diff --git a/src/Camera/QGCCameraControl.cc b/src/Camera/QGCCameraControl.cc
index 780b192..f7aab02 100644
--- a/src/Camera/QGCCameraControl.cc
+++ b/src/Camera/QGCCameraControl.cc
@@ -70,6 +70,9 @@ const char* QGCCameraControl::kCAM_SHUTTERSPD = "CAM_SHUTTERSPD";
const char* QGCCameraControl::kCAM_APERTURE = "CAM_APERTURE";
const char* QGCCameraControl::kCAM_WBMODE = "CAM_WBMODE";
const char* QGCCameraControl::kCAM_MODE = "CAM_MODE";
+const char* QGCCameraControl::kCAM_BITRATE = "CAM_BITRATE";
+const char* QGCCameraControl::kCAM_FPS = "CAM_FPS";
+const char* QGCCameraControl::kCAM_ENC = "CAM_ENC";
//-----------------------------------------------------------------------------
QGCCameraOptionExclusion::QGCCameraOptionExclusion(QObject* parent, QString param_, QString value_, QStringList exclusions_)
@@ -2106,6 +2109,27 @@ QGCCameraControl::mode()
}
//-----------------------------------------------------------------------------
+Fact*
+QGCCameraControl::bitRate()
+{
+ return _paramComplete ? getFact(kCAM_BITRATE) : nullptr;
+}
+
+//-----------------------------------------------------------------------------
+Fact*
+QGCCameraControl::frameRate()
+{
+ return _paramComplete ? getFact(kCAM_FPS) : nullptr;
+}
+
+//-----------------------------------------------------------------------------
+Fact*
+QGCCameraControl::videoEncoding()
+{
+ return _paramComplete ? getFact(kCAM_ENC) : nullptr;
+}
+
+//-----------------------------------------------------------------------------
QGCVideoStreamInfo::QGCVideoStreamInfo(QObject* parent, const mavlink_video_stream_information_t *si)
: QObject(parent)
{
diff --git a/src/Camera/QGCCameraControl.h b/src/Camera/QGCCameraControl.h
index a65fd80..d0a21df 100644
--- a/src/Camera/QGCCameraControl.h
+++ b/src/Camera/QGCCameraControl.h
@@ -167,6 +167,9 @@ public:
Q_PROPERTY(Fact* aperture READ aperture NOTIFY parametersReady)
Q_PROPERTY(Fact* wb READ wb NOTIFY parametersReady)
Q_PROPERTY(Fact* mode READ mode NOTIFY parametersReady)
+ Q_PROPERTY(Fact* bitRate READ bitRate NOTIFY parametersReady)
+ Q_PROPERTY(Fact* frameRate READ frameRate NOTIFY parametersReady)
+ Q_PROPERTY(Fact* videoEncoding READ videoEncoding NOTIFY parametersReady)
Q_PROPERTY(QStringList activeSettings READ activeSettings NOTIFY activeSettingsChanged)
Q_PROPERTY(VideoStatus videoStatus READ videoStatus NOTIFY videoStatusChanged)
@@ -252,6 +255,9 @@ public:
virtual Fact* aperture ();
virtual Fact* wb ();
virtual Fact* mode ();
+ virtual Fact* bitRate ();
+ virtual Fact* frameRate ();
+ virtual Fact* videoEncoding ();
//-- Stream names to show the user (for selection)
virtual QStringList streamLabels () { return _streamLabels; }
@@ -292,6 +298,9 @@ public:
static const char* kCAM_APERTURE;
static const char* kCAM_WBMODE;
static const char* kCAM_MODE;
+ static const char* kCAM_BITRATE;
+ static const char* kCAM_FPS;
+ static const char* kCAM_ENC;
signals:
void infoChanged ();
diff --git a/src/FlightDisplay/VideoManager.cc b/src/FlightDisplay/VideoManager.cc
index 9ad5acc..24c7680 100644
--- a/src/FlightDisplay/VideoManager.cc
+++ b/src/FlightDisplay/VideoManager.cc
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ * (c) 2009-2019 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.
