Make VideoReceiver standalone

.gitmodules

@@ -8,5 +8,5 @@
 	path = libs/OpenSSL/android_openssl
 	url = https://github.com/Auterion/android_openssl
 [submodule "libs/gst-plugins-good"]
-	path = libs/gst-plugins-good
+	path = libs/qmlglsink/gst-plugins-good
 	url = https://github.com/mavlink/gst-plugins-good.git

CMakeLists.txt

@@ -102,8 +102,6 @@ if (GST_FOUND)
         -DQGC_GST_TAISYNC_ENABLED
         -DQGC_GST_MICROHARD_ENABLED
     )
-
-    include(qmlglsink.cmake)
 endif()
 
 add_definitions(

VideoReceiverApp/CMakeLists.txt

+cmake_minimum_required(VERSION 3.10)
+
+project(VideoReceiverApp LANGUAGES C CXX)
+
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
+
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+set(CMAKE_AUTORCC ON)
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+
+include(FeatureSummary)
+
+if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang" OR "${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
+    add_compile_options(-Wall -Wextra -Wno-address-of-packed-member)
+endif()
+
+# CMake build type
+# Debug Release RelWithDebInfo MinSizeRel Coverage
+if (NOT CMAKE_BUILD_TYPE)
+    # default to release with debug symbols
+    set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "Build type" FORCE)
+endif()
+
+set(QGC_ROOT ${CMAKE_SOURCE_DIR}/..)
+
+# Add folder where are supportive functions
+list(APPEND CMAKE_MODULE_PATH ${QGC_ROOT}/cmake)
+
+# Configure Qt5 to get necessary variables
+include(Qt5QGCConfiguration)
+message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
+message(STATUS "Qt version: ${QT_VERSION}")
+message(STATUS "Qt spec: ${QT_MKSPEC}")
+
+set(COMPANY "Auterion")
+set(COPYRIGHT "Copyright (c) 2020 VideoReceiverApp. All rights reserved.")
+set(IDENTIFIER "labs.auterion.VideoReceiverApp")
+
+include(Git)
+message(STATUS "VideoReceiverApp version: ${GIT_VERSION}")
+
+#=============================================================================
+# ccache
+#
+option(CCACHE "Use ccache if available" ON)
+find_program(CCACHE_PROGRAM ccache)
+if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
+    set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
+endif()
+
+#=============================================================================
+# Compile QML
+#
+option(COMPILE_QML "Pre-compile QML files using the Qt Quick compiler." FALSE)
+add_feature_info(COMPILE_QML COMPILE_QML "Pre-compile QML files using the Qt Quick compiler.")
+if(COMPILE_QML)
+    find_package(Qt5QuickCompiler)
+
+    set_package_properties(Qt5QuickCompiler PROPERTIES
+        DESCRIPTION "Pre-compile QML files using the Qt Quick compiler."
+        TYPE OPTIONAL
+        )
+endif()
+
+#=============================================================================
+# Debug QML
+#
+option(DEBUG_QML "Build VideoReceiverApp with QML debugging/profiling support." FALSE)
+add_feature_info(DEBUG_QML DEBUG_QML "Build VideoReceiverApp with QML debugging/profiling support.")
+if(DEBUG_QML)
+    message(STATUS "To enable the QML debugger/profiler, run with: '-qmljsdebugger=port:1234'")
+    add_definitions(-DQMLJSDEBUGGER)
+    add_definitions(-DQT_DECLARATIVE_DEBUG)
+    add_definitions(-DQT_QML_DEBUG)
+endif()
+
+#=============================================================================
+# GStreamer
+#
+find_package(PkgConfig)
+pkg_check_modules(GST
+    gstreamer-1.0>=1.14
+    gstreamer-video-1.0>=1.14
+    gstreamer-gl-1.0>=1.14
+    egl
+    )
+
+if (GST_FOUND)
+    include_directories(
+        ${GST_INCLUDE_DIRS}
+        )
+endif()
+
+#=============================================================================
+# Qt5
+#
+find_package(Qt5 ${QT_VERSION}
+    COMPONENTS
+    Bluetooth
+    Charts
+    Concurrent
+    Core
+    Location
+    Multimedia
+    Network
+    Positioning
+    Quick
+    QuickWidgets
+    OpenGL
+    Sql
+    Svg
+    Test
+    TextToSpeech
+    Widgets
+    Xml
+    REQUIRED
+    HINTS
+    ${QT_LIBRARY_HINTS}
+    )
+
+# Sets the default flags for compilation and linking.
+include(CompileOptions)
+
+include_directories(
+    ${QGC_ROOT}/src
+    ${CMAKE_CURRENT_BINARY_DIR}
+    ${Qt5Location_PRIVATE_INCLUDE_DIRS}
+    VideoReceiver
+    )
+
+add_subdirectory(${QGC_ROOT}/libs/qmlglsink qmlglsink.build)
+add_subdirectory(${QGC_ROOT}/src/VideoReceiver VideoReceiver.build)
+
+set(VIDEORECIVERAPP_SOURCES main.cpp ${QGC_ROOT}/src/QGCLoggingCategory.cc)
+set(VIDEORECIVERAPP_RESOURCES qml.qrc)
+
+if(ANDROID)
+    add_library(VideoReceiverApp SHARED ${VIDEORECIVERAPP_SOURCES} ${VIDEORECIVERAPP_RESOURCES})
+else()
+    add_executable(VideoReceiverApp ${VIDEORECIVERAPP_SOURCES} ${VIDEORECIVERAPP_RESOURCES})
+endif()
+
+target_link_libraries(VideoReceiverApp
+    PRIVATE
+        VideoReceiver
+        Qt5::Core
+        Qt5::Multimedia
+        Qt5::OpenGL
+        Qt5::Quick
+        Qt5::QuickWidgets
+)

VideoReceiverApp/Info.plist

+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleDisplayName</key>
+	<string>QQmlGlSinkTest</string>
+	<key>CFBundleExecutable</key>
+	<string>$(EXECUTABLE_NAME)</string>
+	<key>NSHumanReadableCopyright</key>
+	<string>Open Source Flight Systems GmbH - Internal Build</string>
+	<key>CFBundleIconFile</key>
+	<string></string>
+	<key>CFBundleIdentifier</key>
+	<string>labs.auterion.VideoReceiverApp</string>
+	<key>CFBundleName</key>
+	<string>$(PRODUCT_NAME)</string>
+	<key>CFBundlePackageType</key>
+	<string>APPL</string>
+	<key>CFBundleShortVersionString</key>
+	<string>0.0.0</string>
+	<key>CFBundleSignature</key>
+	<string>????</string>
+	<key>CFBundleVersion</key>
+	<string>1</string>
+	<key>LSRequiresIPhoneOS</key>
+	<true/>
+	<key>UIFileSharingEnabled</key>
+	<true/>
+</dict>
+</plist>

VideoReceiverApp/android/AndroidManifest.xml

+<?xml version="1.0"?>
+<manifest package="labs.mavlink.VideoReceiverApp" xmlns:android="http://schemas.android.com/apk/res/android" android:versionName="1" android:versionCode="100000" android:installLocation="auto">
+    <application android:hardwareAccelerated="true" android:name="org.qtproject.qt5.android.bindings.QtApplication" android:label="-- %%INSERT_APP_NAME%% --" android:icon="@drawable/icon">
+        <activity android:configChanges="orientation|uiMode|screenLayout|screenSize|smallestScreenSize|locale|fontScale|keyboard|keyboardHidden|navigation" android:name="labs.mavlink.VideoReceiverApp.QGLSinkActivity" android:label="-- %%INSERT_APP_NAME%% --" android:screenOrientation="sensorLandscape" android:launchMode="singleTask" android:keepScreenOn="true">
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN"/>
+                <category android:name="android.intent.category.LAUNCHER"/>
+                <action android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED"/>
+                <action android:name="android.hardware.usb.action.USB_DEVICE_DETACHED"/>
+                <action android:name="android.bluetooth.device.action.ACL_CONNECTED"/>
+                <action android:name="android.bluetooth.device.action.ACL_DISCONNECTED"/>
+                <action android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED"/>
+            </intent-filter>
+
+            <!-- Rest of Standard Manifest -->
+            <meta-data android:name="android.app.lib_name" android:value="-- %%INSERT_APP_LIB_NAME%% --"/>
+            <meta-data android:name="android.app.qt_sources_resource_id" android:resource="@array/qt_sources"/>
+            <meta-data android:name="android.app.repository" android:value="default"/>
+            <meta-data android:name="android.app.qt_libs_resource_id" android:resource="@array/qt_libs"/>
+            <meta-data android:name="android.app.bundled_libs_resource_id" android:resource="@array/bundled_libs"/>
+            <!-- Deploy Qt libs as part of package -->
+            <meta-data android:name="android.app.bundle_local_qt_libs" android:value="-- %%BUNDLE_LOCAL_QT_LIBS%% --"/>
+            <meta-data android:name="android.app.bundled_in_lib_resource_id" android:resource="@array/bundled_in_lib"/>
+            <meta-data android:name="android.app.bundled_in_assets_resource_id" android:resource="@array/bundled_in_assets"/>
+            <!-- Run with local libs -->
+            <meta-data android:name="android.app.use_local_qt_libs" android:value="-- %%USE_LOCAL_QT_LIBS%% --"/>
+            <meta-data android:name="android.app.libs_prefix" android:value="/data/local/tmp/qt/"/>
+            <meta-data android:name="android.app.load_local_libs" android:value="-- %%INSERT_LOCAL_LIBS%% --"/>
+            <meta-data android:name="android.app.load_local_jars" android:value="-- %%INSERT_LOCAL_JARS%% --"/>
+            <meta-data android:name="android.app.static_init_classes" android:value="-- %%INSERT_INIT_CLASSES%% --"/>
+            <!--  Messages maps -->
+            <meta-data android:value="@string/ministro_not_found_msg" android:name="android.app.ministro_not_found_msg"/>
+            <meta-data android:value="@string/ministro_needed_msg" android:name="android.app.ministro_needed_msg"/>
+            <meta-data android:value="@string/fatal_error_msg" android:name="android.app.fatal_error_msg"/>
+            <!--  Messages maps -->
+
+            <!-- Splash screen -->
+            <!--
+            <meta-data android:name="android.app.splash_screen_drawable" android:resource="@drawable/logo"/>
+            -->
+            <!-- Splash screen -->
+
+            <!-- Background running -->
+            <!-- Warning: changing this value to true may cause unexpected crashes if the
+                          application still try to draw after
+                          "applicationStateChanged(Qt::ApplicationSuspended)"
+                          signal is sent! -->
+            <meta-data android:name="android.app.background_running" android:value="false"/>
+            <!-- Background running -->
+        </activity>
+    </application>
+    <uses-sdk android:minSdkVersion="16" android:targetSdkVersion="28"/>
+
+    <!-- Needed to keep working while 'asleep' -->
+
+
+    <!-- The following comment will be replaced upon deployment with default permissions based on the dependencies of the application.
+         Remove the comment if you do not require these default permissions. -->
+    <!-- %%INSERT_PERMISSIONS -->
+
+    <!-- Support devices without USB host mode since there are other connection types -->
+    <uses-feature android:name="android.hardware.usb.host" android:required="false"/>
+
+    <!-- Support devices without Bluetooth since there are other connection types -->
+    <uses-feature android:name="android.hardware.bluetooth" android:required="false"/>
+
+    <!-- Support devices that don't have location services -->
+    <uses-feature android:name="android.hardware.location.gps" android:required="false"/>
+    <uses-feature android:name="android.hardware.location.network" android:required="false"/>
+    <uses-feature android:name="android.hardware.location" android:required="false"/>
+    <uses-feature android:name="android.hardware.usb.accessory"/>
+
+
+        <uses-permission android:name="android.permission.INTERNET"/>
+        <uses-permission android:name="android.permission.WRITE_INTERNAL_STORAGE"/>
+        <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"/>
+
+    <!-- The following comment will be replaced upon deployment with default features based on the dependencies of the application.
+         Remove the comment if you do not require these default features. -->
+    <!-- %%INSERT_FEATURES -->
+
+</manifest>

