Merge pull request #6990 from mavlink/rtspUdpTimeout

RTSP UDP timeout

src/FlightDisplay/VideoManager.cc

@@ -32,8 +32,8 @@ QGC_LOGGING_CATEGORY(VideoManagerLog, "VideoManagerLog")
 //-----------------------------------------------------------------------------
 VideoManager::VideoManager(QGCApplication* app, QGCToolbox* toolbox)
     : QGCTool(app, toolbox)
-    , _videoReceiver(NULL)
-    , _videoSettings(NULL)
+    , _videoReceiver(nullptr)
+    , _videoSettings(nullptr)
     , _fullScreen(false)
 {
 }

src/VideoStreaming/VideoReceiver.cc

@@ -56,19 +56,20 @@ VideoReceiver::VideoReceiver(QObject* parent)
     , _streaming(false)
     , _starting(false)
     , _stopping(false)
-    , _sink(NULL)
-    , _tee(NULL)
-    , _pipeline(NULL)
-    , _pipelineStopRec(NULL)
-    , _videoSink(NULL)
-    , _socket(NULL)
+    , _sink(nullptr)
+    , _tee(nullptr)
+    , _pipeline(nullptr)
+    , _pipelineStopRec(nullptr)
+    , _videoSink(nullptr)
+    , _socket(nullptr)
     , _serverPresent(false)
     , _rtspTestInterval_ms(5000)
+    , _udpReconnect_us(5000000)
 #endif
-    , _videoSurface(NULL)
+    , _videoSurface(nullptr)
     , _videoRunning(false)
     , _showFullScreen(false)
-    , _videoSettings(NULL)
+    , _videoSettings(nullptr)
 {
     _videoSurface = new VideoSurface;
     _videoSettings = qgcApp()->toolbox()->settingsManager()->videoSettings();
@@ -105,7 +106,7 @@ VideoReceiver::_setVideoSink(GstElement* sink)
 {
     if (_videoSink) {
         gst_object_unref(_videoSink);
-        _videoSink = NULL;
+        _videoSink = nullptr;
     }
     if (sink) {
         _videoSink = sink;
@@ -149,7 +150,7 @@ VideoReceiver::_connected()
     //-- Server showed up. Now we start the stream.
     _timer.stop();
     _socket->deleteLater();
-    _socket = NULL;
+    _socket = nullptr;
     if(_videoSettings->streamEnabled()->rawValue().toBool()) {
         _serverPresent = true;
         start();
@@ -164,7 +165,7 @@ VideoReceiver::_socketError(QAbstractSocket::SocketError socketError)
 {
     Q_UNUSED(socketError);
     _socket->deleteLater();
-    _socket = NULL;
+    _socket = nullptr;
     //-- Try again in a while
     if(_videoSettings->streamEnabled()->rawValue().toBool()) {
         _timer.start(_rtspTestInterval_ms);
@@ -180,7 +181,7 @@ VideoReceiver::_timeout()
     //-- If socket is live, we got no connection nor a socket error
     if(_socket) {
         delete _socket;
-        _socket = NULL;
+        _socket = nullptr;
     }
     if(_videoSettings->streamEnabled()->rawValue().toBool()) {
         //-- RTSP will try to connect to the server. If it cannot connect,
@@ -194,7 +195,7 @@ VideoReceiver::_timeout()
         _socket->setProxy(tempProxy);
         connect(_socket, static_cast<void (QTcpSocket::*)(QAbstractSocket::SocketError)>(&QTcpSocket::error), this, &VideoReceiver::_socketError);
         connect(_socket, &QTcpSocket::connected, this, &VideoReceiver::_connected);
-        _socket->connectToHost(url.host(), url.port());
+        _socket->connectToHost(url.host(), static_cast<uint16_t>(url.port()));
         _timer.start(_rtspTestInterval_ms);
     }
 }
@@ -226,7 +227,7 @@ VideoReceiver::start()
         qCritical() << "VideoReceiver::start() failed because URI is not specified";
         return;
     }
-    if (_videoSink == NULL) {
+    if (_videoSink == nullptr) {
         qCritical() << "VideoReceiver::start() failed because video sink is not set";
         return;
     }
@@ -250,16 +251,16 @@ VideoReceiver::start()
     bool running = false;
     bool pipelineUp = false;
 
