/**************************************************************************** * * (c) 2009-2016 QGROUNDCONTROL PROJECT * * 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 */ #include "VideoReceiver.h" #include "SettingsManager.h" #include "QGCApplication.h" #include "VideoManager.h" #ifdef QGC_GST_TAISYNC_ENABLED #include "TaisyncHandler.h" #endif #include #include #include #include #include QGC_LOGGING_CATEGORY(VideoReceiverLog, "VideoReceiverLog") #if defined(QGC_GST_STREAMING) static const char* kVideoExtensions[] = { "mkv", "mov", "mp4" }; static const char* kVideoMuxes[] = { "matroskamux", "qtmux", "mp4mux" }; #define NUM_MUXES (sizeof(kVideoMuxes) / sizeof(char*)) #endif VideoReceiver::VideoReceiver(QObject* parent) : QObject(parent) #if defined(QGC_GST_STREAMING) , _running(false) , _recording(false) , _streaming(false) , _starting(false) , _stopping(false) , _sink(nullptr) , _tee(nullptr) , _pipeline(nullptr) , _pipelineStopRec(nullptr) , _videoSink(nullptr) , _socket(nullptr) , _serverPresent(false) , _rtspTestInterval_ms(5000) , _udpReconnect_us(5000000) #endif , _videoSurface(nullptr) , _videoRunning(false) , _showFullScreen(false) , _videoSettings(nullptr) { _videoSurface = new VideoSurface; _videoSettings = qgcApp()->toolbox()->settingsManager()->videoSettings(); #if defined(QGC_GST_STREAMING) _setVideoSink(_videoSurface->videoSink()); _timer.setSingleShot(true); connect(&_timer, &QTimer::timeout, this, &VideoReceiver::_timeout); connect(this, &VideoReceiver::msgErrorReceived, this, &VideoReceiver::_handleError); connect(this, &VideoReceiver::msgEOSReceived, this, &VideoReceiver::_handleEOS); connect(this, &VideoReceiver::msgStateChangedReceived, this, &VideoReceiver::_handleStateChanged); connect(&_frameTimer, &QTimer::timeout, this, &VideoReceiver::_updateTimer); _frameTimer.start(1000); #endif } VideoReceiver::~VideoReceiver() { #if defined(QGC_GST_STREAMING) stop(); if(_socket) { delete _socket; } if (_videoSink) { gst_object_unref(_videoSink); } #endif if(_videoSurface) delete _videoSurface; } #if defined(QGC_GST_STREAMING) void VideoReceiver::_setVideoSink(GstElement* sink) { if (_videoSink) { gst_object_unref(_videoSink); _videoSink = nullptr; } if (sink) { _videoSink = sink; gst_object_ref_sink(_videoSink); } } #endif //----------------------------------------------------------------------------- void VideoReceiver::grabImage(QString imageFile) { _imageFile = imageFile; emit imageFileChanged(); } //----------------------------------------------------------------------------- #if defined(QGC_GST_STREAMING) static void newPadCB(GstElement* element, GstPad* pad, gpointer data) { gchar* name; name = gst_pad_get_name(pad); //g_print("A new pad %s was created\n", name); GstCaps* p_caps = gst_pad_get_pad_template_caps (pad); gchar* description = gst_caps_to_string(p_caps); qCDebug(VideoReceiverLog) << p_caps << ", " << description; g_free(description); 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); } #endif //----------------------------------------------------------------------------- #if defined(QGC_GST_STREAMING) void VideoReceiver::_connected() { //-- Server showed up. Now we start the stream. _timer.stop(); _socket->deleteLater(); _socket = nullptr; if(_videoSettings->streamEnabled()->rawValue().toBool()) { _serverPresent = true; start(); } } #endif //----------------------------------------------------------------------------- #if defined(QGC_GST_STREAMING) void VideoReceiver::_socketError(QAbstractSocket::SocketError socketError) { Q_UNUSED(socketError); _socket->deleteLater(); _socket = nullptr; //-- Try again in a while if(_videoSettings->streamEnabled()->rawValue().toBool()) { _timer.start(_rtspTestInterval_ms); } } #endif //----------------------------------------------------------------------------- #if defined(QGC_GST_STREAMING) void VideoReceiver::_timeout() { //-- If socket is live, we got no connection nor a socket error if(_socket) { delete _socket; _socket = nullptr; } if(_videoSettings->streamEnabled()->rawValue().toBool()) { //-- RTSP will try to connect to the server. If it cannot connect, // it will simply give up and never try again. Instead, we keep // attempting a connection on this timer. Once a connection is // found to be working, only then we actually start the stream. QUrl url(_uri); //-- If RTSP and no port is defined, set default RTSP port (554) if(_uri.contains("rtsp://") && url.port() <= 0) { url.setPort(554); } _socket = new QTcpSocket; QNetworkProxy tempProxy; tempProxy.setType(QNetworkProxy::DefaultProxy); _socket->setProxy(tempProxy); connect(_socket, static_cast(&QTcpSocket::error), this, &VideoReceiver::_socketError); connect(_socket, &QTcpSocket::connected, this, &VideoReceiver::_connected); _socket->connectToHost(url.host(), static_cast(url.port())); _timer.start(_rtspTestInterval_ms); } } #endif //----------------------------------------------------------------------------- // When we finish our pipeline will look like this: // // +-->queue-->decoder-->_videosink // | // datasource-->demux-->parser-->tee // // ^ // | // +-Here we will later link elements for recording void VideoReceiver::start() { qCDebug(VideoReceiverLog) << "start():" << _uri; if(qgcApp()->runningUnitTests()) { return; } if(!_videoSettings->streamEnabled()->rawValue().toBool() || !_videoSettings->streamConfigured()) { qCDebug(VideoReceiverLog) << "start() but not enabled/configured"; return; } #if defined(QGC_GST_STREAMING) _stop = false; qCDebug(VideoReceiverLog) << "start()"; #if defined(QGC_GST_TAISYNC_ENABLED) && (defined(__android__) || defined(__ios__)) //-- Taisync on iOS or Android sends a raw h.264 stream bool isTaisyncUSB = qgcApp()->toolbox()->videoManager()->isTaisync(); #else bool isTaisyncUSB = false; #endif bool isUdp = _uri.contains("udp://") && !isTaisyncUSB; bool isRtsp = _uri.contains("rtsp://") && !isTaisyncUSB; bool isTCP = _uri.contains("tcp://") && !isTaisyncUSB; bool isMPEGTS = _uri.contains("mpegts://") && !isTaisyncUSB; if (!isTaisyncUSB && _uri.isEmpty()) { qCritical() << "VideoReceiver::start() failed because URI is not specified"; return; } if (_videoSink == nullptr) { qCritical() << "VideoReceiver::start() failed because video sink is not set"; return; } if(_running) { qCDebug(VideoReceiverLog) << "Already running!"; return; } _starting = true; //-- 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 = nullptr; GstCaps* caps = nullptr; GstElement* demux = nullptr; GstElement* parser = nullptr; GstElement* queue = nullptr; GstElement* decoder = nullptr; GstElement* queue1 = nullptr; do { if ((_pipeline = gst_pipeline_new("receiver")) == nullptr) { qCritical() << "VideoReceiver::start() failed. Error with gst_pipeline_new()"; break; } if(isUdp || isMPEGTS || isTaisyncUSB) { 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"); } if (!dataSource) { qCritical() << "VideoReceiver::start() failed. Error with data source for gst_element_factory_make()"; break; } if(isUdp) { if ((caps = gst_caps_from_string("application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264")) == nullptr) { qCritical() << "VideoReceiver::start() failed. Error with gst_caps_from_string()"; break; } g_object_set(static_cast(dataSource), "uri", qPrintable(_uri), "caps", caps, nullptr); #if defined(QGC_GST_TAISYNC_ENABLED) && (defined(__android__) || defined(__ios__)) } else if(isTaisyncUSB) { QString uri = QString("0.0.0.0:%1").arg(TAISYNC_VIDEO_UDP_PORT); qCDebug(VideoReceiverLog) << "Taisync