VideoReceiverApp/android/AndroidManifest.xml.in

+<?xml version="1.0"?>
+<manifest android:versionName="@QT_ANDROID_APP_VERSION@" package="@QT_ANDROID_APP_PACKAGE_NAME@" android:installLocation="auto" xmlns:android="http://schemas.android.com/apk/res/android" android:versionCode="@QT_ANDROID_APP_VERSION_CODE@">
+    <application android:label="@QT_ANDROID_APP_NAME@" android:name="org.qtproject.qt5.android.bindings.QtApplication">
+		<activity android:label="@QT_ANDROID_APP_NAME@" android:name="org.qtproject.qt5.android.bindings.QtActivity" android:screenOrientation="unspecified" android:configChanges="orientation|uiMode|screenLayout|screenSize|smallestScreenSize|locale|fontScale|keyboard|keyboardHidden|navigation">
+			<intent-filter>
+				<action android:name="android.intent.action.MAIN"/>
+				<category android:name="android.intent.category.LAUNCHER"/>
+			</intent-filter>
+			<meta-data android:name="android.app.lib_name" android:value="-- %%INSERT_APP_LIB_NAME%% --"/>
+			<meta-data android:name="android.app.qt_sources_resource_id" android:resource="@array/qt_sources"/>
+			<meta-data android:name="android.app.repository" android:value="default"/>
+			<meta-data android:name="android.app.qt_libs_resource_id" android:resource="@array/qt_libs"/>
+			<meta-data android:name="android.app.bundled_libs_resource_id" android:resource="@array/bundled_libs"/>
+			<!-- Deploy Qt libs as part of package -->
+			<meta-data android:name="android.app.bundle_local_qt_libs" android:value="-- %%BUNDLE_LOCAL_QT_LIBS%% --"/>
+			<meta-data android:name="android.app.bundled_in_lib_resource_id" android:resource="@array/bundled_in_lib"/>
+			<meta-data android:name="android.app.bundled_in_assets_resource_id" android:resource="@array/bundled_in_assets"/>
+			<!-- Run with local libs -->
+			<meta-data android:name="android.app.use_local_qt_libs" android:value="-- %%USE_LOCAL_QT_LIBS%% --"/>
+			<meta-data android:name="android.app.libs_prefix" android:value="/data/local/tmp/qt/"/>
+			<meta-data android:name="android.app.load_local_libs" android:value="-- %%INSERT_LOCAL_LIBS%% --"/>
+			<meta-data android:name="android.app.load_local_jars" android:value="-- %%INSERT_LOCAL_JARS%% --"/>
+			<meta-data android:name="android.app.static_init_classes" android:value="-- %%INSERT_INIT_CLASSES%% --"/>
+			<!--  Messages maps -->
+			<!--<meta-data android:name="android.app.ministro_not_found_msg" android:value="@string/ministro_not_found_msg"/>
+			<meta-data android:name="android.app.ministro_needed_msg" android:value="@string/ministro_needed_msg"/>
+			<meta-data android:name="android.app.fatal_error_msg" android:value="@string/fatal_error_msg"/>-->
+		</activity>
+	</application>
+	<supports-screens android:anyDensity="true" android:normalScreens="true" android:smallScreens="true" android:largeScreens="true"/>
+	<uses-sdk android:minSdkVersion="18" android:targetSdkVersion="19"/>
+	<uses-permission android:name="android.permission.INTERNET" />
+</manifest>

VideoReceiverApp/android/build.gradle

+buildscript {
+
+    repositories {
+        maven  {
+            url "http://repo1.maven.org/maven2"
+        }
+    }
+
+    dependencies {
+        classpath 'com.android.tools.build:gradle:1.1.0'
+    }
+}
+
+allprojects {
+    repositories {
+        jcenter()
+    }
+}
+
+apply plugin: 'com.android.application'
+
+dependencies {
+    compile fileTree(dir: 'libs', include: ['*.jar'])
+}
+
+android {
+    /*******************************************************
+     * The following variables:
+     * - androidBuildToolsVersion,
+     * - androidCompileSdkVersion
+     * - qt5AndroidDir - holds the path to qt android files
+     *                   needed to build any Qt application
+     *                   on Android.
+     *
+     * are defined in gradle.properties file. This file is
+     * updated by QtCreator and androiddeployqt tools.
+     * Changing them manually might break the compilation!
+     *******************************************************/
+
+    compileSdkVersion androidCompileSdkVersion.toInteger()
+
+    buildToolsVersion androidBuildToolsVersion
+
+    sourceSets {
+        main {
+            manifest.srcFile 'AndroidManifest.xml'
+            java.srcDirs = [qt5AndroidDir + '/src', 'src', 'java']
+            aidl.srcDirs = [qt5AndroidDir + '/src', 'src', 'aidl']
+            res.srcDirs = [qt5AndroidDir + '/res', 'res']
+            resources.srcDirs = ['src']
+            renderscript.srcDirs = ['src']
+            assets.srcDirs = ['assets']
+            jniLibs.srcDirs = ['libs']
+       }
+    }
+
+    aaptOptions {
+        cruncherEnabled = false
+    }
+
+    lintOptions {
+        abortOnError false
+    }
+}

VideoReceiverApp/android/gradle/wrapper/gradle-wrapper.properties

+#Wed Apr 10 15:27:10 PDT 2013
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-2.2.1-all.zip

VideoReceiverApp/android/gradlew

+#!/usr/bin/env bash
+
+##############################################################################
+##
+##  Gradle start up script for UN*X
+##
+##############################################################################
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS=""
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn ( ) {
+    echo "$*"
+}
+
+die ( ) {
+    echo
+    echo "$*"
+    echo
+    exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+case "`uname`" in
+  CYGWIN* )
+    cygwin=true
+    ;;
+  Darwin* )
+    darwin=true
+    ;;
+  MINGW* )
+    msys=true
+    ;;
+esac
+
+# For Cygwin, ensure paths are in UNIX format before anything is touched.
+if $cygwin ; then
+    [ -n "$JAVA_HOME" ] && JAVA_HOME=`cygpath --unix "$JAVA_HOME"`
+fi
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+    ls=`ls -ld "$PRG"`
+    link=`expr "$ls" : '.*-> \(.*\)$'`
+    if expr "$link" : '/.*' > /dev/null; then
+        PRG="$link"
+    else
+        PRG=`dirname "$PRG"`"/$link"
+    fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >&-
+APP_HOME="`pwd -P`"
+cd "$SAVED" >&-
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD="$JAVA_HOME/jre/sh/java"
+    else
+        JAVACMD="$JAVA_HOME/bin/java"
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD="java"
+    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then
+    MAX_FD_LIMIT=`ulimit -H -n`
+    if [ $? -eq 0 ] ; then
+        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+            MAX_FD="$MAX_FD_LIMIT"
+        fi
+        ulimit -n $MAX_FD
+        if [ $? -ne 0 ] ; then
+            warn "Could not set maximum file descriptor limit: $MAX_FD"
+        fi
+    else
+        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+    fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin, switch paths to Windows format before running java
+if $cygwin ; then
+    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+
+    # We build the pattern for arguments to be converted via cygpath
+    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+    SEP=""
+    for dir in $ROOTDIRSRAW ; do
+        ROOTDIRS="$ROOTDIRS$SEP$dir"
+        SEP="|"
+    done
+    OURCYGPATTERN="(^($ROOTDIRS))"
+    # Add a user-defined pattern to the cygpath arguments
+    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+    fi
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    i=0
+    for arg in "$@" ; do
+        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
+
+        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
+            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+        else
+            eval `echo args$i`="\"$arg\""
+        fi
+        i=$((i+1))
+    done
+    case $i in
+        (0) set -- ;;
+        (1) set -- "$args0" ;;
+        (2) set -- "$args0" "$args1" ;;
+        (3) set -- "$args0" "$args1" "$args2" ;;
+        (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+        (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+        (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+        (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+        (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+        (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+    esac
+fi
+
+# Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules
+function splitJvmOpts() {
+    JVM_OPTS=("$@")
+}
+eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS
+JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME"
+
+exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@"