-    GstElement*     dataSource  = NULL;
-    GstCaps*        caps        = NULL;
-    GstElement*     demux       = NULL;
-    GstElement*     parser      = NULL;
-    GstElement*     queue       = NULL;
-    GstElement*     decoder     = NULL;
-    GstElement*     queue1      = NULL;
+    GstElement*     dataSource  = nullptr;
+    GstCaps*        caps        = nullptr;
+    GstElement*     demux       = nullptr;
+    GstElement*     parser      = nullptr;
+    GstElement*     queue       = nullptr;
+    GstElement*     decoder     = nullptr;
+    GstElement*     queue1      = nullptr;
 
     do {
-        if ((_pipeline = gst_pipeline_new("receiver")) == NULL) {
+        if ((_pipeline = gst_pipeline_new("receiver")) == nullptr) {
             qCritical() << "VideoReceiver::start() failed. Error with gst_pipeline_new()";
             break;
         }
@@ -278,64 +279,64 @@ VideoReceiver::start()
         }
 
         if(isUdp) {
-            if ((caps = gst_caps_from_string("application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264")) == NULL) {
+            if ((caps = gst_caps_from_string("application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264")) == nullptr) {
                 qCritical() << "VideoReceiver::start() failed. Error with gst_caps_from_string()";
                 break;
             }
-            g_object_set(G_OBJECT(dataSource), "uri", qPrintable(_uri), "caps", caps, NULL);
+            g_object_set(G_OBJECT(dataSource), "uri", qPrintable(_uri), "caps", caps, nullptr);
         } else if(isTCP) {
             QUrl url(_uri);
-            g_object_set(G_OBJECT(dataSource), "host", qPrintable(url.host()), "port", url.port(), NULL );
+            g_object_set(G_OBJECT(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", static_cast<guint64>(5000000), NULL);
+            g_object_set(G_OBJECT(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
         if (isTCP) {
-            if ((demux = gst_element_factory_make("tsdemux", "mpeg2-ts-demuxer")) == NULL) {
+            if ((demux = gst_element_factory_make("tsdemux", "mpeg2-ts-demuxer")) == nullptr) {
                 qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('tsdemux')";
                 break;
             }
         } else {
-            if ((demux = gst_element_factory_make("rtph264depay", "rtp-h264-depacketizer")) == NULL) {
+            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")) == NULL) {
+        if ((parser = gst_element_factory_make("h264parse", "h264-parser")) == nullptr) {
             qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('h264parse')";
             break;
         }
 
-        if((_tee = gst_element_factory_make("tee", NULL)) == NULL)  {
+        if((_tee = gst_element_factory_make("tee", nullptr)) == nullptr)  {
             qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('tee')";
             break;
         }
 
-        if((queue = gst_element_factory_make("queue", NULL)) == NULL)  {
+        if((queue = gst_element_factory_make("queue", nullptr)) == nullptr)  {
             // TODO: We may want to add queue2 max-size-buffers=1 to get lower latency
             //       We should compare gstreamer scripts to QGroundControl to determine the need
             qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('queue')";
             break;
         }
 
-        if ((decoder = gst_element_factory_make("avdec_h264", "h264-decoder")) == NULL) {
+        if ((decoder = gst_element_factory_make("avdec_h264", "h264-decoder")) == nullptr) {
             qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('avdec_h264')";
             break;
         }
 
-        if ((queue1 = gst_element_factory_make("queue", NULL)) == NULL) {
+        if ((queue1 = gst_element_factory_make("queue", nullptr)) == nullptr) {
             qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('queue') [1]";
             break;
         }
 
