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Merge pull request #2 from Kapernikov/master

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Add option for custom port and fix indentation
This commit is contained in:
Sam Armstrong 2020-05-18 18:46:45 +10:00 committed by GitHub
commit 019150d3c5
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6 changed files with 253 additions and 248 deletions
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3
config/stream_setup.yaml
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@ -1,4 +1,5 @@
# Set up your streams to rtsp here. # Set up your streams to rtsp here.
port: "8554"
streams: # Cannot rename - must leave this as is. streams: # Cannot rename - must leave this as is.
stream-x: stream-x:
@ -13,4 +14,4 @@ streams: # Cannot rename - must leave this as is.
mountpoint: /back mountpoint: /back
caps: video/x-raw,framerate=10/1,width=640,height=480 caps: video/x-raw,framerate=10/1,width=640,height=480
bitrate: 500 bitrate: 500

37
include/image2rtsp.h
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@ -2,25 +2,26 @@
#define IMAGE_TO_RTSP_H #define IMAGE_TO_RTSP_H
namespace image2rtsp { namespace image2rtsp {
class Image2RTSPNodelet : public nodelet::Nodelet { class Image2RTSPNodelet : public nodelet::Nodelet {
public: public:
GstRTSPServer *rtsp_server; GstRTSPServer *rtsp_server;
void onInit(); void onInit();
void url_connected(std::string url); void url_connected(std::string url);
void url_disconnected(std::string url); void url_disconnected(std::string url);
void print_info(char *s); void print_info(char *s);
void print_error(char *s); void print_error(char *s);
private: private:
std::map<std::string, ros::Subscriber> subs; std::string port;
std::map<std::string, GstAppSrc*> appsrc; std::map<std::string, ros::Subscriber> subs;
std::map<std::string, int> num_of_clients; std::map<std::string, GstAppSrc*> appsrc;
GstCaps* gst_caps_new_from_image(const sensor_msgs::Image::ConstPtr &msg); std::map<std::string, int> num_of_clients;
void imageCallback(const sensor_msgs::Image::ConstPtr& msg, const std::string& topic); GstCaps* gst_caps_new_from_image(const sensor_msgs::Image::ConstPtr &msg);
void video_mainloop_start(); void imageCallback(const sensor_msgs::Image::ConstPtr& msg, const std::string& topic);
void rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc); void video_mainloop_start();
GstRTSPServer *rtsp_server_create(); void rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc);
}; GstRTSPServer *rtsp_server_create(const std::string& port);
};
} }
#endif #endif

4
launch/rtsp_streams.launch
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@ -3,9 +3,9 @@
<!-- Start the RTSP server --> <!-- Start the RTSP server -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/> <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="Image2RTSPNodelet" args="load image2rtsp/Image2RTSPNodelet standalone_nodelet" output="screen"> <node pkg="nodelet" type="nodelet" name="Image2RTSPNodelet" args="load image2rtsp/Image2RTSPNodelet standalone_nodelet" output="screen">
<!-- Read the stream setup file --> <!-- Read the stream setup file -->
<rosparam command="load" file="$(find ros_rtsp)/config/stream_setup.yaml" /> <rosparam command="load" file="$(find ros_rtsp)/config/stream_setup.yaml" />
</node> </node>
</launch> </launch>

10
nodelet_plugins.xml
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@ -1,7 +1,7 @@
<library path="lib/libimage_to_rtsp_nodelet"> <library path="lib/libimage_to_rtsp_nodelet">
<class name="image2rtsp/Image2RTSPNodelet" type="image2rtsp::Image2RTSPNodelet" base_class_type="nodelet::Nodelet"> <class name="image2rtsp/Image2RTSPNodelet" type="image2rtsp::Image2RTSPNodelet" base_class_type="nodelet::Nodelet">
<description> <description>
Nodelet to transfert the /camera/image topic from openni2_camera over rtsp. Nodelet to transfert the /camera/image topic from openni2_camera over rtsp.