VideoReceiverApp/android/gradlew.bat

+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS=
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto init
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto init
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:init
+@rem Get command-line arguments, handling Windowz variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+if "%@eval[2+2]" == "4" goto 4NT_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+goto execute
+
+:4NT_args
+@rem Get arguments from the 4NT Shell from JP Software
+set CMD_LINE_ARGS=%$
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega

VideoReceiverApp/android/res/values/libs.xml

+<?xml version='1.0' encoding='utf-8'?>
+<resources>
+    <array name="qt_sources">
+        <item>https://download.qt-project.org/ministro/android/qt5/qt-5.4</item>
+    </array>
+
+    <!-- The following is handled automatically by the deployment tool. It should
+         not be edited manually. -->
+
+    <array name="bundled_libs">
+        <!-- %%INSERT_EXTRA_LIBS%% -->
+    </array>
+
+     <array name="qt_libs">
+         <!-- %%INSERT_QT_LIBS%% -->
+     </array>
+
+    <array name="bundled_in_lib">
+        <!-- %%INSERT_BUNDLED_IN_LIB%% -->
+    </array>
+    <array name="bundled_in_assets">
+        <!-- %%INSERT_BUNDLED_IN_ASSETS%% -->
+    </array>
+
+</resources>

VideoReceiverApp/android/src/labs/mavlink/VideoReceiverApp/QGLSinkActivity.java

+package labs.mavlink.VideoReceiverApp;
+
+/* Copyright 2013 Google Inc.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301,
+ * USA.
+ *
+ * Project home page: http://code.google.com/p/usb-serial-for-android/
+ */
+///////////////////////////////////////////////////////////////////////////////////////////
+//  Written by: Mike Goza April 2014
+//
+//  These routines interface with the Android USB Host devices for serial port communication.
+//  The code uses the usb-serial-for-android software library.  The QGCActivity class is the
+//  interface to the C++ routines through jni calls.  Do not change the functions without also
+//  changing the corresponding calls in the C++ routines or you will break the interface.
+//
+////////////////////////////////////////////////////////////////////////////////////////////
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.ArrayList;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+import java.util.Timer;
+import java.util.TimerTask;
+import java.io.IOException;
+
+import android.app.Activity;
+import android.app.PendingIntent;
+import android.content.BroadcastReceiver;
+import android.content.Context;
+import android.content.Intent;
+import android.content.IntentFilter;
+import android.hardware.usb.UsbAccessory;
+import android.hardware.usb.UsbDevice;
+import android.hardware.usb.UsbDeviceConnection;
+import android.hardware.usb.UsbManager;
+import android.widget.Toast;
+import android.util.Log;
+import android.os.PowerManager;
+import android.os.Bundle;
+import android.app.PendingIntent;
+import android.view.WindowManager;
+import android.os.Bundle;
+import android.bluetooth.BluetoothDevice;
+
+import org.qtproject.qt5.android.bindings.QtActivity;
+import org.qtproject.qt5.android.bindings.QtApplication;
+
+public class QGLSinkActivity extends QtActivity
+{
+    public native void nativeInit();
+
+    // QGLSinkActivity singleton
+    public QGLSinkActivity() {
+    }
+
+    @Override
+    public void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        nativeInit();
+    }
+
+    @Override
+    public void onResume() {
+        super.onResume();
+    }
+
+    @Override
+    protected void onDestroy() {
+        super.onDestroy();
+    }
+
+    public void onInit(int status) {
+    }
+
+    public void jniOnLoad() {
+        nativeInit();
+    }
+}

VideoReceiverApp/android/src/org/freedesktop/gstreamer/androidmedia/GstAhcCallback.java

+/*
+ * Copyright (C) 2012, Collabora Ltd.
+ *   Author: Youness Alaoui
+ *
+ * Copyright (C) 2015, Collabora Ltd.
+ *   Author: Justin Kim <justin.kim@collabora.com>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation
+ * version 2.1 of the License.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
+ *
+ */
+
+package org.freedesktop.gstreamer.androidmedia;
+
+import android.hardware.Camera;
+
+public class GstAhcCallback implements Camera.PreviewCallback,
+                                       Camera.ErrorCallback,
+                                       Camera.AutoFocusCallback {
+    public long mUserData;
+    public long mCallback;
+
+    public static native void gst_ah_camera_on_preview_frame(byte[] data, Camera camera,
+                                                             long callback, long user_data);
+    public static native void gst_ah_camera_on_error(int error, Camera camera,
+                                                     long callback, long user_data);
+    public static native void gst_ah_camera_on_auto_focus(boolean success, Camera camera,
+                                                             long callback, long user_data);
+
+    public GstAhcCallback(long callback, long user_data) {
+        mCallback = callback;
+        mUserData = user_data;
+    }
+
+    @Override
+    public void onPreviewFrame(byte[] data, Camera camera) {
+        gst_ah_camera_on_preview_frame(data, camera, mCallback, mUserData);
+    }
+
+    @Override
+    public void onError(int error, Camera camera) {
+        gst_ah_camera_on_error(error, camera, mCallback, mUserData);
+    }
+
+    @Override
+    public void onAutoFocus(boolean success, Camera camera) {
+        gst_ah_camera_on_auto_focus(success, camera, mCallback, mUserData);
+    }
+}

VideoReceiverApp/android/src/org/freedesktop/gstreamer/androidmedia/GstAhsCallback.java

+/*
+ * Copyright (C) 2016 SurroundIO
+ *   Author: Martin Kelly <martin@surround.io>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Library General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Library General Public License for more details.
+ *
+ * You should have received a copy of the GNU Library General Public
+ * License along with this library; if not, write to the
+ * Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ * Boston, MA 02110-1301, USA.
+ */
+
+package org.freedesktop.gstreamer.androidmedia;
+
+import android.hardware.Sensor;
+import android.hardware.SensorEvent;
+import android.hardware.SensorEventListener;
+
+public class GstAhsCallback implements SensorEventListener {
+    public long mUserData;
+    public long mSensorCallback;
+    public long mAccuracyCallback;
+
+    public static native void gst_ah_sensor_on_sensor_changed(SensorEvent event,
+                                                              long callback, long user_data);
+    public static native void gst_ah_sensor_on_accuracy_changed(Sensor sensor, int accuracy,
+                                                                long callback, long user_data);
+
+    public GstAhsCallback(long sensor_callback,
+        long accuracy_callback, long user_data) {
+        mSensorCallback = sensor_callback;
+        mAccuracyCallback = accuracy_callback;
+        mUserData = user_data;
+    }
+
+    @Override
+    public void onSensorChanged(SensorEvent event) {
+      gst_ah_sensor_on_sensor_changed(event, mSensorCallback, mUserData);
+    }
+
+    @Override
+    public void onAccuracyChanged(Sensor sensor, int accuracy) {
+      gst_ah_sensor_on_accuracy_changed(sensor, accuracy,
+          mAccuracyCallback, mUserData);
+    }
+}

VideoReceiverApp/android/src/org/freedesktop/gstreamer/androidmedia/GstAmcOnFrameAvailableListener.java

+/*
+ * Copyright (C) 2015, Collabora Ltd.
+ *   Author: Matthieu Bouron <matthieu.bouron@collabora.com>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation
+ * version 2.1 of the License.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
+ *
+ */
+
+package org.freedesktop.gstreamer.androidmedia;
+
+import android.graphics.SurfaceTexture;
+import android.graphics.SurfaceTexture.OnFrameAvailableListener;
+
+public class GstAmcOnFrameAvailableListener implements OnFrameAvailableListener
+{
+    private long context = 0;
+
+    public synchronized void onFrameAvailable (SurfaceTexture surfaceTexture) {
+        native_onFrameAvailable(context, surfaceTexture);
+    }
+
+    public synchronized long getContext () {
+        return context;
+    }
+
+    public synchronized void setContext (long c) {
+        context = c;
+    }
+
+    private native void native_onFrameAvailable (long context, SurfaceTexture surfaceTexture);
+}

VideoReceiverApp/main.qml

+import QtQuick 2.12
+import QtQuick.Window 2.12
+import QtQuick.Layouts 1.3
+import org.freedesktop.gstreamer.GLVideoItem 1.0
+
+Window {
+    visible: true
+    width: 640
+    height: 480
+    title: qsTr("VideoReceiverApp")
+
+    RowLayout {
+        anchors.fill: parent
+        spacing: 0
+
+        GstGLVideoItem {
+            id: video
+            objectName: "videoItem"
+            Layout.fillWidth: true
+            Layout.fillHeight: true
+        }
+    }
+}

