sweeper_video/src/rtsp_manager.cpp

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

// 静态变量定义
GMainLoop *RTSPManager::loop = nullptr;
GMainContext *RTSPManager::main_context = nullptr;
GstRTSPServer *RTSPManager::server = nullptr;
std::unordered_map<std::string, bool> RTSPManager::streaming_status;
std::unordered_map<std::string, GstRTSPMediaFactory *> RTSPManager::mounted_factories;
std::mutex RTSPManager::mounted_factories_mutex;
std::unordered_map<std::string, std::vector<GstRTSPMedia *>> RTSPManager::media_map;
std::mutex RTSPManager::media_map_mutex;

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);

    // 连接 media-created 信号，跟踪媒体对象
    g_signal_connect_data(factory, "media-created", G_CALLBACK(on_media_created), g_strdup(cam.name.c_str()),
                          (GClosureNotify)g_free, 0);

    return factory;
}

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

    loop = g_main_loop_new(nullptr, FALSE);
    main_context = g_main_loop_get_context(loop);

    gst_rtsp_server_attach(server, nullptr);

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

    if (server)
    {
        g_object_unref(server);
        server = nullptr;
    }
    if (loop)
    {
        g_main_loop_unref(loop);
        loop = nullptr;
    }
    LOG_INFO("[RTSP] Server stopped.");
}

// 媒体创建信号处理函数
void RTSPManager::on_media_created(GstRTSPMediaFactory *factory, GstRTSPMedia *media, gpointer user_data)
{
    const char *cam_name = static_cast<const char *>(user_data);
    std::lock_guard<std::mutex> lock(media_map_mutex);
    media_map[cam_name].push_back(media);
    g_object_ref(media); // 增加引用计数，防止意外销毁

    // 连接 unprepared 信号，以便在媒体销毁时从列表中移除
    g_signal_connect_data(media, "unprepared", G_CALLBACK(on_media_unprepared), g_strdup(cam_name), (GClosureNotify)g_free, 0);
}

// 媒体 unprepared 信号处理函数
void RTSPManager::on_media_unprepared(GstRTSPMedia *media, gpointer user_data)
{
    const char *cam_name = static_cast<const char *>(user_data);
    std::lock_guard<std::mutex> lock(media_map_mutex);
    auto it = media_map.find(cam_name);
    if (it != media_map.end())
    {
        auto &media_list = it->second;
        media_list.erase(std::remove(media_list.begin(), media_list.end(), media), media_list.end());
        if (media_list.empty())
        {
            media_map.erase(it);
        }
    }
    g_object_unref(media); // 释放我们在 on_media_created 中增加的引用
}

// 挂载摄像头
gboolean RTSPManager::mount_camera_in_main(gpointer data)
{
    Camera *cam = static_cast<Camera *>(data);
    if (!cam || !server)
    {
        delete cam;
        return G_SOURCE_REMOVE;
    }

    GstRTSPMountPoints *mounts = gst_rtsp_server_get_mount_points(server);
    if (!mounts)
    {
        delete cam;
        return G_SOURCE_REMOVE;
    }

    std::string mount_point = "/" + cam->name;
    GstRTSPMediaFactory *factory = create_media_factory(*cam);
    if (!factory)
    {
        g_object_unref(mounts);
        delete cam;
        return G_SOURCE_REMOVE;
    }

    gst_rtsp_mount_points_add_factory(mounts, mount_point.c_str(), factory);
    g_object_unref(mounts);

    {
        std::lock_guard<std::mutex> lock(mounted_factories_mutex);
        mounted_factories[cam->name] = factory;
        streaming_status[cam->name] = true;
    }

    LOG_INFO("[RTSP] Camera '" + cam->name + "' mounted at rtsp://localhost:8554" + mount_point);
    delete cam;
    return G_SOURCE_REMOVE;
}

// 卸载摄像头（停止所有媒体会话）
gboolean RTSPManager::unmount_camera_in_main(gpointer data)
{
    Camera *cam = static_cast<Camera *>(data);
    if (!cam || !server)
    {
        delete cam;
        return G_SOURCE_REMOVE;
    }

    std::string cam_name = cam->name;
    std::string mount_point = "/" + cam_name;

    // 停止所有相关的媒体会话
    {
        std::lock_guard<std::mutex> lock(media_map_mutex);
        auto it = media_map.find(cam_name);
        if (it != media_map.end())
        {
            for (GstRTSPMedia *media : it->second)
            {
                gst_rtsp_media_stop(media);
            }
            it->second.clear();
            media_map.erase(it);
        }
    }

    GstRTSPMountPoints *mounts = gst_rtsp_server_get_mount_points(server);
    if (mounts)
    {
        gst_rtsp_mount_points_remove_factory(mounts, mount_point.c_str());
        g_object_unref(mounts);
    }

    {
        std::lock_guard<std::mutex> lock(mounted_factories_mutex);
        auto it = mounted_factories.find(cam_name);
        if (it != mounted_factories.end())
        {
            if (it->second && G_IS_OBJECT(it->second))
                g_object_unref(it->second); // 安全 unref
            mounted_factories.erase(it);
        }
        streaming_status[cam_name] = false;
    }

    LOG_INFO("[RTSP] Camera '" + cam_name + "' unmounted.");
    delete cam;
    return G_SOURCE_REMOVE;
}

void RTSPManager::mount_camera(const Camera &cam)
{
    Camera *camCopy = new Camera(cam);
    g_main_context_invoke(main_context, [](gpointer data) -> gboolean
                          { return RTSPManager::mount_camera_in_main(data); }, camCopy);
}

void RTSPManager::unmount_camera(const Camera &cam)
{
    Camera *camCopy = new Camera(cam);
    g_main_context_invoke(main_context, [](gpointer data) -> gboolean
                          { return RTSPManager::unmount_camera_in_main(data); }, camCopy);
}

bool RTSPManager::is_streaming(const std::string &cam_name)
{
    std::lock_guard<std::mutex> lock(mounted_factories_mutex);
    auto it = streaming_status.find(cam_name);
    return it != streaming_status.end() ? it->second : false;
}

void RTSPManager::stop()
{
    if (loop)
    {
        g_main_context_invoke(main_context, [](gpointer data) -> gboolean
                              {
            g_main_loop_quit(static_cast<GMainLoop *>(data));
            return G_SOURCE_REMOVE; }, loop);
    }
}