR}/proto"
${Protobuf_INCLUDE_DIRS})
target_include_directories(cvmmap_streamer_depth_proto
PUBLIC
"${CMAKE_CURRENT_BINARY_DIR}"
"${CMAKE_CURRENT_BINARY_DIR}/proto"
${Protobuf_INCLUDE_DIRS})
target_include_directories(cvmmap_streamer_protobuf
INTERFACE
"${CMAKE_CURRENT_BINARY_DIR}/proto"
${Protobuf_INCLUDE_DIRS})
if (TARGET protobuf::libprotobuf)
target_link_libraries(cvmmap_streamer_protobuf INTERFACE protobuf::libprotobuf)
elseif (TARGET Protobuf::libprotobuf)
target_link_libraries(cvmmap_streamer_protobuf INTERFACE Protobuf::libprotobuf)
else()
target_link_libraries(cvmmap_streamer_protobuf INTERFACE ${Protobuf_LIBRARIES})
endif()
if (TARGET PkgConfig::PROTOBUF_PKG)
target_link_libraries(cvmmap_streamer_protobuf INTERFACE PkgConfig::PROTOBUF_PKG)
endif()
target_link_libraries(cvmmap_streamer_foxglove_proto PUBLIC cvmmap_streamer_protobuf)
target_link_libraries(cvmmap_streamer_depth_proto PUBLIC cvmmap_streamer_protobuf)
add_library(cvmmap_streamer_mcap_runtime STATIC
src/record/mcap_runtime.cpp)
target_include_directories(cvmmap_streamer_mcap_runtime
PUBLIC)
target_link_libraries(cvmmap_streamer_mcap_runtime
PUBLIC
mcap::mcap
PkgConfig::ZSTD
PkgConfig::LZ4)
add_library(cvmmap_streamer_record_support STATIC
src/encode/encoder_backend.cpp
src/encode/ffmpeg_encoder_backend.cpp
src/record/protobuf_descriptor.cpp
src/record/mcap_record_sink.cpp)
target_include_directories(cvmmap_streamer_record_support
PUBLIC
"${CMAKE_CURRENT_LIST_DIR}/include"
"${CMAKE_CURRENT_BINARY_DIR}")
target_link_libraries(cvmmap_streamer_record_support
PUBLIC
cvmmap_streamer_foxglove_proto
cvmmap_streamer_depth_proto
cvmmap_streamer_mcap_runtime
PkgConfig::FFMPEG
PkgConfig::ZSTD
PkgConfig::LZ4
rvl::rvl
mcap::mcap
msft_proxy4::proxy
cvmmap_streamer_protobuf)
if (TARGET spdlog::spdlog)
target_link_libraries(cvmmap_streamer_record_support PUBLIC spdlog::spdlog)
elseif (TARGET spdlog)
target_link_libraries(cvmmap_streamer_record_support PUBLIC spdlog)
endif()
if (TARGET PkgConfig::PROTOBUF_PKG)
target_link_libraries(cvmmap_streamer_record_support PUBLIC PkgConfig::PROTOBUF_PKG)
endif()
add_library(cvmmap_streamer_common STATIC
src/ipc/help.cpp
src/config/runtime_config.cpp
src/core/frame_source.cpp
src/core/ingest_runtime.cpp
src/ipc/contracts.cpp
src/protocol/wire_codec.cpp
src/metrics/latency_tracker.cpp
src/pipeline/pipeline_runtime.cpp
src/protocol/rtmp_output.cpp
src/protocol/rtp_publisher.cpp)
target_include_directories(cvmmap_streamer_common
PUBLIC
"${CMAKE_CURRENT_LIST_DIR}/include"
"${CMAKE_CURRENT_BINARY_DIR}")
set(CVMMAP_STREAMER_LINK_DEPS
Threads::Threads
cvmmap_streamer_record_support
PkgConfig::FFMPEG
PkgConfig::ZSTD
PkgConfig::LZ4
cvmmap::client
cvmmap::nats
CLI11::CLI11
tomlplusplus::tomlplusplus
mcap::mcap)
if (TARGET cppzmq::cppzmq)
list(APPEND CVMMAP_STREAMER_LINK_DEPS cppzmq::cppzmq)
elseif (TARGET cppzmq)
list(APPEND CVMMAP_STREAMER_LINK_DEPS cppzmq)
endif()
if (TARGET ZeroMQ::libzmq)
list(APPEND CVMMAP_STREAMER_LINK_DEPS ZeroMQ::libzmq)
elseif (TARGET ZeroMQ::ZeroMQ)
list(APPEND CVMMAP_STREAMER_LINK_DEPS ZeroMQ::ZeroMQ)
endif()
if (TARGET spdlog::spdlog)
list(APPEND CVMMAP_STREAMER_LINK_DEPS spdlog::spdlog)
elseif (TARGET spdlog)
list(APPEND CVMMAP_STREAMER_LINK_DEPS spdlog)
endif()
list(APPEND CVMMAP_STREAMER_LINK_DEPS cvmmap_streamer_protobuf)
if (TARGET PkgConfig::PROTOBUF_PKG)
list(APPEND CVMMAP_STREAMER_LINK_DEPS PkgConfig::PROTOBUF_PKG)
endif()
target_link_libraries(cvmmap_streamer_common PUBLIC ${CVMMAP_STREAMER_LINK_DEPS})
function(add_cvmmap_binary target source)
add_executable(${target} ${source} ${ARGN})
target_include_directories(${target}
PRIVATE
"${CMAKE_CURRENT_LIST_DIR}/include"
