Merge pull request #4438 from bluerobotics/video-recording

Video recording

qgcresources.qrc

@@ -156,6 +156,7 @@
         <file alias="Signal100.svg">src/ui/toolbar/Images/Signal100.svg</file>
         <file alias="TelemRSSI.svg">src/ui/toolbar/Images/TelemRSSI.svg</file>
         <file alias="Yield.svg">src/ui/toolbar/Images/Yield.svg</file>
+        <file alias="CameraIcon.svg">src/ui/toolbar/Images/CameraIcon.svg</file>
         <file alias="CogWheel.svg">src/MissionManager/CogWheel.svg</file>
         <file alias="StationMode.svg">src/AutoPilotPlugins/Common/Images/StationMode.svg</file>
         <file alias="APMode.svg">src/AutoPilotPlugins/Common/Images/APMode.svg</file>

src/FlightDisplay/FlightDisplayView.qml

@@ -260,6 +260,42 @@ QGCView {
             visible:            singleVehicleView.checked
         }
 
+        // Button to start/stop video recording
+        Item {
+            z:                  _flightVideoPipControl.z + 1
+            anchors.margins:    ScreenTools.defaultFontPixelHeight / 2
+            anchors.bottom:     _flightVideo.bottom
+            anchors.right:      _flightVideo.right
+            height:             ScreenTools.defaultFontPixelHeight * 2
+            width:              height
+            visible:            QGroundControl.videoManager.videoRunning
+            opacity:            0.75
+
+            Rectangle {
+                anchors.top:        parent.top
+                anchors.bottom:     parent.bottom
+                width:              height
+                radius:             QGroundControl.videoManager.videoReceiver && QGroundControl.videoManager.videoReceiver.recording ? 0 : height
+                color:              "red"
+            }
+
+            QGCColoredImage {
+                anchors.top:                parent.top
+                anchors.bottom:             parent.bottom
+                anchors.horizontalCenter:   parent.horizontalCenter
+                width:                      height * 0.625
+                sourceSize.width:           width
+                source:                     "/qmlimages/CameraIcon.svg"
+                fillMode:                   Image.PreserveAspectFit
+                color:                      "white"
+            }
+
+            MouseArea {
+                anchors.fill:   parent
+                onClicked:      QGroundControl.videoManager.videoReceiver && QGroundControl.videoManager.videoReceiver.recording ? QGroundControl.videoManager.videoReceiver.stopRecording() : QGroundControl.videoManager.videoReceiver.startRecording()
+            }
+        }
+
         MultiVehicleList {
             anchors.margins:    _margins
             anchors.top:        singleMultiSelector.bottom

src/FlightDisplay/VideoManager.cc

@@ -11,6 +11,8 @@
 #include <QQmlContext>
 #include <QQmlEngine>
 #include <QSettings>
+#include <QUrl>
+#include <QDir>
 
 #ifndef QGC_DISABLE_UVC
 #include <QCameraInfo>
@@ -27,6 +29,7 @@
 static const char* kVideoSourceKey  = "VideoSource";
 static const char* kVideoUDPPortKey = "VideoUDPPort";
 static const char* kVideoRTSPUrlKey = "VideoRTSPUrl";
+static const char* kVideoSavePathKey = "VideoSavePath";
 #if defined(QGC_GST_STREAMING)
 static const char* kUDPStream       = "UDP Video Stream";
 static const char* kRTSPStream      = "RTSP Video Stream";
@@ -80,6 +83,7 @@ VideoManager::setToolbox(QGCToolbox *toolbox)
        setUdpPort(settings.value(kVideoUDPPortKey, 5600).toUInt());
        setRtspURL(settings.value(kVideoRTSPUrlKey, "rtsp://192.168.42.1:554/live").toString()); //-- Example RTSP URL
    }
+   setVideoSavePath(settings.value(kVideoSavePathKey, QDir::homePath()).toString());
 #endif
    _init = true;
 #if defined(QGC_GST_STREAMING)
@@ -186,6 +190,22 @@ VideoManager::setRtspURL(QString url)
     */
 }
 
