614 lines
23 KiB
C++
614 lines
23 KiB
C++
#include <atomic>
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#include <chrono>
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#include <functional>
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#include <iostream>
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#include <thread>
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#include <vector>
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#include "node.h"
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#include "utils/thread_affinity.h"
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#if defined(RK3588_ENABLE_MPP)
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extern "C" {
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#include <rockchip/mpp_buffer.h>
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#include <rockchip/mpp_frame.h>
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#include <rockchip/mpp_packet.h>
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#include <rockchip/rk_mpi.h>
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}
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#include <unistd.h>
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#endif
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#ifdef RK3588_ENABLE_FFMPEG
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extern "C" {
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#include <libavcodec/avcodec.h>
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#include <libavformat/avformat.h>
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#include <libavutil/imgutils.h>
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#include <libavutil/opt.h>
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}
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#endif
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namespace rk3588 {
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class InputRtspNode : public INode {
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public:
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std::string Id() const override { return id_; }
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std::string Type() const override { return "input_rtsp"; }
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bool Init(const SimpleJson& config, const NodeContext& ctx) override {
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id_ = config.ValueOr<std::string>("id", "input_rtsp");
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url_ = config.ValueOr<std::string>("url", "");
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fps_ = config.ValueOr<int>("fps", 25);
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width_ = config.ValueOr<int>("width", 1920);
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height_ = config.ValueOr<int>("height", 1080);
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use_ffmpeg_ = config.ValueOr<bool>("use_ffmpeg", false);
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use_mpp_ = config.ValueOr<bool>("use_mpp", true);
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ffmpeg_force_tcp_ = config.ValueOr<bool>("force_tcp", true);
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reconnect_sec_ = config.ValueOr<int>("reconnect_sec", 5);
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reconnect_backoff_max_sec_ = config.ValueOr<int>("reconnect_backoff_max_sec", 30);
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fallback_to_stub_on_fail_ = config.ValueOr<bool>("fallback_to_stub_on_fail", false);
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cpu_affinity_ = ParseCpuAffinity(config);
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if (ctx.output_queues.empty()) {
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std::cerr << "[input_rtsp] no downstream queue configured for node " << id_ << "\n";
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return false;
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}
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out_queues_ = ctx.output_queues;
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return true;
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}
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bool Start() override {
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if (out_queues_.empty()) return false;
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running_.store(true);
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#if defined(RK3588_ENABLE_FFMPEG) && defined(RK3588_ENABLE_MPP)
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if (use_mpp_) {
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worker_ = std::thread(&InputRtspNode::LoopFfmpegMpp, this);
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} else if (use_ffmpeg_) {
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worker_ = std::thread(&InputRtspNode::LoopFfmpegCpu, this);
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} else {
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worker_ = std::thread(&InputRtspNode::LoopStub, this);
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}
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#elif defined(RK3588_ENABLE_FFMPEG)
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if (use_ffmpeg_) {
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worker_ = std::thread(&InputRtspNode::LoopFfmpegCpu, this);
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} else {
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worker_ = std::thread(&InputRtspNode::LoopStub, this);
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}
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#else
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if (use_ffmpeg_ || use_mpp_) {
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std::cerr << "[input_rtsp] requested ffmpeg/mpp but not enabled at build time" << "\n";
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}
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worker_ = std::thread(&InputRtspNode::LoopStub, this);
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#endif
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std::cout << "[input_rtsp] start url=" << url_ << " fps=" << fps_;
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#if defined(RK3588_ENABLE_MPP)
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if (use_mpp_) std::cout << " (ffmpeg demux + mpp decode)";
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else if (use_ffmpeg_) std::cout << " (ffmpeg cpu decode" << (ffmpeg_force_tcp_ ? ", tcp" : ", udp") << ")";