URI:" << uri; g_object_set(static_cast(dataSource), "port", TAISYNC_VIDEO_UDP_PORT, nullptr); #endif } else if(isTCP) { QUrl url(_uri); g_object_set(static_cast(dataSource), "host", qPrintable(url.host()), "port", url.port(), nullptr ); } else if(isMPEGTS) { QUrl url(_uri); g_object_set(static_cast(dataSource), "port", url.port(), nullptr); } else { g_object_set(static_cast(dataSource), "location", qPrintable(_uri), "latency", 17, "udp-reconnect", 1, "timeout", _udpReconnect_us, NULL); } if (isTCP || isMPEGTS) { if ((demux = gst_element_factory_make("tsdemux", "mpeg-ts-demuxer")) == nullptr) { qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('tsdemux')"; break; } } else { if(!isTaisyncUSB) { if ((demux = gst_element_factory_make("rtph264depay", "rtp-h264-depacketizer")) == nullptr) { qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('rtph264depay')"; break; } } } if ((parser = gst_element_factory_make("h264parse", "h264-parser")) == nullptr) { qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('h264parse')"; break; } if((_tee = gst_element_factory_make("tee", nullptr)) == nullptr) { qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('tee')"; break; } if((queue = gst_element_factory_make("queue", nullptr)) == nullptr) { // TODO: We may want to add queue2 max-size-buffers=1 to get lower latency // We should compare gstreamer scripts to QGroundControl to determine the need qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('queue')"; break; } if ((decoder = gst_element_factory_make("avdec_h264", "h264-decoder")) == nullptr) { qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('avdec_h264')"; break; } if ((queue1 = gst_element_factory_make("queue", nullptr)) == nullptr) { qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('queue') [1]"; break; } if(isTaisyncUSB) { gst_bin_add_many(GST_BIN(_pipeline), dataSource, parser, _tee, queue, decoder, queue1, _videoSink, nullptr); } else { gst_bin_add_many(GST_BIN(_pipeline), dataSource, demux, parser, _tee, queue, decoder, queue1, _videoSink, nullptr); } pipelineUp = true; if(isUdp) { // Link the pipeline in front of the tee if(!gst_element_link_many(dataSource, demux, parser, _tee, queue, decoder, queue1, _videoSink, nullptr)) { qCritical() << "Unable to link UDP elements."; break; } } else if(isTaisyncUSB) { // Link the pipeline in front of the tee if(!gst_element_link_many(dataSource, parser, _tee, queue, decoder, queue1, _videoSink, nullptr)) { qCritical() << "Unable to link Taisync USB elements."; break; } } else if (isTCP || isMPEGTS) { if(!gst_element_link(dataSource, demux)) { qCritical() << "Unable to link TCP/MPEG-TS dataSource to Demux."; break; } if(!gst_element_link_many(parser, _tee, queue, decoder, queue1, _videoSink, nullptr)) { qCritical() << "Unable to link TCP/MPEG-TS 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, nullptr)) { qCritical() << "Unable to link RTSP elements."; break; } } dataSource = demux = parser = queue = decoder = queue1 = nullptr; GstBus* bus = nullptr; if ((bus = gst_pipeline_get_bus(GST_PIPELINE(_pipeline))) != nullptr) { gst_bus_enable_sync_message_emission(bus); g_signal_connect(bus, "sync-message", G_CALLBACK(_onBusMessage), this); gst_object_unref(bus); bus = nullptr; } GST_DEBUG_BIN_TO_DOT_FILE(GST_BIN(_pipeline), GST_DEBUG_GRAPH_SHOW_ALL, "pipeline-paused"); running = gst_element_set_state(_pipeline, GST_STATE_PLAYING) != GST_STATE_CHANGE_FAILURE; } while(0); if (caps != nullptr) { gst_caps_unref(caps); caps = nullptr; } if (!running) { qCritical() << "VideoReceiver::start() failed"; // In newer versions, the pipeline will clean up all references that are added to it if (_pipeline != nullptr) { gst_object_unref(_pipeline); _pipeline = nullptr; } // If we failed