add GStreamer

CameraController.cpp

@@ -3,7 +3,9 @@
 #include <iostream>
 
 CameraController::CameraController(std::shared_ptr<VxCamera> camera)
-    : camera_(camera), streaming_(false) {}
+    : camera_(camera), gstPipeline_("videoconvert ! autovideosink") {
+    streamingEngine_ = std::make_shared<StreamingEngine>(camera);
+}
 
 std::string CameraController::processCommand(const std::string& jsonCommand) {
     std::lock_guard<std::mutex> lock(mutex_);
@@ -71,6 +73,8 @@ std::string CameraController::processCommand(const std::string& jsonCommand) {
         return handleStartStream();
     } else if (command == "stop_stream") {
         return handleStopStream();
+    } else if (command == "set_pipeline") {
+        return handleSetPipeline(getParam("pipeline"));
     } else {
         return createErrorResponse("Unknown command: " + command);
     }
@@ -78,7 +82,7 @@ std::string CameraController::processCommand(const std::string& jsonCommand) {
 
 std::string CameraController::handleSetFormat(const std::string& width, const std::string& height,
                                              const std::string& framerate, const std::string& format) {
-    if (streaming_) {
+    if (streamingEngine_->isRunning()) {
         return createErrorResponse("Cannot change format while streaming");
     }
 
@@ -94,6 +98,7 @@ std::string CameraController::handleSetFormat(const std::string& width, const st
             return createErrorResponse("Failed to set format");
         }
 
+        streamingEngine_->setFormat(fmt);
         return createSuccessResponse("Format set successfully");
     } catch (const std::exception& e) {
         return createErrorResponse(std::string("Invalid parameters: ") + e.what());
@@ -231,34 +236,44 @@ std::string CameraController::handleSetGain(const std::string& value) {
 
 std::string CameraController::handleGetStatus() {
     std::ostringstream oss;
-    oss << "{\"status\":\"success\",\"streaming\":" << (streaming_ ? "true" : "false") << "}";
+    oss << "{\"status\":\"success\",\"streaming\":" << (streamingEngine_->isRunning() ? "true" : "false")
+        << ",\"pipeline\":\"" << gstPipeline_ << "\"}";
     return oss.str();
 }
 
 std::string CameraController::handleStartStream() {
-    if (streaming_) {
+    if (streamingEngine_->isRunning()) {
         return createErrorResponse("Already streaming");
     }
 
-    if (VxStartStreaming(camera_) != 0) {
+    if (!streamingEngine_->start(gstPipeline_)) {
         return createErrorResponse("Failed to start streaming");
     }
 
-    streaming_ = true;
     return createSuccessResponse("Streaming started");
 }
 
 std::string CameraController::handleStopStream() {
-    if (!streaming_) {
+    if (!streamingEngine_->isRunning()) {
         return createErrorResponse("Not streaming");
     }
 
-    if (VxStopStreaming(camera_) != 0) {
-        return createErrorResponse("Failed to stop streaming");
+    streamingEngine_->stop();
+    return createSuccessResponse("Streaming stopped");
+}
+
+std::string CameraController::handleSetPipeline(const std::string& pipeline) {
+    if (streamingEngine_->isRunning()) {
+        return createErrorResponse("Cannot change pipeline while streaming");
     }
 
-    streaming_ = false;
-    return createSuccessResponse("Streaming stopped");
+    if (pipeline.empty()) {
+        return createErrorResponse("Pipeline cannot be empty");
+    }
+
+    gstPipeline_ = pipeline;
+    streamingEngine_->setPipelineDescription(pipeline);
+    return createSuccessResponse("Pipeline set successfully");
 }
 
 VX_IMAGE_FORMAT CameraController::stringToFormat(const std::string& format) {