add GStreamer

CMakeLists.txt

@@ -11,6 +11,21 @@ set(VIZIONSDK_LIB_DIR "${VIZIONSDK_ROOT}/lib")
 # Add VizionSDK include directory
 include_directories(${VIZIONSDK_INCLUDE_DIR})
 
+# ---------------- GStreamer integration ----------------
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0)
+pkg_check_modules(GSTREAMER_APP REQUIRED gstreamer-app-1.0)
+
+include_directories(
+    ${GSTREAMER_INCLUDE_DIRS}
+    ${GSTREAMER_APP_INCLUDE_DIRS}
+)
+
+link_directories(
+    ${GSTREAMER_LIBRARY_DIRS}
+    ${GSTREAMER_APP_LIBRARY_DIRS}
+)
+
 # Find VizionSDK library
 find_library(VIZIONSDK_LIBRARY
     NAMES VizionSDK
@@ -24,10 +39,16 @@ add_executable(vizionStreamer
     main.cpp
     SocketServer.cpp
     CameraController.cpp
+    GStreamerPipeline.cpp
+    StreamingEngine.cpp
 )
 
-# Link VizionSDK library
-target_link_libraries(vizionStreamer PRIVATE ${VIZIONSDK_LIBRARY})
+# Link libraries
+target_link_libraries(vizionStreamer PRIVATE
+    ${VIZIONSDK_LIBRARY}
+    ${GSTREAMER_LIBRARIES}
+    ${GSTREAMER_APP_LIBRARIES}
+)
 
 # Set RPATH so the executable can find the SDK .so at runtime without needing LD_LIBRARY_PATH
 set_target_properties(vizionStreamer PROPERTIES

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");
 }
 
-    streaming_ = false;
-    return createSuccessResponse("Streaming stopped");
+std::string CameraController::handleSetPipeline(const std::string& pipeline) {
+    if (streamingEngine_->isRunning()) {
+        return createErrorResponse("Cannot change pipeline while streaming");
+    }
+
+    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) {

CameraController.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <vizionsdk/VizionSDK.h>
+#include "StreamingEngine.h"
 #include <memory>
 #include <string>
 #include <mutex>
@@ -12,6 +13,9 @@ public:
     // Process JSON command and return JSON response
     std::string processCommand(const std::string& jsonCommand);
 
+    // Get streaming engine for external control
+    std::shared_ptr<StreamingEngine> getStreamingEngine() { return streamingEngine_; }
+
 private:
     // Command handlers
     std::string handleSetFormat(const std::string& width, const std::string& height,
@@ -28,6 +32,7 @@ private:
     std::string handleGetStatus();
     std::string handleStartStream();
     std::string handleStopStream();
+    std::string handleSetPipeline(const std::string& pipeline);
 
     // Helper functions
     VX_IMAGE_FORMAT stringToFormat(const std::string& format);
@@ -36,6 +41,7 @@ private:
     std::string createSuccessResponse(const std::string& message = "");
 
     std::shared_ptr<VxCamera> camera_;
+    std::shared_ptr<StreamingEngine> streamingEngine_;
     std::mutex mutex_;
-    bool streaming_;
+    std::string gstPipeline_;
 };

