gstreamer pipeline updates, pi bt updates. (#29)

* new services being added to openauto

* cmake for new services

* MediaStatusService, transitioning away from qt gstreamer

* Reverting change to qmlglsink as it's not functional on raspbian as of this moment

* Multitouch support within android auto

* add night mode toggle to aainterface

* Dot dump debug functionality

* NavigationStatusService, MediaStatusService, AAInterface, Hotkey migration

* Add a delay to dot dumping because caps aren't selected until data is streaming, so we can't rely on just a PLAYING status

* Update btservice connection method for pi4

* Update for pi4 compiling

* missing brace

* Yet another new bt connect process

* oops bad merge

* bad merge

* Remove pi specific bt connection

* Try to play nice with bullseye

* Select decoder automatically based on priority list

* Quick cleanup

btservice/btservice.cpp

@@ -43,20 +43,33 @@ btservice::btservice(openauto::configuration::IConfiguration::Pointer config)
 
 void btservice::connectToBluetooth(QBluetoothAddress addr, QBluetoothAddress controller)
 {
+    // Update 07-12-22, with bluez update and krnbt, raspberry pi is behaving as expected. For this reason
+    // the RPI specific code has been commented out. The commented out code (and comments below this one) 
+    // exist as legacy now - in case there's a scenario where someone cannot update to krnbt or newer bluez.
+
+
     // The raspberry pi has a really tough time using bluetoothctl (or really anything) to connect to an Android phone
     // even though phone connecting to the pi is fine.
     // I found a workaround where you can make the pi attempt an rfcomm connection to the phone, and it connects immediately
     // This might require setting u+s on rfcomm though
     // Other computers with more sane bluetooth shouldn't have an issue using bluetoothctl
 
+    // Update 01-10-21, latest firmware/package updates seem to have made bluetoothctl more stable
+    // and it won't drop a connection anymore. Only issue, is that the connection will fail
+    // if the desired target hasn't been "seen" yet
+    // we can use hcitool to force the pi to recognize that we're trying to connect to a valid device.
+    // this causes the target device to be "seen"
+    // bluetoothctl can then connect as normal.
+    // Why don't we just use rfcomm (as we had previously on pis)? Because an rfcomm initiated connection doesn't connect HFP, which breaks the use of
+    // pi mic/speakers for android auto phone calls. bluetoothctl will connect all profiles.
+    
 #ifdef RPI
-    // tries to open an rfcomm serial on channel 2
+//    QString program = QString::fromStdString("sudo hcitool cc ")+addr.toString();
-    // channel doesn't really matter here, 2 is just "somewhat standard"
+//    btConnectProcess = new QProcess();
-    QString program = QString::fromStdString("sudo stdbuf -oL rfcomm connect hci0 ")+addr.toString()+QString::fromStdString(" 2");
+//    OPENAUTO_LOG(info)<<"[btservice] Attempting to connect to last bluetooth device, "<<addr.toString().toStdString()<<" using hcitool/bluetoothctl hybrid";
-    btConnectProcess = new QProcess();
+//    btConnectProcess->start(program, QProcess::Unbuffered | QProcess::ReadWrite);
-    OPENAUTO_LOG(info)<<"[btservice] Attempting to connect to last bluetooth device, "<<addr.toString().toStdString()<<" with `"<<program.toStdString();
+//    btConnectProcess->waitForFinished();
-    btConnectProcess->start(program, QProcess::Unbuffered | QProcess::ReadWrite);
+#endif
-#else
     btConnectProcess = new QProcess();
     btConnectProcess->setProcessChannelMode(QProcess::SeparateChannels);
     OPENAUTO_LOG(info)<<"[btservice] Attempting to connect to last bluetooth device, "<<addr.toString().toStdString()<<" with bluetoothctl";
@@ -66,9 +79,6 @@ void btservice::connectToBluetooth(QBluetoothAddress addr, QBluetoothAddress con
     btConnectProcess->write(QString("connect %1\n").arg(addr.toString()).toUtf8());
     btConnectProcess->closeWriteChannel();
     btConnectProcess->waitForFinished();
-#endif
+}
-}
-
-
 }
 }

