Add TCP-Mpeg2TS support to available video feeds

- Added menu options to select new mode as well as new settings and defaults

src/FlightDisplay/VideoManager.cc

@@ -59,6 +59,7 @@ VideoManager::setToolbox(QGCToolbox *toolbox)
    connect(_videoSettings->videoSource(),   &Fact::rawValueChanged, this, &VideoManager::_videoSourceChanged);
    connect(_videoSettings->udpPort(),       &Fact::rawValueChanged, this, &VideoManager::_udpPortChanged);
    connect(_videoSettings->rtspUrl(),       &Fact::rawValueChanged, this, &VideoManager::_rtspUrlChanged);
+   connect(_videoSettings->tcpUrl(),        &Fact::rawValueChanged, this, &VideoManager::_tcpUrlChanged);
 
 #if defined(QGC_GST_STREAMING)
 #ifndef QGC_DISABLE_UVC
@@ -110,6 +111,13 @@ VideoManager::_rtspUrlChanged()
     _restartVideo();
 }
 
+//-----------------------------------------------------------------------------
+void
+VideoManager::_tcpUrlChanged()
+{
+    _restartVideo();
+}
+
 //-----------------------------------------------------------------------------
 bool
 VideoManager::hasVideo()
@@ -124,7 +132,7 @@ VideoManager::isGStreamer()
 {
 #if defined(QGC_GST_STREAMING)
     QString videoSource = _videoSettings->videoSource()->rawValue().toString();
-    return videoSource == VideoSettings::videoSourceUDP || videoSource == VideoSettings::videoSourceRTSP;
+    return videoSource == VideoSettings::videoSourceUDP || videoSource == VideoSettings::videoSourceRTSP || videoSource == VideoSettings::videoSourceTCP;
 #else
     return false;
 #endif
@@ -149,6 +157,8 @@ VideoManager::_updateSettings()
         _videoReceiver->setUri(QStringLiteral("udp://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
     else if (_videoSettings->videoSource()->rawValue().toString() == VideoSettings::videoSourceRTSP)
         _videoReceiver->setUri(_videoSettings->rtspUrl()->rawValue().toString());
+    else if (_videoSettings->videoSource()->rawValue().toString() == VideoSettings::videoSourceTCP)
+        _videoReceiver->setUri(QStringLiteral("tcp://%1").arg(_videoSettings->tcpUrl()->rawValue().toString()));
 }
 
 //-----------------------------------------------------------------------------

src/FlightDisplay/VideoManager.h

@@ -61,6 +61,7 @@ private slots:
     void _videoSourceChanged        ();
     void _udpPortChanged            ();
     void _rtspUrlChanged            ();
+    void _tcpUrlChanged             ();
 
 private:
     void _updateSettings            ();

src/Settings/Video.SettingsGroup.json

@@ -2,7 +2,7 @@
 {
     "name":             "VideoSource",
     "shortDescription": "Video source",
-    "longDescription":  "Source for video. UDP, RTSP and UVC Cameras may be supported depending on Vehicle and ground station version.",
+    "longDescription":  "Source for video. UDP, TCP, RTSP and UVC Cameras may be supported depending on Vehicle and ground station version.",
     "type":             "string",
     "defaultValue":     ""
 },
@@ -21,6 +21,13 @@
     "type":             "string",
     "defaultValue":     ""
 },
+{
+    "name":             "VideoTCPUrl",
+    "shortDescription": "Video TCP Url",
+    "longDescription":  "TCP url address and port to bind to for video stream. Example: 192.168.143.200:3001",
+    "type":             "string",
+    "defaultValue":     ""
+},
 {
     "name":             "VideoSavePath",
     "shortDescription": "Video save directory",

src/Settings/VideoSettings.cc

@@ -22,6 +22,7 @@ const char* VideoSettings::videoSettingsGroupName = "Video";
 const char* VideoSettings::videoSourceName =        "VideoSource";
 const char* VideoSettings::udpPortName =            "VideoUDPPort";
 const char* VideoSettings::rtspUrlName =            "VideoRTSPUrl";
+const char* VideoSettings::tcpUrlName =             "VideoTCPUrl";
 const char* VideoSettings::videoAspectRatioName =   "VideoAspectRatio";
 const char* VideoSettings::videoGridLinesName =     "VideoGridLines";
 const char* VideoSettings::showRecControlName =     "ShowRecControl";
@@ -32,11 +33,13 @@ const char* VideoSettings::videoSourceNoVideo =     "No Video Available";
 const char* VideoSettings::videoDisabled =          "Video Stream Disabled";
 const char* VideoSettings::videoSourceUDP =         "UDP Video Stream";
 const char* VideoSettings::videoSourceRTSP =        "RTSP Video Stream";
+const char* VideoSettings::videoSourceTCP =         "TCP-MPEG2 Video Stream";
 