-        gst_bin_add_many(GST_BIN(_pipeline), dataSource, demux, parser, _tee, queue, decoder, queue1, _videoSink, NULL);
+        gst_bin_add_many(GST_BIN(_pipeline), dataSource, demux, parser, _tee, queue, decoder, queue1, _videoSink, nullptr);
         pipelineUp = true;
 
         if(isUdp) {
             // Link the pipeline in front of the tee
-            if(!gst_element_link_many(dataSource, demux, parser, _tee, queue, decoder, queue1, _videoSink, NULL)) {
+            if(!gst_element_link_many(dataSource, demux, parser, _tee, queue, decoder, queue1, _videoSink, nullptr)) {
                 qCritical() << "Unable to link UDP elements.";
                 break;
             }
@@ -344,28 +345,28 @@ VideoReceiver::start()
                 qCritical() << "Unable to link TCP dataSource to Demux.";
                 break;
             }
-            if(!gst_element_link_many(parser, _tee, queue, decoder, queue1, _videoSink, NULL)) {
+            if(!gst_element_link_many(parser, _tee, queue, decoder, queue1, _videoSink, nullptr)) {
                 qCritical() << "Unable to link TCP pipline to parser.";
                 break;
             }
             g_signal_connect(demux, "pad-added", G_CALLBACK(newPadCB), parser);
         } else {
             g_signal_connect(dataSource, "pad-added", G_CALLBACK(newPadCB), demux);
-            if(!gst_element_link_many(demux, parser, _tee, queue, decoder, _videoSink, NULL)) {
+            if(!gst_element_link_many(demux, parser, _tee, queue, decoder, _videoSink, nullptr)) {
                 qCritical() << "Unable to link RTSP elements.";
                 break;
             }
         }
 
-        dataSource = demux = parser = queue = decoder = queue1 = NULL;
+        dataSource = demux = parser = queue = decoder = queue1 = nullptr;
 
-        GstBus* bus = NULL;
+        GstBus* bus = nullptr;
 
-        if ((bus = gst_pipeline_get_bus(GST_PIPELINE(_pipeline))) != NULL) {
+        if ((bus = gst_pipeline_get_bus(GST_PIPELINE(_pipeline))) != nullptr) {
             gst_bus_enable_sync_message_emission(bus);
             g_signal_connect(bus, "sync-message", G_CALLBACK(_onBusMessage), this);
             gst_object_unref(bus);
-            bus = NULL;
+            bus = nullptr;
         }
 
         GST_DEBUG_BIN_TO_DOT_FILE(GST_BIN(_pipeline), GST_DEBUG_GRAPH_SHOW_ALL, "pipeline-paused");
@@ -373,50 +374,50 @@ VideoReceiver::start()
 
     } while(0);
 
-    if (caps != NULL) {
+    if (caps != nullptr) {
         gst_caps_unref(caps);
-        caps = NULL;
+        caps = nullptr;
     }
 
     if (!running) {
         qCritical() << "VideoReceiver::start() failed";
 
         // In newer versions, the pipeline will clean up all references that are added to it
-        if (_pipeline != NULL) {
+        if (_pipeline != nullptr) {
             gst_object_unref(_pipeline);
-            _pipeline = NULL;
+            _pipeline = nullptr;
         }
 
         // If we failed before adding items to the pipeline, then clean up
         if (!pipelineUp) {
-            if (decoder != NULL) {
+            if (decoder != nullptr) {
                 gst_object_unref(decoder);
-                decoder = NULL;
+                decoder = nullptr;
             }
 
-            if (parser != NULL) {
+            if (parser != nullptr) {
                 gst_object_unref(parser);
-                parser = NULL;
+                parser = nullptr;
             }
 
-            if (demux != NULL) {
+            if (demux != nullptr) {
                 gst_object_unref(demux);
-                demux = NULL;
+                demux = nullptr;
             }
 
-            if (dataSource != NULL) {
+            if (dataSource != nullptr) {
                 gst_object_unref(dataSource);
-                dataSource = NULL;
+                dataSource = nullptr;
             }
 
-            if (_tee != NULL) {
+            if (_tee != nullptr) {
                 gst_object_unref(_tee);
-                dataSource = NULL;
+                dataSource = nullptr;
             }
 
