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Added h.264 on MPEG TS (over UDP) 

Updated MAVLink to handle video stream types (auto discovery)
QGC4.4
Gus Grubba 6 years ago
parent
e62a771cfb
commit
ba1378fa40
7 changed files with 63 additions and 26 deletions
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  1. 34
      src/FlightDisplay/VideoManager.cc
  2. 2
      src/FlightDisplay/VideoManager.h
  3. 7
      src/Settings/VideoSettings.cc
  4. 3
      src/Settings/VideoSettings.h
  5. 31
      src/VideoStreaming/VideoReceiver.cc
  6. 4
      src/VideoStreaming/VideoStreaming.cc
  7. 8
      src/ui/preferences/GeneralSettings.qml

34
src/FlightDisplay/VideoManager.cc
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@ -35,6 +35,7 @@ QGC_LOGGING_CATEGORY(VideoManagerLog, "VideoManagerLog") @@ -35,6 +35,7 @@ QGC_LOGGING_CATEGORY(VideoManagerLog, "VideoManagerLog")
VideoManager::VideoManager(QGCApplication* app, QGCToolbox* toolbox)
: QGCTool(app, toolbox)
{
_streamInfo = {};
}
//-----------------------------------------------------------------------------
@ -164,7 +165,8 @@ VideoManager::isGStreamer() @@ -164,7 +165,8 @@ VideoManager::isGStreamer()
videoSource == VideoSettings::videoSourceUDP ||
videoSource == VideoSettings::videoSourceRTSP ||
videoSource == VideoSettings::videoSourceAuto ||
videoSource == VideoSettings::videoSourceTCP;
videoSource == VideoSettings::videoSourceTCP ||
videoSource == VideoSettings::videoSourceMPEGTS;
#else
return false;
#endif
@ -197,14 +199,33 @@ VideoManager::_updateSettings() @@ -197,14 +199,33 @@ VideoManager::_updateSettings()
{
if(!_videoSettings || !_videoReceiver)
return;
if (_videoSettings->videoSource()->rawValue().toString() == VideoSettings::videoSourceUDP)
QString source = _videoSettings->videoSource()->rawValue().toString();
if (source == VideoSettings::videoSourceUDP)
_videoReceiver->setUri(QStringLiteral("udp://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
else if (_videoSettings->videoSource()->rawValue().toString() == VideoSettings::videoSourceRTSP)
else if (source == VideoSettings::videoSourceMPEGTS)
_videoReceiver->setUri(QStringLiteral("mpegts://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
else if (source == VideoSettings::videoSourceRTSP)
_videoReceiver->setUri(_videoSettings->rtspUrl()->rawValue().toString());
else if (_videoSettings->videoSource()->rawValue().toString() == VideoSettings::videoSourceTCP)
else if (source == VideoSettings::videoSourceTCP)
_videoReceiver->setUri(QStringLiteral("tcp://%1").arg(_videoSettings->tcpUrl()->rawValue().toString()));
else if (isAutoStream())
_videoReceiver->setUri(QString(_streamInfo.uri));
//-- Auto discovery
else if (isAutoStream()) {
switch(_streamInfo.type) {
case VIDEO_STREAM_TYPE_RTSP:
case VIDEO_STREAM_TYPE_TCP_MPEG:
_videoReceiver->setUri(QString(_streamInfo.uri));
break;
case VIDEO_STREAM_TYPE_RTPUDP:
_videoReceiver->setUri(QStringLiteral("udp://0.0.0.0:%1").arg(atoi(_streamInfo.uri)));
break;
case VIDEO_STREAM_TYPE_MPEG_TS_H264:
_videoReceiver->setUri(QStringLiteral("mpegts://0.0.0.0:%1").arg(atoi(_streamInfo.uri)));
break;
default:
_videoReceiver->setUri(QString(_streamInfo.uri));
break;
}
}
}
//-----------------------------------------------------------------------------
@ -212,6 +233,7 @@ void @@ -212,6 +233,7 @@ void
VideoManager::_restartVideo()
{
#if defined(QGC_GST_STREAMING)
qCDebug(VideoManagerLog) << "Restart video streaming";
if(!_videoReceiver)
return;
_videoReceiver->stop();

2
src/FlightDisplay/VideoManager.h
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@ -61,7 +61,7 @@ public: @@ -61,7 +61,7 @@ public:
#endif
void setfullScreen (bool f) { _fullScreen = f; emit fullScreenChanged(); }
void setIsTaisync (bool t) { _isTaisync = t; emit isTaisyncChanged(); }
void setIsTaisync (bool t) { _isTaisync = t; emit isTaisyncChanged(); }
// Override from QGCTool
void setToolbox (QGCToolbox *toolbox);

