iOS and Android need a different, raw h.264 pipeline

src/FlightDisplay/VideoManager.cc

@@ -34,10 +34,6 @@ QGC_LOGGING_CATEGORY(VideoManagerLog, "VideoManagerLog")
 //-----------------------------------------------------------------------------
 VideoManager::VideoManager(QGCApplication* app, QGCToolbox* toolbox)
     : QGCTool(app, toolbox)
-    , _videoReceiver(nullptr)
-    , _videoSettings(nullptr)
-    , _fullScreen(false)
-    , _activeVehicle(nullptr)
 {
 }
 

src/FlightDisplay/VideoManager.h

@@ -36,6 +36,7 @@ public:
     Q_PROPERTY(bool             hasVideo            READ    hasVideo                                    NOTIFY hasVideoChanged)
     Q_PROPERTY(bool             isGStreamer         READ    isGStreamer                                 NOTIFY isGStreamerChanged)
     Q_PROPERTY(bool             isAutoStream        READ    isAutoStream                                NOTIFY isAutoStreamChanged)
+    Q_PROPERTY(bool             isTaisync           READ    isTaisync       WRITE   setIsTaisync        NOTIFY isTaisyncChanged)
     Q_PROPERTY(QString          videoSourceID       READ    videoSourceID                               NOTIFY videoSourceIDChanged)
     Q_PROPERTY(bool             uvcEnabled          READ    uvcEnabled                                  CONSTANT)
     Q_PROPERTY(bool             fullScreen          READ    fullScreen      WRITE   setfullScreen       NOTIFY fullScreenChanged)
@@ -45,6 +46,7 @@ public:
     bool        hasVideo            ();
     bool        isGStreamer         ();
     bool        isAutoStream        ();
+    bool        isTaisync           () { return _isTaisync; }
     bool        fullScreen          () { return _fullScreen; }
     QString     videoSourceID       () { return _videoSourceID; }
     QString     autoURL             () { return QString(_streamInfo.uri); }
@@ -59,6 +61,7 @@ public:
 #endif
 
     void        setfullScreen       (bool f) { _fullScreen = f; emit fullScreenChanged(); }
+    void        setIsTaisync        (bool t) { _isTaisync = t; emit isTaisyncChanged(); }
 
     // Override from QGCTool
     void        setToolbox          (QGCToolbox *toolbox);
@@ -73,6 +76,7 @@ signals:
     void fullScreenChanged          ();
     void isAutoStreamChanged        ();
     void aspectRatioChanged         ();
+    void isTaisyncChanged           ();
 
 private slots:
     void _videoSourceChanged        ();
@@ -88,11 +92,13 @@ private:
     void _updateSettings            ();
     void _restartVideo              ();
 
-    VideoReceiver*  _videoReceiver;
-    VideoSettings*  _videoSettings;
+private:
+    bool            _isTaisync          = false;
+    VideoReceiver*  _videoReceiver      = nullptr;
+    VideoSettings*  _videoSettings      = nullptr;
     QString         _videoSourceID;
-    bool            _fullScreen;
-    Vehicle*        _activeVehicle;
+    bool            _fullScreen         = false;
+    Vehicle*        _activeVehicle      = nullptr;
     mavlink_video_stream_information_t _streamInfo;
 };
 

src/VideoStreaming/VideoReceiver.cc

@@ -18,7 +18,9 @@
 #include "SettingsManager.h"
 #include "QGCApplication.h"
 #include "VideoManager.h"
-
+#ifdef QGC_GST_TAISYNC_ENABLED
+#include "TaisyncHandler.h"
+#endif
 #include <QDebug>
 #include <QUrl>
 #include <QDir>
@@ -227,7 +229,16 @@ VideoReceiver::start()
     _stop = false;
     qCDebug(VideoReceiverLog) << "start()";
 
-    if (_uri.isEmpty()) {
+#ifdef QGC_GST_TAISYNC_ENABLED
+    bool isTaisyncUSB = qgcApp()->toolbox()->videoManager()->isTaisync();
+#else
+    bool isTaisyncUSB = false;
+#endif
+    bool isUdp  = _uri.contains("udp://")  && !isTaisyncUSB;
+    bool isRtsp = _uri.contains("rtsp://") && !isTaisyncUSB;
+    bool isTCP  = _uri.contains("tcp://")  && !isTaisyncUSB;
+
+    if (!isTaisyncUSB && _uri.isEmpty()) {
         qCritical() << "VideoReceiver::start() failed because URI is not specified";
         return;
     }
@@ -242,10 +253,6 @@ VideoReceiver::start()
 
     _starting = true;
 
-    bool isUdp  = _uri.contains("udp://");
-    bool isRtsp = _uri.contains("rtsp://");
-    bool isTCP  = _uri.contains("tcp://");
-
     //-- For RTSP and TCP, check to see if server is there first
     if(!_serverPresent && (isRtsp || isTCP)) {
         _timer.start(100);
@@ -269,7 +276,7 @@ VideoReceiver::start()
             break;
         }
 
