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WIP: Basic video streaming discovery using MAVLink #5271

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WIP: Basic video streaming discovery using MAVLink #5271

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2034ac0
video streaming: Add a class to handle mavlink video streaming messages
May 5, 2017
69092fa
send MAV_CMD_REQUEST_CAMERA_INFORMATION once a heartbeat is detected …
SaliniVenate May 19, 2017
774378c
video streaming: Use MAVLink Auto Discovery for video streams
Jun 1, 2017
22b67f0
video streaming: Try to stream video in a prefered resolution
Jun 2, 2017
be82e12
video streaming: Add a refresh button to Video Streaming Widget
Jun 2, 2017
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4 changes: 4 additions & 0 deletions qgroundcontrol.pro
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Expand Up @@ -635,6 +635,7 @@ HEADERS += \
src/ui/uas/UASQuickViewItem.h \
src/ui/uas/UASQuickViewItemSelect.h \
src/ui/uas/UASQuickViewTextItem.h \
src/ViewWidgets/VideoStreamingWidget.h \
}

iOSBuild {
Expand Down Expand Up @@ -799,6 +800,7 @@ SOURCES += \
src/ui/uas/UASQuickViewItem.cc \
src/ui/uas/UASQuickViewItemSelect.cc \
src/ui/uas/UASQuickViewTextItem.cc \
src/ViewWidgets/VideoStreamingWidget.cc \
}

# Palette test widget in debug builds
Expand Down Expand Up @@ -1027,6 +1029,7 @@ HEADERS += \
src/VideoStreaming/VideoItem.h \
src/VideoStreaming/VideoReceiver.h \
src/VideoStreaming/VideoStreaming.h \
src/VideoStreaming/MAVLinkVideoManager.h \
src/VideoStreaming/VideoSurface.h \
src/VideoStreaming/VideoSurface_p.h \

Expand All @@ -1035,6 +1038,7 @@ SOURCES += \
src/VideoStreaming/VideoReceiver.cc \
src/VideoStreaming/VideoStreaming.cc \
src/VideoStreaming/VideoSurface.cc \
src/VideoStreaming/MAVLinkVideoManager.cc \

contains (CONFIG, DISABLE_VIDEOSTREAMING) {
message("Skipping support for video streaming (manual override from command line)")
Expand Down
1 change: 1 addition & 0 deletions qgroundcontrol.qrc
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Expand Up @@ -24,6 +24,7 @@
<file alias="DebugWindow.qml">src/ui/preferences/DebugWindow.qml</file>
<file alias="ESP8266Component.qml">src/AutoPilotPlugins/Common/ESP8266Component.qml</file>
<file alias="ESP8266ComponentSummary.qml">src/AutoPilotPlugins/Common/ESP8266ComponentSummary.qml</file>
<file alias="VideoStreamingWidget.qml">src/ViewWidgets/VideoStreamingWidget.qml</file>
<file alias="SyslinkComponent.qml">src/AutoPilotPlugins/Common/SyslinkComponent.qml</file>
<file alias="FirmwareUpgrade.qml">src/VehicleSetup/FirmwareUpgrade.qml</file>
<file alias="FlightDisplayViewDummy.qml">src/FlightDisplay/FlightDisplayViewDummy.qml</file>
Expand Down
26 changes: 24 additions & 2 deletions src/FlightDisplay/VideoManager.cc
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Expand Up @@ -38,6 +38,7 @@ VideoManager::VideoManager(QGCApplication* app, QGCToolbox* toolbox)
, _init(false)
, _videoSettings(NULL)
, _showFullScreen(false)
, _mavlinkVideoManager(NULL)
{
}

Expand All @@ -62,6 +63,8 @@ VideoManager::setToolbox(QGCToolbox *toolbox)
connect(_videoSettings->rtspUrl(), &Fact::rawValueChanged, this, &VideoManager::_rtspUrlChanged);


_mavlinkVideoManager = new MAVLinkVideoManager();
connect(_mavlinkVideoManager, &MAVLinkVideoManager::currentUriChanged, this, &VideoManager::_mavlinkUriChanged);
#if defined(QGC_GST_STREAMING)
#ifndef QGC_DISABLE_UVC
// If we are using a UVC camera setup the device name
Expand Down Expand Up @@ -100,6 +103,7 @@ void VideoManager::_videoSourceChanged(void)
{
emit hasVideoChanged();
emit isGStreamerChanged();
emit isMAVLinkStreamChanged();
_restartVideo();
}

Expand All @@ -113,6 +117,11 @@ void VideoManager::_rtspUrlChanged(void)
_restartVideo();
}

void VideoManager::_mavlinkUriChanged(void)
{
_restartVideo();
}

//-----------------------------------------------------------------------------
void
VideoManager::grabImage(QString imageFile)
Expand All @@ -138,12 +147,23 @@ VideoManager::isGStreamer()
{
#if defined(QGC_GST_STREAMING)
QString videoSource = _videoSettings->videoSource()->rawValue().toString();
return videoSource == VideoSettings::videoSourceUDP || videoSource == VideoSettings::videoSourceRTSP;
return videoSource == VideoSettings::videoSourceUDP || videoSource == VideoSettings::videoSourceRTSP || videoSource == VideoSettings::videoSourceMAVLink;
#else
return false;
#endif
}