GStreamerPipeline.cpp

@@ -0,0 +1,164 @@
+#include "GStreamerPipeline.h"
+#include <iostream>
+#include <cstring>
+
+GStreamerPipeline::GStreamerPipeline(const std::string& pipelineDescription)
+    : pipeline_(nullptr), appsrc_(nullptr), bus_(nullptr), running_(false),
+      pipelineDescription_(pipelineDescription), width_(0), height_(0) {
+    gst_init(nullptr, nullptr);
+}
+
+GStreamerPipeline::~GStreamerPipeline() {
+    stop();
+}
+
+void GStreamerPipeline::setPipelineDescription(const std::string& description) {
+    if (!running_) {
+        pipelineDescription_ = description;
+    }
+}
+
+bool GStreamerPipeline::start() {
+    if (running_) {
+        std::cerr << "GStreamer pipeline already running" << std::endl;
+        return false;
+    }
+
+    if (pipelineDescription_.empty()) {
+        std::cerr << "Pipeline description is empty" << std::endl;
+        return false;
+    }
+
+    GError* error = nullptr;
+    std::string fullPipeline = "appsrc name=source ! " + pipelineDescription_;
+
+    pipeline_ = gst_parse_launch(fullPipeline.c_str(), &error);
+    if (error) {
+        std::cerr << "Failed to create pipeline: " << error->message << std::endl;
+        g_error_free(error);
+        return false;
+    }
+
+    appsrc_ = gst_bin_get_by_name(GST_BIN(pipeline_), "source");
+    if (!appsrc_) {
+        std::cerr << "Failed to get appsrc element" << std::endl;
+        gst_object_unref(pipeline_);
+        return false;
+    }
+
+    // Configure appsrc
+    g_object_set(G_OBJECT(appsrc_),
+                 "stream-type", GST_APP_STREAM_TYPE_STREAM,
+                 "format", GST_FORMAT_TIME,
+                 "is-live", TRUE,
+                 nullptr);
+
+    // Set callbacks
+    GstAppSrcCallbacks callbacks;
+    callbacks.need_data = onNeedData;
+    callbacks.enough_data = onEnoughData;
+    callbacks.seek_data = nullptr;
+    gst_app_src_set_callbacks(GST_APP_SRC(appsrc_), &callbacks, this, nullptr);
+
+    // Start the pipeline
+    GstStateChangeReturn ret = gst_element_set_state(pipeline_, GST_STATE_PLAYING);
+    if (ret == GST_STATE_CHANGE_FAILURE) {
+        std::cerr << "Failed to start pipeline" << std::endl;
+        gst_object_unref(appsrc_);
+        gst_object_unref(pipeline_);
+        return false;
+    }
+
+    bus_ = gst_element_get_bus(pipeline_);
+    running_ = true;
+
+    std::cout << "GStreamer pipeline started: " << fullPipeline << std::endl;
+    return true;
+}
+
+void GStreamerPipeline::stop() {
+    if (!running_) {
+        return;
+    }
+
+    running_ = false;
+
+    if (appsrc_) {
+        gst_app_src_end_of_stream(GST_APP_SRC(appsrc_));
+    }
+
+    if (pipeline_) {
+        gst_element_set_state(pipeline_, GST_STATE_NULL);
+        gst_object_unref(pipeline_);
+        pipeline_ = nullptr;
+    }
+
+    if (appsrc_) {
+        gst_object_unref(appsrc_);
+        appsrc_ = nullptr;
+    }
+
+    if (bus_) {
+        gst_object_unref(bus_);
+        bus_ = nullptr;
+    }
+
+    std::cout << "GStreamer pipeline stopped" << std::endl;
+}
+
+bool GStreamerPipeline::pushBuffer(uint8_t* data, size_t size, int width, int height, const std::string& format) {
+    if (!running_ || !appsrc_) {
+        return false;
+    }
+
+    // Update format if changed
+    if (width != width_ || height != height_ || format != format_) {
+        width_ = width;
+        height_ = height;
+        format_ = format;
+
+        // Set caps based on format
+        std::string capsStr;
+        if (format == "YUY2" || format == "UYVY") {
+            capsStr = "video/x-raw,format=" + format + ",width=" + std::to_string(width) +
+                     ",height=" + std::to_string(height) + ",framerate=30/1";
+        } else if (format == "MJPG") {
+            capsStr = "image/jpeg,width=" + std::to_string(width) +
+                     ",height=" + std::to_string(height) + ",framerate=30/1";
+        } else if (format == "BGR" || format == "RGB") {
+            capsStr = "video/x-raw,format=" + format + ",width=" + std::to_string(width) +
+                     ",height=" + std::to_string(height) + ",framerate=30/1";
+        } else {
+            capsStr = "video/x-raw,width=" + std::to_string(width) +
+                     ",height=" + std::to_string(height) + ",framerate=30/1";
+        }
+
+        GstCaps* caps = gst_caps_from_string(capsStr.c_str());
+        gst_app_src_set_caps(GST_APP_SRC(appsrc_), caps);
+        gst_caps_unref(caps);
+    }
+
+    // Create buffer and copy data
+    GstBuffer* buffer = gst_buffer_new_allocate(nullptr, size, nullptr);
+    GstMapInfo map;
+    gst_buffer_map(buffer, &map, GST_MAP_WRITE);
+    memcpy(map.data, data, size);
+    gst_buffer_unmap(buffer, &map);
+
+    // Push buffer to pipeline
+    GstFlowReturn ret = gst_app_src_push_buffer(GST_APP_SRC(appsrc_), buffer);
+    if (ret != GST_FLOW_OK) {
+        std::cerr << "Failed to push buffer to pipeline: " << ret << std::endl;
+        return false;
+    }
+
+    return true;
+}
+
+void GStreamerPipeline::onNeedData(GstAppSrc* appsrc, guint unused, gpointer user_data) {
+    // Called when pipeline needs more data
+}
+
+void GStreamerPipeline::onEnoughData(GstAppSrc* appsrc, gpointer user_data) {
+    // Called when pipeline has enough data buffered
+}