VideoReceiverApp/qml.qrc

+<RCC>
+    <qresource prefix="/">
+        <file>main.qml</file>
+    </qresource>
+</RCC>

libs/CMakeLists.txt

 add_subdirectory(qtandroidserialport)
 add_subdirectory(shapelib)
+if (GST_FOUND)
+    add_subdirectory(qmlglsink)
+endif()

libs/qmlglsink/CMakeLists.txt

+
+find_package(Qt5Gui ${QT_VERSION} CONFIG REQUIRED Private)
+
+add_library(qmlglsink
+    gst-plugins-good/ext/qt/gstplugin.cc
+    gst-plugins-good/ext/qt/gstqtglutility.cc
+    gst-plugins-good/ext/qt/gstqsgtexture.cc
+    gst-plugins-good/ext/qt/gstqtsink.cc
+    gst-plugins-good/ext/qt/gstqtsrc.cc
+    gst-plugins-good/ext/qt/qtwindow.cc
+    gst-plugins-good/ext/qt/qtitem.cc
+
+    gst-plugins-good/ext/qt/gstqsgtexture.h
+    gst-plugins-good/ext/qt/gstqtgl.h
+    gst-plugins-good/ext/qt/gstqtglutility.h
+    gst-plugins-good/ext/qt/gstqtsink.h
+    gst-plugins-good/ext/qt/gstqtsrc.h
+    gst-plugins-good/ext/qt/qtwindow.h
+    gst-plugins-good/ext/qt/qtitem.h
+)
+
+if(LINUX)
+	target_compile_definitions(qmlglsink PUBLIC HAVE_QT_X11 HAVE_QT_EGLFS HAVE_QT_WAYLAND)
+
+
+	find_package(Qt5 ${QT_VERSION}
+		COMPONENTS
+			X11Extras
+		REQUIRED
+		HINTS
+			${QT_LIBRARY_HINTS}
+	)
+
+	target_link_libraries(qmlglsink
+		PUBLIC
+			Qt5::X11Extras
+	)
+
+elseif(APPLE)
+	target_compile_definitions(qmlglsink PUBLIC HAVE_QT_MAC)
+elseif(IOS)
+	target_compile_definitions(qmlglsink PUBLIC HAVE_QT_MAC)
+elseif(WIN32)
+	target_compile_definitions(qmlglsink PUBLIC HAVE_QT_WIN32 HAVE_QT_QPA_HEADER)
+
+	# TODO: use FindOpenGL?
+	target_link_libraries(qmlglsink PUBLIC opengl32.lib user32.lib)
+	# LIBS += opengl32.lib user32.lib
+elseif(ANDROID)
+	target_compile_definitions(qmlglsink PUBLIC HAVE_QT_ANDROID)
+endif()
+
+target_link_libraries(qmlglsink
+	PUBLIC
+		Qt5::Core
+		Qt5::OpenGL
+                Qt5::GuiPrivate
+)
+
+target_compile_options(qmlglsink
+	PRIVATE
+		-Wno-unused-parameter
+		-Wno-implicit-fallthrough
+)

qgroundcontrol.pro

@@ -1315,19 +1315,15 @@ contains (DEFINES, QGC_AIRMAP_ENABLED) {
 # Video Streaming
 
 INCLUDEPATH += \
-    src/VideoStreaming
+    src/VideoManager
 
 HEADERS += \
-    src/VideoStreaming/VideoReceiver.h \
-    src/VideoStreaming/VideoStreaming.h \
-    src/VideoStreaming/SubtitleWriter.h \
-    src/VideoStreaming/VideoManager.h
+    src/VideoManager/SubtitleWriter.h \
+    src/VideoManager/VideoManager.h
 
 SOURCES += \
-    src/VideoStreaming/VideoReceiver.cc \
-    src/VideoStreaming/VideoStreaming.cc \
-    src/VideoStreaming/SubtitleWriter.cc \
-    src/VideoStreaming/VideoManager.cc
+    src/VideoManager/SubtitleWriter.cc \
+    src/VideoManager/VideoManager.cc
 
 contains (CONFIG, DISABLE_VIDEOSTREAMING) {
     message("Skipping support for video streaming (manual override from command line)")
@@ -1335,14 +1331,19 @@ contains (CONFIG, DISABLE_VIDEOSTREAMING) {
 } else:exists(user_config.pri):infile(user_config.pri, DEFINES, DISABLE_VIDEOSTREAMING) {
     message("Skipping support for video streaming (manual override from user_config.pri)")
 } else {
-    include(src/VideoStreaming/VideoStreaming.pri)
+    include(src/VideoReceiver/VideoReceiver.pri)
 }
 
 !VideoEnabled {
+    INCLUDEPATH += \
+        src/VideoReceiver
+
     HEADERS += \
-       src/VideoStreaming/GLVideoItemStub.h
+        src/VideoManager/GLVideoItemStub.h \
+        src/VideoReceiver/VideoReceiver.h
+
     SOURCES += \
-        src/VideoStreaming/GLVideoItemStub.cc
+        src/VideoManager/GLVideoItemStub.cc
 }
 
 #-------------------------------------------------------------------------------------

qmlglsink.cmake

-
-find_package(Qt5Gui ${QT_VERSION} CONFIG REQUIRED Private)
-
-add_library(gst_plugins_good
-    libs/gst-plugins-good/ext/qt/gstplugin.cc
-    libs/gst-plugins-good/ext/qt/gstqtglutility.cc
-    libs/gst-plugins-good/ext/qt/gstqsgtexture.cc
-    libs/gst-plugins-good/ext/qt/gstqtsink.cc
-    libs/gst-plugins-good/ext/qt/gstqtsrc.cc
-    libs/gst-plugins-good/ext/qt/qtwindow.cc
-    libs/gst-plugins-good/ext/qt/qtitem.cc
-
-    libs/gst-plugins-good/ext/qt/gstqsgtexture.h
-    libs/gst-plugins-good/ext/qt/gstqtgl.h
-    libs/gst-plugins-good/ext/qt/gstqtglutility.h
-    libs/gst-plugins-good/ext/qt/gstqtsink.h
-    libs/gst-plugins-good/ext/qt/gstqtsrc.h
-    libs/gst-plugins-good/ext/qt/qtwindow.h
-    libs/gst-plugins-good/ext/qt/qtitem.h
-)
-
-if(LINUX)
-	target_compile_definitions(gst_plugins_good PUBLIC HAVE_QT_X11 HAVE_QT_EGLFS HAVE_QT_WAYLAND)
-
-
-	find_package(Qt5 ${QT_VERSION}
-		COMPONENTS
-			X11Extras
-		REQUIRED
-		HINTS
-			${QT_LIBRARY_HINTS}
-	)
-
-	target_link_libraries(gst_plugins_good
-		PUBLIC
-			Qt5::X11Extras
-	)
-
-elseif(APPLE)
-	target_compile_definitions(gst_plugins_good PUBLIC HAVE_QT_MAC)
-elseif(IOS)
-	target_compile_definitions(gst_plugins_good PUBLIC HAVE_QT_MAC)
-elseif(WIN32)
-	target_compile_definitions(gst_plugins_good PUBLIC HAVE_QT_WIN32 HAVE_QT_QPA_HEADER)
-
-	# TODO: use FindOpenGL?
-	target_link_libraries(gst_plugins_good PUBLIC opengl32.lib user32.lib)
-	# LIBS += opengl32.lib user32.lib
-elseif(ANDROID)
-	target_compile_definitions(gst_plugins_good PUBLIC HAVE_QT_ANDROID)
-endif()
-
-target_link_libraries(gst_plugins_good
-	PUBLIC
-		Qt5::Core
-		Qt5::OpenGL
-                Qt5::GuiPrivate
-)
-
-target_compile_options(gst_plugins_good
-	PRIVATE
-		-Wno-unused-parameter
-		-Wno-implicit-fallthrough
-)
-

qmlglsink.pri

@@ -15,19 +15,19 @@ LinuxBuild {
 }
 
 SOURCES += \
-    libs/gst-plugins-good/ext/qt/gstplugin.cc \
-    libs/gst-plugins-good/ext/qt/gstqtglutility.cc \
-    libs/gst-plugins-good/ext/qt/gstqsgtexture.cc \
-    libs/gst-plugins-good/ext/qt/gstqtsink.cc \
-    libs/gst-plugins-good/ext/qt/gstqtsrc.cc \
-    libs/gst-plugins-good/ext/qt/qtwindow.cc \
-    libs/gst-plugins-good/ext/qt/qtitem.cc
+    libs/qmlglsink/gst-plugins-good/ext/qt/gstplugin.cc \
+    libs/qmlglsink/gst-plugins-good/ext/qt/gstqtglutility.cc \
+    libs/qmlglsink/gst-plugins-good/ext/qt/gstqsgtexture.cc \
+    libs/qmlglsink/gst-plugins-good/ext/qt/gstqtsink.cc \
+    libs/qmlglsink/gst-plugins-good/ext/qt/gstqtsrc.cc \
+    libs/qmlglsink/gst-plugins-good/ext/qt/qtwindow.cc \
+    libs/qmlglsink/gst-plugins-good/ext/qt/qtitem.cc
 
