1

src/main.cpp

@@ -100,16 +100,12 @@ int main()
 
     if (ENABLE_RTSP_THREAD)
     {
-        RTSPManager::stop();
-
-        auto stop_deadline = std::chrono::steady_clock::now() + std::chrono::seconds(10);
-        while (RTSPManager::is_any_streaming() && std::chrono::steady_clock::now() < stop_deadline)
-        {
-            std::this_thread::sleep_for(std::chrono::milliseconds(50));
-        }
+        RTSPManager::stop(); // 只负责让 g_main_loop_run 跳出
 
         if (rtsp_thread.joinable())
             rtsp_thread.join();
+
+        LOG_INFO("[MAIN] RTSP thread finished and joined.");
     }
 
     // 重置 MQTT 线程等待的截止时间

src/rtsp_manager.cpp

@@ -283,10 +283,16 @@ void RTSPManager::stop()
     // 退出 main loop
     if (loop)
     {
-        g_main_context_invoke(main_context, [](gpointer data) -> gboolean
-                              {
-                                  g_main_loop_quit(static_cast<GMainLoop *>(data));
-                                  return G_SOURCE_REMOVE; }, loop);
+        g_main_context_invoke(
+            main_context,
+            [](gpointer data) -> gboolean
+            {
+                GMainLoop *lp = static_cast<GMainLoop *>(data);
+                if (lp)
+                    g_main_loop_quit(lp);
+                return G_SOURCE_REMOVE;
+            },
+            loop);
     }
 }