//-----------------------------------------------------------------------------
bool
VideoManager::isMAVLinkStream()
{
#if defined(QGC_GST_STREAMING)
QString videoSource = _videoSettings->videoSource()->rawValue().toString();
return videoSource == VideoSettings::videoSourceMAVLink;
#else
return false;
#endif
}
//-----------------------------------------------------------------------------
#ifndef QGC_DISABLE_UVC
bool
Expand Down Expand Up @@ -201,8 +221,10 @@ void VideoManager::_updateSettings()

if (_videoSettings->videoSource()->rawValue().toString() == VideoSettings::videoSourceUDP)
_videoReceiver->setUri(QStringLiteral("udp://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
else
else if (_videoSettings->videoSource()->rawValue().toString() == VideoSettings::videoSourceRTSP)
_videoReceiver->setUri(_videoSettings->rtspUrl()->rawValue().toString());
else //MAVLink Auto Discovery
_videoReceiver->setUri(_mavlinkVideoManager->getVideoURI());
}

//-----------------------------------------------------------------------------
Expand Down
7 changes: 7 additions & 0 deletions src/FlightDisplay/VideoManager.h
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Expand Up @@ -15,6 +15,7 @@
#include <QTimer>
#include <QUrl>

#include "MAVLinkVideoManager.h"
#include "QGCLoggingCategory.h"
#include "VideoSurface.h"
#include "VideoReceiver.h"
Expand All @@ -34,16 +35,19 @@ class VideoManager : public QGCTool

Q_PROPERTY(bool hasVideo READ hasVideo NOTIFY hasVideoChanged)
Q_PROPERTY(bool isGStreamer READ isGStreamer NOTIFY isGStreamerChanged)
Q_PROPERTY(bool isMAVLinkStream READ isMAVLinkStream NOTIFY isMAVLinkStreamChanged)
Q_PROPERTY(QString videoSourceID READ videoSourceID NOTIFY videoSourceIDChanged)
Q_PROPERTY(bool videoRunning READ videoRunning NOTIFY videoRunningChanged)
Q_PROPERTY(bool uvcEnabled READ uvcEnabled CONSTANT)
Q_PROPERTY(VideoSurface* videoSurface READ videoSurface CONSTANT)
Q_PROPERTY(VideoReceiver* videoReceiver READ videoReceiver CONSTANT)
Q_PROPERTY(QString imageFile READ imageFile NOTIFY imageFileChanged)
Q_PROPERTY(bool showFullScreen READ showFullScreen WRITE setShowFullScreen NOTIFY showFullScreenChanged)
Q_PROPERTY(MAVLinkVideoManager* mavlinkVideoManager MEMBER _mavlinkVideoManager CONSTANT)

bool hasVideo ();
bool isGStreamer ();
bool isMAVLinkStream();
bool videoRunning () { return _videoRunning; }
QString videoSourceID () { return _videoSourceID; }
QString imageFile () { return _imageFile; }
Expand All @@ -68,6 +72,7 @@ class VideoManager : public QGCTool
void hasVideoChanged ();
void videoRunningChanged ();
void isGStreamerChanged ();
void isMAVLinkStreamChanged ();
void videoSourceIDChanged ();
void imageFileChanged ();
void showFullScreenChanged ();
Expand All @@ -76,6 +81,7 @@ private slots:
void _videoSourceChanged(void);
void _udpPortChanged(void);
void _rtspUrlChanged(void);
void _mavlinkUriChanged(void);

private:
void _updateTimer ();
Expand All @@ -95,6 +101,7 @@ private slots:
VideoSettings* _videoSettings;
QString _imageFile;
bool _showFullScreen;
MAVLinkVideoManager* _mavlinkVideoManager;
};

#endif
2 changes: 2 additions & 0 deletions src/Settings/VideoSettings.cc
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Expand Up @@ -32,6 +32,7 @@ const char* VideoSettings::maxVideoSizeName = "MaxVideoSize";
const char* VideoSettings::videoSourceNoVideo = "No Video Available";
const char* VideoSettings::videoSourceUDP = "UDP Video Stream";
const char* VideoSettings::videoSourceRTSP = "RTSP Video Stream";
const char* VideoSettings::videoSourceMAVLink = "MAVLink Auto Discovery Streams";

VideoSettings::VideoSettings(QObject* parent)
: SettingsGroup(videoSettingsGroupName, QString() /* root settings group */, parent)
Expand All @@ -55,6 +56,7 @@ VideoSettings::VideoSettings(QObject* parent)
videoSourceList.append(videoSourceUDP);
#endif
videoSourceList.append(videoSourceRTSP);
videoSourceList.append(videoSourceMAVLink);
#endif
#ifndef QGC_DISABLE_UVC
QList<QCameraInfo> cameras = QCameraInfo::availableCameras();
Expand Down
1 change: 1 addition & 0 deletions src/Settings/VideoSettings.h
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Expand Up @@ -54,6 +54,7 @@ class VideoSettings : public SettingsGroup
static const char* videoSourceNoVideo;
static const char* videoSourceUDP;
static const char* videoSourceRTSP;
static const char* videoSourceMAVLink;

private:
SettingsFact* _videoSourceFact;
Expand Down