 HEADERS += \
-    libs/gst-plugins-good/ext/qt/gstqsgtexture.h \
-    libs/gst-plugins-good/ext/qt/gstqtgl.h \
-    libs/gst-plugins-good/ext/qt/gstqtglutility.h \
-    libs/gst-plugins-good/ext/qt/gstqtsink.h \
-    libs/gst-plugins-good/ext/qt/gstqtsrc.h \
-    libs/gst-plugins-good/ext/qt/qtwindow.h \
-    libs/gst-plugins-good/ext/qt/qtitem.h
+    libs/qmlglsink/gst-plugins-good/ext/qt/gstqsgtexture.h \
+    libs/qmlglsink/gst-plugins-good/ext/qt/gstqtgl.h \
+    libs/qmlglsink/gst-plugins-good/ext/qt/gstqtglutility.h \
+    libs/qmlglsink/gst-plugins-good/ext/qt/gstqtsink.h \
+    libs/qmlglsink/gst-plugins-good/ext/qt/gstqtsrc.h \
+    libs/qmlglsink/gst-plugins-good/ext/qt/qtwindow.h \
+    libs/qmlglsink/gst-plugins-good/ext/qt/qtitem.h

src/CMakeLists.txt

@@ -3,7 +3,7 @@ include_directories(
 	.
 	${CMAKE_CURRENT_BINARY_DIR}
 	${Qt5Location_PRIVATE_INCLUDE_DIRS}
-	VideoStreaming
+	VideoManager
 )
 
 set(EXTRA_SRC)
@@ -136,7 +136,8 @@ add_subdirectory(Terrain)
 add_subdirectory(uas)
 add_subdirectory(Vehicle)
 add_subdirectory(VehicleSetup)
-add_subdirectory(VideoStreaming)
+add_subdirectory(VideoManager)
+add_subdirectory(VideoReceiver)
 add_subdirectory(ViewWidgets)
 
 target_link_libraries(qgc
@@ -172,7 +173,7 @@ target_link_libraries(qgc
 		ui
 		Vehicle
 		VehicleSetup
-		VideoStreaming
+		VideoManager
 		ViewWidgets
 )
 

src/QGCApplication.cc

@@ -34,7 +34,9 @@
 
 #include <QDebug>
 
-#include "VideoStreaming.h"
+#if defined(QGC_GST_STREAMING)
+#include "GStreamer.h"
+#endif
 
 #include "QGC.h"
 #include "QGCApplication.h"
@@ -323,8 +325,13 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
     if (settings.contains(AppSettings::gstDebugLevelName)) {
         gstDebugLevel = settings.value(AppSettings::gstDebugLevelName).toInt();
     }
-    // Initialize Video Streaming
-    initializeVideoStreaming(argc, argv, gstDebugLevel);
+
+#if defined(QGC_GST_STREAMING)
+    // Initialize Video Receiver
+    GStreamer::initialize(argc, argv, gstDebugLevel);
+#else
+    Q_UNUSED(gstDebugLevel)
+#endif
 
     _toolbox = new QGCToolbox(this);
     _toolbox->setChildToolboxes();

src/VideoManager/CMakeLists.txt

+add_library(VideoManager
+    GLVideoItemStub.cc
+    GLVideoItemStub.h
+    SubtitleWriter.cc
+    SubtitleWriter.h
+    VideoManager.cc
+    VideoManager.h
+)
+
+target_link_libraries(VideoManager
+    PUBLIC
+        qgc
+        Qt5::Multimedia
+        Qt5::OpenGL
+        VideoReceiver
+)
+
+target_include_directories(VideoManager INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})

src/VideoStreaming/SubtitleWriter.cc → src/VideoManager/SubtitleWriter.cc

@@ -80,11 +80,9 @@ void SubtitleWriter::startCapturingTelemetry(const QString& videoFile)
 
 void SubtitleWriter::stopCapturingTelemetry()
 {
-#if defined(QGC_GST_STREAMING)
     qCDebug(SubtitleWriterLog) << "Stopping writing";
     _timer.stop();
     _file.close();
-#endif
 }
 
 void SubtitleWriter::_captureTelemetry()

src/VideoStreaming/VideoManager.cc → src/VideoManager/VideoManager.cc

@@ -28,18 +28,33 @@
 #include "Vehicle.h"
 #include "QGCCameraManager.h"
 
+#if defined(QGC_GST_STREAMING)
+#include "GStreamer.h"
+#else
+#include "GLVideoItemStub.h"
+#endif
+
 QGC_LOGGING_CATEGORY(VideoManagerLog, "VideoManagerLog")
 
+#if defined(QGC_GST_STREAMING)
 static const char* kFileExtension[VideoReceiver::FILE_FORMAT_MAX - VideoReceiver::FILE_FORMAT_MIN] = {
     "mkv",
     "mov",
     "mp4"
 };
+#endif
 
 //-----------------------------------------------------------------------------
 VideoManager::VideoManager(QGCApplication* app, QGCToolbox* toolbox)
     : QGCTool(app, toolbox)
 {
+#if !defined(QGC_GST_STREAMING)
+    static bool once = false;
+    if (!once) {
+        qmlRegisterType<GLVideoItemStub>("org.freedesktop.gstreamer.GLVideoItem", 1, 0, "GstGLVideoItem");
+        once = true;
+    }
+#endif
 }
 
 //-----------------------------------------------------------------------------
@@ -50,15 +65,10 @@ VideoManager::~VideoManager()
     delete _thermalVideoReceiver;
     _thermalVideoReceiver = nullptr;
 #if defined(QGC_GST_STREAMING)
-    if (_thermalVideoSink != nullptr) {
-        gst_object_unref(_thermalVideoSink);
-        _thermalVideoSink = nullptr;
-    }
-
-    if (_videoSink != nullptr) {
-        gst_object_unref(_videoSink);
-        _videoSink = nullptr;
-    }
+    GStreamer::releaseVideoSink(_thermalVideoSink);
+    _thermalVideoSink = nullptr;
+    GStreamer::releaseVideoSink(_videoSink);
+    _videoSink = nullptr;
 #endif
 }
 
@@ -90,6 +100,7 @@ VideoManager::setToolbox(QGCToolbox *toolbox)
 
     emit isGStreamerChanged();
     qCDebug(VideoManagerLog) << "New Video Source:" << videoSource;
+#if defined(QGC_GST_STREAMING)
     _videoReceiver = toolbox->corePlugin()->createVideoReceiver(this);
     _thermalVideoReceiver = toolbox->corePlugin()->createVideoReceiver(this);
 
@@ -103,7 +114,7 @@ VideoManager::setToolbox(QGCToolbox *toolbox)
     // and I expect that it will be changed during multiple video stream activity
     connect(_thermalVideoReceiver, &VideoReceiver::timeout, this, &VideoManager::_restartVideo);
     connect(_thermalVideoReceiver, &VideoReceiver::streamingChanged, this, &VideoManager::_streamingChanged);
-
+#endif
     _updateSettings();
     if(isGStreamer()) {
         startVideo();
@@ -146,7 +157,7 @@ void VideoManager::_cleanupOldVideos()
         //-- Remove old movies until max size is satisfied.
         while(total >= maxSize && !vidList.isEmpty()) {
             total -= vidList.last().size();
-            qCDebug(VideoReceiverLog) << "Removing old video file:" << vidList.last().filePath();
+            qCDebug(VideoManagerLog) << "Removing old video file:" << vidList.last().filePath();
             QFile file (vidList.last().filePath());
             file.remove();
             vidList.removeLast();
@@ -164,7 +175,7 @@ VideoManager::startVideo()
     }
 
     if(!_videoSettings->streamEnabled()->rawValue().toBool() || !_videoSettings->streamConfigured()) {
-        qCDebug(VideoReceiverLog) << "Stream not enabled/configured";
+        qCDebug(VideoManagerLog) << "Stream not enabled/configured";
         return;
     }
 
@@ -194,9 +205,10 @@ VideoManager::stopVideo()
     if (qgcApp()->runningUnitTests()) {
         return;
     }
-
+#if defined(QGC_GST_STREAMING)
     if(_videoReceiver) _videoReceiver->stop();
     if(_thermalVideoReceiver) _thermalVideoReceiver->stop();
+#endif
 }
 
 void
@@ -205,7 +217,7 @@ VideoManager::startRecording(const QString& videoFile)
     if (qgcApp()->runningUnitTests()) {
         return;
     }
-
+#if defined(QGC_GST_STREAMING)
     if (!_videoReceiver) {
         qgcApp()->showMessage(tr("Video receiver is not ready."));
         return;
@@ -233,6 +245,9 @@ VideoManager::startRecording(const QString& videoFile)
             + "." + kFileExtension[fileFormat - VideoReceiver::FILE_FORMAT_MIN];
 
     _videoReceiver->startRecording(_videoFile, fileFormat);
+#else
+    Q_UNUSED(videoFile)
+#endif
 }
 
 void
@@ -241,12 +256,13 @@ VideoManager::stopRecording()
     if (qgcApp()->runningUnitTests()) {
         return;
     }
-
+#if defined(QGC_GST_STREAMING)
     if (!_videoReceiver) {
         return;
     }
 
     _videoReceiver->stopRecording();
+#endif
 }
 
 void
@@ -255,7 +271,7 @@ VideoManager::grabImage(const QString& imageFile)
     if (qgcApp()->runningUnitTests()) {
         return;
     }
-
+#if defined(QGC_GST_STREAMING)
     if (!_videoReceiver) {
         return;
     }
@@ -265,6 +281,9 @@ VideoManager::grabImage(const QString& imageFile)
     emit imageFileChanged();
 
     _videoReceiver->takeScreenshot(_imageFile);
+#else
+    Q_UNUSED(imageFile)
+#endif
 }
 
