src: stream, video: Update code to use the generic Raw

mavlink · Aug 9, 2023 · ede3fa3 · ede3fa3
1 parent 29bdde0
commit ede3fa3
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Showing 5 changed files with 136 additions and 28 deletions.
diff --git a/src/stream/pipeline/fake_pipeline.rs b/src/stream/pipeline/fake_pipeline.rs
@@ -1,5 +1,8 @@
 use crate::{
-    stream::types::CaptureConfiguration,
+    stream::{
+        pipeline::{DEFAULT_RAW_FORMAT, KNOWN_RTP_RAW_FORMATS},
+        types::CaptureConfiguration,
+    },
     video::{
         types::{VideoEncodeType, VideoSourceType},
         video_source_gst::VideoSourceGstType,
@@ -70,14 +73,15 @@ impl FakePipeline {
                 format!(concat!(
                         "videotestsrc pattern={pattern} is-live=true do-timestamp=true",
                         " ! timeoverlay",
-                        " ! video/x-raw,format=I420",
+                        " ! video/x-raw,format={format}",
                         " ! x264enc tune=zerolatency speed-preset=ultrafast bitrate=5000",
                         " ! h264parse",
                         " ! capsfilter name={filter_name} caps=video/x-h264,profile={profile},stream-format=avc,alignment=au,width={width},height={height},framerate={interval_denominator}/{interval_numerator}",
                         " ! rtph264pay aggregate-mode=zero-latency config-interval=10 pt=96",
                         " ! tee name={sink_tee_name} allow-not-linked=true"
                     ),
                     pattern = pattern,
+                    format = DEFAULT_RAW_FORMAT,
                     profile = "constrained-baseline",
                     width = configuration.width,
                     height = configuration.height,
@@ -87,20 +91,26 @@ impl FakePipeline {
                     sink_tee_name = sink_tee_name,
                 )
             }
-            VideoEncodeType::Yuyv => {
+            VideoEncodeType::Raw(fourcc) => {
+                let mut fourcc = fourcc.clone();
+                if !KNOWN_RTP_RAW_FORMATS.contains(&fourcc.as_str()) {
+                    fourcc = DEFAULT_RAW_FORMAT.to_string();
+                }
+
                 format!(
                     concat!(
                         // Because application-rtp templates doesn't accept "YUY2", we
                         // need to transcode it. We are arbitrarily chosing the closest
                         // format available ("UYVY").
                         "videotestsrc pattern={pattern} is-live=true do-timestamp=true",
                         " ! timeoverlay",
-                        " ! video/x-raw,format=I420",
                         " ! capsfilter name={filter_name} caps=video/x-raw,format=I420,width={width},height={height},framerate={interval_denominator}/{interval_numerator}",
+                        " ! capsfilter name={filter_name} caps=video/x-raw,format={format},width={width},height={height},framerate={interval_denominator}/{interval_numerator}",
                         " ! rtpvrawpay pt=96",
                         " ! tee name={sink_tee_name} allow-not-linked=true",
                     ),
                     pattern = pattern,
+                    format = fourcc,
                     width = configuration.width,
                     height = configuration.height,
                     interval_denominator = configuration.frame_interval.denominator,
@@ -114,13 +124,14 @@ impl FakePipeline {
                     concat!(
                         "videotestsrc pattern={pattern} is-live=true do-timestamp=true",
                         " ! timeoverlay",
-                        " ! video/x-raw,format=I420",
+                        " ! video/x-raw,format={format}",
                         " ! jpegenc quality=85 idct-method=1",
                         " ! capsfilter name={filter_name} caps=image/jpeg,width={width},height={height},framerate={interval_denominator}/{interval_numerator}",
                         " ! rtpjpegpay pt=96",
                         " ! tee name={sink_tee_name} allow-not-linked=true",
                     ),
                     pattern = pattern,
+                    format = DEFAULT_RAW_FORMAT,
                     width = configuration.width,
                     height = configuration.height,
                     interval_denominator = configuration.frame_interval.denominator,