7
src/Settings/VideoSettings.cc
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@ -25,6 +25,7 @@ const char* VideoSettings::videoSourceAuto = "Automatic Video Stream"; @@ -25,6 +25,7 @@ const char* VideoSettings::videoSourceAuto = "Automatic Video Stream";
const char* VideoSettings::videoSourceRTSP = "RTSP Video Stream";
const char* VideoSettings::videoSourceUDP = "UDP Video Stream";
const char* VideoSettings::videoSourceTCP = "TCP-MPEG2 Video Stream";
const char* VideoSettings::videoSourceMPEGTS = "MPEG-TS (h.264) Video Stream";
DECLARE_SETTINGGROUP(Video, "Video")
{
@ -40,6 +41,7 @@ DECLARE_SETTINGGROUP(Video, "Video") @@ -40,6 +41,7 @@ DECLARE_SETTINGGROUP(Video, "Video")
videoSourceList.append(videoSourceUDP);
#endif
videoSourceList.append(videoSourceTCP);
videoSourceList.append(videoSourceMPEGTS);
#endif
#ifndef QGC_DISABLE_UVC
QList<QCameraInfo> cameras = QCameraInfo::availableCameras();
@ -150,6 +152,11 @@ bool VideoSettings::streamConfigured(void) @@ -150,6 +152,11 @@ bool VideoSettings::streamConfigured(void)
qCDebug(VideoManagerLog) << "Testing configuration for TCP Stream:" << tcpUrl()->rawValue().toString();
return !tcpUrl()->rawValue().toString().isEmpty();
}
//-- If MPEG-TS, check if port is set
if(vSource == videoSourceMPEGTS) {
qCDebug(VideoManagerLog) << "Testing configuration for MPEG-TS Stream:" << udpPort()->rawValue().toInt();
return udpPort()->rawValue().toInt() != 0;
}
//-- If Auto, check for received URL
if(vSource == videoSourceAuto) {
qCDebug(VideoManagerLog) << "Testing configuration for Auto Stream:" << qgcApp()->toolbox()->videoManager()->autoURL();

3
src/Settings/VideoSettings.h
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@ -40,12 +40,14 @@ public: @@ -40,12 +40,14 @@ public:
Q_PROPERTY(QString rtspVideoSource READ rtspVideoSource CONSTANT)
Q_PROPERTY(QString udpVideoSource READ udpVideoSource CONSTANT)
Q_PROPERTY(QString tcpVideoSource READ tcpVideoSource CONSTANT)
Q_PROPERTY(QString mpegtsVideoSource READ mpegtsVideoSource CONSTANT)
bool streamConfigured ();
QString autoVideoSource () { return videoSourceAuto; }
QString rtspVideoSource () { return videoSourceRTSP; }
QString udpVideoSource () { return videoSourceUDP; }
QString tcpVideoSource () { return videoSourceTCP; }
QString mpegtsVideoSource () { return videoSourceMPEGTS; }
static const char* videoSourceNoVideo;
static const char* videoDisabled;
@ -53,6 +55,7 @@ public: @@ -53,6 +55,7 @@ public:
static const char* videoSourceRTSP;
static const char* videoSourceAuto;
static const char* videoSourceTCP;
static const char* videoSourceMPEGTS;
signals:
void streamConfiguredChanged ();

31
src/VideoStreaming/VideoReceiver.cc
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@ -239,9 +239,10 @@ VideoReceiver::start() @@ -239,9 +239,10 @@ VideoReceiver::start()
#else
bool isTaisyncUSB = false;
#endif
bool isUdp = _uri.contains("udp://") && !isTaisyncUSB;
bool isRtsp = _uri.contains("rtsp://") && !isTaisyncUSB;
bool isTCP = _uri.contains("tcp://") && !isTaisyncUSB;
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";
@ -281,7 +282,7 @@ VideoReceiver::start() @@ -281,7 +282,7 @@ VideoReceiver::start()
break;
}
if(isUdp || isTaisyncUSB) {
if(isUdp || isMPEGTS || isTaisyncUSB) {
dataSource = gst_element_factory_make("udpsrc", "udp-source");
} else if(isTCP) {
dataSource = gst_element_factory_make("tcpclientsrc", "tcpclient-source");
@ -309,24 +310,26 @@ VideoReceiver::start() @@ -309,24 +310,26 @@ VideoReceiver::start()
} else if(isTCP) {
QUrl url(_uri);
g_object_set(static_cast<gpointer>(dataSource), "host", qPrintable(url.host()), "port", url.port(), nullptr );
} else if(isMPEGTS) {
QUrl url(_uri);
g_object_set(static_cast<gpointer>(dataSource), "port", url.port(), nullptr);
} else {
g_object_set(static_cast<gpointer>(dataSource), "location", qPrintable(_uri), "latency", 17, "udp-reconnect", 1, "timeout", _udpReconnect_us, 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")) == nullptr) {
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;
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')";
@ -374,13 +377,13 @@ VideoReceiver::start() @@ -374,13 +377,13 @@ VideoReceiver::start()
qCritical() << "Unable to link Taisync USB elements.";
break;
}
} else if (isTCP) {
} else if (isTCP || isMPEGTS) {
if(!gst_element_link(dataSource, demux)) {
qCritical() << "Unable to link TCP dataSource to 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 pipline to parser.";
qCritical() << "Unable to link TCP/MPEG-TS pipline to parser.";
break;
}
g_signal_connect(demux, "pad-added", G_CALLBACK(newPadCB), parser);
@ -469,7 +472,7 @@ VideoReceiver::start() @@ -469,7 +472,7 @@ VideoReceiver::start()
void
VideoReceiver::stop()
{
if(!qgcApp()->runningUnitTests()) {
if(qgcApp()->runningUnitTests()) {
return;
}
#if defined(QGC_GST_STREAMING)