before adding items to the pipeline, then clean up if (!pipelineUp) { if (decoder != nullptr) { gst_object_unref(decoder); decoder = nullptr; } if (parser != nullptr) { gst_object_unref(parser); parser = nullptr; } if (demux != nullptr) { gst_object_unref(demux); demux = nullptr; } if (dataSource != nullptr) { gst_object_unref(dataSource); dataSource = nullptr; } if (_tee != nullptr) { gst_object_unref(_tee); dataSource = nullptr; } if (queue != nullptr) { gst_object_unref(queue); dataSource = nullptr; } } _running = false; } else { GST_DEBUG_BIN_TO_DOT_FILE(GST_BIN(_pipeline), GST_DEBUG_GRAPH_SHOW_ALL, "pipeline-playing"); _running = true; qCDebug(VideoReceiverLog) << "Running"; } _starting = false; #endif } //----------------------------------------------------------------------------- void VideoReceiver::stop() { if(qgcApp() && qgcApp()->runningUnitTests()) { return; } #if defined(QGC_GST_STREAMING) _stop = true; qCDebug(VideoReceiverLog) << "stop()"; if(!_streaming) { _shutdownPipeline(); } else if (_pipeline != nullptr && !_stopping) { qCDebug(VideoReceiverLog) << "Stopping _pipeline"; gst_element_send_event(_pipeline, gst_event_new_eos()); _stopping = true; GstBus* bus = gst_pipeline_get_bus(GST_PIPELINE(_pipeline)); GstMessage* message = gst_bus_timed_pop_filtered(bus, GST_CLOCK_TIME_NONE, (GstMessageType)(GST_MESSAGE_EOS|GST_MESSAGE_ERROR)); gst_object_unref(bus); if(GST_MESSAGE_TYPE(message) == GST_MESSAGE_ERROR) { _shutdownPipeline(); qCritical() << "Error stopping pipeline!"; } else if(GST_MESSAGE_TYPE(message) == GST_MESSAGE_EOS) { _handleEOS(); } gst_message_unref(message); } #endif } //----------------------------------------------------------------------------- void VideoReceiver::setUri(const QString & uri) { _uri = uri; } //----------------------------------------------------------------------------- #if defined(QGC_GST_STREAMING) void VideoReceiver::_shutdownPipeline() { if(!_pipeline) { qCDebug(VideoReceiverLog) << "No pipeline"; return; } GstBus* bus = nullptr; if ((bus = gst_pipeline_get_bus(GST_PIPELINE(_pipeline))) != nullptr) { gst_bus_disable_sync_message_emission(bus); gst_object_unref(bus); bus = nullptr; } gst_element_set_state(_pipeline, GST_STATE_NULL); gst_bin_remove(GST_BIN(_pipeline), _videoSink); gst_object_unref(_pipeline); _pipeline = nullptr; delete _sink; _sink = nullptr; _serverPresent = false; _streaming = false; _recording = false; _stopping = false; _running = false; emit recordingChanged(); } #endif //----------------------------------------------------------------------------- #if defined(QGC_GST_STREAMING) void VideoReceiver::_handleError() { qCDebug(VideoReceiverLog) << "Gstreamer error!"; stop(); start(); } #endif //----------------------------------------------------------------------------- #if defined(QGC_GST_STREAMING) void VideoReceiver::_handleEOS() { if(_stopping) { _shutdownPipeline(); qCDebug(VideoReceiverLog) << "Stopped"; } else if(_recording && _sink->removing) { _shutdownRecordingBranch(); } else { qWarning() << "VideoReceiver: Unexpected EOS!"; stop(); start(); } } #endif //----------------------------------------------------------------------------- #if defined(QGC_GST_STREAMING) void VideoReceiver::_handleStateChanged() { if(_pipeline) { _streaming = GST_STATE(_pipeline) == GST_STATE_PLAYING; qCDebug(VideoReceiverLog) << "State changed, _streaming:" << _streaming; } } #endif //----------------------------------------------------------------------------- #if defined(QGC_GST_STREAMING) gboolean VideoReceiver::_onBusMessage(GstBus* bus, GstMessage* msg, gpointer data) { Q_UNUSED(bus) Q_ASSERT(msg != nullptr && data != nullptr); VideoReceiver* pThis = (VideoReceiver*)data; switch(GST_MESSAGE_TYPE(msg)) { case(GST_MESSAGE_ERROR): { gchar* debug; GError* error; gst_message_parse_error(msg, &error, &debug); g_free(debug); qCritical() << error->message; g_error_free(error); pThis->msgErrorReceived(); } break; case(GST_MESSAGE_EOS): pThis->msgEOSReceived(); break; case(GST_MESSAGE_STATE_CHANGED): pThis->msgStateChangedReceived(); break; default: break; } return TRUE; } #endif //----------------------------------------------------------------------------- #if defined(QGC_GST_STREAMING) void VideoReceiver::_cleanupOldVideos() { //-- Only perform cleanup if storage limit is enabled if(_videoSettings->enableStorageLimit()->rawValue().toBool()) { QString savePath = qgcApp()->toolbox()->settingsManager()->appSettings()->videoSavePath(); QDir videoDir = QDir(savePath); videoDir.setFilter(QDir::Files | QDir::Readable | QDir::NoSymLinks | QDir::Writable); videoDir.setSorting(QDir::Time); //-- All the movie extensions we support QStringList nameFilters; for(uint32_t i = 0; i < NUM_MUXES; i++) { nameFilters << QString("*.") + QString(kVideoExtensions[i]); } videoDir.setNameFilters(nameFilters); //-- get the list of videos stored QFileInfoList vidList = videoDir.entryInfoList(); if(!vidList.isEmpty()) { uint64_t total = 0; //-- Settings are stored using MB uint64_t maxSize = (_videoSettings->maxVideoSize()->rawValue().toUInt() * 1024 * 1024); //-- Compute total used storage for(int i = 0; i < vidList.size(); i++) { total += vidList[i].size(); } //-- 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(); QFile file (vidList.last().filePath()); file.remove(); vidList.removeLast(); } } } } #endif //----------------------------------------------------------------------------- // When we finish our pipeline will look like this: // // +-->queue-->decoder-->_videosink // | // datasource-->demux-->parser-->tee // | // | +--------------_sink-------------------+ // | | | // we are adding these elements-> +->teepad-->queue-->matroskamux-->_filesink | // | | // +--------------------------------------+ void VideoReceiver::startRecording(const QString &videoFile) { #if defined(QGC_GST_STREAMING) qCDebug(VideoReceiverLog) << "startRecording()"; // exit immediately if we are already recording if(_pipeline == nullptr || _recording) { qCDebug(VideoReceiverLog) << "Already recording!"; return; } uint32_t muxIdx = _videoSettings->recordingFormat()->rawValue().toUInt(); if(muxIdx >= NUM_MUXES) { qgcApp()->showMessage(tr("Invalid video format defined.")); return; } //-- Disk usage maintenance _cleanupOldVideos(); _sink = new Sink(); _sink->teepad = gst_element_get_request_pad(_tee, "src_%u"); _sink->queue = gst_element_factory_make("queue", nullptr); _sink->parse = gst_element_factory_make("h264parse", nullptr); _sink->mux = gst_element_factory_make(kVideoMuxes[muxIdx], nullptr); _sink->filesink = gst_element_factory_make("filesink", nullptr); _sink->removing = false; if(!_sink->teepad || !_sink->queue || !_sink->mux || !_sink->filesink || !_sink->parse) { qCritical() << "VideoReceiver::startRecording() failed to make _sink elements"; return; } if(videoFile.isEmpty()) { QString savePath = qgcApp()->toolbox()->settingsManager()->appSettings()->videoSavePath(); if(savePath.isEmpty()) { qgcApp()->showMessage(tr("Unabled to record video. Video save path must be specified in Settings.")); return; } _videoFile = savePath + "/" + QDateTime::currentDateTime().toString("yyyy-MM-dd_hh.mm.ss") + "." + kVideoExtensions[muxIdx]; } else { _videoFile = videoFile; } emit videoFileChanged(); g_object_set(static_cast(_sink->filesink), "location", qPrintable(_videoFile), nullptr); qCDebug(VideoReceiverLog) << "New video