-            if (queue != NULL) {
+            if (queue != nullptr) {
                 gst_object_unref(queue);
-                dataSource = NULL;
+                dataSource = nullptr;
             }
         }
 
@@ -439,7 +440,7 @@ VideoReceiver::stop()
     qCDebug(VideoReceiverLog) << "stop()";
     if(!_streaming) {
         _shutdownPipeline();
-    } else if (_pipeline != NULL && !_stopping) {
+    } else if (_pipeline != nullptr && !_stopping) {
         qCDebug(VideoReceiverLog) << "Stopping _pipeline";
         gst_element_send_event(_pipeline, gst_event_new_eos());
         _stopping = true;
@@ -472,18 +473,18 @@ VideoReceiver::_shutdownPipeline() {
         qCDebug(VideoReceiverLog) << "No pipeline";
         return;
     }
-    GstBus* bus = NULL;
-    if ((bus = gst_pipeline_get_bus(GST_PIPELINE(_pipeline))) != NULL) {
+    GstBus* bus = nullptr;
+    if ((bus = gst_pipeline_get_bus(GST_PIPELINE(_pipeline))) != nullptr) {
         gst_bus_disable_sync_message_emission(bus);
         gst_object_unref(bus);
-        bus = NULL;
+        bus = nullptr;
     }
     gst_element_set_state(_pipeline, GST_STATE_NULL);
     gst_bin_remove(GST_BIN(_pipeline), _videoSink);
     gst_object_unref(_pipeline);
-    _pipeline = NULL;
+    _pipeline = nullptr;
     delete _sink;
-    _sink = NULL;
+    _sink = nullptr;
     _serverPresent = false;
     _streaming = false;
     _recording = false;
@@ -535,7 +536,7 @@ gboolean
 VideoReceiver::_onBusMessage(GstBus* bus, GstMessage* msg, gpointer data)
 {
     Q_UNUSED(bus)
-    Q_ASSERT(msg != NULL && data != NULL);
+    Q_ASSERT(msg != nullptr && data != nullptr);
     VideoReceiver* pThis = (VideoReceiver*)data;
 
     switch(GST_MESSAGE_TYPE(msg)) {
@@ -622,7 +623,7 @@ VideoReceiver::startRecording(const QString &videoFile)
 
     qCDebug(VideoReceiverLog) << "startRecording()";
     // exit immediately if we are already recording
-    if(_pipeline == NULL || _recording) {
+    if(_pipeline == nullptr || _recording) {
         qCDebug(VideoReceiverLog) << "Already recording!";
         return;
     }
@@ -638,10 +639,10 @@ VideoReceiver::startRecording(const QString &videoFile)
 
     _sink           = new Sink();
     _sink->teepad   = gst_element_get_request_pad(_tee, "src_%u");
-    _sink->queue    = gst_element_factory_make("queue", NULL);
-    _sink->parse    = gst_element_factory_make("h264parse", NULL);
-    _sink->mux      = gst_element_factory_make(kVideoMuxes[muxIdx], NULL);
-    _sink->filesink = gst_element_factory_make("filesink", NULL);
+    _sink->queue    = gst_element_factory_make("queue", nullptr);
+    _sink->parse    = gst_element_factory_make("h264parse", nullptr);
+    _sink->mux      = gst_element_factory_make(kVideoMuxes[muxIdx], nullptr);
+    _sink->filesink = gst_element_factory_make("filesink", nullptr);
     _sink->removing = false;
 
     if(!_sink->teepad || !_sink->queue || !_sink->mux || !_sink->filesink || !_sink->parse) {
@@ -661,7 +662,7 @@ VideoReceiver::startRecording(const QString &videoFile)
     }
     emit videoFileChanged();
 
-    g_object_set(G_OBJECT(_sink->filesink), "location", qPrintable(_videoFile), NULL);
+    g_object_set(G_OBJECT(_sink->filesink), "location", qPrintable(_videoFile), nullptr);
     qCDebug(VideoReceiverLog) << "New video file:" << _videoFile;
 
     gst_object_ref(_sink->queue);
@@ -669,8 +670,8 @@ VideoReceiver::startRecording(const QString &videoFile)
     gst_object_ref(_sink->mux);
     gst_object_ref(_sink->filesink);
 
