mirror of https://github.com/ArduPilot/ardupilot
116 lines
3.6 KiB
Python
116 lines
3.6 KiB
Python
"""
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GST RTSP Server Example
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Usage
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-----
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1. Start the server:
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python ./gst_rtsp_server.py
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2. Display the RTSP stream
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gst-launch-1.0 rtspsrc location=rtsp://localhost:8554/camera latency=50 ! decodebin ! autovideosink
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Acknowledgments
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---------------
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GStreamer RTSP server example adapted from code by Jerome Carretero (Tamaggo)
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https://github.com/tamaggo/gstreamer-examples
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https://github.com/tamaggo/gstreamer-examples/blob/master/test_gst_rtsp_server.py
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"""
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# Copyright (c) 2015 Tamaggo Inc.
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in all
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# copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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# SOFTWARE.
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#
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import sys
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import gi
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gi.require_version("Gst", "1.0")
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gi.require_version("GstRtspServer", "1.0")
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from gi.repository import Gst
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from gi.repository import GstRtspServer
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from gi.repository import GLib
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class VideoTestMediaFactory(GstRtspServer.RTSPMediaFactory):
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"""
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Create a GStreamer pipeline for a videotestsrc source.
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The default videotestsrc uses the smpte test pattern. Other test patterns
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may be specified when initialising the class.
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"""
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def __init__(self, pattern="smpte"):
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GstRtspServer.RTSPMediaFactory.__init__(self)
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self.pattern = pattern
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def do_create_element(self, url):
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s_src = f"videotestsrc pattern={self.pattern} ! video/x-raw,rate=30,width=640,height=480,format=I420"
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s_h264 = "x264enc tune=zerolatency"
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pipeline_str = f"( {s_src} ! queue max-size-buffers=1 name=q_enc ! {s_h264} ! rtph264pay name=pay0 pt=96 )"
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if len(sys.argv) > 1:
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pipeline_str = " ".join(sys.argv[1:])
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print(pipeline_str)
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return Gst.parse_launch(pipeline_str)
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class GstServer:
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"""
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A GStreamer RTSP server streaming three different test patterns:
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rtsp://127.0.0.1:8554/camera
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rtsp://127.0.0.1:8554/ball
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rtsp://127.0.0.1:8554/snow
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"""
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def __init__(self):
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self.server = GstRtspServer.RTSPServer()
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self.server.set_address("127.0.0.1")
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self.server.set_service("8554")
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media_factory1 = VideoTestMediaFactory()
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media_factory1.set_shared(True)
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media_factory2 = VideoTestMediaFactory("ball")
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media_factory2.set_shared(True)
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media_factory3 = VideoTestMediaFactory("snow")
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media_factory3.set_shared(True)
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mount_points = self.server.get_mount_points()
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mount_points.add_factory("/camera", media_factory1)
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mount_points.add_factory("/ball", media_factory2)
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mount_points.add_factory("/snow", media_factory3)
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self.server.attach(None)
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def main():
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Gst.init(None)
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server = GstServer()
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loop = GLib.MainLoop()
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loop.run()
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if __name__ == "__main__":
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main()
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