4
src/VideoStreaming/VideoStreaming.cc
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@ -130,11 +130,13 @@ void initializeVideoStreaming(int &argc, char* argv[], char* logpath, char* debu @@ -130,11 +130,13 @@ void initializeVideoStreaming(int &argc, char* argv[], char* logpath, char* debu
#else
//-- Generic initialization
if (logpath) {
QString gstDebugFile = QString("%1/%2").arg(logpath).arg("gstreamer-log.txt");
qDebug() << "GStreamer debug output:" << gstDebugFile;
if (debuglevel) {
qputenv("GST_DEBUG", debuglevel);
}
qputenv("GST_DEBUG_NO_COLOR", "1");
qputenv("GST_DEBUG_FILE", QString("%1/%2").arg(logpath).arg("gstreamer-log.txt").toUtf8());
qputenv("GST_DEBUG_FILE", gstDebugFile.toUtf8());
qputenv("GST_DEBUG_DUMP_DOT_DIR", logpath);
}
GError* error = nullptr;

8
src/ui/preferences/GeneralSettings.qml
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@ -37,7 +37,7 @@ QGCView { @@ -37,7 +37,7 @@ QGCView {
property Fact _userBrandImageIndoor: QGroundControl.settingsManager.brandImageSettings.userBrandImageIndoor
property Fact _userBrandImageOutdoor: QGroundControl.settingsManager.brandImageSettings.userBrandImageOutdoor
property real _labelWidth: ScreenTools.defaultFontPixelWidth * 20
property real _comboFieldWidth: ScreenTools.defaultFontPixelWidth * 25
property real _comboFieldWidth: ScreenTools.defaultFontPixelWidth * 28
property real _valueFieldWidth: ScreenTools.defaultFontPixelWidth * 10
property Fact _mapProvider: QGroundControl.settingsManager.flightMapSettings.mapProvider
property Fact _mapType: QGroundControl.settingsManager.flightMapSettings.mapType
@ -51,6 +51,7 @@ QGCView { @@ -51,6 +51,7 @@ QGCView {
property bool _isUDP: _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.udpVideoSource
property bool _isRTSP: _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.rtspVideoSource
property bool _isTCP: _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.tcpVideoSource
property bool _isMPEGTS: _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.mpegtsVideoSource
readonly property real _internalWidthRatio: 0.8
@ -707,7 +708,6 @@ QGCView { @@ -707,7 +708,6 @@ QGCView {
Layout.fillWidth: false
Layout.fillHeight: false
columns: 2
QGCLabel {
text: qsTr("Video Source")
visible: QGroundControl.settingsManager.videoSettings.videoSource.visible
@ -722,12 +722,12 @@ QGCView { @@ -722,12 +722,12 @@ QGCView {
QGCLabel {
text: qsTr("UDP Port")
visible: _isUDP && QGroundControl.settingsManager.videoSettings.udpPort.visible
visible: (_isUDP || _isMPEGTS) && QGroundControl.settingsManager.videoSettings.udpPort.visible
}
FactTextField {
Layout.preferredWidth: _comboFieldWidth
fact: QGroundControl.settingsManager.videoSettings.udpPort
visible: _isUDP && QGroundControl.settingsManager.videoSettings.udpPort.visible
visible: (_isUDP || _isMPEGTS) && QGroundControl.settingsManager.videoSettings.udpPort.visible
}
QGCLabel {

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