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Fix race conditions with camera manager

QGC4.4
Andrew Voznytsa 5 years ago
parent
cf2628fe4c
commit
d403f3132b
4 changed files with 114 additions and 37 deletions
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  1. 96
      src/VideoManager/VideoManager.cc
  2. 8
      src/VideoManager/VideoManager.h
  3. 37
      src/VideoReceiver/GstVideoReceiver.cc
  4. 10
      src/VideoReceiver/VideoReceiver.h

96
src/VideoManager/VideoManager.cc
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@ -190,6 +190,7 @@ VideoManager::startVideo() @@ -190,6 +190,7 @@ VideoManager::startVideo()
const unsigned timeout = _videoSettings->rtspTimeout()->rawValue().toUInt();
if(_videoReceiver != nullptr) {
connect(_videoReceiver, &VideoReceiver::onStartComplete, this, &VideoManager::_onStartComplete);
_videoReceiver->start(_videoUri, timeout);
if (_videoSink != nullptr) {
_videoReceiver->startDecoding(_videoSink);
@ -212,6 +213,10 @@ VideoManager::stopVideo() @@ -212,6 +213,10 @@ VideoManager::stopVideo()
if (qgcApp()->runningUnitTests()) {
return;
}
disconnect(_videoReceiver, &VideoReceiver::timeout, this, &VideoManager::_restartVideo);
disconnect(_videoReceiver, &VideoReceiver::streamingChanged, this, &VideoManager::_streamingChanged);
#if defined(QGC_GST_STREAMING)
if(_videoReceiver) _videoReceiver->stop();
if(_thermalVideoReceiver) _thermalVideoReceiver->stop();
@ -526,35 +531,40 @@ VideoManager::_initVideo() @@ -526,35 +531,40 @@ VideoManager::_initVideo()
}
//-----------------------------------------------------------------------------
void
bool
VideoManager::_updateSettings()
{
if(!_videoSettings)
return;
return false;
//-- Auto discovery
if(_activeVehicle && _activeVehicle->dynamicCameras()) {
QGCVideoStreamInfo* pInfo = _activeVehicle->dynamicCameras()->currentStreamInstance();
if(pInfo) {
bool status = false;
qCDebug(VideoManagerLog) << "Configure primary stream: " << pInfo->uri();
switch(pInfo->type()) {
case VIDEO_STREAM_TYPE_RTSP:
_setVideoUri(pInfo->uri());
_toolbox->settingsManager()->videoSettings()->videoSource()->setRawValue(VideoSettings::videoSourceRTSP);
if (status = _updateVideoUri(pInfo->uri())) {
_toolbox->settingsManager()->videoSettings()->videoSource()->setRawValue(VideoSettings::videoSourceRTSP);
}
break;
case VIDEO_STREAM_TYPE_TCP_MPEG:
_setVideoUri(pInfo->uri());
_toolbox->settingsManager()->videoSettings()->videoSource()->setRawValue(VideoSettings::videoSourceTCP);
if (status = _updateVideoUri(pInfo->uri())) {
_toolbox->settingsManager()->videoSettings()->videoSource()->setRawValue(VideoSettings::videoSourceTCP);
}
break;
case VIDEO_STREAM_TYPE_RTPUDP:
_setVideoUri(QStringLiteral("udp://0.0.0.0:%1").arg(pInfo->uri()));
_toolbox->settingsManager()->videoSettings()->videoSource()->setRawValue(VideoSettings::videoSourceUDPH264);
if (status = _updateVideoUri(QStringLiteral("udp://0.0.0.0:%1").arg(pInfo->uri()))) {
_toolbox->settingsManager()->videoSettings()->videoSource()->setRawValue(VideoSettings::videoSourceUDPH264);
}
break;
case VIDEO_STREAM_TYPE_MPEG_TS_H264:
_setVideoUri(QStringLiteral("mpegts://0.0.0.0:%1").arg(pInfo->uri()));
_toolbox->settingsManager()->videoSettings()->videoSource()->setRawValue(VideoSettings::videoSourceMPEGTS);
if (status = _updateVideoUri(QStringLiteral("mpegts://0.0.0.0:%1").arg(pInfo->uri()))) {
_toolbox->settingsManager()->videoSettings()->videoSource()->setRawValue(VideoSettings::videoSourceMPEGTS);
}
break;
default:
_setVideoUri(pInfo->uri());
status = _updateVideoUri(pInfo->uri());
break;
}
//-- Thermal stream (if any)
@ -564,50 +574,55 @@ VideoManager::_updateSettings() @@ -564,50 +574,55 @@ VideoManager::_updateSettings()
switch(pTinfo->type()) {
case VIDEO_STREAM_TYPE_RTSP:
case VIDEO_STREAM_TYPE_TCP_MPEG:
_setThermalVideoUri(pTinfo->uri());
_updateThermalVideoUri(pTinfo->uri());
break;
case VIDEO_STREAM_TYPE_RTPUDP:
_setThermalVideoUri(QStringLiteral("udp://0.0.0.0:%1").arg(pTinfo->uri()));
_updateThermalVideoUri(QStringLiteral("udp://0.0.0.0:%1").arg(pTinfo->uri()));
break;
case VIDEO_STREAM_TYPE_MPEG_TS_H264:
_setThermalVideoUri(QStringLiteral("mpegts://0.0.0.0:%1").arg(pTinfo->uri()));
_updateThermalVideoUri(QStringLiteral("mpegts://0.0.0.0:%1").arg(pTinfo->uri()));
break;
default:
_setThermalVideoUri(pTinfo->uri());
_updateThermalVideoUri(pTinfo->uri());
break;
}
}
return;
return status;
}
}