 VideoSettings::VideoSettings(QObject* parent)
     : SettingsGroup(videoSettingsGroupName, QString() /* root settings group */, parent)
     , _videoSourceFact(NULL)
     , _udpPortFact(NULL)
+    , _tcpUrlFact(NULL)
     , _rtspUrlFact(NULL)
     , _videoAspectRatioFact(NULL)
     , _gridLinesFact(NULL)
@@ -55,6 +58,7 @@ VideoSettings::VideoSettings(QObject* parent)
     videoSourceList.append(videoSourceUDP);
 #endif
     videoSourceList.append(videoSourceRTSP);
+    videoSourceList.append(videoSourceTCP);
 #endif
 #ifndef QGC_DISABLE_UVC
     QList<QCameraInfo> cameras = QCameraInfo::availableCameras();
@@ -109,6 +113,15 @@ Fact* VideoSettings::rtspUrl(void)
     return _rtspUrlFact;
 }
 
+Fact* VideoSettings::tcpUrl(void)
+{
+    if (!_tcpUrlFact) {
+        _tcpUrlFact = _createSettingsFact(tcpUrlName);
+    }
+
+    return _tcpUrlFact;
+}
+
 Fact* VideoSettings::aspectRatio(void)
 {
     if (!_videoAspectRatioFact) {

src/Settings/VideoSettings.h

@@ -21,6 +21,7 @@ public:
 
     Q_PROPERTY(Fact* videoSource        READ videoSource        CONSTANT)
     Q_PROPERTY(Fact* udpPort            READ udpPort            CONSTANT)
+    Q_PROPERTY(Fact* tcpUrl             READ tcpUrl             CONSTANT)
     Q_PROPERTY(Fact* rtspUrl            READ rtspUrl            CONSTANT)
     Q_PROPERTY(Fact* aspectRatio        READ aspectRatio        CONSTANT)
     Q_PROPERTY(Fact* gridLines          READ gridLines          CONSTANT)
@@ -31,6 +32,7 @@ public:
     Fact* videoSource       (void);
     Fact* udpPort           (void);
     Fact* rtspUrl           (void);
+    Fact* tcpUrl            (void);
     Fact* aspectRatio       (void);
     Fact* gridLines         (void);
     Fact* showRecControl    (void);
@@ -42,6 +44,7 @@ public:
     static const char* videoSourceName;
     static const char* udpPortName;
     static const char* rtspUrlName;
+    static const char* tcpUrlName;
     static const char* videoAspectRatioName;
     static const char* videoGridLinesName;
     static const char* showRecControlName;
@@ -52,9 +55,11 @@ public:
     static const char* videoDisabled;
     static const char* videoSourceUDP;
     static const char* videoSourceRTSP;
+    static const char* videoSourceTCP;
 
 private:
     SettingsFact* _videoSourceFact;
+    SettingsFact* _tcpUrlFact;
     SettingsFact* _udpPortFact;
     SettingsFact* _rtspUrlFact;
     SettingsFact* _videoAspectRatioFact;

src/VideoStreaming/VideoReceiver.cc

@@ -131,8 +131,8 @@ newPadCB(GstElement* element, GstPad* pad, gpointer data)
     gchar* description = gst_caps_to_string(p_caps);
     qCDebug(VideoReceiverLog) << p_caps << ", " << description;
     g_free(description);
-    GstElement* p_rtph264depay = GST_ELEMENT(data);
-    if(gst_element_link_pads(element, name, p_rtph264depay, "sink") == false)
+    GstElement* sink = GST_ELEMENT(data);
+    if(gst_element_link_pads(element, name, sink, "sink") == false)
         qCritical() << "newPadCB : failed to link elements\n";
     g_free(name);
 }
@@ -222,14 +222,16 @@ VideoReceiver::start()
 
     bool isUdp  = _uri.contains("udp://");
     bool isRtsp = _uri.contains("rtsp://");
+    bool isTCP  = _uri.contains("tcp://");
 
-    //-- For RTSP, check to see if server is there first
-    if(!_serverPresent && isRtsp) {
+    //-- For RTSP and TCP, check to see if server is there first
+    if(!_serverPresent && (isRtsp || isTCP)) {
         _timer.start(100);
         return;
     }
 
     bool running = false;
+    bool pipelineUp = false;
 
     GstElement*     dataSource  = NULL;
     GstCaps*        caps        = NULL;
@@ -247,6 +249,8 @@ VideoReceiver::start()
 
         if(isUdp) {
             dataSource = gst_element_factory_make("udpsrc", "udp-source");
+        } else if(isTCP) {
+            dataSource = gst_element_factory_make("tcpclientsrc", "tcpclient-source");
         } else {
             dataSource = gst_element_factory_make("rtspsrc", "rtsp-source");
         }
@@ -262,17 +266,24 @@ VideoReceiver::start()
                 break;
             }
             g_object_set(G_OBJECT(dataSource), "uri", qPrintable(_uri), "caps", caps, NULL);
+        } else if(isTCP) {
+            QUrl url(_uri);
+            g_object_set(G_OBJECT(dataSource), "host", qPrintable(url.host()), "port", url.port(), NULL );
         } else {
             g_object_set(G_OBJECT(dataSource), "location", qPrintable(_uri), "latency", 17, "udp-reconnect", 1, "timeout", static_cast<guint64>(5000000), 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) {
+                qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('tsdemux')";
+                break;
+            }
+        } else {
             if ((demux = gst_element_factory_make("rtph264depay", "rtp-h264-depacketizer")) == NULL) {
                 qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('rtph264depay')";
                 break;
             }
-
-        if(!isUdp) {
-            g_signal_connect(dataSource, "pad-added", G_CALLBACK(newPadCB), demux);
         }
 
