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a/gst: Add GStreamer helper code

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Co-authored-by: Aaron Boxer <aaron.boxer@collabora.com>
This commit is contained in:
Jakob Bornecrantz 2021-02-02 18:21:14 +00:00
parent 2b63fd8078
commit 30573fb90f
6 changed files with 521 additions and 0 deletions
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25
src/xrt/auxiliary/CMakeLists.txt
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@ -69,6 +69,14 @@ if(XRT_HAVE_DBUS)
) )
endif() endif()
set(GSTREAMER_SOURCE_FILES
gstreamer/gst_internal.h
gstreamer/gst_sink.h
gstreamer/gst_sink.c
gstreamer/gst_pipeline.h
gstreamer/gst_pipeline.c
)
set(TRACKING_SOURCE_FILES set(TRACKING_SOURCE_FILES
tracking/t_data_utils.c tracking/t_data_utils.c
tracking/t_imu_fusion.hpp tracking/t_imu_fusion.hpp
@ -221,6 +229,23 @@ if(ANDROID)
target_link_libraries(aux_util PUBLIC ${ANDROID_LOG_LIBRARY}) target_link_libraries(aux_util PUBLIC ${ANDROID_LOG_LIBRARY})
endif() endif()
# GStreamer library.
if(XRT_HAVE_GST)
add_library(aux_gstreamer STATIC ${GSTREAMER_SOURCE_FILES})
target_link_libraries(aux_gstreamer PUBLIC
aux-includes
)
target_link_libraries(aux_gstreamer PRIVATE
xrt-interfaces
aux_math
aux_os
${GST_LIBRARIES}
)
target_include_directories(aux_gstreamer PRIVATE
${GST_INCLUDE_DIRS}
)
endif()
# Tracking library. # Tracking library.
add_library(aux_tracking STATIC ${TRACKING_SOURCE_FILES}) add_library(aux_tracking STATIC ${TRACKING_SOURCE_FILES})
target_link_libraries(aux_tracking PUBLIC aux-includes PRIVATE aux_math) target_link_libraries(aux_tracking PUBLIC aux-includes PRIVATE aux_math)

80
src/xrt/auxiliary/gstreamer/gst_internal.h Normal file
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@ -0,0 +1,80 @@
// Copyright 2019-2021, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Semi internal structs for gstreamer code.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @ingroup aux_util
*/
#pragma once
#include "xrt/xrt_frame.h"
#include <gst/app/gstappsink.h>
#include <gst/app/gstappsrc.h>
#ifdef __cplusplus
extern "C" {
#endif
/*
*
* Pipeline
*
*/
/*!
* A pipeline from which you can create one or more @ref gstreamer_sink from.
*
* @implements xrt_frame_node
*/
struct gstreamer_pipeline
{
struct xrt_frame_node node;
struct xrt_frame_context *xfctx;
GstElement *pipeline;
};
/*
*
* Sink
*
*/
/*!
* An @ref xrt_frame_sink that uses appsrc.
*
* @implements xrt_frame_sink
* @implements xrt_frame_node
*/
struct gstreamer_sink
{
//! The base structure exposing the sink interface.
struct xrt_frame_sink base;
//! A sink can expose multie @ref xrt_frame_sink but only one node.
struct xrt_frame_node node;
//! Pipeline this sink is producing frames into.
struct gstreamer_pipeline *gp;
//! Offset applied to timestamps given to GStreamer.
uint64_t offset_ns;
//! Last sent timestamp, used to calculate duration.
uint64_t timestamp_ns;
//! Cached appsrc element.
GstElement *appsrc;
};
#ifdef __cplusplus
}
#endif

