131 lines
2.8 KiB
C++
131 lines
2.8 KiB
C++
#pragma once
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#include <cstddef>
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#include <cstdint>
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#include <expected>
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#include <optional>
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#include <string>
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#include <string_view>
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#include <vector>
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namespace cvmmap_streamer {
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enum class CodecType {
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H264,
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H265,
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};
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enum class RunMode {
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Pipeline,
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Ingest,
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};
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enum class RtmpMode {
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Enhanced,
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};
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enum class RtmpTransportType {
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Libavformat,
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FfmpegProcess,
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};
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enum class EncoderBackendType {
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Auto,
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FFmpeg,
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};
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enum class EncoderDeviceType {
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Auto,
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Nvidia,
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Software,
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};
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enum class McapCompression {
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None,
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Lz4,
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Zstd,
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};
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struct InputConfig {
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std::string uri{"cvmmap://default"};
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};
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struct EncoderConfig {
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EncoderBackendType backend{EncoderBackendType::Auto};
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EncoderDeviceType device{EncoderDeviceType::Auto};
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CodecType codec{CodecType::H264};
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std::uint32_t gop{30};
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std::uint32_t b_frames{0};
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};
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struct RtmpOutputConfig {
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bool enabled{false};
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std::vector<std::string> urls{};
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RtmpTransportType transport{RtmpTransportType::Libavformat};
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std::string ffmpeg_path{"ffmpeg"};
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};
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struct RtpOutputConfig {
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bool enabled{false};
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std::optional<std::string> endpoint{std::nullopt};
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std::optional<std::string> host{std::nullopt};
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std::optional<std::uint16_t> port{std::nullopt};
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std::uint8_t payload_type{96};
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std::optional<std::string> sdp_path{std::nullopt};
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};
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struct OutputsConfig {
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RtmpOutputConfig rtmp{};
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RtpOutputConfig rtp{};
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};
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struct McapRecordConfig {
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bool enabled{false};
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std::string path{"capture.mcap"};
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std::string topic{"/camera/video"};
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std::string depth_topic{"/camera/depth"};
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std::string body_topic{"/camera/body"};
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std::string frame_id{"camera"};
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McapCompression compression{McapCompression::Zstd};
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};
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struct RecordConfig {
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McapRecordConfig mcap{};
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};
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struct LatencyConfig {
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std::size_t queue_size{1};
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bool realtime_sync{true};
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bool force_idr_on_reset{true};
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std::uint32_t ingest_max_frames{0};
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std::uint32_t ingest_idle_timeout_ms{1000};
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std::uint32_t ingest_consumer_delay_ms{0};
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std::uint32_t snapshot_copy_delay_us{0};
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std::uint32_t emit_stall_ms{0};
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};
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struct RuntimeConfig {
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InputConfig input{};
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RunMode run_mode{RunMode::Pipeline};
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EncoderConfig encoder{};
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OutputsConfig outputs{};
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RecordConfig record{};
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LatencyConfig latency{};
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static RuntimeConfig defaults();
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};
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std::string_view to_string(CodecType codec);
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std::string_view to_string(RunMode mode);
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std::string_view to_string(RtmpMode mode);
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std::string_view to_string(RtmpTransportType transport);
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std::string_view to_string(EncoderBackendType backend);
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std::string_view to_string(EncoderDeviceType device);
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std::string_view to_string(McapCompression compression);
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std::expected<RuntimeConfig, std::string> parse_runtime_config(int argc, char **argv);
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std::expected<void, std::string> validate_runtime_config(const RuntimeConfig &config);
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std::string summarize_runtime_config(const RuntimeConfig &config);
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}
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