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else std::cout << " (stub)";
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#else
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if (use_ffmpeg_) std::cout << " (ffmpeg cpu decode" << (ffmpeg_force_tcp_ ? ", tcp" : ", udp") << ")";
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else std::cout << " (stub)";
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#endif
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std::cout << "\n";
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return true;
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}
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void Stop() override {
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running_.store(false);
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for (auto& q : out_queues_) q->Stop();
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if (worker_.joinable()) worker_.join();
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}
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void Drain() override {
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running_.store(false);
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}
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private:
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void ApplyAffinity() {
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if (cpu_affinity_.empty()) return;
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std::string aerr;
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if (!SetCurrentThreadAffinity(cpu_affinity_, aerr)) {
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std::cerr << "[input_rtsp] SetCurrentThreadAffinity failed: " << aerr << "\n";
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}
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}
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void PushToDownstream(FramePtr frame) {
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for (auto& q : out_queues_) {
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q->Push(frame);
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}
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}
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void LoopStub() {
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ApplyAffinity();
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using namespace std::chrono;
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auto frame_interval = fps_ > 0 ? milliseconds(1000 / fps_) : milliseconds(40);
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while (running_.load()) {
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auto frame = std::make_shared<Frame>();
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frame->width = width_;
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frame->height = height_;
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frame->format = PixelFormat::NV12;
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frame->plane_count = 2;
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frame->planes[0] = {nullptr, width_, width_ * height_, 0};
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frame->planes[1] = {nullptr, width_, width_ * height_ / 2, width_ * height_};
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frame->frame_id = ++frame_id_;
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frame->pts = duration_cast<microseconds>(steady_clock::now().time_since_epoch()).count();
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PushToDownstream(frame);
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if (frame_id_ % 100 == 0) {
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std::cout << "[input_rtsp] generated frame " << frame_id_ << " queue="
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<< (out_queues_.empty() ? 0 : out_queues_[0]->Size())
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<< " drops=" << (out_queues_.empty() ? 0 : out_queues_[0]->DroppedCount())
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<< "\n";
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}
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std::this_thread::sleep_for(frame_interval);
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}
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}
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#if defined(RK3588_ENABLE_FFMPEG)
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void LoopFfmpegCpu() {
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ApplyAffinity();
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using namespace std::chrono;
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int backoff = std::max(1, reconnect_sec_);
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const int backoff_max = std::max(backoff, reconnect_backoff_max_sec_);
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while (running_.load()) {
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AVFormatContext* fmt_ctx = nullptr;
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AVCodecContext* codec_ctx = nullptr;
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AVPacket* pkt = av_packet_alloc();
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AVFrame* frm = av_frame_alloc();
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int video_stream = -1;
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AVRational time_base{1, 1000};
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AVDictionary* opts = nullptr;
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if (ffmpeg_force_tcp_) av_dict_set(&opts, "rtsp_transport", "tcp", 0);
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if (avformat_open_input(&fmt_ctx, url_.c_str(), nullptr, &opts) < 0) {
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std::cerr << "[input_rtsp] avformat_open_input failed: " << url_ << "\n";
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av_dict_free(&opts);
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Cleanup(fmt_ctx, codec_ctx, pkt, frm);
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if (fallback_to_stub_on_fail_) {
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LoopStub();
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return;
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}
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std::this_thread::sleep_for(seconds(backoff));
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backoff = std::min(backoff_max, backoff * 2);