-    gst_bin_add_many(GST_BIN(_pipeline), _sink->queue, _sink->parse, _sink->mux, _sink->filesink, NULL);
-    gst_element_link_many(_sink->queue, _sink->parse, _sink->mux, _sink->filesink, NULL);
+    gst_bin_add_many(GST_BIN(_pipeline), _sink->queue, _sink->parse, _sink->mux, _sink->filesink, nullptr);
+    gst_element_link_many(_sink->queue, _sink->parse, _sink->mux, _sink->filesink, nullptr);
 
     gst_element_sync_state_with_parent(_sink->queue);
     gst_element_sync_state_with_parent(_sink->parse);
@@ -681,7 +682,7 @@ VideoReceiver::startRecording(const QString &videoFile)
     // When we hit our first keyframe, we can offset the timestamps appropriately according to the first keyframe time
     // This will ensure the first frame is a keyframe at t=0, and decoding can begin immediately on playback
     GstPad* probepad = gst_element_get_static_pad(_sink->queue, "src");
-    gst_pad_add_probe(probepad, (GstPadProbeType)(GST_PAD_PROBE_TYPE_BUFFER /* | GST_PAD_PROBE_TYPE_BLOCK */), _keyframeWatch, this, NULL); // to drop the buffer or to block the buffer?
+    gst_pad_add_probe(probepad, (GstPadProbeType)(GST_PAD_PROBE_TYPE_BUFFER /* | GST_PAD_PROBE_TYPE_BLOCK */), _keyframeWatch, this, nullptr); // to drop the buffer or to block the buffer?
     gst_object_unref(probepad);
 
     // Link the recording branch to the pipeline
@@ -706,12 +707,12 @@ VideoReceiver::stopRecording(void)
 #if defined(QGC_GST_STREAMING)
     qCDebug(VideoReceiverLog) << "stopRecording()";
     // exit immediately if we are not recording
-    if(_pipeline == NULL || !_recording) {
+    if(_pipeline == nullptr || !_recording) {
         qCDebug(VideoReceiverLog) << "Not recording!";
         return;
     }
     // Wait for data block before unlinking
-    gst_pad_add_probe(_sink->teepad, GST_PAD_PROBE_TYPE_IDLE, _unlinkCallBack, this, NULL);
+    gst_pad_add_probe(_sink->teepad, GST_PAD_PROBE_TYPE_IDLE, _unlinkCallBack, this, nullptr);
 #endif
 }
 
@@ -732,7 +733,7 @@ VideoReceiver::_shutdownRecordingBranch()
 
     gst_element_set_state(_pipelineStopRec, GST_STATE_NULL);
     gst_object_unref(_pipelineStopRec);
-    _pipelineStopRec = NULL;
+    _pipelineStopRec = nullptr;
 
     gst_element_set_state(_sink->filesink,  GST_STATE_NULL);
     gst_element_set_state(_sink->parse,     GST_STATE_NULL);
@@ -745,7 +746,7 @@ VideoReceiver::_shutdownRecordingBranch()
     gst_object_unref(_sink->filesink);
 
     delete _sink;
-    _sink = NULL;
+    _sink = nullptr;
     _recording = false;
 
     emit recordingChanged();
@@ -765,7 +766,7 @@ VideoReceiver::_detachRecordingBranch(GstPadProbeInfo* info)
     Q_UNUSED(info)
 
     // Also unlinks and unrefs
-    gst_bin_remove_many(GST_BIN(_pipeline), _sink->queue, _sink->parse, _sink->mux, _sink->filesink, NULL);
+    gst_bin_remove_many(GST_BIN(_pipeline), _sink->queue, _sink->parse, _sink->mux, _sink->filesink, nullptr);
 