@@ -206,28 +206,28 @@ VideoManager::_videoSourceChanged()
emit hasVideoChanged();
emit isGStreamerChanged();
emit isAutoStreamChanged();
- _restartVideo();
+ restartVideo();
}
//-----------------------------------------------------------------------------
void
VideoManager::_udpPortChanged()
{
- _restartVideo();
+ restartVideo();
}
//-----------------------------------------------------------------------------
void
VideoManager::_rtspUrlChanged()
{
- _restartVideo();
+ restartVideo();
}
//-----------------------------------------------------------------------------
void
VideoManager::_tcpUrlChanged()
{
- _restartVideo();
+ restartVideo();
}
//-----------------------------------------------------------------------------
@@ -275,7 +275,14 @@ VideoManager::_updateSettings()
return;
//-- Auto discovery
if(_activeVehicle && _activeVehicle->dynamicCameras()) {
- QGCVideoStreamInfo* pInfo = _activeVehicle->dynamicCameras()->currentStreamInstance();
+ QGCCameraControl* pCamera = _activeVehicle->dynamicCameras()->currentCameraInstance();
+ if(pCamera) {
+ Fact *fact = pCamera->videoEncoding();
+ if (fact) {
+ _videoReceiver->setVideoDecoder(static_cast<VideoReceiver::VideoEncoding>(fact->rawValue().toInt()));
+ }
+ }
+ QGCVideoStreamInfo* pInfo = _activeVehicle->dynamicCameras()->currentStreamInstance();
if(pInfo) {
qCDebug(VideoManagerLog) << "Configure primary stream: " << pInfo->uri();
switch(pInfo->type()) {
@@ -329,7 +336,7 @@ VideoManager::_updateSettings()
//-----------------------------------------------------------------------------
void
-VideoManager::_restartVideo()
+VideoManager::restartVideo()
{
#if defined(QGC_GST_STREAMING)
qCDebug(VideoManagerLog) << "Restart video streaming";
@@ -350,13 +357,13 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle)
if(pCamera) {
pCamera->stopStream();
}
- disconnect(_activeVehicle->dynamicCameras(), &QGCCameraManager::streamChanged, this, &VideoManager::_restartVideo);
+ disconnect(_activeVehicle->dynamicCameras(), &QGCCameraManager::streamChanged, this, &VideoManager::restartVideo);
}
}
_activeVehicle = vehicle;
if(_activeVehicle) {
if(_activeVehicle->dynamicCameras()) {
- connect(_activeVehicle->dynamicCameras(), &QGCCameraManager::streamChanged, this, &VideoManager::_restartVideo);
+ connect(_activeVehicle->dynamicCameras(), &QGCCameraManager::streamChanged, this, &VideoManager::restartVideo);
QGCCameraControl* pCamera = _activeVehicle->dynamicCameras()->currentCameraInstance();
if(pCamera) {
pCamera->resumeStream();
@@ -364,7 +371,7 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle)
}
}
emit autoStreamConfiguredChanged();
- _restartVideo();
+ restartVideo();
}
//----------------------------------------------------------------------------------------
diff --git a/src/FlightDisplay/VideoManager.h b/src/FlightDisplay/VideoManager.h
index 5c84003..918b1a2 100644
--- a/src/FlightDisplay/VideoManager.h
+++ b/src/FlightDisplay/VideoManager.h
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ * (c) 2009-2019 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.
@@ -62,6 +62,7 @@ public:
double thermalHfov ();
bool autoStreamConfigured();
bool hasThermal ();
+ void restartVideo ();
VideoReceiver* videoReceiver () { return _videoReceiver; }
VideoReceiver* thermalVideoReceiver () { return _thermalVideoReceiver; }
@@ -99,7 +100,6 @@ private slots:
void _updateUVC ();
void _setActiveVehicle (Vehicle* vehicle);
void _aspectRatioChanged ();
- void _restartVideo ();
private:
void _updateSettings ();
diff --git a/src/VideoStreaming/VideoReceiver.cc b/src/VideoStreaming/VideoReceiver.cc
index 5e693fc..53b1d75 100644
--- a/src/VideoStreaming/VideoReceiver.cc
+++ b/src/VideoStreaming/VideoReceiver.cc
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ * (c) 2009-2019 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.
