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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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1
config/stream_setup.yaml
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@ -1,4 +1,5 @@
# Set up your streams to rtsp here.
port: "8554"
streams: # Cannot rename - must leave this as is.
stream-x:

3
include/image2rtsp.h
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@ -12,6 +12,7 @@ namespace image2rtsp {
void print_error(char *s);
private:
std::string port;
std::map<std::string, ros::Subscriber> subs;
std::map<std::string, GstAppSrc*> appsrc;
std::map<std::string, int> num_of_clients;
@ -19,7 +20,7 @@ namespace image2rtsp {
void imageCallback(const sensor_msgs::Image::ConstPtr& msg, const std::string& topic);
void video_mainloop_start();
void rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc);
GstRTSPServer *rtsp_server_create();
GstRTSPServer *rtsp_server_create(const std::string& port);
};
}

10
src/image2rtsp.cpp
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@ -28,15 +28,15 @@ void Image2RTSPNodelet::onInit() {
ros::NodeHandle& nh = getPrivateNodeHandle();
video_mainloop_start();
rtsp_server = rtsp_server_create();
// Get the parameters from the rosparam server
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);
video_mainloop_start();
rtsp_server = rtsp_server_create(port);
// Go through and parse each stream
for(XmlRpc::XmlRpcValue::ValueStruct::const_iterator it = streams.begin(); it != streams.end(); ++it)
@ -74,7 +74,7 @@ void Image2RTSPNodelet::onInit() {
{
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());
}
}

5
src/video.cpp
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@ -73,12 +73,15 @@ static gboolean session_cleanup(Image2RTSPNodelet *nodelet, gboolean ignored)
return TRUE;
}
GstRTSPServer *Image2RTSPNodelet::rtsp_server_create() {
GstRTSPServer *Image2RTSPNodelet::rtsp_server_create(const std::string& port) {
GstRTSPServer *server;
/* create a server instance */
server = gst_rtsp_server_new();
// char *port = (char *) port;
g_object_set(server, "service", port.c_str(), NULL);
/* attach the server to the default maincontext */
gst_rtsp_server_attach(server, NULL);