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continue;
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}
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av_dict_free(&opts);
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if (avformat_find_stream_info(fmt_ctx, nullptr) < 0) {
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std::cerr << "[input_rtsp] avformat_find_stream_info failed\n";
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Cleanup(fmt_ctx, codec_ctx, pkt, frm);
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std::this_thread::sleep_for(seconds(backoff));
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backoff = std::min(backoff_max, backoff * 2);
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continue;
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}
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for (unsigned i = 0; i < fmt_ctx->nb_streams; ++i) {
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if (fmt_ctx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO) {
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video_stream = static_cast<int>(i);
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time_base = fmt_ctx->streams[i]->time_base;
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break;
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}
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}
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if (video_stream < 0) {
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std::cerr << "[input_rtsp] no video stream\n";
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Cleanup(fmt_ctx, codec_ctx, pkt, frm);
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std::this_thread::sleep_for(seconds(backoff));
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backoff = std::min(backoff_max, backoff * 2);
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continue;
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}
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const AVCodec* codec = avcodec_find_decoder(fmt_ctx->streams[video_stream]->codecpar->codec_id);
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if (!codec) {
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std::cerr << "[input_rtsp] decoder not found\n";
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Cleanup(fmt_ctx, codec_ctx, pkt, frm);
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std::this_thread::sleep_for(seconds(backoff));
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backoff = std::min(backoff_max, backoff * 2);
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continue;
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}
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codec_ctx = avcodec_alloc_context3(codec);
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avcodec_parameters_to_context(codec_ctx, fmt_ctx->streams[video_stream]->codecpar);
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if (avcodec_open2(codec_ctx, codec, nullptr) < 0) {
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std::cerr << "[input_rtsp] avcodec_open2 failed\n";
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Cleanup(fmt_ctx, codec_ctx, pkt, frm);
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std::this_thread::sleep_for(seconds(backoff));
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backoff = std::min(backoff_max, backoff * 2);
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continue;
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}
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backoff = std::max(1, reconnect_sec_); // reset after successful open
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int read_fail = 0;
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while (running_.load()) {
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if (av_read_frame(fmt_ctx, pkt) < 0) {
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if (++read_fail >= 50) {
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break;
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}
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std::this_thread::sleep_for(milliseconds(10));
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continue;
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}
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read_fail = 0;
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if (pkt->stream_index != video_stream) {
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av_packet_unref(pkt);
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continue;
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}
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if (avcodec_send_packet(codec_ctx, pkt) == 0) {
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while (avcodec_receive_frame(codec_ctx, frm) == 0) {
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PushFrameFromAVFrame(*frm, time_base);
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av_frame_unref(frm);
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}
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}
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av_packet_unref(pkt);
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}
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Cleanup(fmt_ctx, codec_ctx, pkt, frm);
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if (!running_.load()) break;
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std::this_thread::sleep_for(seconds(std::max(1, reconnect_sec_)));
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}
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}
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void PushFrameFromAVFrame(const AVFrame& f, AVRational time_base) {
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PixelFormat fmt = PixelFormat::UNKNOWN;
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int plane_count = 0;
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int width = f.width;
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int height = f.height;
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if (f.format == AV_PIX_FMT_NV12) {
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fmt = PixelFormat::NV12;
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plane_count = 2;
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} else if (f.format == AV_PIX_FMT_YUV420P || f.format == AV_PIX_FMT_YUVJ420P) {
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fmt = PixelFormat::YUV420;
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plane_count = 3;