@@ -58,14 +58,13 @@ VideoReceiver::VideoReceiver(QObject* parent)
, _streaming(false)
, _starting(false)
, _stopping(false)
+ , _stop(true)
, _sink(nullptr)
, _tee(nullptr)
, _pipeline(nullptr)
, _pipelineStopRec(nullptr)
, _videoSink(nullptr)
- , _socket(nullptr)
- , _serverPresent(false)
- , _rtspTestInterval_ms(5000)
+ , _restart_time_ms(1389)
, _udpReconnect_us(5000000)
#endif
, _videoSurface(nullptr)
@@ -74,11 +73,12 @@ VideoReceiver::VideoReceiver(QObject* parent)
, _videoSettings(nullptr)
{
_videoSurface = new VideoSurface;
- _videoSettings = qgcApp()->toolbox()->settingsManager()->videoSettings();
+ _videoSettings = qgcApp()->toolbox()->settingsManager()->videoSettings();
#if defined(QGC_GST_STREAMING)
+ setVideoDecoder(H264_SW);
_setVideoSink(_videoSurface->videoSink());
- _timer.setSingleShot(true);
- connect(&_timer, &QTimer::timeout, this, &VideoReceiver::_timeout);
+ _restart_timer.setSingleShot(true);
+ connect(&_restart_timer, &QTimer::timeout, this, &VideoReceiver::_restart_timeout);
connect(this, &VideoReceiver::msgErrorReceived, this, &VideoReceiver::_handleError);
connect(this, &VideoReceiver::msgEOSReceived, this, &VideoReceiver::_handleEOS);
connect(this, &VideoReceiver::msgStateChangedReceived, this, &VideoReceiver::_handleStateChanged);
@@ -91,9 +91,6 @@ VideoReceiver::~VideoReceiver()
{
#if defined(QGC_GST_STREAMING)
stop();
- if(_socket) {
- delete _socket;
- }
if (_videoSink) {
gst_object_unref(_videoSink);
}
@@ -130,8 +127,7 @@ VideoReceiver::grabImage(QString imageFile)
static void
newPadCB(GstElement* element, GstPad* pad, gpointer data)
{
- gchar* name;
- name = gst_pad_get_name(pad);
+ gchar* 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);
@@ -142,68 +138,12 @@ newPadCB(GstElement* element, GstPad* pad, gpointer data)
qCritical() << "newPadCB : failed to link elements\n";
g_free(name);
}
-#endif
//-----------------------------------------------------------------------------
-#if defined(QGC_GST_STREAMING)
void
-VideoReceiver::_connected()
+VideoReceiver::_restart_timeout()
{
- //-- 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<void (QTcpSocket::*)(QAbstractSocket::SocketError)>(&QTcpSocket::error), this, &VideoReceiver::_socketError);
- connect(_socket, &QTcpSocket::connected, this, &VideoReceiver::_connected);
- _socket->connectToHost(url.host(), static_cast<uint16_t>(url.port()));
- _timer.start(_rtspTestInterval_ms);
- }
+ qgcApp()->toolbox()->videoManager()->restartVideo();
}
#endif
@@ -213,14 +153,12 @@ VideoReceiver::_timeout()
// +-->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;
}
@@ -229,18 +167,18 @@ VideoReceiver::start()
qCDebug(VideoReceiverLog) << "start() but not enabled/configured";
return;
}
+
#if defined(QGC_GST_STREAMING)
_stop = false;
- qCDebug(VideoReceiverLog) << "start()";
+ qCDebug(VideoReceiverLog) << "start():" << _uri;
-#if defined(QGC_GST_TAISYNC_ENABLED) && (defined(__android__) || defined(__ios__))
+#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;
@@ -259,12 +197,6 @@ VideoReceiver::start()
_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;
@@ -324,15 +256,15 @@ VideoReceiver::start()
}
} 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')";
+ if ((demux = gst_element_factory_make(_depayName, "rtp-depacketizer")) == nullptr) {
+ qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('" << _depayName << "')";
break;
}
}
}
- if ((parser = gst_element_factory_make("h264parse", "h264-parser")) == nullptr) {
- qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('h264parse')";
+ if ((parser = gst_element_factory_make(_parserName, "parser")) == nullptr) {
+ qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('" << _parserName << "')";
break;
}
@@ -348,8 +280,8 @@ VideoReceiver::start()
break;
}
- if ((decoder = gst_element_factory_make("avdec_h264", "h264-decoder")) == nullptr) {
- qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('avdec_h264')";
+ if ((decoder = gst_element_factory_make(_decoderName, "decoder")) == nullptr) {
+ qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('" << _decoderName << "')";
break;
}
@@ -525,7 +457,6 @@ VideoReceiver::_shutdownPipeline() {
_pipeline = nullptr;
delete _sink;
_sink = nullptr;
- _serverPresent = false;
_streaming = false;
_recording = false;