diff --git a/src/stream/pipeline/v4l_pipeline.rs b/src/stream/pipeline/v4l_pipeline.rs
@@ -1,5 +1,8 @@
 use crate::{
-    stream::types::CaptureConfiguration,
+    stream::{
+        pipeline::{DEFAULT_RAW_FORMAT, KNOWN_RTP_RAW_FORMATS},
+        types::CaptureConfiguration,
+    },
     video::types::{VideoEncodeType, VideoSourceType},
     video_stream::types::VideoAndStreamInformation,
 };
@@ -69,16 +72,22 @@ impl V4lPipeline {
                     sink_tee_name = sink_tee_name,
                 )
             }
-            VideoEncodeType::Yuyv => {
+            VideoEncodeType::Raw(fourcc) => {
+                let mut fourcc = fourcc.clone();
+                if !KNOWN_RTP_RAW_FORMATS.contains(&fourcc.as_str()) {
+                    fourcc = DEFAULT_RAW_FORMAT.to_string();
+                }
+
                 format!(
                     concat!(
                         "v4l2src device={device} do-timestamp=false",
                         " ! videoconvert",
-                        " ! capsfilter name={filter_name} caps=video/x-raw,format=I420,width={width},height={height},framerate={interval_denominator}/{interval_numerator}",
+                        " ! capsfilter name={filter_name} caps=video/x-raw,format={format},width={width},height={height},framerate={interval_denominator}/{interval_numerator}",
                         " ! rtpvrawpay pt=96",
                         " ! tee name={sink_tee_name} allow-not-linked=true"
                     ),
                     device = device,
+                    format = fourcc,
                     width = width,
                     height = height,
                     interval_denominator = interval_denominator,

diff --git a/src/stream/sink/image_sink.rs b/src/stream/sink/image_sink.rs
@@ -12,7 +12,10 @@ use image::FlatSamples;
 use gst::prelude::*;
 
 use super::SinkInterface;
-use crate::{stream::pipeline::runner::PipelineRunner, video::types::VideoEncodeType};
+use crate::{
+    stream::pipeline::{runner::PipelineRunner, DEFAULT_RAW_FORMAT, KNOWN_RTP_RAW_FORMATS},
+    video::types::VideoEncodeType,
+};
 
 type ClonableResult<T> = Result<T, Arc<Error>>;
 
@@ -356,7 +359,7 @@ impl ImageSink {
                 _transcoding_elements.push(parser);
                 _transcoding_elements.push(decoder);
             }
-            VideoEncodeType::Yuyv => {
+            VideoEncodeType::Raw(_) => {
                 let depayloader = gst::ElementFactory::make("rtpvrawdepay").build()?;
                 _transcoding_elements.push(depayloader);
             }

diff --git a/src/video/video_source_gst.rs b/src/video/video_source_gst.rs
@@ -1,3 +1,5 @@
+use crate::stream::pipeline::DEFAULT_RAW_FORMAT;
+
 use super::types::*;
 use super::video_source::{VideoSource, VideoSourceAvailable};
 use super::video_source_local::VideoSourceLocal;
@@ -66,7 +68,7 @@ impl VideoSource for VideoSourceGst {
                         sizes: sizes.clone(),
                     },
                     Format {
-                        encode: VideoEncodeType::Yuyv,
+                        encode: VideoEncodeType::Raw(DEFAULT_RAW_FORMAT.to_string()),
                         sizes: sizes.clone(),
                     },
                     Format {

diff --git a/src/video/video_source_local.rs b/src/video/video_source_local.rs
@@ -698,7 +698,10 @@ mod tests {
 mod device_identification_tests {
     use super::*;
     use crate::{
-        stream::types::{CaptureConfiguration, StreamInformation},
+        stream::{
+            pipeline::DEFAULT_RAW_FORMAT,
+            types::{CaptureConfiguration, StreamInformation},
+        },
         video_stream::types::VideoAndStreamInformation,
     };
     use VideoEncodeType::*;
@@ -777,11 +780,26 @@ mod device_identification_tests {
 
         let candidates = vec![
             add_available_camera("A", "/dev/video0", "usb_port_0", vec![H264]),
-            add_available_camera("A", "/dev/video1", "usb_port_0", vec![Yuyv, Mjpg]),
+            add_available_camera(
+                "A",
+                "/dev/video1",
+                "usb_port_0",
+                vec![Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
             add_available_camera("A", "/dev/video2", "usb_port_1", vec![H264]),
-            add_available_camera("A", "/dev/video3", "usb_port_1", vec![Yuyv, Mjpg]),
+            add_available_camera(
+                "A",
+                "/dev/video3",
+                "usb_port_1",
+                vec![Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
             add_available_camera("B", "/dev/video4", "usb_port_2", vec![H264]),
-            add_available_camera("B", "/dev/video5", "usb_port_2", vec![Yuyv, Mjpg]),
+            add_available_camera(
+                "B",
+                "/dev/video5",
+                "usb_port_2",
+                vec![Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
         ];
 
         let same_name_candidates = VideoSourceLocal::get_cameras_with_same_name(&candidates, "A");
@@ -798,8 +816,18 @@ mod device_identification_tests {
         let candidates = vec![
             add_available_camera("A", "/dev/video0", "usb_port_0", vec![H264]),
             add_available_camera("B", "/dev/video1", "usb_port_1", vec![H264]),
-            add_available_camera("C", "/dev/video2", "usb_port_0", vec![Yuyv, Mjpg]),
-            add_available_camera("D", "/dev/video3", "usb_port_1", vec![Yuyv, Mjpg]),
+            add_available_camera(
+                "C",
+                "/dev/video2",
+                "usb_port_0",
+                vec![Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
+            add_available_camera(
+                "D",
+                "/dev/video3",
+                "usb_port_1",
+                vec![Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
         ];
 
