AutoConnect: fix pipeline

ArduPilot · Jan 10, 2023 · bbb1288 · bbb1288
1 parent a83d32b
commit bbb1288
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Showing 2 changed files with 16 additions and 6 deletions.
diff --git a/ExtLibs/Utilities/AutoConnect.cs b/ExtLibs/Utilities/AutoConnect.cs
@@ -27,20 +27,21 @@ public class AutoConnect
 
             new ConnectionInfo("Mavlink sitl port", false, 5760, ProtocolType.Tcp, ConnectionFormat.MAVLink,
                 Direction.Outbound, "127.0.0.1"),
-
+                      
             new ConnectionInfo("Video udp 5000 h264", true, 5000, ProtocolType.Udp, ConnectionFormat.Video,
                 Direction.Inbound,
-                "udpsrc port=5000 buffer-size=90000 ! application/x-rtp ! decodebin3 ! queue max-size-buffers=1 leaky=2 ! videoconvert ! video/x-raw,format=BGRA ! appsink name=outsink sync=false"),
+                "udpsrc port=5000 buffer-size=90000 ! application/x-rtp,media=(string)video,clock-rate=(int)90000,encoding-name=(string)H264 ! decodebin3 ! queue max-size-buffers=1 leaky=2 ! videoconvert ! video/x-raw,format=BGRA ! appsink name=outsink sync=false"),
             new ConnectionInfo("Video udp 5100 h264", true, 5100, ProtocolType.Udp, ConnectionFormat.Video,
                 Direction.Inbound,
-                "udpsrc port=5100 buffer-size=90000 ! application/x-rtp ! decodebin3 ! queue max-size-buffers=1 leaky=2 ! videoconvert ! video/x-raw,format=BGRA ! appsink name=outsink sync=false"),
+                "udpsrc port=5100 buffer-size=90000 ! application/x-rtp,media=(string)video,clock-rate=(int)90000,encoding-name=(string)H264 ! decodebin3 ! queue max-size-buffers=1 leaky=2 ! videoconvert ! video/x-raw,format=BGRA ! appsink name=outsink sync=false"),
+            // "C:\ProgramData\Mission Planner\gstreamer\1.0\x86_64\bin\gst-launch-1.0.exe" videotestsrc pattern=ball  is-live=true ! video/x-raw,width=640,height=480 ! clockoverlay ! x264enc ! rtph264pay ! udpsink host=127.0.0.1 port=5600
             new ConnectionInfo("Video udp 5600 h264", true, 5600, ProtocolType.Udp, ConnectionFormat.Video,
                 Direction.Inbound,
-                "udpsrc port=5600 buffer-size=90000 ! application/x-rtp ! decodebin3 ! queue max-size-buffers=1 leaky=2 ! videoconvert ! video/x-raw,format=BGRA ! appsink name=outsink sync=false"),
+                "udpsrc port=5600 buffer-size=90000 ! application/x-rtp,media=(string)video,clock-rate=(int)90000,encoding-name=(string)H264 ! decodebin3 ! queue max-size-buffers=1 leaky=2 ! videoconvert ! video/x-raw,format=BGRA ! appsink name=outsink sync=false"),
 
             new ConnectionInfo("Video udp 5601 h265", true, 5601, ProtocolType.Udp, ConnectionFormat.Video,
                 Direction.Inbound,
-                "udpsrc port=5601 buffer-size=90000 ! application/x-rtp ! decodebin3 ! queue max-size-buffers=1 leaky=2 ! videoconvert ! video/x-raw,format=BGRA ! appsink name=outsink sync=false"),
+                "udpsrc port=5601 buffer-size=90000 ! application/x-rtp,media=(string)video,clock-rate=(int)90000,encoding-name=(string)H265 ! decodebin3 ! queue max-size-buffers=1 leaky=2 ! videoconvert ! video/x-raw,format=BGRA ! appsink name=outsink sync=false"),
 
             new ConnectionInfo("SkyViper", false, 554, ProtocolType.Tcp, ConnectionFormat.Video, Direction.Outbound,
                 "rtspsrc location=rtsp://192.168.99.1/media/stream2 debug=false buffer-mode=1 latency=100 ntp-time-source=3 ! application/x-rtp ! decodebin3 ! queue max-size-buffers=1 leaky=2 ! videoconvert ! video/x-raw,format=BGRA ! appsink name=outsink sync=false"),

diff --git a/ExtLibs/Utilities/GStreamer.cs b/ExtLibs/Utilities/GStreamer.cs
@@ -1247,6 +1247,8 @@ static void ThreadStart(object datao)
             int argc = 1;
             string[] argv = new string[] { "-vvv" };
 
+            Environment.SetEnvironmentVariable("GST_DEBUG", "*:4");
+
             try
             {
 
@@ -1346,11 +1348,12 @@ static void ThreadStart(object datao)
             log.Info("set playing ");
             /* Wait until error or EOS */
             var bus = NativeMethods.gst_element_get_bus(pipeline);
+
 
             int Width = 0;
             int Height = 0;
-            int trys = 0;
             // prevent it falling out of scope
+            int trys = 0;
             GstAppSinkCallbacks callbacks2 = callbacks;
 
             run = true;
@@ -1364,6 +1367,12 @@ static void ThreadStart(object datao)
                 run = false;
 
             }
+            else {
+                var msg = NativeMethods.gst_bus_timed_pop_filtered(bus, 0,
+                     (int)(GstMessageType.GST_MESSAGE_ERROR | GstMessageType.GST_MESSAGE_EOS));
+                if (msg != IntPtr.Zero)
+                    run = false;
+            }
 
             log.Info("start frame loop gst_app_sink_is_eos");
             while (run && !NativeMethods.gst_app_sink_is_eos(appsink))