+void
+VideoManager::setVideoSavePathByUrl(QUrl url) {
+    setVideoSavePath(url.toLocalFile());
+}
+
+void
+VideoManager::setVideoSavePath(QString path)
+{
+    _videoSavePath = path;
+    QSettings settings;
+    settings.setValue(kVideoSavePathKey, path);
+    if(_videoReceiver)
+        _videoReceiver->setVideoSavePath(_videoSavePath);
+    emit videoSavePathChanged();
+}
+
 //-----------------------------------------------------------------------------
 QStringList
 VideoManager::videoSourceList()
@@ -211,37 +231,37 @@ VideoManager::videoSourceList()
 void VideoManager::_updateTimer()
 {
 #if defined(QGC_GST_STREAMING)
-    if(_videoRunning)
-    {
-        time_t elapsed = 0;
-        if(_videoSurface)
-        {
-            elapsed = time(0) - _videoSurface->lastFrame();
-        }
-        if(elapsed > 2 && _videoSurface)
-        {
-            _videoRunning = false;
-            _videoSurface->setLastFrame(0);
-            emit videoRunningChanged();
-            if(_videoReceiver) {
-                if(isGStreamer()) {
-                    //-- Stop it
-                    _videoReceiver->stop();
-                    QThread::msleep(100);
-                    //-- And start over
-                    _videoReceiver->start();
-                }
-            }
+    if(_videoReceiver && _videoSurface) {
+        if(_videoReceiver->stopping() || _videoReceiver->starting()) {
+            return;
         }
-    }
-    else
-    {
-        if(_videoSurface && _videoSurface->lastFrame()) {
-            if(!_videoRunning)
-            {
+
+        if(_videoReceiver->streaming()) {
+            if(!_videoRunning) {
+                _videoSurface->setLastFrame(0);
                 _videoRunning = true;
                 emit videoRunningChanged();
             }
+        } else {
+            if(_videoRunning) {
+                _videoRunning = false;
+                emit videoRunningChanged();
+            }
+        }
+
+        if(_videoRunning) {
+            time_t elapsed = 0;
+            time_t lastFrame = _videoSurface->lastFrame();
+            if(lastFrame != 0) {
+                elapsed = time(0) - _videoSurface->lastFrame();
+            }
+            if(elapsed > 2 && _videoSurface) {
+                _videoReceiver->stop();
+            }
+        } else {
+            if(!_videoReceiver->running()) {
+                _videoReceiver->start();
+            }
         }
     }
 #endif
@@ -263,6 +283,7 @@ void VideoManager::_updateVideo()
             _videoReceiver->setUri(QStringLiteral("udp://0.0.0.0:%1").arg(_udpPort));
         else
             _videoReceiver->setUri(_rtspURL);
+        _videoReceiver->setVideoSavePath(_videoSavePath);
         #endif
         _videoReceiver->start();
     }

src/FlightDisplay/VideoManager.h

@@ -13,6 +13,7 @@
 
 #include <QObject>
 #include <QTimer>
+#include <QUrl>
 
 #include "QGCLoggingCategory.h"
 #include "VideoSurface.h"
@@ -29,17 +30,20 @@ public:
     VideoManager    (QGCApplication* app);
     ~VideoManager   ();
 
-    Q_PROPERTY(bool             hasVideo        READ    hasVideo                                NOTIFY hasVideoChanged)
-    Q_PROPERTY(bool             isGStreamer     READ    isGStreamer                             NOTIFY isGStreamerChanged)
-    Q_PROPERTY(QString          videoSourceID   READ    videoSourceID                           NOTIFY videoSourceIDChanged)
-    Q_PROPERTY(QString          videoSource     READ    videoSource     WRITE setVideoSource    NOTIFY videoSourceChanged)
-    Q_PROPERTY(QStringList      videoSourceList READ    videoSourceList                         NOTIFY videoSourceListChanged)
-    Q_PROPERTY(bool             videoRunning    READ    videoRunning                            NOTIFY videoRunningChanged)
-    Q_PROPERTY(quint16          udpPort         READ    udpPort         WRITE setUdpPort        NOTIFY udpPortChanged)
-    Q_PROPERTY(QString          rtspURL         READ    rtspURL         WRITE setRtspURL        NOTIFY rtspURLChanged)
-    Q_PROPERTY(bool             uvcEnabled      READ    uvcEnabled                              CONSTANT)
-    Q_PROPERTY(VideoSurface*    videoSurface    MEMBER  _videoSurface                           CONSTANT)
-    Q_PROPERTY(VideoReceiver*   videoReceiver   MEMBER  _videoReceiver                          CONSTANT)
+    Q_PROPERTY(bool             hasVideo        READ    hasVideo                                    NOTIFY hasVideoChanged)
+    Q_PROPERTY(bool             isGStreamer     READ    isGStreamer                                 NOTIFY isGStreamerChanged)
+    Q_PROPERTY(QString          videoSourceID   READ    videoSourceID                               NOTIFY videoSourceIDChanged)
+    Q_PROPERTY(QString          videoSource     READ    videoSource     WRITE setVideoSource        NOTIFY videoSourceChanged)
+    Q_PROPERTY(QStringList      videoSourceList READ    videoSourceList                             NOTIFY videoSourceListChanged)
+    Q_PROPERTY(bool             videoRunning    READ    videoRunning                                NOTIFY videoRunningChanged)
+    Q_PROPERTY(quint16          udpPort         READ    udpPort         WRITE setUdpPort            NOTIFY udpPortChanged)
+    Q_PROPERTY(QString          rtspURL         READ    rtspURL         WRITE setRtspURL            NOTIFY rtspURLChanged)
+    Q_PROPERTY(QString          videoSavePath   READ    videoSavePath                               NOTIFY videoSavePathChanged)
+    Q_PROPERTY(bool             uvcEnabled      READ    uvcEnabled                                  CONSTANT)
+    Q_PROPERTY(VideoSurface*    videoSurface    MEMBER  _videoSurface                               CONSTANT)
+    Q_PROPERTY(VideoReceiver*   videoReceiver   MEMBER  _videoReceiver                              CONSTANT)
+
+    Q_INVOKABLE void setVideoSavePathByUrl (QUrl url);
 