 //-----------------------------------------------------------------------------
@@ -455,26 +474,6 @@ VideoManager::setfullScreen(bool f)
     emit fullScreenChanged();
 }
 
-//-----------------------------------------------------------------------------
-#if defined(QGC_GST_STREAMING)
-GstElement*
-VideoManager::_makeVideoSink(gpointer widget)
-{
-    GstElement* sink;
-
-    if ((sink = gst_element_factory_make("qgcvideosinkbin", nullptr)) != nullptr) {
-        g_object_set(sink, "widget", widget, NULL);
-        // FIXME: AV: temporally disable sync due to MPEG2-TS sync issues
-        g_object_set(sink, "sync", FALSE, NULL);
-    } else {
-        qCritical() << "gst_element_factory_make('qgcvideosinkbin') failed";
-    }
-
-    return sink;
-}
-#endif
-
-//-----------------------------------------------------------------------------
 void
 VideoManager::_initVideo()
 {
@@ -489,10 +488,10 @@ VideoManager::_initVideo()
     QQuickItem* widget = root->findChild<QQuickItem*>("videoContent");
 
     if (widget != nullptr && _videoReceiver != nullptr) {
-        if ((_videoSink = _makeVideoSink(widget)) != nullptr) {
+        if ((_videoSink = qgcApp()->toolbox()->corePlugin()->createVideoSink(this, widget)) != nullptr) {
             _videoReceiver->startDecoding(_videoSink);
         } else {
-            qCDebug(VideoManagerLog) << "_makeVideoSink() failed";
+            qCDebug(VideoManagerLog) << "createVideoSink() failed";
         }
     } else {
         qCDebug(VideoManagerLog) << "video receiver disabled";
@@ -501,10 +500,10 @@ VideoManager::_initVideo()
     widget = root->findChild<QQuickItem*>("thermalVideo");
 
     if (widget != nullptr && _thermalVideoReceiver != nullptr) {
-        if ((_thermalVideoSink = _makeVideoSink(widget)) != nullptr) {
+        if ((_thermalVideoSink = qgcApp()->toolbox()->corePlugin()->createVideoSink(this, widget)) != nullptr) {
             _thermalVideoReceiver->startDecoding(_thermalVideoSink);
         } else {
-            qCDebug(VideoManagerLog) << "_makeVideoSink() failed";
+            qCDebug(VideoManagerLog) << "createVideoSink() failed";
         }
     } else {
         qCDebug(VideoManagerLog) << "thermal video receiver disabled";
@@ -516,7 +515,7 @@ VideoManager::_initVideo()
 void
 VideoManager::_updateSettings()
 {
-    if(!_videoSettings || !_videoReceiver)
+    if(!_videoSettings)
         return;
     //-- Auto discovery
     if(_activeVehicle && _activeVehicle->dynamicCameras()) {
@@ -646,9 +645,11 @@ VideoManager::_recordingStarted()
 void
 VideoManager::_recordingChanged()
 {
+#if defined(QGC_GST_STREAMING)
     if (_videoReceiver && !_videoReceiver->recording()) {
         _subtitleWriter.stopCapturingTelemetry();
     }
+#endif
 }
 
 //----------------------------------------------------------------------------------------

src/VideoStreaming/VideoManager.h → src/VideoManager/VideoManager.h

@@ -112,10 +112,7 @@ protected slots:
 
 protected:
     friend class FinishVideoInitialization;
-#if defined(QGC_GST_STREAMING)
-    static gboolean _videoSinkQuery (GstPad* pad, GstObject* parent, GstQuery* query);
-    GstElement*     _makeVideoSink  (gpointer widget);
-#endif
+
     void _initVideo                 ();
     void _updateSettings            ();
     void _setVideoUri               (const QString& uri);
@@ -134,10 +131,8 @@ protected:
     bool            _isTaisync              = false;
     VideoReceiver*  _videoReceiver          = nullptr;
     VideoReceiver*  _thermalVideoReceiver   = nullptr;
-#if defined(QGC_GST_STREAMING)
-    GstElement*     _videoSink              = nullptr;
-    GstElement*     _thermalVideoSink       = nullptr;
-#endif
+    void*           _videoSink              = nullptr;
+    void*           _thermalVideoSink       = nullptr;
     VideoSettings*  _videoSettings          = nullptr;
     QString         _videoUri;
     QString         _thermalVideoUri;

src/VideoReceiver/CMakeLists.txt

+set(EXTRA_SOURCES)
+set(EXTRA_LIBRARIES)
+
+if (GST_FOUND)
+    set(EXTRA_SOURCES gstqgc.c gstqgcvideosinkbin.c GStreamer.cc GStreamer.h GstVideoReceiver.cc GstVideoReceiver.h)
+    set(EXTRA_LIBRARIES qmlglsink ${GST_LIBRARIES})
+endif()
+
+add_library(VideoReceiver
+    ${EXTRA_SOURCES}
+    VideoReceiver.h
+)
+
+target_link_libraries(VideoReceiver
+    PUBLIC
+        Qt5::Multimedia
+        Qt5::OpenGL
+        Qt5::Quick
+        ${EXTRA_LIBRARIES}
+)
+
+target_include_directories(VideoReceiver INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})

src/VideoStreaming/VideoStreaming.cc → src/VideoReceiver/GStreamer.cc

@@ -14,17 +14,12 @@
  *   @author Gus Grubba <gus@auterion.com>
  */
 
-#include <QtQml>
 #include <QDebug>
 
-#include "VideoReceiver.h"
-
-#if defined(QGC_GST_STREAMING)
-#include <gst/gst.h>
+#include "GStreamer.h"
+#include "GstVideoReceiver.h"
 
-#include "QGCLoggingCategory.h"
-
-QGC_LOGGING_CATEGORY(GstreamerLog, "GstreamerLog")
+QGC_LOGGING_CATEGORY(GStreamerLog, "GStreamerLog")
 
 static void qt_gst_log(GstDebugCategory * category,
                        GstDebugLevel      level,
@@ -35,6 +30,8 @@ static void qt_gst_log(GstDebugCategory * category,
                        GstDebugMessage  * message,
                        gpointer           data)
 {
+    Q_UNUSED(data);
+
     if (level > gst_debug_category_get_threshold(category)) {
         return;
     }
@@ -46,20 +43,20 @@ static void qt_gst_log(GstDebugCategory * category,
     switch (level) {
     default:
     case GST_LEVEL_ERROR:
-        log.critical(GstreamerLog, "%s %s", object_info, gst_debug_message_get(message));
+        log.critical(GStreamerLog, "%s %s", object_info, gst_debug_message_get(message));
         break;
     case GST_LEVEL_WARNING:
-        log.warning(GstreamerLog, "%s %s", object_info, gst_debug_message_get(message));
+        log.warning(GStreamerLog, "%s %s", object_info, gst_debug_message_get(message));
         break;
     case GST_LEVEL_FIXME:
     case GST_LEVEL_INFO:
-        log.info(GstreamerLog, "%s %s", object_info, gst_debug_message_get(message));
+        log.info(GStreamerLog, "%s %s", object_info, gst_debug_message_get(message));
         break;
     case GST_LEVEL_DEBUG:
     case GST_LEVEL_LOG:
     case GST_LEVEL_TRACE:
     case GST_LEVEL_MEMDUMP:
-        log.debug(GstreamerLog, "%s %s", object_info, gst_debug_message_get(message));
+        log.debug(GStreamerLog, "%s %s", object_info, gst_debug_message_get(message));
         break;
     }
 
@@ -70,15 +67,11 @@ static void qt_gst_log(GstDebugCategory * category,
 #if defined(__ios__)
 #include "gst_ios_init.h"
 #endif
-#else
-#include "GLVideoItemStub.h"
-#endif
 
-#include "VideoStreaming.h"
+#include "VideoReceiver.h"
 
-#if defined(QGC_GST_STREAMING)
-    G_BEGIN_DECLS
-    // The static plugins we use
+G_BEGIN_DECLS
+// The static plugins we use
 #if defined(__android__) || defined(__ios__)
     GST_PLUGIN_STATIC_DECLARE(coreelements);
     GST_PLUGIN_STATIC_DECLARE(playback);
@@ -102,10 +95,8 @@ static void qt_gst_log(GstDebugCategory * category,
 #endif
     GST_PLUGIN_STATIC_DECLARE(qmlgl);
     GST_PLUGIN_STATIC_DECLARE(qgc);
-    G_END_DECLS
-#endif
+G_END_DECLS
 
-#if defined(QGC_GST_STREAMING)
 #if (defined(Q_OS_MAC) && defined(QGC_INSTALL_RELEASE)) || defined(Q_OS_WIN)
 static void qgcputenv(const QString& key, const QString& root, const QString& path)
 {
@@ -113,30 +104,29 @@ static void qgcputenv(const QString& key, const QString& root, const QString& pa
     qputenv(key.toStdString().c_str(), QByteArray(value.toStdString().c_str()));
 }
 #endif
-#endif
 
