stream optimizations

GStreamerPipeline.cpp

@@ -1,10 +1,11 @@
 #include "GStreamerPipeline.h"
 #include <iostream>
 #include <cstring>
+#include <utility>
 
-GStreamerPipeline::GStreamerPipeline(const std::string& pipelineDescription)
+GStreamerPipeline::GStreamerPipeline(std::string  pipelineDescription)
     : pipeline_(nullptr), appsrc_(nullptr), bus_(nullptr), running_(false),
-      pipelineDescription_(pipelineDescription), width_(0), height_(0) {
+      pipelineDescription_(std::move(pipelineDescription)), width_(0), height_(0) {
     gst_init(nullptr, nullptr);
 }
 
@@ -30,7 +31,7 @@ bool GStreamerPipeline::start() {
     }
 
     GError* error = nullptr;
-    std::string fullPipeline = "appsrc name=source ! " + pipelineDescription_;
+    const std::string fullPipeline = "appsrc name=source ! " + pipelineDescription_;
 
     pipeline_ = gst_parse_launch(fullPipeline.c_str(), &error);
     if (error) {
@@ -106,7 +107,7 @@ void GStreamerPipeline::stop() {
     std::cout << "GStreamer pipeline stopped" << std::endl;
 }
 
-bool GStreamerPipeline::pushBuffer(uint8_t* data, size_t size, int width, int height, const std::string& format) {
+bool GStreamerPipeline::pushBuffer(const uint8_t* data, const size_t size, const int width, const int height, const std::string& format) {
     if (!running_ || !appsrc_) {
         return false;
     }
@@ -119,15 +120,12 @@ bool GStreamerPipeline::pushBuffer(uint8_t* data, size_t size, int width, int he
 
         // Set caps based on format
         std::string capsStr;
-        if (format == "YUY2" || format == "UYVY") {
+        if (format == "YUY2" || format == "UYVY" || format == "BGR" || format == "RGB") {
             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";

GStreamerPipeline.h

@@ -7,12 +7,12 @@
 
 class GStreamerPipeline {
 public:
-    explicit GStreamerPipeline(const std::string& pipelineDescription);
+    explicit GStreamerPipeline(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 pushBuffer(const 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);

SocketServer.cpp

@@ -17,7 +17,7 @@ bool SocketServer::start(CommandCallback callback) {
         return false;
     }
 
-    commandCallback_ = callback;
+    commandCallback_ = std::move(callback);
 
     // Remove existing socket file if it exists
     unlink(socketPath_.c_str());
@@ -30,12 +30,11 @@ bool SocketServer::start(CommandCallback callback) {
     }
 
     // Bind socket
-    struct sockaddr_un addr;
+    struct sockaddr_un addr = {};
-    memset(&addr, 0, sizeof(addr));
     addr.sun_family = AF_UNIX;
     strncpy(addr.sun_path, socketPath_.c_str(), sizeof(addr.sun_path) - 1);
 
-    if (bind(serverFd_, (struct sockaddr*)&addr, sizeof(addr)) < 0) {
+    if (bind(serverFd_, reinterpret_cast<struct sockaddr *>(&addr), sizeof(addr)) < 0) {
         std::cerr << "Failed to bind socket: " << strerror(errno) << std::endl;
         close(serverFd_);
         return false;
@@ -94,16 +93,16 @@ void SocketServer::serverLoop() {
     }
 }
 
-void SocketServer::handleClient(int clientFd) {
+void SocketServer::handleClient(const int clientFd) {
     char buffer[4096];
     ssize_t bytesRead = recv(clientFd, buffer, sizeof(buffer) - 1, 0);
 
     if (bytesRead > 0) {
         buffer[bytesRead] = '\0';
-        std::string command(buffer);
+        const std::string command(buffer);
 
         // Call the command callback
-        std::string response = commandCallback_(command);
+        const std::string response = commandCallback_(command);
 
         // Send response back to client
         send(clientFd, response.c_str(), response.length(), 0);

StreamingEngine.cpp

@@ -1,9 +1,10 @@
 #include "StreamingEngine.h"
 #include <iostream>
 #include <chrono>
+#include <utility>
 
 StreamingEngine::StreamingEngine(std::shared_ptr<VxCamera> camera)
-    : camera_(camera), running_(false), bufferSize_(0) {
+    : camera_(std::move(camera)), running_(false), bufferSize_(0) {
     gstPipeline_ = std::make_unique<GStreamerPipeline>("");
 }
 