GStreamerPipeline.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <gst/gst.h>
+#include <gst/app/gstappsrc.h>
+#include <string>
+#include <memory>
+
+class GStreamerPipeline {
+public:
+    explicit GStreamerPipeline(const std::string& pipelineDescription);
+    ~GStreamerPipeline();
+
+    bool start();
+    void stop();
+    bool pushBuffer(uint8_t* data, size_t size, int width, int height, const std::string& format);
+    bool isRunning() const { return running_; }
+
+    void setPipelineDescription(const std::string& description);
+
+private:
+    static void onNeedData(GstAppSrc* appsrc, guint unused, gpointer user_data);
+    static void onEnoughData(GstAppSrc* appsrc, gpointer user_data);
+
+    GstElement* pipeline_;
+    GstElement* appsrc_;
+    GstBus* bus_;
+    bool running_;
+    std::string pipelineDescription_;
+    int width_;
+    int height_;
+    std::string format_;
+};

SOCKET_API.md

@@ -151,9 +151,67 @@ Stop video streaming.
 
 ---
 
-### 5. Get Status
+### 5. Set GStreamer Pipeline
 
-Get current streaming status.
+Configure the GStreamer pipeline for video output. This determines where and how the video stream is processed/displayed.
+
+**Note:** Cannot be changed while streaming is active.
+
+**Command:**
+```json
+{
+  "command": "set_pipeline",
+  "params": {
+    "pipeline": "videoconvert ! x264enc ! rtph264pay ! udpsink host=192.168.1.100 port=5000"
+  }
+}
+```
+
+**Response:**
+```json
+{
+  "status": "success",
+  "message": "Pipeline set successfully"
+}
+```
+
+**Common Pipeline Examples:**
+
+1. **Display locally:**
+   ```
+   videoconvert ! autovideosink
+   ```
+
+2. **Stream over UDP (H.264):**
+   ```
+   videoconvert ! x264enc tune=zerolatency ! rtph264pay ! udpsink host=192.168.1.100 port=5000
+   ```
+
+3. **Stream over RTSP (requires gst-rtsp-server):**
+   ```
+   videoconvert ! x264enc ! rtph264pay name=pay0
+   ```
+
+4. **Save to file:**
+   ```
+   videoconvert ! x264enc ! mp4mux ! filesink location=/tmp/output.mp4
+   ```
+
+5. **Stream over TCP:**
+   ```
+   videoconvert ! x264enc ! h264parse ! mpegtsmux ! tcpserversink host=0.0.0.0 port=5000
+   ```
+
+6. **MJPEG over HTTP:**
+   ```
+   videoconvert ! jpegenc ! multipartmux ! tcpserversink host=0.0.0.0 port=8080
+   ```
+
+---
+
+### 6. Get Status
+
+Get current streaming status and pipeline configuration.
 