         let same_encode_candidates =
@@ -816,9 +844,19 @@ mod device_identification_tests {
 
         let candidates = vec![
             add_available_camera("A", "/dev/video0", "usb_port_0", vec![H264]),
-            add_available_camera("B", "/dev/video1", "usb_port_0", vec![Yuyv, Mjpg]),
+            add_available_camera(
+                "B",
+                "/dev/video1",
+                "usb_port_0",
+                vec![Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
             add_available_camera("C", "/dev/video2", "usb_port_1", vec![H264]),
-            add_available_camera("D", "/dev/video3", "usb_port_1", vec![Yuyv, Mjpg]),
+            add_available_camera(
+                "D",
+                "/dev/video3",
+                "usb_port_1",
+                vec![Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
         ];
 
         let same_encode_candidates = VideoSourceLocal::get_cameras_with_same_bus(
@@ -838,10 +876,25 @@ mod device_identification_tests {
 
         let candidates = vec![
             add_available_camera("A", "/dev/video0", "usb_port_0", vec![H264]),
-            add_available_camera("A", "/dev/video1", "usb_port_0", vec![Yuyv, Mjpg]),
+            add_available_camera(
+                "A",
+                "/dev/video1",
+                "usb_port_0",
+                vec![Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
             add_available_camera("B", "/dev/video2", "usb_port_1", vec![H264]),
-            add_available_camera("B", "/dev/video3", "usb_port_1", vec![Yuyv, Mjpg]),
-            add_available_camera("C", "/dev/video3", "usb_port_1", vec![H264, Yuyv, Mjpg]),
+            add_available_camera(
+                "B",
+                "/dev/video3",
+                "usb_port_1",
+                vec![Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
+            add_available_camera(
+                "C",
+                "/dev/video3",
+                "usb_port_1",
+                vec![H264, Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
         ];
         let stream = create_stream("A", "/dev/video0", "usb_port_0", H264);
         let (VideoSourceType::Local(source), CaptureConfiguration::Video(capture_configuration)) = (&stream.video_source, &stream.stream_information.configuration) else {
@@ -878,9 +931,19 @@ mod device_identification_tests {
 
         let candidates = vec![
             add_available_camera("A", "/dev/video0", current_usb_bus, vec![H264]),
-            add_available_camera("A", "/dev/video1", current_usb_bus, vec![Yuyv, Mjpg]),
+            add_available_camera(
+                "A",
+                "/dev/video1",
+                current_usb_bus,
+                vec![Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
             add_available_camera("B", "/dev/video2", "usb_port_3", vec![H264]),
-            add_available_camera("B", "/dev/video3", "usb_port_3", vec![Yuyv, Mjpg]),
+            add_available_camera(
+                "B",
+                "/dev/video3",
+                "usb_port_3",
+                vec![Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
         ];
 
         for n in (0..3).collect::<Vec<_>>() {
@@ -922,8 +985,18 @@ mod device_identification_tests {
         let candidates = vec![
             add_available_camera("A", current_path, "usb_port_0", vec![H264]),
             add_available_camera("A", last_path, "usb_port_1", vec![H264]),
-            add_available_camera("A", "/dev/video3", "usb_port_0", vec![Yuyv, Mjpg]),
-            add_available_camera("A", "/dev/video5", "usb_port_1", vec![Yuyv, Mjpg]),
+            add_available_camera(
+                "A",
+                "/dev/video3",
+                "usb_port_0",
+                vec![Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
+            add_available_camera(
+                "A",
+                "/dev/video5",
+                "usb_port_1",
+                vec![Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
         ];
 
         for n in (0..=1).collect::<Vec<_>>() {
@@ -957,9 +1030,19 @@ mod device_identification_tests {
 
         let candidates = vec![
             add_available_camera("A", "/dev/video0", current_usb_bus, vec![H264]),
-            add_available_camera("A", "/dev/video1", current_usb_bus, vec![Yuyv, Mjpg]),
+            add_available_camera(
+                "A",
+                "/dev/video1",
+                current_usb_bus,
+                vec![Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
             add_available_camera("A", "/dev/video4", "usb_port_2", vec![H264]),
-            add_available_camera("A", "/dev/video5", "usb_port_2", vec![Yuyv, Mjpg]),
+            add_available_camera(
+                "A",
+                "/dev/video5",
+                "usb_port_2",
+                vec![Raw(DEFAULT_RAW_FORMAT.to_string()), Mjpg],
+            ),
         ];
 
         for n in (0..5).collect::<Vec<_>>() {