StreamingEngine.h

@@ -14,10 +14,10 @@ public:
 
     bool start(const std::string& gstPipeline);
     void stop();
-    bool isRunning() const { return running_; }
+    [[nodiscard]] bool isRunning() const { return running_; }
 
     void setFormat(const VxFormat& format);
-    VxFormat getCurrentFormat() const { return currentFormat_; }
+    [[nodiscard]] VxFormat getCurrentFormat() const { return currentFormat_; }
 
     void setPipelineDescription(const std::string& pipeline);
 

main.cpp

@@ -73,13 +73,14 @@ int main() {
 
     std::cout << "\n========================================" << std::endl;
     std::cout << "VizionStreamer Ready" << std::endl;
+    std::cout << "Author: Maik Jurischka <m.jurischka@scidre.de" << std::endl;
     std::cout << "========================================" << std::endl;
     std::cout << "Control socket: " << socketPath << std::endl;
     std::cout << "Default pipeline: videoconvert ! autovideosink" << std::endl;
     std::cout << "\nQuick start:" << std::endl;
-    std::cout << "  echo '{\"command\":\"start_stream\"}' | socat - UNIX-CONNECT:" << socketPath << std::endl;
+    std::cout << R"(  echo '{"command":"start_stream"}' | socat - UNIX-CONNECT:)" << socketPath << std::endl;
     std::cout << "\nTo change pipeline before starting:" << std::endl;
-    std::cout << "  echo '{\"command\":\"set_pipeline\",\"params\":{\"pipeline\":\"YOUR_PIPELINE\"}}' | socat - UNIX-CONNECT:" << socketPath << std::endl;
+    std::cout << R"(  echo '{"command":"set_pipeline","params":{"pipeline":"YOUR_PIPELINE"}}' | socat - UNIX-CONNECT:)" << socketPath << std::endl;
     std::cout << "\nPress Ctrl+C to exit.\n" << std::endl;
 
     // Main loop - keep running until signaled to stop

scripts/mjpeg_http_proxy.sh

@@ -0,0 +1,24 @@
+#!/bin/bash
+# HTTP proxy wrapper for MJPEG stream from tcpserversink
+# This adds proper HTTP headers for browser compatibility
+
+TCP_PORT="${1:-8081}"
+HTTP_PORT="${2:-8080}"
+
+echo "Starting MJPEG HTTP proxy..."
+echo "Listening for TCP stream on port $TCP_PORT"
+echo "Serving HTTP on port $HTTP_PORT"
+echo ""
+echo "Configure vizionStreamer to use tcpserversink on port $TCP_PORT"
+echo "Then access the stream at: http://localhost:$HTTP_PORT"
+echo ""
+
+# Start socat to wrap TCP stream with HTTP headers
+socat -v TCP-LISTEN:$HTTP_PORT,reuseaddr,fork \
+  SYSTEM:"echo 'HTTP/1.1 200 OK'; \
+  echo 'Content-Type: multipart/x-mixed-replace; boundary=--videoboundary'; \
+  echo 'Cache-Control: no-cache'; \
+  echo 'Pragma: no-cache'; \
+  echo 'Connection: close'; \
+  echo ''; \
+  socat - TCP:localhost:$TCP_PORT"

scripts/mjpeg_http_server.py

@@ -0,0 +1,79 @@
+#!/usr/bin/env python3
+"""
+Simple HTTP server that proxies MJPEG stream from tcpserversink
+Adds proper HTTP headers for browser compatibility
+"""
+
+import socket
+import sys
+from http.server import HTTPServer, BaseHTTPRequestHandler
+from socketserver import ThreadingMixIn
+
+class MJPEGProxyHandler(BaseHTTPRequestHandler):
+    tcp_host = 'localhost'
+    tcp_port = 9000
+
+    def do_GET(self):
+        """Handle GET requests and proxy the MJPEG stream"""
+        try:
+            # Connect to the GStreamer tcpserversink
+            sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            sock.connect((self.tcp_host, self.tcp_port))
+
+            # Send HTTP headers
+            self.send_response(200)
+            self.send_header('Content-Type', 'multipart/x-mixed-replace; boundary=--videoboundary')
+            self.send_header('Cache-Control', 'no-cache')
+            self.send_header('Pragma', 'no-cache')
+            self.send_header('Connection', 'close')
+            self.end_headers()
+
+            # Stream data from TCP socket to HTTP client
+            while True:
+                data = sock.recv(4096)
+                if not data:
+                    break
+                self.wfile.write(data)
+
+        except Exception as e:
+            print(f"Error: {e}", file=sys.stderr)
+        finally:
+            try:
+                sock.close()
+            except:
+                pass
+
+    def log_message(self, format, *args):
+        """Custom logging"""
+        print(f"[{self.client_address[0]}] {format % args}")
+
+
+class ThreadedHTTPServer(ThreadingMixIn, HTTPServer):
+    """Handle requests in separate threads"""
+    pass
+
+
+if __name__ == '__main__':
+    tcp_port = int(sys.argv[1]) if len(sys.argv) > 1 else 8081
+    http_port = int(sys.argv[2]) if len(sys.argv) > 2 else 8080
+
+    MJPEGProxyHandler.tcp_port = tcp_port
+
+    server = ThreadedHTTPServer(('0.0.0.0', http_port), MJPEGProxyHandler)
+
+    print(f"MJPEG HTTP Proxy Server")
+    print(f"========================")
+    print(f"Proxying TCP stream from localhost:{tcp_port}")
+    print(f"HTTP server listening on port {http_port}")
+    print(f"")
+    print(f"Configure vizionStreamer with:")
+    print(f'  ./scripts/set_pipeline_mjpeg.sh {tcp_port}')
+    print(f"")
+    print(f"Access stream at: http://localhost:{http_port}")
+    print(f"")
+
+    try:
+        server.serve_forever()
+    except KeyboardInterrupt:
+        print("\nShutting down...")
+        server.shutdown()