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}
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int buf_size = av_image_get_buffer_size(static_cast<AVPixelFormat>(f.format), width, height, 1);
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if (buf_size <= 0) return;
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auto buffer = std::make_shared<std::vector<uint8_t>>(buf_size);
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if (av_image_copy_to_buffer(buffer->data(), buffer->size(), f.data, f.linesize,
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static_cast<AVPixelFormat>(f.format), width, height, 1) < 0) {
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return;
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}
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auto frame = std::make_shared<Frame>();
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frame->width = width;
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frame->height = height;
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frame->format = fmt;
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frame->data = buffer->data();
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frame->data_size = buffer->size();
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frame->plane_count = plane_count;
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frame->frame_id = ++frame_id_;
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auto best_pts = f.pts; // av_frame_get_best_effort_timestamp is deprecated
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frame->pts = best_pts == AV_NOPTS_VALUE ? 0
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: static_cast<uint64_t>(av_rescale_q(best_pts, time_base, {1, 1000000}));
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frame->data_owner = buffer;
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if (fmt == PixelFormat::NV12 && plane_count == 2) {
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int y_size = width * height;
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frame->planes[0] = {buffer->data(), width, y_size, 0};
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frame->planes[1] = {buffer->data() + y_size, width, y_size / 2, y_size};
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} else if (fmt == PixelFormat::YUV420 && plane_count == 3) {
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int y_size = width * height;
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int uv_stride = width / 2;
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int uv_h = height / 2;
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int u_size = uv_stride * uv_h;
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frame->planes[0] = {buffer->data(), width, y_size, 0};
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frame->planes[1] = {buffer->data() + y_size, uv_stride, u_size, y_size};
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frame->planes[2] = {buffer->data() + y_size + u_size, uv_stride, u_size, y_size + u_size};
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}
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PushToDownstream(frame);
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if (frame_id_ % 100 == 0) {
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std::cout << "[input_rtsp] recv frame " << frame->frame_id
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<< " queue=" << (out_queues_.empty() ? 0 : out_queues_[0]->Size())
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<< " drops=" << (out_queues_.empty() ? 0 : out_queues_[0]->DroppedCount())
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<< "\n";
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}
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}
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void Cleanup(AVFormatContext* fmt, AVCodecContext* dec, AVPacket* pkt, AVFrame* frm) {
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if (dec) avcodec_free_context(&dec);
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if (fmt) avformat_close_input(&fmt);
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if (pkt) av_packet_free(&pkt);
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if (frm) av_frame_free(&frm);
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}
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#endif
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#if defined(RK3588_ENABLE_FFMPEG) && defined(RK3588_ENABLE_MPP)
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struct MppDecoderWrapper {
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~MppDecoderWrapper() { Shutdown(); }
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bool Init(MppCodingType type) {
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MPP_RET ret = mpp_create(&ctx, &mpi);
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if (ret != MPP_OK) return false;
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ret = mpp_init(ctx, MPP_CTX_DEC, type);
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if (ret != MPP_OK) return false;
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MppDecCfg cfg = nullptr;
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mpp_dec_cfg_init(&cfg);
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ret = mpi->control(ctx, MPP_DEC_GET_CFG, cfg);
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if (ret != MPP_OK) return false;
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ret = mpp_dec_cfg_set_u32(cfg, "base:split_parse", 1);
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if (ret != MPP_OK) return false;
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ret = mpi->control(ctx, MPP_DEC_SET_CFG, cfg);
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mpp_dec_cfg_deinit(cfg);
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return ret == MPP_OK;
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}
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void Shutdown() {
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if (packet) {
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mpp_packet_deinit(&packet);
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packet = nullptr;
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}
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if (frame_group) {
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mpp_buffer_group_put(frame_group);
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frame_group = nullptr;
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}
