Ft/1stversion w srt

.clang-format

@@ -0,0 +1,13 @@
+---
+BasedOnStyle: LLVM
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+ColumnLimit: 100
+PointerAlignment: Left
+SortIncludes: CaseSensitive
+AlignTrailingComments: true
+AllowShortFunctionsOnASingleLine: Empty
+BreakBeforeBraces: Attach
+Standard: c++17
+...

.clang-tidy

@@ -0,0 +1,10 @@
+Checks: >
+  -*,
+  bugprone-*,
+  performance-*,
+  readability-*,
+  modernize-*,
+  cppcoreguidelines-*
+WarningsAsErrors: ''
+HeaderFilterRegex: '.*'
+FormatStyle: file

.editorconfig

@@ -0,0 +1,15 @@
+root = true
+
+[*]
+charset = utf-8
+end_of_line = lf
+insert_final_newline = true
+indent_style = space
+indent_size = 2
+trim_trailing_whitespace = true
+
+[*.{cpp,hpp,py,xml,yaml,yml,cmake,txt,md}]
+indent_size = 2
+
+[Makefile]
+indent_style = tab

.github/workflows/ci.yml

@@ -0,0 +1,59 @@
+name: ros2-gst-video-bridge-ci
+
+on:
+  pull_request:
+  push:
+    branches: ["main", "ft/1stversion_w_srt"]
+  schedule:
+    - cron: "0 3 * * *"
+
+jobs:
+  build-and-test:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Setup ROS 2 Humble
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: humble
+
+      - name: Build
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon build --event-handlers console_direct+
+
+      - name: Test
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon test --event-handlers console_direct+
+          colcon test-result --all --verbose
+
+  nightly-matrix:
+    if: github.event_name == 'schedule'
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Setup ROS 2 Humble
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: humble
+
+      - name: Build
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon build --event-handlers console_direct+
+
+      - name: Run matrix
+        run: |
+          chmod +x src/ros2_gst_video_bridge/scripts/run_transport_codec_matrix.zsh
+          src/ros2_gst_video_bridge/scripts/run_transport_codec_matrix.zsh "$PWD" /tmp/matrix.csv
+
+      - name: Upload report
+        uses: actions/upload-artifact@v4
+        with:
+          name: transport-codec-matrix-report
+          path: /tmp/matrix.csv

.gitignore

@@ -1,51 +1,25 @@
-devel/
-logs/
+# ROS 2 / colcon
 build/
-bin/
-lib/
-msg_gen/
-srv_gen/
-msg/*Action.msg
-msg/*ActionFeedback.msg
-msg/*ActionGoal.msg
-msg/*ActionResult.msg
-msg/*Feedback.msg
-msg/*Goal.msg
-msg/*Result.msg
-msg/_*.py
-build_isolated/
-devel_isolated/
+install/
+log/
 
-# Generated by dynamic reconfigure
-*.cfgc
-/cfg/cpp/
-/cfg/*.py
-
-# Ignore generated docs
-*.dox
-*.wikidoc
-
-# eclipse stuff
-.project
-.cproject
-
-# qcreator stuff
-CMakeLists.txt.user
-
-srv/_*.py
-*.pcd
+# Python
+__pycache__/
 *.pyc
-qtcreator-*
-*.user
 
-/planning/cfg
-/planning/docs
-/planning/src
+# C/C++ build systems
+*.o
+*.so
+*.a
+*.dSYM/
+compile_commands.json
 