scripts/set_pipeline_mjpeg.sh

@@ -4,8 +4,18 @@
 SOCKET="/tmp/vizion_control.sock"
 PORT="${1:-8080}"
 
+# Check if gst-plugins-good with souphttpsink is available
+if gst-inspect-1.0 souphttpsink &>/dev/null; then
+    echo "Using souphttpsink for HTTP server..."
+    PIPELINE="videoconvert ! jpegenc quality=85 ! multipartmux boundary=\"--videoboundary\" ! souphttpsink port=$PORT"
+else
+    echo "WARNING: souphttpsink not found. Using tcpserversink (may not work in browsers)."
+    echo "Install gst-plugins-good: sudo apt install gstreamer1.0-plugins-good"
+    PIPELINE="videoconvert ! jpegenc quality=85 ! multipartmux ! tcpserversink host=0.0.0.0 port=$PORT"
+fi
+
 echo "Setting MJPEG HTTP streaming pipeline on port $PORT..."
-echo "{\"command\":\"set_pipeline\",\"params\":{\"pipeline\":\"videoconvert ! jpegenc ! multipartmux ! tcpserversink host=0.0.0.0 port=$PORT\"}}" | socat - UNIX-CONNECT:$SOCKET
+echo "{\"command\":\"set_pipeline\",\"params\":{\"pipeline\":\"$PIPELINE\"}}" | socat - UNIX-CONNECT:$SOCKET
 
 echo ""
 echo "Pipeline set. Start streaming with start_stream.sh"

scripts/set_pipeline_mjpeg_passthrough.sh

@@ -0,0 +1,32 @@
+#!/bin/bash
+# Optimized pipeline for cameras that already output MJPEG format
+# Passes through MJPEG data without re-encoding
+
+SOCKET="/tmp/vizion_control.sock"
+PORT="${1:-8080}"
+
+# Check if gst-plugins-good with souphttpsink is available
+if gst-inspect-1.0 souphttpsink &>/dev/null; then
+    echo "Using souphttpsink for HTTP server (no re-encoding)..."
+    PIPELINE="multipartmux boundary=\"--videoboundary\" ! souphttpsink port=$PORT"
+else
+    echo "WARNING: souphttpsink not found. Using tcpserversink (requires HTTP proxy)."
+    echo "Install gst-plugins-good: sudo apt install gstreamer1.0-plugins-good"
+    echo "Or use: ./scripts/mjpeg_http_server.py $PORT 8080"
+    PIPELINE="multipartmux ! tcpserversink host=0.0.0.0 port=$PORT"
+fi
+
+echo "Setting optimized MJPEG passthrough pipeline on port $PORT..."
+echo "NOTE: This pipeline is optimized for cameras with native MJPEG output."
+echo ""
+
+echo "{\"command\":\"set_pipeline\",\"params\":{\"pipeline\":\"$PIPELINE\"}}" | socat - UNIX-CONNECT:$SOCKET
+
+echo ""
+echo "Pipeline set. Start streaming with start_stream.sh"
+if gst-inspect-1.0 souphttpsink &>/dev/null; then
+    echo "View stream in browser: http://localhost:$PORT"
+else
+    echo "Start HTTP proxy first: ./scripts/mjpeg_http_server.py $PORT 8080"
+    echo "Then view stream: http://localhost:8080"
+fi