Initial commit

orin/scripts/rtsp_server.py

@@ -0,0 +1,134 @@
+#!/usr/bin/env python3
+"""
+RTSP Server для стриминга с CSI камеры на Jetson Orin.
+Использует GStreamer RTSP Server.
+"""
+
+import os
+import gi
+gi.require_version('Gst', '1.0')
+gi.require_version('GstRtspServer', '1.0')
+from gi.repository import Gst, GstRtspServer, GLib
+
+# Инициализация GStreamer
+Gst.init(None)
+
+# Параметры из environment
+WIDTH = os.environ.get('CAMERA_WIDTH', '1920')
+HEIGHT = os.environ.get('CAMERA_HEIGHT', '1080')
+FPS = os.environ.get('CAMERA_FPS', '30')
+RTSP_PORT = os.environ.get('RTSP_PORT', '8554')
+
+
+def create_pipeline():
+    """
+    Создаёт GStreamer pipeline для CSI камеры.
+    Пробуем разные источники в порядке приоритета.
+    """
+
+    # Вариант 1: nvarguscamerasrc (CSI камера на Jetson) с NVIDIA hardware encoder
+    # Используем nvv4l2h264enc для аппаратного кодирования без EGL
+    csi_pipeline = (
+        f'nvarguscamerasrc ! '
+        f'video/x-raw(memory:NVMM),width={WIDTH},height={HEIGHT},framerate={FPS}/1,format=NV12 ! '
+        f'nvv4l2h264enc bitrate=4000000 preset-level=1 insert-sps-pps=true ! '
+        f'h264parse ! '
+        f'rtph264pay name=pay0 pt=96'
+    )
+
+    # Вариант 2: v4l2src (USB камера) с NVIDIA hardware encoder
+    v4l2_pipeline = (
+        f'v4l2src device=/dev/video0 ! '
+        f'video/x-raw,width={WIDTH},height={HEIGHT},framerate={FPS}/1 ! '
+        f'nvvidconv ! video/x-raw(memory:NVMM),format=NV12 ! '
+        f'nvv4l2h264enc bitrate=4000000 preset-level=1 insert-sps-pps=true ! '
+        f'h264parse ! '
+        f'rtph264pay name=pay0 pt=96'
+    )
+
+    # Вариант 3: тестовый источник с software encoder (fallback)
+    test_pipeline = (
+        f'videotestsrc is-live=true ! '
+        f'video/x-raw,width={WIDTH},height={HEIGHT},framerate={FPS}/1 ! '
+        f'videoconvert ! '
+        f'x264enc tune=zerolatency bitrate=4000 speed-preset=ultrafast ! '
+        f'rtph264pay name=pay0 pt=96'
+    )
+
+    # Пробуем CSI камеру сначала
+    try:
+        test = Gst.parse_launch(csi_pipeline.replace('rtph264pay name=pay0 pt=96', 'fakesink'))
+        test.set_state(Gst.State.PLAYING)
+        # Даём время на инициализацию
+        import time
+        time.sleep(2)
+        state = test.get_state(Gst.CLOCK_TIME_NONE)
+        test.set_state(Gst.State.NULL)
+        if state[1] == Gst.State.PLAYING:
+            print("Using CSI camera (nvarguscamerasrc)")
+            return csi_pipeline
+    except Exception as e:
+        print(f"CSI camera not available: {e}")
+
+    # Пробуем USB камеру
+    if os.path.exists('/dev/video0'):
+        print("Using USB camera (v4l2src)")
+        return v4l2_pipeline
+
+    # Fallback на тестовый источник
+    print("No camera found, using test source")
+    return test_pipeline
+
+
+class RTSPServer:
+    def __init__(self):
+        self.server = GstRtspServer.RTSPServer()
+        self.server.set_service(RTSP_PORT)
+
+        # Создаём factory для стрима
+        factory = GstRtspServer.RTSPMediaFactory()
+        pipeline = create_pipeline()
+        print(f"Pipeline: {pipeline}")
+        factory.set_launch(f'( {pipeline} )')
+        factory.set_shared(True)
+
+        # Добавляем mount point
+        mount_points = self.server.get_mount_points()
+        mount_points.add_factory('/stream', factory)
+
+        # Запускаем сервер
+        self.server.attach(None)
+
+        print(f"\n{'='*50}")
+        print(f"RTSP Server started!")
+        print(f"Stream URL: rtsp://<device-ip>:{RTSP_PORT}/stream")
+        print(f"{'='*50}\n")
+
+
+def main():
+    import signal
+    import sys
+
+    server = RTSPServer()
+    loop = GLib.MainLoop()
+
+    def signal_handler(sig, frame):
+        print("Shutting down...")
+        loop.quit()
+        sys.exit(0)
+
+    signal.signal(signal.SIGINT, signal_handler)
+    signal.signal(signal.SIGTERM, signal_handler)
+
+    print("RTSP server running. Waiting for connections...")
+    sys.stdout.flush()
+
+    try:
+        loop.run()
+    except Exception as e:
+        print(f"Error in main loop: {e}")
+        sys.exit(1)
+
+
+if __name__ == '__main__':
+    main()