_stopping = false;
@@ -540,7 +471,7 @@ void
VideoReceiver::_handleError() {
qCDebug(VideoReceiverLog) << "Gstreamer error!";
stop();
- start();
+ _restart_timer.start(_restart_time_ms);
}
#endif
@@ -555,8 +486,7 @@ VideoReceiver::_handleEOS() {
_shutdownRecordingBranch();
} else {
qWarning() << "VideoReceiver: Unexpected EOS!";
- stop();
- start();
+ _handleError();
}
}
#endif
@@ -647,6 +577,21 @@ VideoReceiver::_cleanupOldVideos()
#endif
//-----------------------------------------------------------------------------
+void
+VideoReceiver::setVideoDecoder(VideoEncoding encoding)
+{
+ if (encoding == H265_HW || encoding == H265_SW) {
+ _depayName = "rtph265depay";
+ _parserName = "h265parse";
+ _decoderName = "avdec_h265";
+ } else {
+ _depayName = "rtph264depay";
+ _parserName = "h264parse";
+ _decoderName = "avdec_h264";
+ }
+}
+
+//-----------------------------------------------------------------------------
// When we finish our pipeline will look like this:
//
// +-->queue-->decoder-->_videosink
@@ -682,7 +627,7 @@ VideoReceiver::startRecording(const QString &videoFile)
_sink = new Sink();
_sink->teepad = gst_element_get_request_pad(_tee, "src_%u");
_sink->queue = gst_element_factory_make("queue", nullptr);
- _sink->parse = gst_element_factory_make("h264parse", nullptr);
+ _sink->parse = gst_element_factory_make(_parserName, nullptr);
_sink->mux = gst_element_factory_make(kVideoMuxes[muxIdx], nullptr);
_sink->filesink = gst_element_factory_make("filesink", nullptr);
_sink->removing = false;
@@ -896,10 +841,10 @@ VideoReceiver::_updateTimer()
{
#if defined(QGC_GST_STREAMING)
if(_videoSurface) {
- if(stopping() || starting()) {
+ if(_stopping || _starting) {
return;
}
- if(streaming()) {
+ if(_streaming) {
if(!_videoRunning) {
_videoSurface->setLastFrame(0);
_videoRunning = true;
@@ -927,7 +872,7 @@ VideoReceiver::_updateTimer()
_stop = false;
}
} else {
- if(!_stop && !running() && !_uri.isEmpty() && _videoSettings->streamEnabled()->rawValue().toBool()) {
+ if(!_stop && _running && !_uri.isEmpty() && _videoSettings->streamEnabled()->rawValue().toBool()) {
start();
}
}
diff --git a/src/VideoStreaming/VideoReceiver.h b/src/VideoStreaming/VideoReceiver.h
index 7e6bb37..017b937 100644
--- a/src/VideoStreaming/VideoReceiver.h
+++ b/src/VideoStreaming/VideoReceiver.h
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * (c) 2009-2018 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ * (c) 2009-2019 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.
@@ -34,6 +34,13 @@ class VideoReceiver : public QObject
{
Q_OBJECT
public:
+ enum VideoEncoding {
+ H264_SW = 1,
+ H264_HW = 2,
+ H265_SW = 3,
+ H265_HW = 4
+ };
+
#if defined(QGC_GST_STREAMING)
Q_PROPERTY(bool recording READ recording NOTIFY recordingChanged)
#endif
@@ -47,11 +54,7 @@ public:
~VideoReceiver();
#if defined(QGC_GST_STREAMING)
- virtual bool running () { return _running; }
virtual bool recording () { return _recording; }
- virtual bool streaming () { return _streaming; }
- virtual bool starting () { return _starting; }
- virtual bool stopping () { return _stopping; }
#endif
virtual VideoSurface* videoSurface () { return _videoSurface; }
@@ -64,6 +67,8 @@ public:
virtual void setShowFullScreen (bool show) { _showFullScreen = show; emit showFullScreenChanged(); }
+ void setVideoDecoder (VideoEncoding encoding);
+
signals:
void videoRunningChanged ();
void imageFileChanged ();
@@ -86,9 +91,7 @@ public slots:
protected slots:
virtual void _updateTimer ();
#if defined(QGC_GST_STREAMING)
- virtual void _timeout ();
- virtual void _connected ();
- virtual void _socketError (QAbstractSocket::SocketError socketError);
+ virtual void _restart_timeout ();
virtual void _handleError ();
virtual void _handleEOS ();
virtual void _handleStateChanged ();
@@ -132,14 +135,11 @@ protected:
//-- Wait for Video Server to show up before starting
QTimer _frameTimer;
- QTimer _timer;
- QTcpSocket* _socket;
- bool _serverPresent;
- int _rtspTestInterval_ms;
+ QTimer _restart_timer;
+ int _restart_time_ms;
//-- RTSP UDP reconnect timeout
uint64_t _udpReconnect_us;
-
#endif
QString _uri;
@@ -149,5 +149,8 @@ protected:
bool _videoRunning;
bool _showFullScreen;
VideoSettings* _videoSettings;
+ const char* _depayName;
+ const char* _parserName;
+ const char* _decoderName;
};