file:" << _videoFile; gst_object_ref(_sink->queue); gst_object_ref(_sink->parse); gst_object_ref(_sink->mux); gst_object_ref(_sink->filesink); gst_bin_add_many(GST_BIN(_pipeline), _sink->queue, _sink->parse, _sink->mux, _sink->filesink, nullptr); gst_element_link_many(_sink->queue, _sink->parse, _sink->mux, _sink->filesink, nullptr); gst_element_sync_state_with_parent(_sink->queue); gst_element_sync_state_with_parent(_sink->parse); gst_element_sync_state_with_parent(_sink->mux); gst_element_sync_state_with_parent(_sink->filesink); // Install a probe on the recording branch to drop buffers until we hit our first keyframe // When we hit our first keyframe, we can offset the timestamps appropriately according to the first keyframe time // This will ensure the first frame is a keyframe at t=0, and decoding can begin immediately on playback GstPad* probepad = gst_element_get_static_pad(_sink->queue, "src"); gst_pad_add_probe(probepad, (GstPadProbeType)(GST_PAD_PROBE_TYPE_BUFFER /* | GST_PAD_PROBE_TYPE_BLOCK */), _keyframeWatch, this, nullptr); // to drop the buffer or to block the buffer? gst_object_unref(probepad); // Link the recording branch to the pipeline GstPad* sinkpad = gst_element_get_static_pad(_sink->queue, "sink"); gst_pad_link(_sink->teepad, sinkpad); gst_object_unref(sinkpad); GST_DEBUG_BIN_TO_DOT_FILE(GST_BIN(_pipeline), GST_DEBUG_GRAPH_SHOW_ALL, "pipeline-recording"); _recording = true; emit recordingChanged(); qCDebug(VideoReceiverLog) << "Recording started"; #else Q_UNUSED(videoFile) #endif } //----------------------------------------------------------------------------- void VideoReceiver::stopRecording(void) { #if defined(QGC_GST_STREAMING) qCDebug(VideoReceiverLog) << "stopRecording()"; // exit immediately if we are not recording if(_pipeline == nullptr || !_recording) { qCDebug(VideoReceiverLog) << "Not recording!"; return; } // Wait for data block before unlinking gst_pad_add_probe(_sink->teepad, GST_PAD_PROBE_TYPE_IDLE, _unlinkCallBack, this, nullptr); #endif } //----------------------------------------------------------------------------- // This is only installed on the transient _pipelineStopRec in order // to finalize a video file. It is not used for the main _pipeline. // -EOS has appeared on the bus of the temporary pipeline // -At this point all of the recoring elements have been flushed, and the video file has been finalized // -Now we can remove the temporary pipeline and its elements #if defined(QGC_GST_STREAMING) void VideoReceiver::_shutdownRecordingBranch() { gst_bin_remove(GST_BIN(_pipelineStopRec), _sink->queue); gst_bin_remove(GST_BIN(_pipelineStopRec), _sink->parse); gst_bin_remove(GST_BIN(_pipelineStopRec), _sink->mux); gst_bin_remove(GST_BIN(_pipelineStopRec), _sink->filesink); gst_element_set_state(_pipelineStopRec, GST_STATE_NULL); gst_object_unref(_pipelineStopRec); _pipelineStopRec = nullptr; gst_element_set_state(_sink->filesink, GST_STATE_NULL); gst_element_set_state(_sink->parse, GST_STATE_NULL); gst_element_set_state(_sink->mux, GST_STATE_NULL); gst_element_set_state(_sink->queue, GST_STATE_NULL); gst_object_unref(_sink->queue); gst_object_unref(_sink->parse); gst_object_unref(_sink->mux); gst_object_unref(_sink->filesink); delete _sink; _sink = nullptr; _recording = false; emit recordingChanged(); qCDebug(VideoReceiverLog) << "Recording Stopped"; } #endif //----------------------------------------------------------------------------- // -Unlink the recording branch from the tee in the main _pipeline // -Create a second temporary pipeline, and place the recording branch elements into that pipeline // -Setup watch and handler for EOS event on the temporary pipeline's bus // -Send an EOS event at the beginning of that pipeline #if defined(QGC_GST_STREAMING) void VideoReceiver::_detachRecordingBranch(GstPadProbeInfo* info) { Q_UNUSED(info) // Also unlinks