     bool        hasVideo            ();
     bool        isGStreamer         ();
@@ -49,6 +53,7 @@ public:
     QStringList videoSourceList     ();
     quint16     udpPort             () { return _udpPort; }
     QString     rtspURL             () { return _rtspURL; }
+    QString     videoSavePath       () { return _videoSavePath; }
 
 #if defined(QGC_DISABLE_UVC)
     bool        uvcEnabled          () { return false; }
@@ -56,9 +61,10 @@ public:
     bool        uvcEnabled          ();
 #endif
 
-    void        setVideoSource      (QString vSource);
-    void        setUdpPort          (quint16 port);
-    void        setRtspURL          (QString url);
+    void        setVideoSource          (QString vSource);
+    void        setUdpPort              (quint16 port);
+    void        setRtspURL              (QString url);
+    void        setVideoSavePath        (QString path);
 
     // Override from QGCTool
     void        setToolbox          (QGCToolbox *toolbox);
@@ -72,6 +78,7 @@ signals:
     void videoSourceIDChanged   ();
     void udpPortChanged         ();
     void rtspURLChanged         ();
+    void videoSavePathChanged   ();
 
 private:
     void _updateTimer           ();
@@ -89,6 +96,7 @@ private:
     QStringList         _videoSourceList;
     quint16             _udpPort;
     QString             _rtspURL;
+    QString             _videoSavePath;
     bool                _init;
 };
 

src/QGCToolbox.h

@@ -79,7 +79,7 @@ private:
     MAVLinkProtocol*            _mavlinkProtocol;
     MissionCommandTree*         _missionCommandTree;
     MultiVehicleManager*        _multiVehicleManager;
-    QGCMapEngineManager*         _mapEngineManager;
+    QGCMapEngineManager*        _mapEngineManager;
     UASMessageHandler*          _uasMessageHandler;
     FollowMe*                   _followMe;
     QGCPositionManager*         _qgcPositionManager;

src/VideoStreaming/VideoReceiver.h

@@ -17,6 +17,7 @@
 #ifndef VIDEORECEIVER_H
 #define VIDEORECEIVER_H
 
+#include "QGCLoggingCategory.h"
 #include <QObject>
 #include <QTimer>
 #include <QTcpSocket>
@@ -25,41 +26,91 @@
 #include <gst/gst.h>
 #endif
 
+Q_DECLARE_LOGGING_CATEGORY(VideoReceiverLog)
+
 class VideoReceiver : public QObject
 {
     Q_OBJECT
 public:
+#if defined(QGC_GST_STREAMING)
+    Q_PROPERTY(bool recording READ recording NOTIFY recordingChanged)
+#endif
+
     explicit VideoReceiver(QObject* parent = 0);
     ~VideoReceiver();
 