-        if(isUdp) {
+        if(isUdp || isTaisyncUSB) {
             dataSource = gst_element_factory_make("udpsrc", "udp-source");
         } else if(isTCP) {
             dataSource = gst_element_factory_make("tcpclientsrc", "tcpclient-source");
@@ -287,12 +294,18 @@ VideoReceiver::start()
                 qCritical() << "VideoReceiver::start() failed. Error with gst_caps_from_string()";
                 break;
             }
-            g_object_set(G_OBJECT(dataSource), "uri", qPrintable(_uri), "caps", caps, nullptr);
+            g_object_set(static_cast<gpointer>(dataSource), "uri", qPrintable(_uri), "caps", caps, nullptr);
+#ifdef QGC_GST_TAISYNC_ENABLED
+        } else if(isTaisyncUSB) {
+            QString uri = QString("0.0.0.0:%1").arg(TAISYNC_VIDEO_UDP_PORT);
+            qCDebug(VideoReceiverLog) << "Taisync URI:" << uri;
+            g_object_set(static_cast<gpointer>(dataSource), "port", TAISYNC_VIDEO_UDP_PORT, nullptr);
+#endif
         } else if(isTCP) {
             QUrl url(_uri);
-            g_object_set(G_OBJECT(dataSource), "host", qPrintable(url.host()), "port", url.port(), nullptr );
+            g_object_set(static_cast<gpointer>(dataSource), "host", qPrintable(url.host()), "port", url.port(), nullptr );
         } else {
-            g_object_set(G_OBJECT(dataSource), "location", qPrintable(_uri), "latency", 17, "udp-reconnect", 1, "timeout", _udpReconnect_us, NULL);
+            g_object_set(static_cast<gpointer>(dataSource), "location", qPrintable(_uri), "latency", 17, "udp-reconnect", 1, "timeout", _udpReconnect_us, NULL);
         }
 
         // Currently, we expect H264 when using anything except for TCP.  Long term we may want this to be settable
@@ -302,11 +315,13 @@ VideoReceiver::start()
                 break;
             }
         } else {
+            if(!isTaisyncUSB) {
                 if ((demux = gst_element_factory_make("rtph264depay", "rtp-h264-depacketizer")) == nullptr) {
                 qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('rtph264depay')";
                 break;
             }
         }
+        }
 
         if ((parser = gst_element_factory_make("h264parse", "h264-parser")) == nullptr) {
             qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('h264parse')";
@@ -335,7 +350,11 @@ VideoReceiver::start()
             break;
         }
 
+        if(isTaisyncUSB) {
+            gst_bin_add_many(GST_BIN(_pipeline), dataSource, parser, _tee, queue, decoder, queue1, _videoSink, nullptr);
+        } else {
             gst_bin_add_many(GST_BIN(_pipeline), dataSource, demux, parser, _tee, queue, decoder, queue1, _videoSink, nullptr);
+        }
         pipelineUp = true;
 
         if(isUdp) {
@@ -344,6 +363,12 @@ VideoReceiver::start()
                 qCritical() << "Unable to link UDP elements.";
                 break;
             }
+        } else if(isTaisyncUSB) {
+            // Link the pipeline in front of the tee
+            if(!gst_element_link_many(dataSource, parser, _tee, queue, decoder, queue1, _videoSink, nullptr)) {
+                qCritical() << "Unable to link Taisync USB elements.";
+                break;
+            }
         } else if (isTCP) {
             if(!gst_element_link(dataSource, demux)) {
                 qCritical() << "Unable to link TCP dataSource to Demux.";
@@ -666,7 +691,7 @@ VideoReceiver::startRecording(const QString &videoFile)
     }
     emit videoFileChanged();
 
-    g_object_set(G_OBJECT(_sink->filesink), "location", qPrintable(_videoFile), nullptr);
+    g_object_set(static_cast<gpointer>(_sink->filesink), "location", qPrintable(_videoFile), nullptr);
     qCDebug(VideoReceiverLog) << "New video file:" << _videoFile;
 
     gst_object_ref(_sink->queue);

src/comm/TaisyncLink.cc

@@ -15,6 +15,7 @@
 #include "QGCApplication.h"
 #include "SettingsManager.h"
 #include "VideoSettings.h"
+#include "VideoManager.h"
 
 #include "TaisyncTelemetry.h"
 #include "TaisyncSettings.h"
@@ -102,6 +103,9 @@ TaisyncLink::_disconnect()
         _hardwareDisconnect();
         emit disconnected();
     }
+#if defined(__ios__) || defined(__android__)
+    qgcApp()->toolbox()->videoManager()->setIsTaisync(false);
+#endif
     //-- Restore video settings
     if(!_savedVideoSource.isNull()) {
         VideoSettings* pVSettings = qgcApp()->toolbox()->settingsManager()->videoSettings();
@@ -129,6 +133,10 @@ TaisyncLink::_connect(void)
         _savedVideoUDP    = pVSettings->udpPort()->rawValue();
         _savedAR          = pVSettings->aspectRatio()->rawValue();
         _savedVideoState  = pVSettings->visible();
+#if defined(__ios__) || defined(__android__)
+        //-- iOS and Android receive raw h.264 and need a different pipeline
+        qgcApp()->toolbox()->videoManager()->setIsTaisync(true);
+#endif
         pVSettings->setVisible(false);
         pVSettings->udpPort()->setRawValue(5600);
         pVSettings->aspectRatio()->setRawValue(1024.0 / 768.0);