include/openauto/Projection/GSTVideoOutput.hpp

@@ -51,6 +51,46 @@ namespace openauto
 namespace projection
 {
 
+// enum of possible h264 decoders dash will attempt to use
+enum H264_Decoder { 
+    nvcodec,
+    v4l2,
+    omx,
+    vaapi,
+    libav,
+    unknown
+};
+
+// order of priority for decoders - dash will use the first decoder it can find in this list
+// for sake of the code, don't include "unknown" as a decoder to search for - this is the default case.
+const H264_Decoder H264_Decoder_Priority_List[] = { nvcodec, v4l2, omx, libav };
+
+// A map of enum to actual pad name we want to use
+inline const char* ToString(H264_Decoder v)
+{
+    switch (v)
+    {
+        case nvcodec: return "nvh264dec";
+        case v4l2: return "v4l2h264dec";
+        case omx: return "omxh264dec";
+        case libav: return "avdec_h264";
+        default: return "unknown";
+    }
+}
+// A map of enum to pipeline steps to insert (because for some we need some video converting)
+inline const char* ToPipeline(H264_Decoder v)
+{
+    switch (v)
+    {
+        // we're going to assume that any machine with an nvidia card has a cpu powerful enough for video convert.
+        case nvcodec: return "nvh264dec ! videoconvert";
+        case v4l2: return "v4l2h264dec";
+        case omx: return "omxh264dec";
+        case libav: return "avdec_h264";
+        default: return "unknown";
+    }
+}
+
 class GSTVideoOutput: public QObject, public VideoOutput, boost::noncopyable
 {
     Q_OBJECT
@@ -77,6 +117,7 @@ public slots:
 private:
     static GstPadProbeReturn convertProbe(GstPad* pad, GstPadProbeInfo* info, void*);
     static gboolean busCallback(GstBus*, GstMessage* message, gpointer*);
+    H264_Decoder findPreferredVideoDecoder();
 
     bool firstHeaderParsed = false;
 

openauto/Projection/GSTVideoOutput.cpp

@@ -33,7 +33,6 @@ namespace openauto
 namespace projection
 {
 
-
 GSTVideoOutput::GSTVideoOutput(configuration::IConfiguration::Pointer configuration, QWidget* videoContainer, std::function<void(bool)> activeCallback)
     : VideoOutput(std::move(configuration))
     , videoContainer_(videoContainer)
@@ -49,28 +48,13 @@ GSTVideoOutput::GSTVideoOutput(configuration::IConfiguration::Pointer configurat
 
     videoSink_ = surface_->videoSink();
 
-    GError* error = nullptr;
-    const char* vidLaunchStr = "appsrc name=mysrc is-live=true block=false max-latency=100 do-timestamp=true stream-type=stream ! queue ! h264parse ! "
-        #ifdef RPI
-            #ifdef PI4
-                               "v4l2h264dec ! "
-            #else
-                               "omxh264dec ! "
-            #endif
-        #else
-                               "avdec_h264 ! "
-        #endif
-                                "videocrop top=0 bottom=0 name=videocropper ! capsfilter caps=video/x-raw name=mycapsfilter";
-    #ifdef RPI
-        OPENAUTO_LOG(info) << "[GSTVideoOutput] RPI Build, running with " <<
-        #ifdef PI4
-                              "v4l2h264dec";
-        #else
-                              "omxh264dec";
-        #endif
-    #endif
 
-    vidPipeline_ = gst_parse_launch(vidLaunchStr, &error);
+    GError* error = nullptr;
+    std::string vidLaunchStr = "appsrc name=mysrc is-live=true block=false max-latency=100 do-timestamp=true stream-type=stream ! queue ! h264parse ! capssetter caps=\"video/x-h264,colorimetry=bt709\" ! ";
+    vidLaunchStr += ToPipeline(findPreferredVideoDecoder());
+    vidLaunchStr += " ! videocrop top=0 bottom=0 name=videocropper ! capsfilter caps=video/x-raw name=mycapsfilter";
+    
+    vidPipeline_ = gst_parse_launch(vidLaunchStr.c_str(), &error);
     GstBus* bus = gst_pipeline_get_bus(GST_PIPELINE(vidPipeline_));
     gst_bus_add_watch(bus, (GstBusFunc)&GSTVideoOutput::busCallback, this);
     gst_object_unref(bus);
@@ -99,11 +83,25 @@ GSTVideoOutput::~GSTVideoOutput()
     gst_object_unref(vidSrc_);
 }
 
-void GSTVideoOutput::dumpDot(){
 
+H264_Decoder GSTVideoOutput::findPreferredVideoDecoder()
+{
+    for (H264_Decoder decoder : H264_Decoder_Priority_List) {
+        GstElementFactory *decoder_factory = gst_element_factory_find (ToString(decoder));
+        if(decoder_factory != nullptr){
+            gst_object_unref(decoder_factory);
+            OPENAUTO_LOG(info) << "[GSTVideoOutput] Selecting the " << ToString(decoder) << " h264 decoder";
+            return decoder;
+        }
+    }
+    OPENAUTO_LOG(error) << "[GSTVideoOutput] Couldn't find a decoder to use!";
+    return H264_Decoder::unknown;
+}
+
+void GSTVideoOutput::dumpDot()
+{    
     gst_debug_bin_to_dot_file(GST_BIN(vidPipeline_), GST_DEBUG_GRAPH_SHOW_VERBOSE, "pipeline");
-        OPENAUTO_LOG(info) << "[GSTVideoOutput] Dumped dot debug info";
+    OPENAUTO_LOG(info) << "[GSTVideoOutput] Dumped dot debug info";
-
 }
 
 gboolean GSTVideoOutput::busCallback(GstBus*, GstMessage* message, gpointer*)