 #if defined(QGC_GST_STREAMING)
     void setVideoSink(GstElement* sink);
+
+    bool running()   { return _running;   }
+    bool recording() { return _recording; }
+    bool streaming() { return _streaming; }
+    bool starting()  { return _starting;  }
+    bool stopping()  { return _stopping;  }
+#endif
+
+
+signals:
+#if defined(QGC_GST_STREAMING)
+    void recordingChanged();
+    void msgErrorReceived();
+    void msgEOSReceived();
+    void msgStateChangedReceived();
 #endif
 
 public slots:
-    void start      ();
-    void stop       ();
-    void setUri     (const QString& uri);
+    void start              ();
+    void stop               ();
+    void setUri             (const QString& uri);
+    void setVideoSavePath   (const QString& path);
+    void stopRecording      ();
+    void startRecording     ();
+
 
 private slots:
 #if defined(QGC_GST_STREAMING)
     void _timeout       ();
     void _connected     ();
     void _socketError   (QAbstractSocket::SocketError socketError);
+    void _handleError();
+    void _handleEOS();
+    void _handleStateChanged();
 #endif
 
 private:
-
 #if defined(QGC_GST_STREAMING)
-    void            _onBusMessage(GstMessage* message);
-    static gboolean _onBusMessage(GstBus* bus, GstMessage* msg, gpointer data);
+    typedef struct
+    {
+        GstPad*         teepad;
+        GstElement*     queue;
+        GstElement*     mux;
+        GstElement*     filesink;
+        gboolean        removing;
+    } Sink;
+
+    bool                _running;
+    bool                _recording;
+    bool                _streaming;
+    bool                _starting;
+    bool                _stopping;
+    Sink*               _sink;
+    GstElement*         _tee;
+
+    static gboolean             _onBusMessage(GstBus* bus, GstMessage* message, gpointer user_data);
+    static GstPadProbeReturn    _unlinkCallBack(GstPad* pad, GstPadProbeInfo* info, gpointer user_data);
+    void                        _detachRecordingBranch(GstPadProbeInfo* info);
+    void                        _shutdownRecordingBranch();
+    void                        _shutdownPipeline();
+
 #endif
 
     QString     _uri;
+    QString     _path;
 
 #if defined(QGC_GST_STREAMING)
-    GstElement* _pipeline;
-    GstElement* _videoSink;
+    GstElement*         _pipeline;
+    GstElement*         _pipelineStopRec;
+    GstElement*         _videoSink;
 #endif
 
     //-- Wait for Video Server to show up before starting

src/ui/preferences/GeneralSettings.qml

@@ -39,6 +39,14 @@ QGCView {
 
     QGCPalette { id: qgcPal }
 
+    FileDialog {
+        id: fileDialog
+        title: "Choose a location to save video files."
+        folder: shortcuts.home
+        selectFolder: true
+        onAccepted: QGroundControl.videoManager.setVideoSavePathByUrl(fileDialog.fileUrl)
+    }
+
     QGCViewPanel {
         id:             panel
         anchors.fill:   parent
@@ -525,6 +533,25 @@ QGCView {
                                 }
                             }
                         }
+                        Row {
+                            spacing:    ScreenTools.defaultFontPixelWidth
+                            visible:    QGroundControl.videoManager.isGStreamer
+                            QGCLabel {
+                                anchors.baseline:   pathField.baseline
+                                text:               qsTr("Save Path:")
+                                width:              _labelWidth
+                            }
+                            QGCTextField {
+                                id:                 pathField
+                                width:              _editFieldWidth
+                                readOnly:           true
+                                text:               QGroundControl.videoManager.videoSavePath
+                            }
+                            Button {
+                                text: "Browse"
+                                onClicked: fileDialog.visible = true
+                            }
+                        }
                     }
                 }
 

src/ui/toolbar/Images/CameraIcon.svg

+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   version="1.1"
+   width="250"
+   height="160"
+   id="svg4009">
+  <defs
+     id="defs4011" />
+  <metadata
+     id="metadata4014">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     transform="translate(0,-892.36218)"
+     id="layer1">
+    <rect
+       width="190"
+       height="160"
+       ry="36.792519"
+       x="0"
+       y="892.36218"
+       id="rect4017"
+       style="fill:#000000;fill-opacity:0.49803922;fill-rule:nonzero" />
+    <path
+       d="m 190,998.43327 0,-52.1422 60,-46.92889 0,146.00002 z"
+       id="path4028"
+       style="fill:#000000;fill-opacity:0.49803922;stroke:#000000;stroke-width:0;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:0.49803922;stroke-dasharray:none" />
+  </g>
+</svg>