Recording Handler

The RecordingHandler (src/handlers/RecordingHandler.h & RecordingHandler.cpp) manages the asynchronous recording of camera video feeds and computer vision detection overlays directly to disk.

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1. Primary Responsibilities

1. Stream Recording: Connects to active camera and detector streams and encodes frames into video files using OpenCV cv::VideoWriter.
2. Asynchronous Encoding: Runs on an independent AutonomyThread<void> to prevent video encoding overhead from degrading computer vision and control loop framerates.
3. Multi-Mode Operation: Supports three distinct operational modes depending on which handler instantiates it.
4. Selective Recording Toggles: Reads individual recording enable flags from AutonomyConstants.cpp to conserve disk space and CPU resources.

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2. Operational Modes (RecordingMode)

enum class RecordingMode
{
    eCameraHandler,            // Records raw, unmodified RGB camera feeds
    eTagDetectionHandler,      // Records video feeds with ArUco and YOLO tag detection overlays
    eObjectDetectionHandler    // Records video feeds with YOLO prop detection overlays
};

Modes Explained

• eCameraHandler: Instantiated inside CameraHandler. Directly captures raw frames from ZEDCamera and BasicCamera streams for ground-truth review and simulation replay.
• eTagDetectionHandler: Instantiated inside TagDetectionHandler. Queries RequestDetectionOverlayFrame() from each TagDetector to capture video showing detected ArUco marker corners, decoded IDs, and estimated distances.
• eObjectDetectionHandler: Instantiated inside ObjectDetectionHandler. Captures video showing YOLO object bounding boxes, class labels (Mallet, Bottle, Rock Pick), and confidence scores.

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3. Concurrency and Output Formatting

• Thread Independence: Inherits from AutonomyThread<void>, executing ThreadedContinuousCode() at an iteration rate throttled by constants::RECORDER_FPS (typically 15 to 30 FPS).
• Asynchronous Frame Pulling: Pushes requests to cameras and detectors via futures (std::future<bool>), awaiting data transfer in the background without blocking the capture pipeline.
• File Container and Codec: Video streams are encoded in H.264 / MP4 format and saved within the timestamped mission directory inside logs/ (e.g., logs/YYYY-MM-DD_HH-MM-SS/).

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4. Configuration Parameters in AutonomyConstants.cpp

Constant Name	Type	Purpose
RECORDER_FPS	int	Framerate ceiling for disk video encoding.
ZED_MAINCAM_ENABLE_RECORDING	bool	Enables raw recording of the main mast ZED camera.
ZED_REARCAM_ENABLE_RECORDING	bool	Enables raw recording of the rear ZED camera.
TAGDETECT_MAINCAM_ENABLE_RECORDING	bool	Enables recording of ArUco detection overlays on main camera.
TAGDETECT_REARCAM_ENABLE_RECORDING	bool	Enables recording of ArUco detection overlays on rear camera.
OBJECTDETECT_MAINCAM_ENABLE_RECORDING	bool	Enables recording of YOLO prop detection overlays on main camera.
OBJECTDETECT_REARCAM_ENABLE_RECORDING	bool	Enables recording of YOLO prop detection overlays on rear camera.