1

src/rtsp_manager.cpp

@@ -32,6 +32,28 @@ bool set_v4l2_format(const std::string &dev, int width, int height)
     }
 
     struct v4l2_format fmt;
+    memset(&fmt, 0, sizeof(fmt));
+    fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
+
+    // 先读当前格式，避免每次都硬 S_FMT
+    if (ioctl(fd, VIDIOC_G_FMT, &fmt) == 0)
+    {
+        bool match = true;
+        if (fmt.fmt.pix_mp.width != (unsigned int)width ||
+            fmt.fmt.pix_mp.height != (unsigned int)height ||
+            fmt.fmt.pix_mp.pixelformat != V4L2_PIX_FMT_NV12)
+        {
+            match = false;
+        }
+
+        if (match)
+        {
+            close(fd);
+            LOG_INFO("[RTSP] V4L2 format already NV12 " + std::to_string(width) + "x" + std::to_string(height) + " for " + dev);
+            return true;
+        }
+    }
+
     memset(&fmt, 0, sizeof(fmt));
     fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
     fmt.fmt.pix_mp.width = width;
@@ -46,6 +68,8 @@ bool set_v4l2_format(const std::string &dev, int width, int height)
         return false;
     }
 
+    LOG_INFO("[RTSP] Set V4L2 format to NV12 " + std::to_string(width) + "x" + std::to_string(height) + " for " + dev);
+
     close(fd);
     return true;
 }
@@ -67,7 +91,6 @@ GstRTSPMediaFactory *RTSPManager::create_media_factory(const Camera &cam)
     int out_width = cam.width;
     int out_height = cam.height;
 
-    // 先拼 caps，方便看
     std::string caps =
         "video/x-raw,format=NV12,"
         "width=" +
@@ -75,14 +98,13 @@ GstRTSPMediaFactory *RTSPManager::create_media_factory(const Camera &cam)
         ",height=" + std::to_string(out_height) +
         ",framerate=" + std::to_string(cam.fps) + "/1";
 
-    // 关键改动：
+    // 注意：
-    // 1) v4l2src 加 is-live / do-timestamp，避免 preroll 卡死
+    // 1) config-interval 放到 rtph264pay 上
-    // 2) queue 放宽限制，避免首帧被丢导致 pipeline 出错
+    // 2) mpph264enc 加 gop / rc-mode / bps
-    // 3) suspend_mode 改为 NONE，避免客户端断开时 RESET pipeline 导致反复 s_stream(0/1)
+    // 3) is-live + do-timestamp 避免 preroll 卡死
     std::string launch_str =
         "( v4l2src device=" + cam.device +
         " io-mode=2 is-live=true do-timestamp=true"
-        " ! identity sync=false"
         " ! " +
         caps +
         " ! queue leaky=downstream max-size-buffers=0 max-size-bytes=0 max-size-time=0"
@@ -90,14 +112,18 @@ GstRTSPMediaFactory *RTSPManager::create_media_factory(const Camera &cam)
         std::to_string(cam.bitrate) +
         " gop=" + std::to_string(cam.fps) +
         " header-mode=1"
-        " ! h264parse config-interval=1"
+        " ! h264parse"
-        " ! rtph264pay name=pay0 pt=96 )";
+        " ! rtph264pay name=pay0 pt=96 config-interval=1 )";
+
+    LOG_INFO("[RTSP] Launch pipeline for " + cam.name + ": " + launch_str);
 
     GstRTSPMediaFactory *factory = gst_rtsp_media_factory_new();
     gst_rtsp_media_factory_set_launch(factory, launch_str.c_str());
+
+    // 多客户端共享同一条 pipeline
     gst_rtsp_media_factory_set_shared(factory, TRUE);
 
-    // 不再在客户端断开时 RESET / 销毁 pipeline，避免频繁触发 MIPI / maxim4c 重新配置
+    // 不在客户端断开时 RESET pipeline，避免频繁 s_stream(0/1)
     gst_rtsp_media_factory_set_suspend_mode(factory, GST_RTSP_SUSPEND_MODE_NONE);
 
     g_signal_connect_data(factory,
@@ -169,6 +195,7 @@ void RTSPManager::on_media_created(GstRTSPMediaFactory *, GstRTSPMedia *media, g
 
     LOG_INFO(std::string("[RTSP] media-configure for camera: ") + cam_name);
 
+    // media 自身加引用，存入 map
     g_object_ref(media);
 
     {
@@ -184,16 +211,26 @@ void RTSPManager::on_media_created(GstRTSPMediaFactory *, GstRTSPMedia *media, g
         (GClosureNotify)g_free,
         (GConnectFlags)0);
 
-    // ★★★ 关键补丁：阻止 preroll 卡死 v4l2 驱动，强制 PLAYING
+    // 强制 pipeline 进入 PLAYING，避免 preroll 阶段卡死在 PAUSED
     GstElement *pipeline = gst_rtsp_media_get_element(media);
     if (pipeline)
     {
-        gst_element_set_state(pipeline, GST_STATE_PLAYING);
+        GstStateChangeReturn ret = gst_element_set_state(pipeline, GST_STATE_PLAYING);
-        LOG_INFO(std::string("[RTSP] Force pipeline PLAYING for camera: ") + cam_name);
+        if (ret == GST_STATE_CHANGE_FAILURE)
+        {
+            LOG_ERROR(std::string("[RTSP] Failed to set pipeline PLAYING for camera: ") + cam_name);
         }
         else
         {
-        LOG_WARN(std::string("[RTSP] Pipeline is NULL for camera: ") + cam_name);
+            LOG_INFO(std::string("[RTSP] Force pipeline PLAYING for camera: ") + cam_name);
+        }
+
+        // ⚠️ 这里一定要 unref，一次 get_element 一次 unref
+        gst_object_unref(pipeline);
+    }
+    else
+    {
+        LOG_ERROR(std::string("[RTSP] Pipeline is NULL for camera: ") + cam_name);
     }
 }
 
@@ -213,6 +250,10 @@ void RTSPManager::on_media_unprepared(GstRTSPMedia *media, gpointer user_data)
             if (vec.empty())
                 media_map.erase(it);
         }
+        else
+        {
+            LOG_WARN(std::string("[RTSP] media-unprepared but no entry in media_map for camera: ") + cam_name);
+        }
     }
 
     g_object_unref(media);