-void initializeVideoStreaming(int &argc, char* argv[], int gstDebuglevel)
+void
+GStreamer::initialize(int argc, char* argv[], int debuglevel)
 {
-#if defined(QGC_GST_STREAMING)
-    #ifdef Q_OS_MAC
-        #ifdef QGC_INSTALL_RELEASE
-            QString currentDir = QCoreApplication::applicationDirPath();
-            qgcputenv("GST_PLUGIN_SCANNER",           currentDir, "/../Frameworks/GStreamer.framework/Versions/1.0/libexec/gstreamer-1.0/gst-plugin-scanner");
-            qgcputenv("GTK_PATH",                     currentDir, "/../Frameworks/GStreamer.framework/Versions/Current");
-            qgcputenv("GIO_EXTRA_MODULES",            currentDir, "/../Frameworks/GStreamer.framework/Versions/Current/lib/gio/modules");
-            qgcputenv("GST_PLUGIN_SYSTEM_PATH_1_0",   currentDir, "/../Frameworks/GStreamer.framework/Versions/Current/lib/gstreamer-1.0");
-            qgcputenv("GST_PLUGIN_SYSTEM_PATH",       currentDir, "/../Frameworks/GStreamer.framework/Versions/Current/lib/gstreamer-1.0");
-            qgcputenv("GST_PLUGIN_PATH_1_0",          currentDir, "/../Frameworks/GStreamer.framework/Versions/Current/lib/gstreamer-1.0");
-            qgcputenv("GST_PLUGIN_PATH",              currentDir, "/../Frameworks/GStreamer.framework/Versions/Current/lib/gstreamer-1.0");
-        #endif
-    #elif defined(Q_OS_WIN)
+#ifdef Q_OS_MAC
+    #ifdef QGC_INSTALL_RELEASE
         QString currentDir = QCoreApplication::applicationDirPath();
-        qgcputenv("GST_PLUGIN_PATH", currentDir, "/gstreamer-plugins");
+        qgcputenv("GST_PLUGIN_SCANNER",           currentDir, "/../Frameworks/GStreamer.framework/Versions/1.0/libexec/gstreamer-1.0/gst-plugin-scanner");
+        qgcputenv("GTK_PATH",                     currentDir, "/../Frameworks/GStreamer.framework/Versions/Current");
+        qgcputenv("GIO_EXTRA_MODULES",            currentDir, "/../Frameworks/GStreamer.framework/Versions/Current/lib/gio/modules");
+        qgcputenv("GST_PLUGIN_SYSTEM_PATH_1_0",   currentDir, "/../Frameworks/GStreamer.framework/Versions/Current/lib/gstreamer-1.0");
+        qgcputenv("GST_PLUGIN_SYSTEM_PATH",       currentDir, "/../Frameworks/GStreamer.framework/Versions/Current/lib/gstreamer-1.0");
+        qgcputenv("GST_PLUGIN_PATH_1_0",          currentDir, "/../Frameworks/GStreamer.framework/Versions/Current/lib/gstreamer-1.0");
+        qgcputenv("GST_PLUGIN_PATH",              currentDir, "/../Frameworks/GStreamer.framework/Versions/Current/lib/gstreamer-1.0");
     #endif
+#elif defined(Q_OS_WIN)
+    QString currentDir = QCoreApplication::applicationDirPath();
+    qgcputenv("GST_PLUGIN_PATH", currentDir, "/gstreamer-plugins");
+#endif
 
     //-- If gstreamer debugging is not configured via environment then use internal QT logging
     if (qgetenv("GST_DEBUG").isEmpty()) {
-        gst_debug_set_default_threshold(static_cast<GstDebugLevel>(gstDebuglevel));
+        gst_debug_set_default_threshold(static_cast<GstDebugLevel>(debuglevel));
         gst_debug_remove_log_function(gst_debug_log_default);
         gst_debug_add_log_function(qt_gst_log, nullptr, nullptr);
     }
@@ -149,7 +139,7 @@ void initializeVideoStreaming(int &argc, char* argv[], int gstDebuglevel)
 
     GError* error = nullptr;
     if (!gst_init_check(&argc, &argv, &error)) {
-        qCCritical(VideoReceiverLog) << "gst_init_check() failed: " << error->message;
+        qCCritical(GStreamerLog) << "gst_init_check() failed: " << error->message;
         g_error_free(error);
     }
 
@@ -196,14 +186,39 @@ void initializeVideoStreaming(int &argc, char* argv[], int gstDebuglevel)
         gst_object_unref(sink);
         sink = nullptr;
     } else {
-        qCCritical(VideoReceiverLog) << "unable to find qmlglsink - you need to build it yourself and add to GST_PLUGIN_PATH";
+        qCCritical(GStreamerLog) << "unable to find qmlglsink - you need to build it yourself and add to GST_PLUGIN_PATH";
     }
 
     GST_PLUGIN_STATIC_REGISTER(qgc);
-#else
-    qmlRegisterType<GLVideoItemStub>("org.freedesktop.gstreamer.GLVideoItem", 1, 0, "GstGLVideoItem");
-    Q_UNUSED(argc)
-    Q_UNUSED(argv)
-    Q_UNUSED(gstDebuglevel)
-#endif
+}
+
+void*
+GStreamer::createVideoSink(QObject* parent, QQuickItem* widget)
+{
+    Q_UNUSED(parent)
+
+    GstElement* sink;
+
+    if ((sink = gst_element_factory_make("qgcvideosinkbin", nullptr)) != nullptr) {
+        g_object_set(sink, "widget", widget, NULL);
+    } else {
+        qCritical() << "gst_element_factory_make('qgcvideosinkbin') failed";
+    }
+
+    return sink;
+}
+
+void
+GStreamer::releaseVideoSink(void* sink)
+{
+    if (sink != nullptr) {
+        gst_object_unref(GST_ELEMENT(sink));
+    }
+}
+
+VideoReceiver*
+GStreamer::createVideoReceiver(QObject* parent)
+{
+    Q_UNUSED(parent)
+    return new GstVideoReceiver(nullptr);
 }

src/VideoReceiver/GStreamer.h

+#pragma once
+
+#include <QObject>
+#include <QQuickItem>
+
+#include "VideoReceiver.h"
+
+class GStreamer {
+public:
+    static void initialize(int argc, char* argv[], int debuglevel);
+    static void* createVideoSink(QObject* parent, QQuickItem* widget);
+    static void releaseVideoSink(void* sink);
+    static VideoReceiver* createVideoReceiver(QObject* parent);
+};

src/VideoStreaming/VideoReceiver.h → src/VideoReceiver/GstVideoReceiver.h

@@ -16,81 +16,87 @@
 #pragma once
 
 #include "QGCLoggingCategory.h"
-#include <QObject>
-#include <QSize>
 #include <QTimer>
-#include <QTcpSocket>
 #include <QThread>
 #include <QWaitCondition>
 #include <QMutex>
 #include <QQueue>
+#include <QQuickItem>
+
+#include "VideoReceiver.h"
 
-#if defined(QGC_GST_STREAMING)
 #include <gst/gst.h>
-typedef GstElement VideoSink;
-#else
-typedef void VideoSink;
-#endif
 
 Q_DECLARE_LOGGING_CATEGORY(VideoReceiverLog)
 
-class VideoReceiver : public QThread
+class Worker : public QThread
 {
     Q_OBJECT
 
 public:
-    explicit VideoReceiver(QObject* parent = nullptr);
-    ~VideoReceiver(void);
-
-    typedef enum {
-        FILE_FORMAT_MIN = 0,
-        FILE_FORMAT_MKV = FILE_FORMAT_MIN,
-        FILE_FORMAT_MOV,
-        FILE_FORMAT_MP4,
-        FILE_FORMAT_MAX
-    } FILE_FORMAT;
-
-    Q_PROPERTY(bool     streaming   READ    streaming   NOTIFY  streamingChanged)
-    Q_PROPERTY(bool     decoding    READ    decoding    NOTIFY  decodingChanged)
-    Q_PROPERTY(bool     recording   READ    recording   NOTIFY  recordingChanged)
-    Q_PROPERTY(QSize    videoSize   READ    videoSize   NOTIFY  videoSizeChanged)
-
-    bool streaming(void) {
-        return _streaming;
+    bool needDispatch() {
+        return QThread::currentThread() != this;
     }
 
-    bool decoding(void) {
-        return _decoding;
+    void dispatch(std::function<void()> t) {
+        QMutexLocker lock(&_taskQueueSync);
+        _taskQueue.enqueue(t);
+        _taskQueueUpdate.wakeOne();
     }
 
-    bool recording(void) {
-        return _recording;
+    void shutdown() {
+        if (needDispatch()) {
+            dispatch([this](){
+                _shutdown = true;
+            });
+            QThread::wait();
+        } else {
+            QThread::terminate();
+        }
     }
 
-    QSize videoSize(void) {
-        const quint32 size = _videoSize;
-        return QSize((size >> 16) & 0xFFFF, size & 0xFFFF);
+protected:
+    void run() {
+        while(!_shutdown) {
+            _taskQueueSync.lock();
+
+            while (_taskQueue.isEmpty()) {
+                _taskQueueUpdate.wait(&_taskQueueSync);
+            }
+
+            Task t = _taskQueue.dequeue();
+
+            _taskQueueSync.unlock();
+
+            t();
+        }
     }
 
-signals:
-    void timeout(void);
-    void streamingChanged(void);
-    void decodingChanged(void);
-    void recordingChanged(void);
-    void recordingStarted(void);
-    void videoSizeChanged(void);
-    void screenshotComplete(void);
+private:
+    typedef std::function<void()> Task;
+    QWaitCondition      _taskQueueUpdate;
+    QMutex              _taskQueueSync;
+    QQueue<Task>        _taskQueue;
+    bool                _shutdown = false;
+};
+
+class GstVideoReceiver : public VideoReceiver
+{
+    Q_OBJECT
+
+public:
+    explicit GstVideoReceiver(QObject* parent = nullptr);
+    ~GstVideoReceiver(void);
 
 public slots:
     virtual void start(const QString& uri, unsigned timeout);
     virtual void stop(void);
-    virtual void startDecoding(VideoSink* videoSink);
+    virtual void startDecoding(void* sink);
     virtual void stopDecoding(void);
     virtual void startRecording(const QString& videoFile, FILE_FORMAT format);
     virtual void stopRecording(void);
     virtual void takeScreenshot(const QString& imageFile);
 