"${CMAKE_CURRENT_BINARY_DIR}")
target_link_libraries(${target}
PRIVATE
cvmmap_streamer_common)
set_target_properties(${target} PROPERTIES
OUTPUT_NAME "${target}"
RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
endfunction()
add_cvmmap_binary(cvmmap_streamer src/main_streamer.cpp)
add_cvmmap_binary(rtp_receiver_tester src/testers/rtp_receiver_tester.cpp)
add_cvmmap_binary(rtp_output_tester src/testers/rtp_output_tester.cpp)
add_cvmmap_binary(rtmp_stub_tester src/testers/rtmp_stub_tester.cpp)
add_cvmmap_binary(rtmp_output_tester src/testers/rtmp_output_tester.cpp)
add_cvmmap_binary(ipc_snapshot_tester src/testers/ipc_snapshot_tester.cpp)
add_cvmmap_binary(mcap_depth_record_tester src/testers/mcap_depth_record_tester.cpp)
add_cvmmap_binary(mcap_body_record_tester src/testers/mcap_body_record_tester.cpp)
add_cvmmap_binary(mcap_body_inspector src/testers/mcap_body_inspector.cpp)
add_cvmmap_binary(mcap_pose_record_tester src/testers/mcap_pose_record_tester.cpp)
add_executable(mcap_reader_tester src/testers/mcap_reader_tester.cpp)
target_include_directories(mcap_reader_tester
PRIVATE
"${CMAKE_CURRENT_LIST_DIR}/include"
"${CMAKE_CURRENT_BINARY_DIR}")
target_link_libraries(mcap_reader_tester
PRIVATE
CLI11::CLI11
cvmmap_streamer_foxglove_proto
cvmmap_streamer_depth_proto
cvmmap_streamer_mcap_runtime
mcap::mcap
PkgConfig::ZSTD
PkgConfig::LZ4)
if (TARGET spdlog::spdlog)
target_link_libraries(mcap_reader_tester PRIVATE spdlog::spdlog)
elseif (TARGET spdlog)
target_link_libraries(mcap_reader_tester PRIVATE spdlog)
endif()
target_link_libraries(mcap_reader_tester PRIVATE cvmmap_streamer_protobuf)
if (TARGET PkgConfig::PROTOBUF_PKG)
target_link_libraries(mcap_reader_tester PRIVATE PkgConfig::PROTOBUF_PKG)
endif()
set_target_properties(mcap_reader_tester PROPERTIES
OUTPUT_NAME "mcap_reader_tester"
RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
add_executable(mcap_replay_tester src/testers/mcap_replay_tester.cpp)
target_include_directories(mcap_replay_tester
PRIVATE
"${CMAKE_CURRENT_LIST_DIR}/include"
"${CMAKE_CURRENT_BINARY_DIR}")
target_link_libraries(mcap_replay_tester
PRIVATE
Threads::Threads
CLI11::CLI11
cvmmap_streamer_foxglove_proto
cvmmap_streamer_mcap_runtime
mcap::mcap
PkgConfig::ZSTD
PkgConfig::LZ4)
if (TARGET spdlog::spdlog)
target_link_libraries(mcap_replay_tester PRIVATE spdlog::spdlog)
elseif (TARGET spdlog)
target_link_libraries(mcap_replay_tester PRIVATE spdlog)
endif()
target_link_libraries(mcap_replay_tester PRIVATE cvmmap_streamer_protobuf)
if (TARGET PkgConfig::PROTOBUF_PKG)
target_link_libraries(mcap_replay_tester PRIVATE PkgConfig::PROTOBUF_PKG)
endif()
set_target_properties(mcap_replay_tester PROPERTIES
OUTPUT_NAME "mcap_replay_tester"
RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
add_executable(
zed_svo_to_mcap
src/tools/zed_svo_to_mcap.cpp
src/config/runtime_config.cpp)
target_include_directories(zed_svo_to_mcap
PRIVATE
"${CMAKE_CURRENT_LIST_DIR}/include"
"${CMAKE_CURRENT_BINARY_DIR}"
${ZED_INCLUDE_DIRS}
${CUDA_INCLUDE_DIRS})
target_link_directories(zed_svo_to_mcap
PRIVATE
${ZED_LIBRARY_DIR}
${CUDA_LIBRARY_DIRS})
target_link_libraries(zed_svo_to_mcap
PRIVATE
cvmmap_streamer_record_support
CLI11::CLI11
tomlplusplus::tomlplusplus
${ZED_LIBRARIES}
${CUDA_CUDA_LIBRARY}
${CUDA_CUDART_LIBRARY})
if (TARGET spdlog::spdlog)
target_link_libraries(zed_svo_to_mcap PRIVATE spdlog::spdlog)
elseif (TARGET spdlog)
target_link_libraries(zed_svo_to_mcap PRIVATE spdlog)
endif()
set_target_properties(zed_svo_to_mcap PROPERTIES
OUTPUT_NAME "zed_svo_to_mcap"
RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
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