</description> </description>
</class> </class>
</library> </library>

274
src/image2rtsp.cpp
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@ -16,191 +16,191 @@ using namespace image2rtsp;
void Image2RTSPNodelet::onInit() { void Image2RTSPNodelet::onInit() {
string pipeline, mountpoint, bitrate, caps; string pipeline, mountpoint, bitrate, caps;
string pipeline_tail = " key-int-max=30 ! video/x-h264, profile=baseline ! rtph264pay name=pay0 pt=96 )"; // Gets completed based on rosparams below string pipeline_tail = " key-int-max=30 ! video/x-h264, profile=baseline ! rtph264pay name=pay0 pt=96 )"; // Gets completed based on rosparams below
NODELET_DEBUG("Initializing image2rtsp nodelet..."); NODELET_DEBUG("Initializing image2rtsp nodelet...");
if (getenv((char*)"GST_DEBUG") == NULL) { if (getenv((char*)"GST_DEBUG") == NULL) {
// set GST_DEBUG to warning if unset // set GST_DEBUG to warning if unset
putenv((char*)"GST_DEBUG=*:1"); putenv((char*)"GST_DEBUG=*:1");
} }
ros::NodeHandle& nh = getPrivateNodeHandle(); ros::NodeHandle& nh = getPrivateNodeHandle();
video_mainloop_start(); // Get the parameters from the rosparam server
rtsp_server = rtsp_server_create(); XmlRpc::XmlRpcValue streams;
nh.getParam("streams", streams);
ROS_ASSERT(streams.getType() == XmlRpc::XmlRpcValue::TypeStruct);
ROS_DEBUG("Number of RTSP streams: %d", streams.size());
nh.getParam("port", this->port);
// Get the parameters from the rosparam server video_mainloop_start();
XmlRpc::XmlRpcValue streams; rtsp_server = rtsp_server_create(port);
nh.getParam("streams", streams);
ROS_ASSERT(streams.getType() == XmlRpc::XmlRpcValue::TypeStruct);
ROS_DEBUG("Number of RTSP streams: %d", streams.size()); // Go through and parse each stream
for(XmlRpc::XmlRpcValue::ValueStruct::const_iterator it = streams.begin(); it != streams.end(); ++it)
{
XmlRpc::XmlRpcValue stream = streams[it->first];
ROS_DEBUG_STREAM("Found stream: " << (std::string)(it->first) << " ==> " << stream);
// Go through and parse each stream // Convert to string for ease of use
for(XmlRpc::XmlRpcValue::ValueStruct::const_iterator it = streams.begin(); it != streams.end(); ++it) mountpoint = static_cast<std::string>(stream["mountpoint"]);
{ bitrate = std::to_string(static_cast<int>(stream["bitrate"]));
XmlRpc::XmlRpcValue stream = streams[it->first];
ROS_DEBUG_STREAM("Found stream: " << (std::string)(it->first) << " ==> " << stream);
// Convert to string for ease of use
mountpoint = static_cast<std::string>(stream["mountpoint"]);
bitrate = std::to_string(static_cast<int>(stream["bitrate"]));
// uvc camera? // uvc camera?
if (stream["type"]=="cam") if (stream["type"]=="cam")
{ {
pipeline = "( " + static_cast<std::string>(stream["source"]) + " ! x264enc tune=zerolatency bitrate=" + bitrate + pipeline_tail; pipeline = "( " + static_cast<std::string>(stream["source"]) + " ! x264enc tune=zerolatency bitrate=" + bitrate + pipeline_tail;
rtsp_server_add_url(mountpoint.c_str(), pipeline.c_str(), NULL); rtsp_server_add_url(mountpoint.c_str(), pipeline.c_str(), NULL);
} }
// ROS Image topic? // ROS Image topic?
else if (stream["type"]=="topic") else if (stream["type"]=="topic")
{ {
/* Keep record of number of clients connected to each topic. /* Keep record of number of clients connected to each topic.