     // Give tee its pad back
     gst_element_release_request_pad(_tee, _sink->teepad);
@@ -775,8 +776,8 @@ VideoReceiver::_detachRecordingBranch(GstPadProbeInfo* info)
     _pipelineStopRec = gst_pipeline_new("pipeStopRec");
 
     // Put our elements from the recording branch into the temporary pipeline
-    gst_bin_add_many(GST_BIN(_pipelineStopRec), _sink->queue, _sink->parse, _sink->mux, _sink->filesink, NULL);
-    gst_element_link_many(_sink->queue, _sink->parse, _sink->mux, _sink->filesink, NULL);
+    gst_bin_add_many(GST_BIN(_pipelineStopRec), _sink->queue, _sink->parse, _sink->mux, _sink->filesink, nullptr);
+    gst_element_link_many(_sink->queue, _sink->parse, _sink->mux, _sink->filesink, nullptr);
 
     // Add handler for EOS event
     GstBus* bus = gst_pipeline_get_bus(GST_PIPELINE(_pipelineStopRec));
@@ -802,8 +803,8 @@ GstPadProbeReturn
 VideoReceiver::_unlinkCallBack(GstPad* pad, GstPadProbeInfo* info, gpointer user_data)
 {
     Q_UNUSED(pad);
-    if(info != NULL && user_data != NULL) {
-        VideoReceiver* pThis = (VideoReceiver*)user_data;
+    if(info != nullptr && user_data != nullptr) {
+        VideoReceiver* pThis = static_cast<VideoReceiver*>(user_data);
         // We will only act once
         if(g_atomic_int_compare_and_exchange(&pThis->_sink->removing, FALSE, TRUE)) {
             pThis->_detachRecordingBranch(info);
@@ -819,12 +820,12 @@ GstPadProbeReturn
 VideoReceiver::_keyframeWatch(GstPad* pad, GstPadProbeInfo* info, gpointer user_data)
 {
     Q_UNUSED(pad);
-    if(info != NULL && user_data != NULL) {
+    if(info != nullptr && user_data != nullptr) {
         GstBuffer* buf = gst_pad_probe_info_get_buffer(info);
         if(GST_BUFFER_FLAG_IS_SET(buf, GST_BUFFER_FLAG_DELTA_UNIT)) { // wait for a keyframe
             return GST_PAD_PROBE_DROP;
         } else {
-            VideoReceiver* pThis = (VideoReceiver*)user_data;
+            VideoReceiver* pThis = static_cast<VideoReceiver*>(user_data);
             // reset the clock
             GstClock* clock = gst_pipeline_get_clock(GST_PIPELINE(pThis->_pipeline));
             GstClockTime time = gst_clock_get_time(clock);
@@ -869,9 +870,9 @@ VideoReceiver::_updateTimer()
             time_t elapsed = 0;
             time_t lastFrame = _videoSurface->lastFrame();
             if(lastFrame != 0) {
-                elapsed = time(0) - _videoSurface->lastFrame();
+                elapsed = time(nullptr) - _videoSurface->lastFrame();
             }
-            if(elapsed > (time_t)timeout && _videoSurface) {
+            if(elapsed > static_cast<time_t>(timeout) && _videoSurface) {
                 stop();
                 // We want to start it back again with _updateTimer
                 _stop = false;

src/VideoStreaming/VideoReceiver.h

@@ -44,7 +44,7 @@ public:
     Q_PROPERTY(QString          videoFile           READ    videoFile           NOTIFY  videoFileChanged)
     Q_PROPERTY(bool             showFullScreen      READ    showFullScreen      WRITE   setShowFullScreen     NOTIFY showFullScreenChanged)
 
-    explicit VideoReceiver(QObject* parent = 0);
+    explicit VideoReceiver(QObject* parent = nullptr);
     ~VideoReceiver();
 
 #if defined(QGC_GST_STREAMING)
@@ -138,6 +138,9 @@ protected:
     bool            _serverPresent;
     int             _rtspTestInterval_ms;
 
+    //-- RTSP UDP reconnect timeout
+    uint64_t        _udpReconnect_us;
+
 #endif
 
     QString         _uri;