 **Command:**
 ```json
@@ -166,13 +224,14 @@ Get current streaming status.
 ```json
 {
   "status": "success",
-  "streaming": true
+  "streaming": true,
+  "pipeline": "videoconvert ! autovideosink"
 }
 ```
 
 ---
 
-### 6. Set Exposure
+### 7. Set Exposure
 
 Configure camera exposure settings.
 
@@ -201,7 +260,7 @@ Configure camera exposure settings.
 
 ---
 
-### 7. Set White Balance
+### 8. Set White Balance
 
 Configure white balance settings.
 
@@ -230,7 +289,7 @@ Configure white balance settings.
 
 ---
 
-### 8. Set Brightness
+### 9. Set Brightness
 
 Adjust camera brightness.
 
@@ -254,7 +313,7 @@ Adjust camera brightness.
 
 ---
 
-### 9. Set Contrast
+### 10. Set Contrast
 
 Adjust camera contrast.
 
@@ -278,7 +337,7 @@ Adjust camera contrast.
 
 ---
 
-### 10. Set Saturation
+### 11. Set Saturation
 
 Adjust color saturation.
 
@@ -302,7 +361,7 @@ Adjust color saturation.
 
 ---
 
-### 11. Set Sharpness
+### 12. Set Sharpness
 
 Adjust image sharpness.
 
@@ -326,7 +385,7 @@ Adjust image sharpness.
 
 ---
 
-### 12. Set Gamma
+### 13. Set Gamma
 
 Adjust gamma correction.
 
@@ -350,7 +409,7 @@ Adjust gamma correction.
 
 ---
 
-### 13. Set Gain
+### 14. Set Gain
 
 Adjust camera gain.
 
@@ -376,6 +435,45 @@ Adjust camera gain.
 
 ## Usage Examples
 
+### Complete Workflow Example
+
+```bash
+# 1. Set GStreamer pipeline for UDP streaming
+echo '{"command":"set_pipeline","params":{"pipeline":"videoconvert ! x264enc tune=zerolatency ! rtph264pay ! udpsink host=192.168.1.100 port=5000"}}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
+
+# 2. Set video format
+echo '{"command":"set_format","params":{"width":"1920","height":"1080","framerate":"30","format":"YUY2"}}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
+
+# 3. Configure camera settings
+echo '{"command":"set_exposure","params":{"mode":"auto"}}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
+echo '{"command":"set_brightness","params":{"value":"50"}}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
+
+# 4. Start streaming
+echo '{"command":"start_stream"}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
+
+# 5. Check status
+echo '{"command":"get_status"}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
+
+# 6. Stop streaming when done
+echo '{"command":"stop_stream"}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
+```
+
+### GStreamer Pipeline Examples
+
+```bash
+# Stream to local display
+echo '{"command":"set_pipeline","params":{"pipeline":"videoconvert ! autovideosink"}}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
+
+# Stream over UDP (H.264)
+echo '{"command":"set_pipeline","params":{"pipeline":"videoconvert ! x264enc tune=zerolatency ! rtph264pay ! udpsink host=192.168.1.100 port=5000"}}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
+
+# Save to MP4 file
+echo '{"command":"set_pipeline","params":{"pipeline":"videoconvert ! x264enc ! mp4mux ! filesink location=/tmp/output.mp4"}}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
+
+# MJPEG HTTP server
+echo '{"command":"set_pipeline","params":{"pipeline":"videoconvert ! jpegenc ! multipartmux ! tcpserversink host=0.0.0.0 port=8080"}}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
+```
+
 ### Using `socat`
 
 ```bash
@@ -505,10 +603,61 @@ else:
 
 The socket server handles one client connection at a time. Commands are processed sequentially with mutex protection to ensure thread safety with the camera operations.
 
+## GStreamer Integration
+
+VizionStreamer uses GStreamer for video processing and output. The captured frames from the VizionSDK camera are continuously fed into a GStreamer pipeline in a separate acquisition thread.
+
+### How It Works
+
+1. **Continuous Acquisition Loop**: A dedicated thread continuously captures frames from the camera using `VxGetImage()`
+2. **Frame Buffering**: Captured frames are pushed into the GStreamer pipeline via `appsrc`
+3. **Pipeline Processing**: GStreamer processes the frames according to the configured pipeline
+4. **Output**: Frames are displayed, saved, or streamed based on the pipeline configuration
+
+### Performance Monitoring
+
+The acquisition loop prints FPS statistics every second:
+```
+FPS: 30 | Total frames: 1234 | Frame size: 4147200 bytes
+```
+
+### Receiving UDP Stream
+
+If you configured a UDP streaming pipeline, receive it with:
+
+```bash
+# Using GStreamer
+gst-launch-1.0 udpsrc port=5000 ! application/x-rtp,encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! autovideosink
+
+# Using FFplay
+ffplay -fflags nobuffer -flags low_delay -framedrop udp://0.0.0.0:5000
+
+# Using VLC
+vlc udp://@:5000
+```
+
+### Receiving MJPEG HTTP Stream
+
+If you configured an MJPEG HTTP server pipeline:
+
+```bash
+# View in browser
+firefox http://192.168.1.100:8080
+
+# Using FFplay
+ffplay http://192.168.1.100:8080
+
+# Using curl to save frames
+curl http://192.168.1.100:8080 > stream.mjpg
+```
+
 ## Notes
 