+# Editors / IDEs
+.vscode/
+.idea/
+*.user
+*.swp
 *~
 
-# Emacs
-.#*
-
-# Catkin custom files
-CATKIN_IGNORE
+# Local planning
+TODO.md

CMakeLists.txt

@@ -0,0 +1,140 @@
+cmake_minimum_required(VERSION 3.8)
+project(ros2_gst_video_bridge)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(CMAKE_CXX_STANDARD 20)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+option(ROS2_GST_VIDEO_BRIDGE_ENABLE_CLANG_TIDY "Enable clang-tidy during C++ compilation" ON)
+option(ROS2_GST_VIDEO_BRIDGE_ENABLE_CLANG_FORMAT_CHECK "Enable clang-format check target" ON)
+option(ROS2_GST_VIDEO_BRIDGE_ENABLE_AMENT_LINT "Enable ament_lint_auto checks" OFF)
+
+if(ROS2_GST_VIDEO_BRIDGE_ENABLE_CLANG_TIDY)
+  find_program(CLANG_TIDY_EXE NAMES clang-tidy clang-tidy-18 clang-tidy-17 clang-tidy-16 clang-tidy-15)
+  if(CLANG_TIDY_EXE)
+    set(CMAKE_CXX_CLANG_TIDY ${CLANG_TIDY_EXE})
+    message(STATUS "clang-tidy enabled: ${CLANG_TIDY_EXE}")
+  else()
+    message(WARNING "clang-tidy requested but not found. Continuing without clang-tidy.")
+  endif()
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(ros2_gst_video_bridge_msgs REQUIRED)
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0 gstreamer-app-1.0)
+
+if(ROS2_GST_VIDEO_BRIDGE_ENABLE_CLANG_FORMAT_CHECK)
+  find_program(CLANG_FORMAT_EXE NAMES clang-format clang-format-18 clang-format-17 clang-format-16 clang-format-15)
+  if(CLANG_FORMAT_EXE)
+    file(GLOB_RECURSE ROS2_GST_VIDEO_BRIDGE_FORMAT_FILES CONFIGURE_DEPENDS
+      "${CMAKE_CURRENT_SOURCE_DIR}/include/*.h"
+      "${CMAKE_CURRENT_SOURCE_DIR}/include/*.hpp"
+      "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cc"
+    )
+    add_custom_target(clang_format_check
+      COMMAND ${CLANG_FORMAT_EXE} --dry-run --Werror ${ROS2_GST_VIDEO_BRIDGE_FORMAT_FILES}
+      WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+      COMMENT "Running clang-format check on C++ source files"
+      VERBATIM
+    )
+  else()
+    message(WARNING "clang-format check requested but clang-format was not found.")
+  endif()
+endif()
+
+add_executable(gst_video_bridge_node
+  src/main.cc
+  src/gst_video_bridge_node.cc
+  src/node/core.cc
+  src/node/lifecycle.cc
+  src/node/modes.cc
+  src/node/streaming.cc
+  src/node/recovery.cc
+  src/node/fallback.cc
+  src/node/observability.cc
+  src/core/config_loader.cc
+  src/core/pipeline_builder.cc
+  src/runtime/capability_probe.cc
+  src/runtime/topic_introspector.cc
+  src/runtime/stream_engine.cc
+  src/runtime/metrics_publisher.cc
+)
+
+target_include_directories(gst_video_bridge_node
+  PRIVATE
+  include
+  ${GSTREAMER_INCLUDE_DIRS}
+)
+
+target_link_libraries(gst_video_bridge_node
+  ${GSTREAMER_LIBRARIES}
+)
+
+target_compile_options(gst_video_bridge_node PRIVATE ${GSTREAMER_CFLAGS_OTHER})
+
+ament_target_dependencies(gst_video_bridge_node
+  rclcpp
+  sensor_msgs
+  std_msgs
+  ros2_gst_video_bridge_msgs
+)
+
+install(TARGETS gst_video_bridge_node
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+
+  ament_add_gtest(test_config_loader test/test_config_loader.cpp src/core/config_loader.cc)
+  target_include_directories(test_config_loader PRIVATE include)
+  ament_target_dependencies(test_config_loader rclcpp)
+
+  ament_add_gtest(test_pipeline_builder test/test_pipeline_builder.cpp src/core/pipeline_builder.cc)
+  target_include_directories(test_pipeline_builder PRIVATE include)
+
+  add_test(
+    NAME smoke_runtime_validate_config
+    COMMAND $<TARGET_FILE:gst_video_bridge_node> --ros-args -p runtime.mode:=validate_config)
+
+  add_test(
+    NAME smoke_runtime_list_capabilities
+    COMMAND $<TARGET_FILE:gst_video_bridge_node> --ros-args -p runtime.mode:=list_capabilities)
+
+  add_test(
+    NAME smoke_launch_minimal_show_args
+    COMMAND ros2 launch ros2_gst_video_bridge gst_video_bridge_minimal.launch.py --show-args)
+
+  add_test(
+    NAME smoke_launch_advanced_show_args
+    COMMAND ros2 launch ros2_gst_video_bridge gst_video_bridge_advanced.launch.py --show-args)
+
+  add_test(
+    NAME smoke_launch_compat_show_args
+    COMMAND ros2 launch ros2_gst_video_bridge gst_video_bridge.launch.py --show-args)
+
+  set_tests_properties(smoke_runtime_validate_config PROPERTIES TIMEOUT 20)
+  set_tests_properties(smoke_runtime_list_capabilities PROPERTIES TIMEOUT 20)
+  set_tests_properties(smoke_launch_minimal_show_args PROPERTIES TIMEOUT 20)
+  set_tests_properties(smoke_launch_advanced_show_args PROPERTIES TIMEOUT 20)
+  set_tests_properties(smoke_launch_compat_show_args PROPERTIES TIMEOUT 20)
+
+  if(ROS2_GST_VIDEO_BRIDGE_ENABLE_AMENT_LINT)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+  endif()
+endif()
+
+ament_package()