         if ((parser = gst_element_factory_make("h264parse", "h264-parser")) == NULL) {
@@ -286,6 +297,8 @@ VideoReceiver::start()
         }
 
         if((queue = gst_element_factory_make("queue", NULL)) == NULL)  {
+            // 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;
         }
@@ -301,21 +314,33 @@ VideoReceiver::start()
         }
 
         gst_bin_add_many(GST_BIN(_pipeline), dataSource, demux, parser, _tee, queue, decoder, queue1, _videoSink, NULL);
+        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)) {
-                qCritical() << "Unable to link elements.";
+                qCritical() << "Unable to link UDP elements.";
+                break;
+            }
+        } else if (isTCP) {
+            if(!gst_element_link(dataSource, demux)) {
+                qCritical() << "Unable to link TCP dataSource to Demux.";
+                break;
+            }
+            if(!gst_element_link_many(parser, _tee, queue, decoder, queue1, _videoSink, NULL)) {
+                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)) {
-                qCritical() << "Unable to link elements.";
+                qCritical() << "Unable to link RTSP elements.";
                 break;
             }
         }
 
-        dataSource = demux = parser = queue = decoder = NULL;
+        dataSource = demux = parser = queue = decoder = queue1 = NULL;
 
         GstBus* bus = NULL;
 
@@ -338,6 +363,14 @@ VideoReceiver::start()
     if (!running) {
         qCritical() << "VideoReceiver::start() failed";
 
+        // In newer versions, the pipeline will clean up all references that are added to it
+        if (_pipeline != NULL) {
+            gst_object_unref(_pipeline);
+            _pipeline = NULL;
+        }
+
+        // If we failed before adding items to the pipeline, then clean up
+        if (!pipelineUp) {
             if (decoder != NULL) {
                 gst_object_unref(decoder);
                 decoder = NULL;
@@ -367,10 +400,6 @@ VideoReceiver::start()
                 gst_object_unref(queue);
                 dataSource = NULL;
             }
-
-        if (_pipeline != NULL) {
-            gst_object_unref(_pipeline);
-            _pipeline = NULL;
         }
 
         _running = false;

src/ui/preferences/GeneralSettings.qml

@@ -555,6 +555,20 @@ QGCView {
                                 anchors.verticalCenter: parent.verticalCenter
                             }
                         }
+                        Row {
+                            spacing:    ScreenTools.defaultFontPixelWidth
+                            visible:    QGroundControl.settingsManager.videoSettings.tcpUrl.visible && QGroundControl.videoManager.isGStreamer && videoSource.currentIndex === 3
+                            QGCLabel {
+                                text:               qsTr("TCP URL:")
+                                width:              _labelWidth
+                                anchors.verticalCenter: parent.verticalCenter
+                            }
+                            FactTextField {
+                                width:              _editFieldWidth
+                                fact:               QGroundControl.settingsManager.videoSettings.tcpUrl
+                                anchors.verticalCenter: parent.verticalCenter
+                            }
+                        }
                         Row {
                             spacing:    ScreenTools.defaultFontPixelWidth
                             visible:    QGroundControl.videoManager.isGStreamer && videoSource.currentIndex && videoSource.currentIndex < 3 && QGroundControl.settingsManager.videoSettings.aspectRatio.visible
@@ -613,7 +627,7 @@ QGCView {
                         anchors.centerIn: parent
                         Row {
                             spacing:    ScreenTools.defaultFontPixelWidth
-                            visible:    QGroundControl.videoManager.isGStreamer && videoSource.currentIndex && videoSource.currentIndex < 3 && QGroundControl.settingsManager.videoSettings.maxVideoSize.visible
+                            visible:    QGroundControl.videoManager.isGStreamer && videoSource.currentIndex && videoSource.currentIndex < 4 && QGroundControl.settingsManager.videoSettings.maxVideoSize.visible
                             QGCLabel {
                                 text:               qsTr("Max Storage Usage:")
                                 width:              _labelWidth
@@ -627,7 +641,7 @@ QGCView {
                         }
                         Row {
                             spacing:    ScreenTools.defaultFontPixelWidth
-                            visible:    QGroundControl.videoManager.isGStreamer && videoSource.currentIndex && videoSource.currentIndex < 3 && QGroundControl.settingsManager.videoSettings.recordingFormat.visible
+                            visible:    QGroundControl.videoManager.isGStreamer && videoSource.currentIndex && videoSource.currentIndex < 4 && QGroundControl.settingsManager.videoSettings.recordingFormat.visible
                             QGCLabel {
                                 text:               qsTr("Video File Format:")
                                 width:              _labelWidth