 - The socket file is automatically created when VizionStreamer starts
 - The socket file is removed when VizionStreamer exits cleanly
-- Format changes require streaming to be stopped first
+- Format and pipeline changes require streaming to be stopped first
+- The acquisition loop runs continuously while streaming is active
 - Some parameters may not be supported on all camera models
 - Invalid parameter values will return an error response
+- GStreamer pipeline errors will be reported when starting the stream
+- Default pipeline: `videoconvert ! autovideosink` (display locally)

StreamingEngine.cpp

@@ -0,0 +1,150 @@
+#include "StreamingEngine.h"
+#include <iostream>
+#include <chrono>
+
+StreamingEngine::StreamingEngine(std::shared_ptr<VxCamera> camera)
+    : camera_(camera), running_(false), bufferSize_(0) {
+    gstPipeline_ = std::make_unique<GStreamerPipeline>("");
+}
+
+StreamingEngine::~StreamingEngine() {
+    stop();
+}
+
+void StreamingEngine::setPipelineDescription(const std::string& pipeline) {
+    std::lock_guard<std::mutex> lock(mutex_);
+    if (!running_) {
+        gstPipeline_->setPipelineDescription(pipeline);
+    }
+}
+
+bool StreamingEngine::start(const std::string& gstPipeline) {
+    std::lock_guard<std::mutex> lock(mutex_);
+
+    if (running_) {
+        std::cerr << "Streaming engine already running" << std::endl;
+        return false;
+    }
+
+    // Set pipeline description
+    gstPipeline_->setPipelineDescription(gstPipeline);
+
+    // Start camera streaming
+    if (VxStartStreaming(camera_) != 0) {
+        std::cerr << "Failed to start camera streaming" << std::endl;
+        return false;
+    }
+
+    // Get current format to allocate buffer
+    std::vector<VxFormat> fmtList;
+    if (VxGetFormatList(camera_, fmtList) != 0 || fmtList.empty()) {
+        std::cerr << "Failed to get format list" << std::endl;
+        VxStopStreaming(camera_);
+        return false;
+    }
+    currentFormat_ = fmtList[0];
+
+    // Allocate buffer (assume worst case: uncompressed)
+    bufferSize_ = currentFormat_.width * currentFormat_.height * 4;
+    buffer_ = std::make_unique<uint8_t[]>(bufferSize_);
+
+    // Start GStreamer pipeline
+    if (!gstPipeline_->start()) {
+        std::cerr << "Failed to start GStreamer pipeline" << std::endl;
+        VxStopStreaming(camera_);
+        return false;
+    }
+
+    // Start acquisition thread
+    running_ = true;
+    acquisitionThread_ = std::make_unique<std::thread>(&StreamingEngine::acquisitionLoop, this);
+
+    std::cout << "Streaming engine started" << std::endl;
+    return true;
+}
+
+void StreamingEngine::stop() {
+    if (!running_) {
+        return;
+    }
+
+    running_ = false;
+
+    // Wait for acquisition thread to finish
+    if (acquisitionThread_ && acquisitionThread_->joinable()) {
+        acquisitionThread_->join();
+    }
+
+    // Stop GStreamer pipeline
+    gstPipeline_->stop();
+
+    // Stop camera streaming
+    VxStopStreaming(camera_);
+
+    std::cout << "Streaming engine stopped" << std::endl;
+}
+
+void StreamingEngine::setFormat(const VxFormat& format) {
+    std::lock_guard<std::mutex> lock(mutex_);
+    if (!running_) {
+        currentFormat_ = format;
+        if (VxSetFormat(camera_, format) != 0) {
+            std::cerr << "Failed to set format" << std::endl;
+        }
+    }
+}
+
+void StreamingEngine::acquisitionLoop() {
+    uint64_t frameCount = 0;
+    auto lastStatsTime = std::chrono::steady_clock::now();
+    uint64_t framesInLastSecond = 0;
+
+    std::cout << "Acquisition loop started" << std::endl;
+
+    while (running_) {
+        int dataSize = 0;
+        VX_CAPTURE_RESULT result = VxGetImage(camera_, buffer_.get(), &dataSize, 1000);
+
+        if (result == VX_CAPTURE_RESULT::VX_SUCCESS && dataSize > 0) {
+            // Push frame to GStreamer pipeline
+            std::string formatStr;
+            switch (currentFormat_.format) {
+                case VX_IMAGE_FORMAT::YUY2: formatStr = "YUY2"; break;
+                case VX_IMAGE_FORMAT::UYVY: formatStr = "UYVY"; break;
+                case VX_IMAGE_FORMAT::MJPG: formatStr = "MJPG"; break;
+                case VX_IMAGE_FORMAT::BGR: formatStr = "BGR"; break;
+                case VX_IMAGE_FORMAT::RGB: formatStr = "RGB"; break;
+                default: formatStr = "UNKNOWN"; break;
+            }
+
+            if (!gstPipeline_->pushBuffer(buffer_.get(), dataSize,
+                                         currentFormat_.width, currentFormat_.height,
+                                         formatStr)) {
+                std::cerr << "Failed to push frame to GStreamer pipeline" << std::endl;
+            }
+
+            frameCount++;
+            framesInLastSecond++;
+
+            // Print statistics every second
+            auto now = std::chrono::steady_clock::now();
+            auto elapsed = std::chrono::duration_cast<std::chrono::seconds>(now - lastStatsTime);
+            if (elapsed.count() >= 1) {
+                std::cout << "FPS: " << framesInLastSecond
+                         << " | Total frames: " << frameCount
+                         << " | Frame size: " << dataSize << " bytes" << std::endl;
+                framesInLastSecond = 0;
+                lastStatsTime = now;
+            }
+        } else if (result == VX_CAPTURE_RESULT::VX_TIMEOUT) {
+            // Timeout is normal, just continue
+            continue;
+        } else {
+            std::cerr << "Failed to capture frame: " << static_cast<int>(result) << std::endl;
+            // Don't break on error, just continue trying
+            std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        }
+    }
+
+    std::cout << "Acquisition loop stopped. Total frames captured: " << frameCount << std::endl;
+}