* so we know to stop subscribing when no-one is connected. */ * so we know to stop subscribing when no-one is connected. */
num_of_clients[mountpoint] = 0; num_of_clients[mountpoint] = 0;
appsrc[mountpoint] = NULL; appsrc[mountpoint] = NULL;
caps = static_cast<std::string>(stream["caps"]); caps = static_cast<std::string>(stream["caps"]);
// Setup the full pipeline // Setup the full pipeline
pipeline = "( appsrc name=imagesrc do-timestamp=true min-latency=0 max-latency=0 max-bytes=1000 is-live=true ! videoconvert ! videoscale ! " + caps + " ! x264enc tune=zerolatency bitrate=" + bitrate + pipeline_tail; pipeline = "( appsrc name=imagesrc do-timestamp=true min-latency=0 max-latency=0 max-bytes=1000 is-live=true ! videoconvert ! videoscale ! " + caps + " ! x264enc tune=zerolatency bitrate=" + bitrate + pipeline_tail;
// Add the pipeline to the rtsp server // Add the pipeline to the rtsp server
rtsp_server_add_url(mountpoint.c_str(), pipeline.c_str(), (GstElement **)&(appsrc[mountpoint])); rtsp_server_add_url(mountpoint.c_str(), pipeline.c_str(), (GstElement **)&(appsrc[mountpoint]));
} }
else else
{ {
ROS_ERROR("Undefined stream type. Check your stream_setup.yaml file."); ROS_ERROR("Undefined stream type. Check your stream_setup.yaml file.");
} }
NODELET_INFO("Stream available at rtsp://%s:8554%s", gst_rtsp_server_get_address(rtsp_server), mountpoint.c_str()); NODELET_INFO("Stream available at rtsp://%s:%s%s", gst_rtsp_server_get_address(rtsp_server), port.c_str(), mountpoint.c_str());
} }
} }
/* Modified from https://github.com/ProjectArtemis/gst_video_server/blob/master/src/server_nodelet.cpp */ /* Modified from https://github.com/ProjectArtemis/gst_video_server/blob/master/src/server_nodelet.cpp */
GstCaps* Image2RTSPNodelet::gst_caps_new_from_image(const sensor_msgs::Image::ConstPtr &msg) GstCaps* Image2RTSPNodelet::gst_caps_new_from_image(const sensor_msgs::Image::ConstPtr &msg)
{ {
// http://gstreamer.freedesktop.org/data/doc/gstreamer/head/pwg/html/section-types-definitions.html // http://gstreamer.freedesktop.org/data/doc/gstreamer/head/pwg/html/section-types-definitions.html
static const ros::M_string known_formats = {{ static const ros::M_string known_formats = {{
{sensor_msgs::image_encodings::RGB8, "RGB"}, {sensor_msgs::image_encodings::RGB8, "RGB"},
{sensor_msgs::image_encodings::RGB16, "RGB16"}, {sensor_msgs::image_encodings::RGB16, "RGB16"},
{sensor_msgs::image_encodings::RGBA8, "RGBA"}, {sensor_msgs::image_encodings::RGBA8, "RGBA"},
{sensor_msgs::image_encodings::RGBA16, "RGBA16"}, {sensor_msgs::image_encodings::RGBA16, "RGBA16"},
{sensor_msgs::image_encodings::BGR8, "BGR"}, {sensor_msgs::image_encodings::BGR8, "BGR"},
{sensor_msgs::image_encodings::BGR16, "BGR16"}, {sensor_msgs::image_encodings::BGR16, "BGR16"},
{sensor_msgs::image_encodings::BGRA8, "BGRA"}, {sensor_msgs::image_encodings::BGRA8, "BGRA"},
{sensor_msgs::image_encodings::BGRA16, "BGRA16"}, {sensor_msgs::image_encodings::BGRA16, "BGRA16"},
{sensor_msgs::image_encodings::MONO8, "GRAY8"}, {sensor_msgs::image_encodings::MONO8, "GRAY8"},
{sensor_msgs::image_encodings::MONO16, "GRAY16_LE"}, {sensor_msgs::image_encodings::MONO16, "GRAY16_LE"},
}}; }};
if (msg->is_bigendian) { if (msg->is_bigendian) {
ROS_ERROR("GST: big endian image format is not supported"); ROS_ERROR("GST: big endian image format is not supported");
return nullptr; return nullptr;
} }
auto format = known_formats.find(msg->encoding); auto format = known_formats.find(msg->encoding);
if (format == known_formats.end()) { if (format == known_formats.end()) {
