1

src/rtsp_manager.cpp

@@ -58,6 +58,7 @@ void RTSPManager::init()
 
 GstRTSPMediaFactory *RTSPManager::create_media_factory(const Camera &cam)
 {
+    // 程序启动时设置一次 v4l2 格式
     if (!set_v4l2_format(cam.device, cam.width, cam.height))
     {
         LOG_ERROR("[RTSP] Failed to set V4L2 format for " + cam.name);
@@ -66,15 +67,26 @@ GstRTSPMediaFactory *RTSPManager::create_media_factory(const Camera &cam)
     int out_width = cam.width;
     int out_height = cam.height;
 
-    std::string launch_str =
-        "( v4l2src device=" + cam.device +
-        " io-mode=2"
-        " ! video/x-raw,format=NV12,width=" +
+    // 先拼 caps，方便看
+    std::string caps =
+        "video/x-raw,format=NV12,"
+        "width=" +
         std::to_string(out_width) +
         ",height=" + std::to_string(out_height) +
-        ",framerate=" + std::to_string(cam.fps) + "/1"
-                                                  " ! queue max-size-buffers=1 leaky=downstream"
-                                                  " ! mpph264enc rc-mode=cbr bps=" +
+        ",framerate=" + std::to_string(cam.fps) + "/1";
+
+    // 关键改动：
+    // 1) v4l2src 加 is-live / do-timestamp，避免 preroll 卡死
+    // 2) queue 放宽限制，避免首帧被丢导致 pipeline 出错
+    // 3) suspend_mode 改为 NONE，避免客户端断开时 RESET pipeline 导致反复 s_stream(0/1)
+    std::string launch_str =
+        "( v4l2src device=" + cam.device +
+        " io-mode=2 is-live=true do-timestamp=true"
+        " ! " +
+        caps +
+        " ! queue max-size-buffers=0 max-size-bytes=0 max-size-time=0"
+        " ! mpph264enc rc-mode=cbr"
+        " bps=" +
         std::to_string(cam.bitrate) +
         " gop=" + std::to_string(cam.fps) +
         " header-mode=1"
@@ -84,7 +96,9 @@ GstRTSPMediaFactory *RTSPManager::create_media_factory(const Camera &cam)
     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);
-    gst_rtsp_media_factory_set_suspend_mode(factory, GST_RTSP_SUSPEND_MODE_RESET);
+
+    // 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
+    gst_rtsp_media_factory_set_suspend_mode(factory, GST_RTSP_SUSPEND_MODE_NONE);
 
     g_signal_connect_data(factory,
                           "media-configure",