StreamingEngine.h

@@ -0,0 +1,35 @@
+#pragma once
+
+#include <vizionsdk/VizionSDK.h>
+#include "GStreamerPipeline.h"
+#include <memory>
+#include <thread>
+#include <atomic>
+#include <mutex>
+
+class StreamingEngine {
+public:
+    explicit StreamingEngine(std::shared_ptr<VxCamera> camera);
+    ~StreamingEngine();
+
+    bool start(const std::string& gstPipeline);
+    void stop();
+    bool isRunning() const { return running_; }
+
+    void setFormat(const VxFormat& format);
+    VxFormat getCurrentFormat() const { return currentFormat_; }
+
+    void setPipelineDescription(const std::string& pipeline);
+
+private:
+    void acquisitionLoop();
+
+    std::shared_ptr<VxCamera> camera_;
+    std::unique_ptr<GStreamerPipeline> gstPipeline_;
+    std::unique_ptr<std::thread> acquisitionThread_;
+    std::atomic<bool> running_;
+    std::mutex mutex_;
+    VxFormat currentFormat_;
+    std::unique_ptr<uint8_t[]> buffer_;
+    size_t bufferSize_;
+};

main.cpp

@@ -73,6 +73,8 @@ int main() {
 
     std::cout << "\nVizion Streamer is running." << std::endl;
     std::cout << "Control socket: " << socketPath << std::endl;
+    std::cout << "Default GStreamer pipeline: videoconvert ! autovideosink" << std::endl;
+    std::cout << "Use socket commands to start streaming and configure pipeline.\n" << std::endl;
     std::cout << "Press Ctrl+C to exit.\n" << std::endl;
 
     // Main loop - keep running until signaled to stop
@@ -82,6 +84,12 @@ int main() {
 
     // Cleanup
     std::cout << "Shutting down..." << std::endl;
+
+    // Stop streaming engine if running
+    if (controller->getStreamingEngine()->isRunning()) {
+        controller->getStreamingEngine()->stop();
+    }
+
     server.stop();
     VxClose(cam);