QString source = _videoSettings->videoSource()->rawValue().toString();
if (source == VideoSettings::videoSourceUDPH264)
_setVideoUri(QStringLiteral("udp://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
return _updateVideoUri(QStringLiteral("udp://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
else if (source == VideoSettings::videoSourceUDPH265)
_setVideoUri(QStringLiteral("udp265://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
return _updateVideoUri(QStringLiteral("udp265://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
else if (source == VideoSettings::videoSourceMPEGTS)
_setVideoUri(QStringLiteral("mpegts://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
return _updateVideoUri(QStringLiteral("mpegts://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
else if (source == VideoSettings::videoSourceRTSP)
_setVideoUri(_videoSettings->rtspUrl()->rawValue().toString());
return _updateVideoUri(_videoSettings->rtspUrl()->rawValue().toString());
else if (source == VideoSettings::videoSourceTCP)
_setVideoUri(QStringLiteral("tcp://%1").arg(_videoSettings->tcpUrl()->rawValue().toString()));
return _updateVideoUri(QStringLiteral("tcp://%1").arg(_videoSettings->tcpUrl()->rawValue().toString()));
}
void
VideoManager::_setVideoUri(const QString& uri)
bool
VideoManager::_updateVideoUri(const QString& uri)
{
#if defined(QGC_GST_TAISYNC_ENABLED) && (defined(__android__) || defined(__ios__))
//-- Taisync on iOS or Android sends a raw h.264 stream
if (isTaisync()) {
_videoUri = QString("tsusb://0.0.0.0:%1").arg(TAISYNC_VIDEO_UDP_PORT);
return;
uri = QString("tsusb://0.0.0.0:%1").arg(TAISYNC_VIDEO_UDP_PORT);
}
#endif
if (uri == _videoUri) {
return false;
}
_videoUri = uri;
return true;
}
void
VideoManager::_setThermalVideoUri(const QString& uri)
VideoManager::_updateThermalVideoUri(const QString& uri)
{
#if defined(QGC_GST_TAISYNC_ENABLED) && (defined(__android__) || defined(__ios__))
//-- Taisync on iOS or Android sends a raw h.264 stream
@ -637,6 +652,31 @@ VideoManager::_streamingChanged() @@ -637,6 +652,31 @@ VideoManager::_streamingChanged()
//-----------------------------------------------------------------------------
void
VideoManager::_streamChanged()
{
if (_updateSettings()) {
_restartVideo();
}
}
//-----------------------------------------------------------------------------
void
VideoManager::_onStartComplete(bool status)
{
disconnect(_videoReceiver, &VideoReceiver::onStartComplete, this, &VideoManager::_onStartComplete);
if (status) {
connect(_videoReceiver, &VideoReceiver::timeout, this, &VideoManager::_restartVideo);
connect(_videoReceiver, &VideoReceiver::streamingChanged, this, &VideoManager::_streamingChanged);
} else {
QTimer::singleShot(1000, [this](){
_restartVideo();
});
}
}
//-----------------------------------------------------------------------------
void
VideoManager::_restartVideo()
{
#if defined(QGC_GST_STREAMING)
@ -644,7 +684,7 @@ VideoManager::_restartVideo() @@ -644,7 +684,7 @@ VideoManager::_restartVideo()
stopVideo();
_updateSettings();
startVideo();
emit aspectRatioChanged();
// emit aspectRatioChanged();
#endif
}
@ -690,7 +730,7 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle) @@ -690,7 +730,7 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle)
if(_activeVehicle) {
connect(_activeVehicle, &Vehicle::connectionLostChanged, this, &VideoManager::_connectionLostChanged);
if(_activeVehicle->dynamicCameras()) {
connect(_activeVehicle->dynamicCameras(), &QGCCameraManager::streamChanged, this, &VideoManager::_restartVideo);
connect(_activeVehicle->dynamicCameras(), &QGCCameraManager::streamChanged, this, &VideoManager::_streamChanged);
QGCCameraControl* pCamera = _activeVehicle->dynamicCameras()->currentCameraInstance();
if(pCamera) {
pCamera->resumeStream();

8
src/VideoManager/VideoManager.h
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@ -115,10 +115,12 @@ protected: @@ -115,10 +115,12 @@ protected:
friend class FinishVideoInitialization;
void _initVideo ();
void _updateSettings ();
void _setVideoUri (const QString& uri);
void _setThermalVideoUri (const QString& uri);
bool _updateSettings ();
bool _updateVideoUri (const QString& uri);
void _updateThermalVideoUri (const QString& uri);
void _cleanupOldVideos ();
void _streamChanged ();
void _onStartComplete (bool status);
void _restartVideo ();
void _streamingChanged ();
void _recordingStarted ();