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if (ctx) {
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mpp_destroy(ctx);
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ctx = nullptr;
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mpi = nullptr;
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}
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}
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bool Decode(const uint8_t* data, size_t size, bool eos, int64_t pts_us,
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const std::function<void(MppFrame)>& on_frame) {
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if (!ctx || !mpi || !data || size == 0) return false;
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if (!packet) {
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if (mpp_packet_init(&packet, nullptr, 0) != MPP_OK) return false;
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}
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void* pkt_data = const_cast<uint8_t*>(data);
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mpp_packet_set_data(packet, pkt_data);
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mpp_packet_set_size(packet, size);
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mpp_packet_set_pos(packet, pkt_data);
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mpp_packet_set_length(packet, size);
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mpp_packet_set_pts(packet, pts_us);
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if (eos) mpp_packet_set_eos(packet);
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bool pkt_done = false;
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while (true) {
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if (!pkt_done) {
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if (mpi->decode_put_packet(ctx, packet) == MPP_OK) {
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pkt_done = true;
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} else {
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usleep(2000);
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}
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}
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int get_frm = 0;
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MPP_RET ret = mpi->decode_get_frame(ctx, &frame);
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if (ret == MPP_ERR_TIMEOUT) {
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usleep(2000);
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continue;
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}
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if (ret != MPP_OK) break;
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if (frame) {
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if (mpp_frame_get_info_change(frame)) {
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HandleInfoChange();
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} else {
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if (on_frame) on_frame(frame);
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}
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get_frm = 1;
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mpp_frame_deinit(&frame);
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frame = nullptr;
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}
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if (get_frm) continue;
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break;
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}
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mpp_packet_deinit(&packet);
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packet = nullptr;
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return true;
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}
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void HandleInfoChange() {
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if (!ctx || !mpi || !frame) return;
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MppBufferGroup group = frame_group;
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size_t buf_size = mpp_frame_get_buf_size(frame);
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if (!group) {
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if (mpp_buffer_group_get_internal(&group, MPP_BUFFER_TYPE_DRM, NULL) != MPP_OK) return;
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frame_group = group;
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} else {
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mpp_buffer_group_clear(group);
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}
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mpp_buffer_group_limit_config(group, buf_size, 24);
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mpi->control(ctx, MPP_DEC_SET_EXT_BUF_GROUP, group);
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mpi->control(ctx, MPP_DEC_SET_INFO_CHANGE_READY, nullptr);
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}
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MppCtx ctx = nullptr;
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MppApi* mpi = nullptr;
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MppBufferGroup frame_group = nullptr;
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MppPacket packet = nullptr;
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MppFrame frame = nullptr;
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};
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void LoopFfmpegMpp() {
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ApplyAffinity();
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using namespace std::chrono;
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int backoff = std::max(1, reconnect_sec_);
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const int backoff_max = std::max(backoff, reconnect_backoff_max_sec_);
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while (running_.load()) {
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AVFormatContext* fmt_ctx = nullptr;
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AVPacket* pkt = av_packet_alloc();
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int video_stream = -1;
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AVRational time_base{1, 1000};
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AVDictionary* opts = nullptr;
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if (ffmpeg_force_tcp_) av_dict_set(&opts, "rtsp_transport", "tcp", 0);