152
src/xrt/auxiliary/gstreamer/gst_pipeline.c Normal file
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@ -0,0 +1,152 @@
// Copyright 2019-2021, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief An @ref xrt_frame_sink that does gst things.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @author Aaron Boxer <aaron.boxer@collabora.com>
* @ingroup aux_util
*/
#include "util/u_misc.h"
#include "util/u_debug.h"
#include "gstreamer/gst_internal.h"
#include "gstreamer/gst_pipeline.h"
/*
*
* Internal pipeline functions.
*
*/
static void
break_apart(struct xrt_frame_node *node)
{
struct gstreamer_pipeline *gp = container_of(node, struct gstreamer_pipeline, node);
/*
* This function is called when we are shutting down, after returning
* from this function you are not allowed to call any other nodes in the
* graph. But it must be safe for other nodes to call any normal
* functions on us. Once the context is done calling break_aprt on all
* objects it will call destroy on them.
*/
(void)gp;
}
static void
destroy(struct xrt_frame_node *node)
{
struct gstreamer_pipeline *gp = container_of(node, struct gstreamer_pipeline, node);
/*
* All of the nodes has been broken apart and none of our functions will
* be called, it's now safe to destroy and free ourselves.
*/
free(gp);
}
/*
*
* Exported functions.
*
*/
void
gstreamer_pipeline_play(struct gstreamer_pipeline *gp)
{
U_LOG_D("Starting pipeline");
gst_element_set_state(gp->pipeline, GST_STATE_PLAYING);
}
void
gstreamer_pipeline_stop(struct gstreamer_pipeline *gp)
{
U_LOG_D("Stopping pipeline");
// Settle the pipeline.
U_LOG_T("Sending EOS");
gst_element_send_event(gp->pipeline, gst_event_new_eos());
// Wait for EOS message on the pipeline bus.
U_LOG_T("Waiting for EOS");
GstMessage *msg = NULL;
msg = gst_bus_timed_pop_filtered(GST_ELEMENT_BUS(gp->pipeline), GST_CLOCK_TIME_NONE,
GST_MESSAGE_EOS | GST_MESSAGE_ERROR);
//! @todo Should check if we got an error message here or an eos.
(void)msg;
// Completely stop the pipeline.
U_LOG_T("Setting to NULL");
gst_element_set_state(gp->pipeline, GST_STATE_NULL);
}
void
gstreamer_pipeline_create_from_string(struct xrt_frame_context *xfctx,
const char *pipeline_string,
struct gstreamer_pipeline **out_gp)
{
gst_init(NULL, NULL);
struct gstreamer_pipeline *gp = U_TYPED_CALLOC(struct gstreamer_pipeline);
gp->node.break_apart = break_apart;
gp->node.destroy = destroy;
gp->xfctx = xfctx;
// Setup pipeline.
gp->pipeline = gst_parse_launch(pipeline_string, NULL);
/*
* Add ourselves to the context so we are destroyed.
* This is done once we know everything is completed.
*/
xrt_frame_context_add(xfctx, &gp->node);
*out_gp = gp;
}
void
gstreamer_pipeline_create_autovideo_sink(struct xrt_frame_context *xfctx,
const char *appsrc_name,
struct gstreamer_pipeline **out_gp)
{
gst_init(NULL, NULL);
struct gstreamer_pipeline *gp = U_TYPED_CALLOC(struct gstreamer_pipeline);
gp->node.break_apart = break_apart;
gp->node.destroy = destroy;
gp->xfctx = xfctx;
// Setup pipeline.
gp->pipeline = gst_pipeline_new("pipeline");
GstElement *appsrc = gst_element_factory_make("appsrc", appsrc_name);
GstElement *conv = gst_element_factory_make("videoconvert", "conv");
GstElement *scale = gst_element_factory_make("videoscale", "scale");
GstElement *videosink = gst_element_factory_make("autovideosink", "videosink");
gst_bin_add_many(GST_BIN(gp->pipeline), //
appsrc, //
conv, //
scale, //
videosink, //
NULL);
gst_element_link_many(appsrc, //
conv, //
scale, //
videosink, //
NULL);
/*
* Add ourselves to the context so we are destroyed.
* This is done once we know everything is completed.
*/
xrt_frame_context_add(xfctx, &gp->node);
*out_gp = gp;
}

40
src/xrt/auxiliary/gstreamer/gst_pipeline.h Normal file
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@ -0,0 +1,40 @@
// Copyright 2019-2021, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Functions for creating @ref gstreamer_pipeline objects.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @ingroup aux_util
*/
#pragma once
#include "xrt/xrt_frame.h"
#ifdef __cplusplus
extern "C" {
#endif
struct gstreamer_pipeline;
void
gstreamer_pipeline_create_from_string(struct xrt_frame_context *xfctx,
const char *pipeline_string,
struct gstreamer_pipeline **out_gp);
void
gstreamer_pipeline_create_autovideo_sink(struct xrt_frame_context *xfctx,
const char *appsrc_name,
struct gstreamer_pipeline **out_gp);
void
gstreamer_pipeline_play(struct gstreamer_pipeline *gp);
void
gstreamer_pipeline_stop(struct gstreamer_pipeline *gp);
#ifdef __cplusplus
}
#endif