37
src/VideoReceiver/GstVideoReceiver.cc
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@ -69,19 +69,26 @@ void @@ -69,19 +69,26 @@ void
GstVideoReceiver::start(const QString& uri, unsigned timeout)
{
if (_apiHandler.needDispatch()) {
_apiHandler.dispatch([this, uri, timeout]() {
start(uri, timeout);
QString cachedUri = uri;
_apiHandler.dispatch([this, cachedUri, timeout]() {
start(cachedUri, timeout);
});
return;
}
if(_pipeline) {
qCDebug(VideoReceiverLog) << "Already running!";
_notificationHandler.dispatch([this](){
emit onStartComplete(false);
});
return;
}
if (uri.isEmpty()) {
qCDebug(VideoReceiverLog) << "Failed because URI is not specified";
_notificationHandler.dispatch([this](){
emit onStartComplete(false);
});
return;
}
@ -223,9 +230,17 @@ GstVideoReceiver::start(const QString& uri, unsigned timeout) @@ -223,9 +230,17 @@ GstVideoReceiver::start(const QString& uri, unsigned timeout)
_source = nullptr;
}
}
_notificationHandler.dispatch([this](){
emit onStartComplete(false);
});
} else {
GST_DEBUG_BIN_TO_DOT_FILE(GST_BIN(_pipeline), GST_DEBUG_GRAPH_SHOW_ALL, "pipeline-started");
qCDebug(VideoReceiverLog) << "Started";
_notificationHandler.dispatch([this](){
emit onStartComplete(true);
});
}
}
@ -247,6 +262,8 @@ GstVideoReceiver::stop(void) @@ -247,6 +262,8 @@ GstVideoReceiver::stop(void)
if ((bus = gst_pipeline_get_bus(GST_PIPELINE(_pipeline))) != nullptr) {
gst_bus_disable_sync_message_emission(bus);
g_signal_handlers_disconnect_by_data(bus, this);
gboolean recordingValveClosed = TRUE;
g_object_get(_recorderValve, "drop", &recordingValveClosed, nullptr);
@ -305,6 +322,11 @@ GstVideoReceiver::stop(void) @@ -305,6 +322,11 @@ GstVideoReceiver::stop(void)
_notificationHandler.dispatch([this](){
emit streamingChanged();
});
} else {
qCDebug(VideoReceiverLog) << "Streaming did not start";
_notificationHandler.dispatch([this](){
emit timeout();
});
}
}
@ -1148,18 +1170,20 @@ GstVideoReceiver::_onBusMessage(GstBus* bus, GstMessage* msg, gpointer data) @@ -1148,18 +1170,20 @@ GstVideoReceiver::_onBusMessage(GstBus* bus, GstMessage* msg, gpointer data)
}
if (error != nullptr) {
qCCritical(VideoReceiverLog) << error->message;
qCCritical(VideoReceiverLog) << "GStreamer error:" << error->message;
g_error_free(error);
error = nullptr;
}
pThis->_apiHandler.dispatch([pThis](){
pThis->stop();
});
// pThis->_apiHandler.dispatch([pThis](){
// qCDebug(VideoReceiverLog) << "Stoppping because of error";
// pThis->stop();
// });
} while(0);
break;
case GST_MESSAGE_EOS:
pThis->_apiHandler.dispatch([pThis](){
qCDebug(VideoReceiverLog) << "Received EOS";
pThis->_handleEOS();
});
break;
@ -1181,6 +1205,7 @@ GstVideoReceiver::_onBusMessage(GstBus* bus, GstMessage* msg, gpointer data) @@ -1181,6 +1205,7 @@ GstVideoReceiver::_onBusMessage(GstBus* bus, GstMessage* msg, gpointer data)
if (GST_MESSAGE_TYPE(forward_msg) == GST_MESSAGE_EOS) {
pThis->_apiHandler.dispatch([pThis](){
qCDebug(VideoReceiverLog) << "Received branch EOS";
pThis->_handleEOS();
});
}

10
src/VideoReceiver/VideoReceiver.h
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@ -75,6 +75,16 @@ signals: @@ -75,6 +75,16 @@ signals:
void videoSizeChanged(void);
void screenshotComplete(void);
// FIXME: AV: I see very big sense to convert 'bool status' into 'enum status' and clearly state what happend during operation
void onStartComplete(bool status);
// FIXME: AV: add these signals after completing onStartComplete()
// void onStopComplete(bool status);
// void onStartDecodingComplete(bool status);
// void onStopDecodingComplete(bool status);
// void onStartRecordingComplete(bool status);
// void onStopRecordingComplete(bool status);
// void onTakeScreenshotComplete(bool status);
public slots:
virtual void start(const QString& uri, unsigned timeout) = 0;
virtual void stop(void) = 0;

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