and unrefs gst_bin_remove_many(GST_BIN(_pipeline), _sink->queue, _sink->parse, _sink->mux, _sink->filesink, nullptr); // Give tee its pad back gst_element_release_request_pad(_tee, _sink->teepad); gst_object_unref(_sink->teepad); // Create temporary pipeline _pipelineStopRec = gst_pipeline_new("pipeStopRec"); // Put our elements from the recording branch into the temporary pipeline gst_bin_add_many(GST_BIN(_pipelineStopRec), _sink->queue, _sink->parse, _sink->mux, _sink->filesink, nullptr); gst_element_link_many(_sink->queue, _sink->parse, _sink->mux, _sink->filesink, nullptr); // Add handler for EOS event GstBus* bus = gst_pipeline_get_bus(GST_PIPELINE(_pipelineStopRec)); gst_bus_enable_sync_message_emission(bus); g_signal_connect(bus, "sync-message", G_CALLBACK(_onBusMessage), this); gst_object_unref(bus); if(gst_element_set_state(_pipelineStopRec, GST_STATE_PLAYING) == GST_STATE_CHANGE_FAILURE) { qCDebug(VideoReceiverLog) << "problem starting _pipelineStopRec"; } // Send EOS at the beginning of the pipeline GstPad* sinkpad = gst_element_get_static_pad(_sink->queue, "sink"); gst_pad_send_event(sinkpad, gst_event_new_eos()); gst_object_unref(sinkpad); qCDebug(VideoReceiverLog) << "Recording branch unlinked"; } #endif //----------------------------------------------------------------------------- #if defined(QGC_GST_STREAMING) GstPadProbeReturn VideoReceiver::_unlinkCallBack(GstPad* pad, GstPadProbeInfo* info, gpointer user_data) { Q_UNUSED(pad); if(info != nullptr && user_data != nullptr) { VideoReceiver* pThis = static_cast(user_data); // We will only act once if(g_atomic_int_compare_and_exchange(&pThis->_sink->removing, FALSE, TRUE)) { pThis->_detachRecordingBranch(info); } } return GST_PAD_PROBE_REMOVE; } #endif //----------------------------------------------------------------------------- #if defined(QGC_GST_STREAMING) GstPadProbeReturn VideoReceiver::_keyframeWatch(GstPad* pad, GstPadProbeInfo* info, gpointer user_data) { Q_UNUSED(pad); if(info != nullptr && user_data != nullptr) { GstBuffer* buf = gst_pad_probe_info_get_buffer(info); if(GST_BUFFER_FLAG_IS_SET(buf, GST_BUFFER_FLAG_DELTA_UNIT)) { // wait for a keyframe return GST_PAD_PROBE_DROP; } else { VideoReceiver* pThis = static_cast(user_data); // reset the clock GstClock* clock = gst_pipeline_get_clock(GST_PIPELINE(pThis->_pipeline)); GstClockTime time = gst_clock_get_time(clock); gst_object_unref(clock); gst_element_set_base_time(pThis->_pipeline, time); // offset pipeline timestamps to start at zero again buf->dts = 0; // The offset will not apply to this current buffer, our first frame, timestamp is zero buf->pts = 0; qCDebug(VideoReceiverLog) << "Got keyframe, stop dropping buffers"; } } return GST_PAD_PROBE_REMOVE; } #endif //----------------------------------------------------------------------------- void VideoReceiver::_updateTimer() { #if defined(QGC_GST_STREAMING) if(_videoSurface) { if(stopping() || starting()) { return; } if(streaming()) { if(!_videoRunning) { _videoSurface->setLastFrame(0); _videoRunning = true; emit videoRunningChanged(); } } else { if(_videoRunning) { _videoRunning = false; emit videoRunningChanged(); } } if(_videoRunning) { uint32_t timeout = 1; if(qgcApp()->toolbox() && qgcApp()->toolbox()->settingsManager()) { timeout = _videoSettings->rtspTimeout()->rawValue().toUInt(); } time_t elapsed = 0; time_t lastFrame = _videoSurface->lastFrame(); if(lastFrame != 0) { elapsed = time(nullptr) - _videoSurface->lastFrame(); } if(elapsed > static_cast(timeout) && _videoSurface) { stop(); // We want to start it back again with _updateTimer _stop = false; } } else { if(!_stop && !running() && !_uri.isEmpty() && _videoSettings->streamEnabled()->rawValue().toBool()) { start(); } } } #endif }