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if (avformat_open_input(&fmt_ctx, url_.c_str(), nullptr, &opts) < 0) {
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std::cerr << "[input_rtsp] avformat_open_input failed: " << url_ << "\n";
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av_dict_free(&opts);
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Cleanup(fmt_ctx, nullptr, pkt, nullptr);
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if (fallback_to_stub_on_fail_) {
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LoopStub();
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return;
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}
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std::this_thread::sleep_for(seconds(backoff));
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backoff = std::min(backoff_max, backoff * 2);
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continue;
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}
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av_dict_free(&opts);
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if (avformat_find_stream_info(fmt_ctx, nullptr) < 0) {
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std::cerr << "[input_rtsp] avformat_find_stream_info failed\n";
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Cleanup(fmt_ctx, nullptr, pkt, nullptr);
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|
std::this_thread::sleep_for(seconds(backoff));
|
|
backoff = std::min(backoff_max, backoff * 2);
|
|
continue;
|
|
}
|
|
for (unsigned i = 0; i < fmt_ctx->nb_streams; ++i) {
|
|
if (fmt_ctx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO) {
|
|
video_stream = static_cast<int>(i);
|
|
time_base = fmt_ctx->streams[i]->time_base;
|
|
break;
|
|
}
|
|
}
|
|
if (video_stream < 0) {
|
|
std::cerr << "[input_rtsp] no video stream\n";
|
|
Cleanup(fmt_ctx, nullptr, pkt, nullptr);
|
|
std::this_thread::sleep_for(seconds(backoff));
|
|
backoff = std::min(backoff_max, backoff * 2);
|
|
continue;
|
|
}
|
|
|
|
MppCodingType coding = MPP_VIDEO_CodingAVC;
|
|
auto codec_id = fmt_ctx->streams[video_stream]->codecpar->codec_id;
|
|
if (codec_id == AV_CODEC_ID_H264) coding = MPP_VIDEO_CodingAVC;
|
|
else if (codec_id == AV_CODEC_ID_HEVC) coding = MPP_VIDEO_CodingHEVC;
|
|
else {
|
|
std::cerr << "[input_rtsp] unsupported codec for mpp\n";
|
|
Cleanup(fmt_ctx, nullptr, pkt, nullptr);
|
|
std::this_thread::sleep_for(seconds(backoff));
|
|
backoff = std::min(backoff_max, backoff * 2);
|
|
continue;
|
|
}
|
|
|
|
MppDecoderWrapper dec;
|
|
if (!dec.Init(coding)) {
|
|
std::cerr << "[input_rtsp] mpp init failed\n";
|
|
Cleanup(fmt_ctx, nullptr, pkt, nullptr);
|
|
std::this_thread::sleep_for(seconds(backoff));
|
|
backoff = std::min(backoff_max, backoff * 2);
|
|
continue;
|
|
}
|
|
|
|
backoff = std::max(1, reconnect_sec_);
|
|
int read_fail = 0;
|
|
while (running_.load()) {
|
|
if (av_read_frame(fmt_ctx, pkt) < 0) {
|
|
if (++read_fail >= 50) break;
|
|
std::this_thread::sleep_for(milliseconds(10));
|
|
continue;
|
|
}
|
|
read_fail = 0;
|
|
if (pkt->stream_index != video_stream) {
|
|
av_packet_unref(pkt);
|
|
continue;
|
|
}
|
|
int64_t pts_us = pkt->pts == AV_NOPTS_VALUE ? 0
|
|
: av_rescale_q(pkt->pts, time_base, {1, 1000000});
|
|
dec.Decode(pkt->data, pkt->size, false, pts_us,
|
|
[&](MppFrame frm) { PushFrameFromMpp(frm); });
|
|
av_packet_unref(pkt);
|
|
}
|
|
|
|
Cleanup(fmt_ctx, nullptr, pkt, nullptr);
|
|
if (!running_.load()) break;
|
|
std::this_thread::sleep_for(seconds(std::max(1, reconnect_sec_)));
|
|
}
|
|
}
|
|
|
|
void PushFrameFromMpp(MppFrame frm) {
|
|
MppBuffer buf = mpp_frame_get_buffer(frm);
|
|
if (!buf) return;
|
|
mpp_buffer_inc_ref(buf);
|
|
auto owner = std::shared_ptr<void>(buf, [](void* p) { mpp_buffer_put(reinterpret_cast<MppBuffer>(p)); });
|
|
|
|
int width = mpp_frame_get_width(frm);
|
|
int height = mpp_frame_get_height(frm);
|
|
int hor_stride = mpp_frame_get_hor_stride(frm);
|
|
int ver_stride = mpp_frame_get_ver_stride(frm);
|
|
MppFrameFormat mpp_fmt = mpp_frame_get_fmt(frm);
|
|
|
|
PixelFormat fmt = PixelFormat::UNKNOWN;
|
|
int plane_count = 0;
|
|
if (mpp_fmt == MPP_FMT_YUV420SP
|
|
#ifdef MPP_FMT_YUV420SP_10BIT
|
|
|| mpp_fmt == MPP_FMT_YUV420SP_10BIT
|
|
#endif
|
|
) {
|
|
fmt = PixelFormat::NV12;
|
|
plane_count = 2;
|
|
} else if (mpp_fmt == MPP_FMT_YUV420P
|
|
#ifdef MPP_FMT_YUV420P10
|
|
|| mpp_fmt == MPP_FMT_YUV420P10
|
|
#endif
|
|
) {
|
|
fmt = PixelFormat::YUV420;
|
|
plane_count = 3;
|
|
}
|
|
|
|
if (plane_count == 0) {
|
|
return;
|
|
}
|
|
|
|
auto frame = std::make_shared<Frame>();
|
|
frame->width = width;
|
|
frame->height = height;
|
|
frame->format = fmt;
|
|
frame->stride = hor_stride;
|
|
frame->plane_count = plane_count;
|
|
frame->dma_fd = mpp_buffer_get_fd(buf);
|
|
frame->data = static_cast<uint8_t*>(mpp_buffer_get_ptr(buf));
|
|
frame->data_size = mpp_buffer_get_size(buf);
|
|
frame->data_owner = owner;
|
|
frame->frame_id = ++frame_id_;
|
|
frame->pts = mpp_frame_get_pts(frm);
|
|
|
|
if (fmt == PixelFormat::NV12 && plane_count == 2) {
|
|
int y_size = hor_stride * ver_stride;
|
|
frame->planes[0] = {frame->data, hor_stride, y_size, 0};
|
|
frame->planes[1] = {frame->data + y_size, hor_stride, y_size / 2, y_size};
|
|
} else if (fmt == PixelFormat::YUV420 && plane_count == 3) {
|
|
int y_size = hor_stride * ver_stride;
|
|
int uv_stride = hor_stride / 2;
|
|
int uv_h = ver_stride / 2;
|
|
int u_size = uv_stride * uv_h;
|
|
frame->planes[0] = {frame->data, hor_stride, y_size, 0};
|
|
frame->planes[1] = {frame->data + y_size, uv_stride, u_size, y_size};
|
|
frame->planes[2] = {frame->data + y_size + u_size, uv_stride, u_size, y_size + u_size};
|
|
}
|
|
|
|
PushToDownstream(frame);
|
|
|
|
if (frame_id_ % 100 == 0) {
|
|
std::cout << "[input_rtsp] mpp frame " << frame->frame_id
|
|
<< " queue=" << (out_queues_.empty() ? 0 : out_queues_[0]->Size())
|
|
<< " drops=" << (out_queues_.empty() ? 0 : out_queues_[0]->DroppedCount())
|
|
<< "\n";
|
|
}
|
|
}
|
|
#endif
|
|
|
|
std::string id_;
|
|
std::string url_;
|
|
int fps_ = 25;
|
|
int width_ = 1920;
|
|
int height_ = 1080;
|
|
std::atomic<bool> running_{false};
|
|
std::vector<std::shared_ptr<SpscQueue<FramePtr>>> out_queues_;
|
|
std::thread worker_;
|
|
uint64_t frame_id_ = 0;
|
|
bool use_ffmpeg_ = false;
|
|
bool use_mpp_ = true;
|
|
bool ffmpeg_force_tcp_ = true;
|
|
|
|
int reconnect_sec_ = 5;
|
|
int reconnect_backoff_max_sec_ = 30;
|
|
bool fallback_to_stub_on_fail_ = false;
|
|
std::vector<int> cpu_affinity_;
|
|
};
|
|
|
|
REGISTER_NODE(InputRtspNode, "input_rtsp");
|
|
|
|
} // namespace rk3588
|