ROS_ERROR("GST: image format '%s' unknown", msg->encoding.c_str()); ROS_ERROR("GST: image format '%s' unknown", msg->encoding.c_str());
return nullptr; return nullptr;
} }
return gst_caps_new_simple("video/x-raw", return gst_caps_new_simple("video/x-raw",
"format", G_TYPE_STRING, format->second.c_str(), "format", G_TYPE_STRING, format->second.c_str(),
"width", G_TYPE_INT, msg->width, "width", G_TYPE_INT, msg->width,
"height", G_TYPE_INT, msg->height, "height", G_TYPE_INT, msg->height,
"framerate", GST_TYPE_FRACTION, 10, 1, "framerate", GST_TYPE_FRACTION, 10, 1,
nullptr); nullptr);
} }
void Image2RTSPNodelet::imageCallback(const sensor_msgs::Image::ConstPtr& msg, const std::string& topic) { void Image2RTSPNodelet::imageCallback(const sensor_msgs::Image::ConstPtr& msg, const std::string& topic) {
GstBuffer *buf; GstBuffer *buf;
GstCaps *caps; GstCaps *caps;
char *gst_type, *gst_format=(char *)""; char *gst_type, *gst_format=(char *)"";
// g_print("Image encoding: %s\n", msg->encoding.c_str()); // g_print("Image encoding: %s\n", msg->encoding.c_str());
if (appsrc[topic] != NULL) { if (appsrc[topic] != NULL) {
// Set caps from message // Set caps from message
caps = gst_caps_new_from_image(msg); caps = gst_caps_new_from_image(msg);
gst_app_src_set_caps(appsrc[topic], caps); gst_app_src_set_caps(appsrc[topic], caps);
buf = gst_buffer_new_allocate(nullptr, msg->data.size(), nullptr); buf = gst_buffer_new_allocate(nullptr, msg->data.size(), nullptr);
gst_buffer_fill(buf, 0, msg->data.data(), msg->data.size()); gst_buffer_fill(buf, 0, msg->data.data(), msg->data.size());
GST_BUFFER_FLAG_SET(buf, GST_BUFFER_FLAG_LIVE); GST_BUFFER_FLAG_SET(buf, GST_BUFFER_FLAG_LIVE);
gst_app_src_push_buffer(appsrc[topic], buf); gst_app_src_push_buffer(appsrc[topic], buf);
} }
} }
void Image2RTSPNodelet::url_connected(string url) { void Image2RTSPNodelet::url_connected(string url) {
std::string mountpoint, source, type; std::string mountpoint, source, type;
NODELET_INFO("Client connected: %s", url.c_str()); NODELET_INFO("Client connected: %s", url.c_str());
ros::NodeHandle& nh = getPrivateNodeHandle(); ros::NodeHandle& nh = getPrivateNodeHandle();
// Get the parameters from the rosparam server // Get the parameters from the rosparam server
XmlRpc::XmlRpcValue streams; XmlRpc::XmlRpcValue streams;
nh.getParam("streams", streams); nh.getParam("streams", streams);
ROS_ASSERT(streams.getType() == XmlRpc::XmlRpcValue::TypeStruct); ROS_ASSERT(streams.getType() == XmlRpc::XmlRpcValue::TypeStruct);
// Go through and parse each stream // Go through and parse each stream
for(XmlRpc::XmlRpcValue::ValueStruct::const_iterator it = streams.begin(); it != streams.end(); ++it) for(XmlRpc::XmlRpcValue::ValueStruct::const_iterator it = streams.begin(); it != streams.end(); ++it)
{ {
XmlRpc::XmlRpcValue stream = streams[it->first]; XmlRpc::XmlRpcValue stream = streams[it->first];
type = static_cast<std::string>(stream["type"]); type = static_cast<std::string>(stream["type"]);
mountpoint = static_cast<std::string>(stream["mountpoint"]); mountpoint = static_cast<std::string>(stream["mountpoint"]);
source = static_cast<std::string>(stream["source"]); source = static_cast<std::string>(stream["source"]);
// Check which stream the client has connected to // Check which stream the client has connected to
if (type=="topic" && url==mountpoint) { if (type=="topic" && url==mountpoint) {
if (num_of_clients[url]==0) { if (num_of_clients[url]==0) {
// Subscribe to the ROS topic // Subscribe to the ROS topic
