sweeper_video/src/rtsp_manager.cpp

// rtsp_manager.cpp
#include "rtsp_manager.hpp"
#include "logger.hpp"
#include <iostream>

GMainLoop *RTSPManager::loop = nullptr;
GstRTSPServer *RTSPManager::server = nullptr;

void RTSPManager::init()
{
    gst_init(nullptr, nullptr);
    LOG_INFO("[RTSP] GStreamer initialized.");
}

GstRTSPMediaFactory *RTSPManager::create_media_factory(const Camera &cam)
{
    std::string launch_str =
        "( v4l2src device=" + cam.device +
        " ! video/x-raw,format=NV12,width=" + std::to_string(cam.width) +
        ",height=" + std::to_string(cam.height) +
        ",framerate=" + std::to_string(cam.fps) + "/1"
                                                  " ! videoconvert ! queue ! mpph264enc ! rtph264pay name=pay0 pt=96 )";

    GstRTSPMediaFactory *factory = gst_rtsp_media_factory_new();
    gst_rtsp_media_factory_set_launch(factory, launch_str.c_str());
    gst_rtsp_media_factory_set_shared(factory, TRUE);

    return factory;
}

void RTSPManager::start(const std::vector<Camera> &cameras)
{
    server = gst_rtsp_server_new();
    gst_rtsp_server_set_service(server, "8554");

    GstRTSPMountPoints *mounts = gst_rtsp_server_get_mount_points(server);

    for (auto &cam : cameras)
    {
        if (!cam.enabled)
            continue;

        auto factory = create_media_factory(cam);
        std::string mount_point = "/" + cam.name;
        gst_rtsp_mount_points_add_factory(mounts, mount_point.c_str(), factory);

        LOG_INFO("[RTSP] Camera '" + cam.name + "' available at rtsp://localhost:8554" + mount_point);
    }

    g_object_unref(mounts);

    loop = g_main_loop_new(nullptr, FALSE);
    gst_rtsp_server_attach(server, nullptr);

    LOG_INFO("[RTSP] Server running on rtsp://localhost:8554");
    g_main_loop_run(loop);

    // loop 退出后再释放资源
    if (server)
    {
        g_object_unref(server);
        server = nullptr;
    }
    if (loop)
    {
        g_main_loop_unref(loop);
        loop = nullptr;
    }
    LOG_INFO("[RTSP] Server stopped.");
}

void RTSPManager::stop()
{
    if (loop)
    {
        // 仅退出 loop，不 unref server
        g_main_context_invoke(nullptr, [](gpointer data) -> gboolean
                              {
            GMainLoop *loop = static_cast<GMainLoop*>(data);
            g_main_loop_quit(loop);
            return G_SOURCE_REMOVE; }, loop);
    }
}