diff --git a/src/FlightDisplay/VideoManager.cc b/src/FlightDisplay/VideoManager.cc index ed275e23dfbe9cbb29999ac5df97d30b69165d88..3cf29e5a58c433bd7ca9901a6dd2c545f2547b4f 100644 --- a/src/FlightDisplay/VideoManager.cc +++ b/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())); } //----------------------------------------------------------------------------- diff --git a/src/FlightDisplay/VideoManager.h b/src/FlightDisplay/VideoManager.h index 375d71f2189bec803dd56e6da40dae6e08c275c0..8026ceb5a8b5449aeab8df7e95ca04d9c9ce275f 100644 --- a/src/FlightDisplay/VideoManager.h +++ b/src/FlightDisplay/VideoManager.h @@ -61,6 +61,7 @@ private slots: void _videoSourceChanged (); void _udpPortChanged (); void _rtspUrlChanged (); + void _tcpUrlChanged (); private: void _updateSettings (); diff --git a/src/Settings/Video.SettingsGroup.json b/src/Settings/Video.SettingsGroup.json index 57e12ad6cfa29863793319c712cfadc44bded48f..c68f4dcff9a9b1c23cebe1dc2e4f587325d9ad67 100644 --- a/src/Settings/Video.SettingsGroup.json +++ b/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", diff --git a/src/Settings/VideoSettings.cc b/src/Settings/VideoSettings.cc index 577e590524c3118fd969ae3b9c2d8ef83c3541dc..d00c03be559a976b81ff662b2a0801085241f895 100644 --- a/src/Settings/VideoSettings.cc +++ b/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 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) { diff --git a/src/Settings/VideoSettings.h b/src/Settings/VideoSettings.h index 71a6652c7d15a888d8ec61e3e2c5208b4b591998..7cc54aa26ba864722402ec036727972a3c455ba5 100644 --- a/src/Settings/VideoSettings.h +++ b/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; @@ -52,10 +55,12 @@ public: static const char* videoDisabled; static const char* videoSourceUDP; static const char* videoSourceRTSP; + static const char* videoSourceTCP; private: SettingsFact* _videoSourceFact; SettingsFact* _udpPortFact; + SettingsFact* _tcpUrlFact; SettingsFact* _rtspUrlFact; SettingsFact* _videoAspectRatioFact; SettingsFact* _gridLinesFact; diff --git a/src/VideoStreaming/VideoReceiver.cc b/src/VideoStreaming/VideoReceiver.cc index c0318b66d4879c022dbd65e68fc857716c42fa22..23d4dc21c7c4069693944a3472e957120dbcbda8 100644 --- a/src/VideoStreaming/VideoReceiver.cc +++ b/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(5000000), NULL); } - 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); + // 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 ((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; @@ -338,39 +363,43 @@ VideoReceiver::start() if (!running) { qCritical() << "VideoReceiver::start() failed"; - if (decoder != NULL) { - gst_object_unref(decoder); - decoder = NULL; + // 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 (parser != NULL) { - gst_object_unref(parser); - parser = NULL; - } + // If we failed before adding items to the pipeline, then clean up + if (!pipelineUp) { + if (decoder != NULL) { + gst_object_unref(decoder); + decoder = NULL; + } - if (demux != NULL) { - gst_object_unref(demux); - demux = NULL; - } + if (parser != NULL) { + gst_object_unref(parser); + parser = NULL; + } - if (dataSource != NULL) { - gst_object_unref(dataSource); - dataSource = NULL; - } + if (demux != NULL) { + gst_object_unref(demux); + demux = NULL; + } - if (_tee != NULL) { - gst_object_unref(_tee); - dataSource = NULL; - } + if (dataSource != NULL) { + gst_object_unref(dataSource); + dataSource = NULL; + } - if (queue != NULL) { - gst_object_unref(queue); - dataSource = NULL; - } + if (_tee != NULL) { + gst_object_unref(_tee); + dataSource = NULL; + } - if (_pipeline != NULL) { - gst_object_unref(_pipeline); - _pipeline = NULL; + if (queue != NULL) { + gst_object_unref(queue); + dataSource = NULL; + } } _running = false; diff --git a/src/ui/preferences/GeneralSettings.qml b/src/ui/preferences/GeneralSettings.qml index 68abd607299c116116199c02ac1861dbff917e72..c7b75cafade42d7b9e0120849ff077bd2a6e94e4 100644 --- a/src/ui/preferences/GeneralSettings.qml +++ b/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