subs[url] = nh.subscribe<sensor_msgs::Image>(source, 1, boost::bind(&Image2RTSPNodelet::imageCallback, this, _1, url)); subs[url] = nh.subscribe<sensor_msgs::Image>(source, 1, boost::bind(&Image2RTSPNodelet::imageCallback, this, _1, url));
} }
num_of_clients[url]++; num_of_clients[url]++;
} }
} }
} }
void Image2RTSPNodelet::url_disconnected(string url) { void Image2RTSPNodelet::url_disconnected(string url) {
std::string mountpoint; std::string mountpoint;
NODELET_INFO("Client disconnected: %s", url.c_str()); NODELET_INFO("Client disconnected: %s", url.c_str());
ros::NodeHandle& nh = getPrivateNodeHandle(); ros::NodeHandle& nh = getPrivateNodeHandle();
// Get the parameters from the rosparam server // Get the parameters from the rosparam server
XmlRpc::XmlRpcValue streams; XmlRpc::XmlRpcValue streams;
nh.getParam("streams", streams); nh.getParam("streams", streams);
ROS_ASSERT(streams.getType() == XmlRpc::XmlRpcValue::TypeStruct); ROS_ASSERT(streams.getType() == XmlRpc::XmlRpcValue::TypeStruct);
// Go through and parse each stream // Go through and parse each stream
for(XmlRpc::XmlRpcValue::ValueStruct::const_iterator it = streams.begin(); it != streams.end(); ++it) for(XmlRpc::XmlRpcValue::ValueStruct::const_iterator it = streams.begin(); it != streams.end(); ++it)
{ {
XmlRpc::XmlRpcValue stream = streams[it->first]; XmlRpc::XmlRpcValue stream = streams[it->first];
mountpoint = static_cast<std::string>(stream["mountpoint"]); mountpoint = static_cast<std::string>(stream["mountpoint"]);
// Check which stream the client has disconnected from // Check which stream the client has disconnected from
if (url==mountpoint) { if (url==mountpoint) {
if (num_of_clients[url] > 0) num_of_clients[url]--; if (num_of_clients[url] > 0) num_of_clients[url]--;
if (num_of_clients[url] == 0) { if (num_of_clients[url] == 0) {
// No-one else is connected. Stop the subscription. // No-one else is connected. Stop the subscription.
subs[url].shutdown(); subs[url].shutdown();
appsrc[url] = NULL; appsrc[url] = NULL;
} }
} }
} }
} }
void Image2RTSPNodelet::print_info(char *s) { void Image2RTSPNodelet::print_info(char *s) {
NODELET_INFO("%s",s); NODELET_INFO("%s",s);
} }
void Image2RTSPNodelet::print_error(char *s) { void Image2RTSPNodelet::print_error(char *s) {
NODELET_ERROR("%s",s); NODELET_ERROR("%s",s);
} }
PLUGINLIB_EXPORT_CLASS(image2rtsp::Image2RTSPNodelet, nodelet::Nodelet) PLUGINLIB_EXPORT_CLASS(image2rtsp::Image2RTSPNodelet, nodelet::Nodelet)

173
src/video.cpp
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@ -16,147 +16,150 @@ using namespace image2rtsp;
static void *mainloop(void *arg) { static void *mainloop(void *arg) {
GMainLoop *loop = g_main_loop_new(NULL, FALSE); GMainLoop *loop = g_main_loop_new(NULL, FALSE);
g_main_loop_run(loop); g_main_loop_run(loop);
g_main_destroy(loop); g_main_destroy(loop);
return NULL; return NULL;
} }
void Image2RTSPNodelet::video_mainloop_start() { void Image2RTSPNodelet::video_mainloop_start() {
pthread_t tloop; pthread_t tloop;
gst_init(NULL, NULL); gst_init(NULL, NULL);
pthread_create(&tloop, NULL, &mainloop, NULL); pthread_create(&tloop, NULL, &mainloop, NULL);
} }
static void client_options(GstRTSPClient *client, GstRTSPContext *state, Image2RTSPNodelet *nodelet) { static void client_options(GstRTSPClient *client, GstRTSPContext *state, Image2RTSPNodelet *nodelet) {
if (state->uri) { if (state->uri) {
nodelet->url_connected(state->uri->abspath); nodelet->url_connected(state->uri->abspath);
} }
} }
static void client_teardown(GstRTSPClient *client, GstRTSPContext *state, Image2RTSPNodelet *nodelet) { static void client_teardown(GstRTSPClient *client, GstRTSPContext *state, Image2RTSPNodelet *nodelet) {