-#if defined(QGC_GST_STREAMING)
 protected slots:
     virtual void _watchdog(void);
     virtual void _handleEOS(void);
@@ -116,11 +122,6 @@ protected:
     virtual void _shutdownDecodingBranch (void);
     virtual void _shutdownRecordingBranch(void);
 
-    typedef std::function<void(void)> Task;
-    bool _isOurThread(void);
-    void _post(Task t);
-    void run(void);
-
 private:
     static gboolean _onBusMessage(GstBus* bus, GstMessage* message, gpointer user_data);
     static void _onNewPad(GstElement* element, GstPad* pad, gpointer data);
@@ -158,18 +159,14 @@ private:
 
     unsigned            _timeout;
 
-    QWaitCondition      _taskQueueUpdate;
-    QMutex              _taskQueueSync;
-    QQueue<Task>        _taskQueue;
-    bool                _shutdown;
+    Worker              _apiHandler;
+    Worker              _notificationHandler;
 
-    static const char*  _kFileMux[FILE_FORMAT_MAX - FILE_FORMAT_MIN];
-#else
-private:
-#endif
+    bool                _endOfStream;
 
-    std::atomic<bool>   _streaming;
-    std::atomic<bool>   _decoding;
-    std::atomic<bool>   _recording;
-    std::atomic<quint32>_videoSize;
+    static const char*  _kFileMux[FILE_FORMAT_MAX - FILE_FORMAT_MIN];
 };
+
+void* createVideoSink(void* widget);
+
+void initializeVideoReceiver(int argc, char* argv[], int debuglevel);

src/VideoReceiver/VideoReceiver.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+/**
+ * @file
+ *   @brief QGC Video Receiver
+ *   @author Gus Grubba <gus@auterion.com>
+ */
+
+#pragma once
+
+#include <QObject>
+#include <QSize>
+#include <QQuickItem>
+
+#include <atomic>
+
+class VideoReceiver : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit VideoReceiver(QObject* parent = nullptr)
+        : QObject(parent)
+        , _streaming(false)
+        , _decoding(false)
+        , _recording(false)
+        , _videoSize(0)
+    {}
+
+    virtual ~VideoReceiver(void) {}
+
+    typedef enum {
+        FILE_FORMAT_MIN = 0,
+        FILE_FORMAT_MKV = FILE_FORMAT_MIN,
+        FILE_FORMAT_MOV,
+        FILE_FORMAT_MP4,
+        FILE_FORMAT_MAX
+    } FILE_FORMAT;
+
+    Q_PROPERTY(bool     streaming   READ    streaming   NOTIFY  streamingChanged)
+    Q_PROPERTY(bool     decoding    READ    decoding    NOTIFY  decodingChanged)
+    Q_PROPERTY(bool     recording   READ    recording   NOTIFY  recordingChanged)
+    Q_PROPERTY(QSize    videoSize   READ    videoSize   NOTIFY  videoSizeChanged)
+
+    bool streaming(void) {
+        return _streaming;
+    }
+
+    bool decoding(void) {
+        return _decoding;
+    }
+
+    bool recording(void) {
+        return _recording;
+    }
+
+    QSize videoSize(void) {
+        const quint32 size = _videoSize;
+        return QSize((size >> 16) & 0xFFFF, size & 0xFFFF);
+    }
+
+signals:
+    void timeout(void);
+    void streamingChanged(void);
+    void decodingChanged(void);
+    void recordingChanged(void);
+    void recordingStarted(void);
+    void videoSizeChanged(void);
+    void screenshotComplete(void);
+
+public slots:
+    virtual void start(const QString& uri, unsigned timeout) = 0;
+    virtual void stop(void) = 0;
+    virtual void startDecoding(void* sink) = 0;
+    virtual void stopDecoding(void) = 0;
+    virtual void startRecording(const QString& videoFile, FILE_FORMAT format) = 0;
+    virtual void stopRecording(void) = 0;
+    virtual void takeScreenshot(const QString& imageFile) = 0;
+
+protected:
+    std::atomic<bool>   _streaming;
+    std::atomic<bool>   _decoding;
+    std::atomic<bool>   _recording;
+    std::atomic<quint32>_videoSize;
+};
+

src/VideoStreaming/VideoStreaming.pri → src/VideoReceiver/VideoReceiver.pri

@@ -122,22 +122,30 @@ VideoEnabled {
     DEFINES += \
         QGC_GST_STREAMING
 
+    INCLUDEPATH += \
+        $$PWD
+
     iOSBuild {
         OBJECTIVE_SOURCES += \
-            $$PWD/iOS/gst_ios_init.m
-        INCLUDEPATH += \
-            $$PWD/iOS
+            $$PWD/gst_ios_init.m
     }
 
+    HEADERS += \
+        $$PWD/GStreamer.h \
+        $$PWD/GstVideoReceiver.h \
+        $$PWD/VideoReceiver.h
+
     SOURCES += \
         $$PWD/gstqgcvideosinkbin.c \
-        $$PWD/gstqgc.c
+        $$PWD/gstqgc.c \
+        $$PWD/GStreamer.cc \
+        $$PWD/GstVideoReceiver.cc
 
     include($$PWD/../../qmlglsink.pri)
 } else {
     LinuxBuild|MacBuild|iOSBuild|WindowsBuild|AndroidBuild {
         message("Skipping support for video streaming (GStreamer libraries not installed)")
-        message("Installation instructions here: https://github.com/mavlink/qgroundcontrol/blob/master/src/VideoStreaming/README.md")
+        message("Installation instructions here: https://github.com/mavlink/qgroundcontrol/blob/master/src/VideoReceiver/README.md")
     } else {
         message("Skipping support for video streaming (Unsupported platform)")
     }

src/VideoStreaming/CMakeLists.txt

-set(EXTRA_LIBRARIES)
-
-if (GST_FOUND)
-	set(EXTRA_LIBRARIES ${GST_LIBRARIES})
-endif()
-
-add_library(VideoStreaming
-    GLVideoItemStub.cc
-    GLVideoItemStub.h
-    gstqgc.c
-    gstqgcvideosinkbin.c
-    SubtitleWriter.cc
-    SubtitleWriter.h
-    VideoReceiver.cc
-    VideoReceiver.h
-    VideoStreaming.cc
-    VideoStreaming.h
-    VideoManager.cc
-    VideoManager.h
-)
-
-target_link_libraries(VideoStreaming
-        PRIVATE
-                gst_plugins_good
-	PUBLIC
-		qgc
-		Qt5::Multimedia
-		Qt5::OpenGL
-		${EXTRA_LIBRARIES}
-)
-
-target_include_directories(VideoStreaming INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})

src/VideoStreaming/VideoStreaming.h

-/****************************************************************************
- *
- * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-/**
- * @file
- *   @brief QGC Video Streaming Initialization
- *   @author Gus Grubba <gus@auterion.com>
- */
-
-#pragma once
-
-extern void initializeVideoStreaming    (int &argc, char *argv[], int gstDebuglevel);

src/api/QGCCorePlugin.cc

@@ -16,7 +16,10 @@
 #include "AppMessages.h"
 #include "QmlObjectListModel.h"
 #include "VideoManager.h"
+#if defined(QGC_GST_STREAMING)
+#include "GStreamer.h"
 #include "VideoReceiver.h"
+#endif
 #include "QGCLoggingCategory.h"
 #include "QGCCameraManager.h"
 
@@ -440,7 +443,23 @@ VideoManager* QGCCorePlugin::createVideoManager(QGCApplication *app, QGCToolbox
 
 VideoReceiver* QGCCorePlugin::createVideoReceiver(QObject* parent)
 {
-    return new VideoReceiver(parent);
+#if defined(QGC_GST_STREAMING)
+    return GStreamer::createVideoReceiver(parent);
+#else
+    Q_UNUSED(parent)
+    return nullptr;
+#endif
+}
+
+void* QGCCorePlugin::createVideoSink(QObject* parent, QQuickItem* widget)
+{
+#if defined(QGC_GST_STREAMING)
+    return GStreamer::createVideoSink(parent, widget);
+#else
+    Q_UNUSED(parent)
+    Q_UNUSED(widget)
+    return nullptr;
+#endif
 }
 
 bool QGCCorePlugin::guidedActionsControllerLogging() const

src/api/QGCCorePlugin.h

@@ -32,9 +32,11 @@ class Vehicle;
 class LinkInterface;
 class QmlObjectListModel;
 class VideoReceiver;
+class VideoSink;
 class PlanMasterController;
 class QGCCameraManager;
 class QGCCameraControl;
+class QQuickItem;
 
 class QGCCorePlugin : public QGCTool
 {
@@ -113,6 +115,8 @@ public:
     virtual VideoManager* createVideoManager(QGCApplication* app, QGCToolbox* toolbox);
     /// Allows the plugin to override the creation of VideoReceiver.
     virtual VideoReceiver* createVideoReceiver(QObject* parent);
+    /// Allows the plugin to override the creation of VideoSink.
+    virtual void* createVideoSink(QObject* parent, QQuickItem* widget);
 
     /// Allows the plugin to see all mavlink traffic to a vehicle
     /// @return true: Allow vehicle to continue processing, false: Vehicle should not process message