187
src/xrt/auxiliary/gstreamer/gst_sink.c Normal file
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@ -0,0 +1,187 @@
// Copyright 2019-2021, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief An @ref xrt_frame_sink that does gst things.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @author Aaron Boxer <aaron.boxer@collabora.com>
* @ingroup aux_util
*/
#include "util/u_misc.h"
#include "util/u_debug.h"
#include "util/u_format.h"
#include "gstreamer/gst_sink.h"
#include "gstreamer/gst_pipeline.h"
#include "gstreamer/gst_internal.h"
#include <assert.h>
/*
*
* Internal sink functions.
*
*/
static void
wrapped_buffer_destroy(gpointer data)
{
struct xrt_frame *xf = (struct xrt_frame *)data;
U_LOG_T("Called");
xrt_frame_reference(&xf, NULL);
}
static void
push_frame(struct xrt_frame_sink *xfs, struct xrt_frame *xf)
{
struct gstreamer_sink *gs = (struct gstreamer_sink *)xfs;
GstBuffer *buffer;
GstFlowReturn ret;
U_LOG_T(
"Called"
"\n\tformat: %s"
"\n\twidth: %u"
"\n\theight: %u",
u_format_str(xf->format), xf->width, xf->height);
/* We need to take a reference on the frame to keep it alive. */
struct xrt_frame *taken = NULL;
xrt_frame_reference(&taken, xf);
/* Wrap the frame that we now hold a reference to. */
buffer = gst_buffer_new_wrapped_full( //
0, // GstMemoryFlags flags
(gpointer)xf->data, // gpointer data
taken->size, // gsize maxsize
0, // gsize offset
taken->size, // gsize size
taken, // gpointer user_data
wrapped_buffer_destroy); // GDestroyNotify notify
//! Get the timestampe from the frame.
uint64_t xtimestamp_ns = xf->timestamp;
// Use the first frame as offset.
if (gs->offset_ns == 0) {
gs->offset_ns = xtimestamp_ns;
}
// Need to be offset or gstreamer becomes sad.
GST_BUFFER_PTS(buffer) = xtimestamp_ns - gs->offset_ns;
// Duration is measured from last time stamp.
GST_BUFFER_DURATION(buffer) = xtimestamp_ns - gs->timestamp_ns;
gs->timestamp_ns = xtimestamp_ns;
// All done, send it to the gstreamer pipeline.
ret = gst_app_src_push_buffer((GstAppSrc *)gs->appsrc, buffer);
if (ret != GST_FLOW_OK) {
U_LOG_E("Got GST error '%i'", ret);
}
}
static void
enough_data(GstElement *appsrc, gpointer udata)
{
// Debugging code.
U_LOG_T("Called");
}
static void
break_apart(struct xrt_frame_node *node)
{
struct gstreamer_sink *gs = container_of(node, struct gstreamer_sink, node);
/*
* This function is called when we are shutting down, after returning
* from this function you are not allowed to call any other nodes in the
* graph. But it must be safe for other nodes to call any normal
* functions on us. Once the context is done calling break_aprt on all
* objects it will call destroy on them.
*/
(void)gs;
}
static void
destroy(struct xrt_frame_node *node)
{
struct gstreamer_sink *gs = container_of(node, struct gstreamer_sink, node);
/*
* All of the nodes has been broken apart and none of our functions will
* be called, it's now safe to destroy and free ourselves.
*/
free(gs);
}
/*
*
* Exported functions.
*
*/
void
gstreamer_sink_send_eos(struct gstreamer_sink *gs)
{
gst_element_send_event(gs->appsrc, gst_event_new_eos());
}
void
gstreamer_sink_create_with_pipeline(struct gstreamer_pipeline *gp,
uint32_t width,
uint32_t height,
enum xrt_format format,
const char *appsrc_name,
struct gstreamer_sink **out_gs,
struct xrt_frame_sink **out_xfs)
{
const char *format_str = NULL;
switch (format) {
case XRT_FORMAT_R8G8B8: format_str = "RGB"; break;
case XRT_FORMAT_YUYV422: format_str = "YUY2"; break;
case XRT_FORMAT_L8: format_str = "GRAY8"; break;
default: assert(false); break;
}
struct gstreamer_sink *gs = U_TYPED_CALLOC(struct gstreamer_sink);
gs->base.push_frame = push_frame;
gs->node.break_apart = break_apart;
gs->node.destroy = destroy;
gs->gp = gp;
gs->appsrc = gst_bin_get_by_name(GST_BIN(gp->pipeline), appsrc_name);
GstCaps *caps = gst_caps_new_simple( //
"video/x-raw", //
"format", G_TYPE_STRING, format_str, //
"width", G_TYPE_INT, width, //
"height", G_TYPE_INT, height, //
"framerate", GST_TYPE_FRACTION, 0, 1, //
NULL);
g_object_set(G_OBJECT(gs->appsrc), //
"caps", caps, //
"stream-type", GST_APP_STREAM_TYPE_STREAM, //
"format", GST_FORMAT_TIME, //
"is-live", TRUE, //
NULL);
g_signal_connect(G_OBJECT(gs->appsrc), "enough-data", G_CALLBACK(enough_data), gs);
/*
* Add ourselves to the context so we are destroyed.
* This is done once we know everything is completed.
*/
xrt_frame_context_add(gp->xfctx, &gs->node);
*out_gs = gs;
*out_xfs = &gs->base;
}

37
src/xrt/auxiliary/gstreamer/gst_sink.h Normal file
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@ -0,0 +1,37 @@
// Copyright 2019-2021, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief @ref xrt_frame_sink that does gst things.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @ingroup aux_util
*/
#pragma once
#include "xrt/xrt_frame.h"
#ifdef __cplusplus
extern "C" {
#endif
struct gstreamer_sink;
struct gstreamer_pipeline;
void
gstreamer_sink_send_eos(struct gstreamer_sink *gp);
void
gstreamer_sink_create_with_pipeline(struct gstreamer_pipeline *gp,
uint32_t width,
uint32_t height,
enum xrt_format format,
const char *appsrc_name,
struct gstreamer_sink **out_gs,
struct xrt_frame_sink **out_xfs);
#ifdef __cplusplus
}
#endif