if (state->uri) { if (state->uri) {
nodelet->url_disconnected(state->uri->abspath); nodelet->url_disconnected(state->uri->abspath);
} }
} }
static void new_client(GstRTSPServer *server, GstRTSPClient *client, Image2RTSPNodelet *nodelet) { static void new_client(GstRTSPServer *server, GstRTSPClient *client, Image2RTSPNodelet *nodelet) {
nodelet->print_info((char *)"New RTSP client"); nodelet->print_info((char *)"New RTSP client");
g_signal_connect(client, "options-request", G_CALLBACK(client_options), nodelet); g_signal_connect(client, "options-request", G_CALLBACK(client_options), nodelet);
g_signal_connect(client, "teardown-request", G_CALLBACK(client_teardown), nodelet); g_signal_connect(client, "teardown-request", G_CALLBACK(client_teardown), nodelet);
} }
/* this function is periodically run to clean up the expired sessions from the pool. */ /* this function is periodically run to clean up the expired sessions from the pool. */
static gboolean session_cleanup(Image2RTSPNodelet *nodelet, gboolean ignored) static gboolean session_cleanup(Image2RTSPNodelet *nodelet, gboolean ignored)
{ {
GstRTSPServer *server = nodelet->rtsp_server; GstRTSPServer *server = nodelet->rtsp_server;
GstRTSPSessionPool *pool; GstRTSPSessionPool *pool;
int num; int num;
pool = gst_rtsp_server_get_session_pool(server); pool = gst_rtsp_server_get_session_pool(server);
num = gst_rtsp_session_pool_cleanup(pool); num = gst_rtsp_session_pool_cleanup(pool);
g_object_unref(pool); g_object_unref(pool);
if (num > 0) { if (num > 0) {
char s[32]; char s[32];
snprintf(s, 32, (char *)"Sessions cleaned: %d", num); snprintf(s, 32, (char *)"Sessions cleaned: %d", num);
nodelet->print_info(s); nodelet->print_info(s);
} }
return TRUE; return TRUE;
} }
GstRTSPServer *Image2RTSPNodelet::rtsp_server_create() { GstRTSPServer *Image2RTSPNodelet::rtsp_server_create(const std::string& port) {
GstRTSPServer *server; GstRTSPServer *server;
/* create a server instance */ /* create a server instance */
server = gst_rtsp_server_new(); server = gst_rtsp_server_new();
/* attach the server to the default maincontext */ // char *port = (char *) port;
gst_rtsp_server_attach(server, NULL); g_object_set(server, "service", port.c_str(), NULL);
g_signal_connect(server, "client-connected", G_CALLBACK(new_client), this); /* attach the server to the default maincontext */
gst_rtsp_server_attach(server, NULL);
/* add a timeout for the session cleanup */ g_signal_connect(server, "client-connected", G_CALLBACK(new_client), this);
g_timeout_add_seconds(2, (GSourceFunc)session_cleanup, this);
return server; /* add a timeout for the session cleanup */
g_timeout_add_seconds(2, (GSourceFunc)session_cleanup, this);
return server;
} }
/* called when a new media pipeline is constructed. We can query the /* called when a new media pipeline is constructed. We can query the
* pipeline and configure our appsrc */ * pipeline and configure our appsrc */
static void media_configure(GstRTSPMediaFactory *factory, GstRTSPMedia *media, GstElement **appsrc) static void media_configure(GstRTSPMediaFactory *factory, GstRTSPMedia *media, GstElement **appsrc)
{ if (appsrc) { { if (appsrc) {
GstElement *pipeline = gst_rtsp_media_get_element(media); GstElement *pipeline = gst_rtsp_media_get_element(media);
*appsrc = gst_bin_get_by_name(GST_BIN(pipeline), "imagesrc"); *appsrc = gst_bin_get_by_name(GST_BIN(pipeline), "imagesrc");
/* this instructs appsrc that we will be dealing with timed buffer */ /* this instructs appsrc that we will be dealing with timed buffer */
gst_util_set_object_arg(G_OBJECT(*appsrc), "format", "time"); gst_util_set_object_arg(G_OBJECT(*appsrc), "format", "time");
gst_object_unref(pipeline); gst_object_unref(pipeline);
} }
else else
{ {
guint i, n_streams; guint i, n_streams;
n_streams = gst_rtsp_media_n_streams (media); n_streams = gst_rtsp_media_n_streams (media);
for (i = 0; i < n_streams; i++) { for (i = 0; i < n_streams; i++) {
GstRTSPAddressPool *pool; GstRTSPAddressPool *pool;
GstRTSPStream *stream; GstRTSPStream *stream;
gchar *min, *max; gchar *min, *max;
stream = gst_rtsp_media_get_stream (media, i); stream = gst_rtsp_media_get_stream (media, i);
/* make a new address pool */ /* make a new address pool */
pool = gst_rtsp_address_pool_new (); pool = gst_rtsp_address_pool_new ();
min = g_strdup_printf ("224.3.0.%d", (2 * i) + 1); min = g_strdup_printf ("224.3.0.%d", (2 * i) + 1);
max = g_strdup_printf ("224.3.0.%d", (2 * i) + 2); max = g_strdup_printf ("224.3.0.%d", (2 * i) + 2);
gst_rtsp_address_pool_add_range (pool, min, max, gst_rtsp_address_pool_add_range (pool, min, max,
5000 + (10 * i), 5010 + (10 * i), 1); 5000 + (10 * i), 5010 + (10 * i), 1);
g_free (min); g_free (min);
g_free (max); g_free (max);
gst_rtsp_stream_set_address_pool (stream, pool); gst_rtsp_stream_set_address_pool (stream, pool);
g_object_unref (pool); g_object_unref (pool);
} }
} }
} }
void Image2RTSPNodelet::rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc) { void Image2RTSPNodelet::rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc) {
GstRTSPMountPoints *mounts; GstRTSPMountPoints *mounts;
GstRTSPMediaFactory *factory; GstRTSPMediaFactory *factory;
/* get the mount points for this server, every server has a default object /* get the mount points for this server, every server has a default object
* that be used to map uri mount points to media factories */ * that be used to map uri mount points to media factories */
mounts = gst_rtsp_server_get_mount_points(rtsp_server); mounts = gst_rtsp_server_get_mount_points(rtsp_server);
/* make a media factory for a test stream. The default media factory can use /* make a media factory for a test stream. The default media factory can use
* gst-launch syntax to create pipelines. * gst-launch syntax to create pipelines.
* any launch line works as long as it contains elements named pay%d. Each * any launch line works as long as it contains elements named pay%d. Each
* element with pay%d names will be a stream */ * element with pay%d names will be a stream */
factory = gst_rtsp_media_factory_new(); factory = gst_rtsp_media_factory_new();
gst_rtsp_media_factory_set_launch(factory, sPipeline); gst_rtsp_media_factory_set_launch(factory, sPipeline);
/* notify when our media is ready, This is called whenever someone asks for /* notify when our media is ready, This is called whenever someone asks for
* the media and a new pipeline is created */ * the media and a new pipeline is created */
g_signal_connect(factory, "media-configure", (GCallback)media_configure, appsrc); g_signal_connect(factory, "media-configure", (GCallback)media_configure, appsrc);
gst_rtsp_media_factory_set_shared(factory, TRUE); gst_rtsp_media_factory_set_shared(factory, TRUE);
/* attach the factory to the url */ /* attach the factory to the url */
gst_rtsp_mount_points_add_factory(mounts, url, factory); gst_rtsp_mount_points_add_factory(mounts, url, factory);
/* don't need the ref to the mounts anymore */ /* don't need the ref to the mounts anymore */
g_object_unref(mounts); g_object_unref(mounts);
} }