Feature/http websocket video streaming - Add HTTP/HTTPS MJPEG and WebSocket Video Streaming Support #13594
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Implements professional HTTP MJPEG streaming capabilities for QGroundControl, with initial focus on PixEagle drone integration. This enhancement enables users to stream video from HTTP/HTTPS sources using the standard MJPEG format. New Features: - HTTP MJPEG stream source type with GStreamer souphttpsrc backend - WebSocket stream source type (UI ready, implementation planned) - Configurable network optimization parameters (timeout, retry, buffer size) - Video display fit options (Fit Width, Fit Height, Fill, No Crop) - Low-latency mode integration with adaptive queue buffering - Automatic retry and reconnection handling Settings: - 14 new video settings with validation and defaults - PixEagle-optimized defaults (http://127.0.0.1:5077/video_feed) - HTTP network optimization controls - WebSocket advanced settings (prepared for future implementation) Technical Implementation: - GStreamer pipeline: souphttpsrc → queue → multipartdemux → jpegdec - Thread-safe implementation with proper Qt signal handling - Follows QGC coding standards and architectural patterns - Compatible with existing video recording and display features Files Modified: - src/Settings/Video.SettingsGroup.json: 14 new settings definitions - src/Settings/VideoSettings.{h,cc}: Setting facts and validation - src/VideoManager/VideoManager.cc: Stream source routing - src/VideoManager/VideoReceiver/GStreamer/GstVideoReceiver.{h,cc}: HTTP pipeline - src/UI/AppSettings/VideoSettings.qml: UI controls and sections Tested with PixEagle drone simulator at 127.0.0.1:5077/video_feed
Implements WebSocket video streaming capabilities for QGroundControl with bidirectional communication, adaptive quality control, and automatic reconnection for robust drone video streaming. Initial integration targets PixEagle drones with cross-platform Qt6::WebSockets and GStreamer appsrc. New Features: - WebSocket stream source type with Qt6::WebSockets + GStreamer appsrc backend - Bidirectional protocol for quality control and heartbeat/ping messages - Adaptive quality adjustment based on real-time bandwidth estimation - Automatic reconnection with configurable delay and retry logic - Thread-safe Qt integration with proper event loop handling - Low-latency JPEG frame streaming with proper GStreamer timestamping Settings (from Video.SettingsGroup.json): - websocketUrl: Default ws://127.0.0.1:5077/ws/video_feed (PixEagle simulator) - websocketTimeout: Connection timeout (5-60s, default 10s) - websocketReconnectDelay: Auto-reconnect delay (500-10000ms, default 2000ms) - websocketHeartbeat: Keepalive interval (1000-30000ms, default 5000ms) - adaptiveQuality: Enable/disable adaptive quality (default true) - minQuality/maxQuality: Quality range for adaptation (1-100%, defaults 60-95%) - websocketBufferFrames: Frame buffer size (1-10, default 3) - videoFit: Changed default to 0 (Fit Width) for better UX Technical Implementation: - QGCWebSocketVideoSource class: Qt WebSocket client with GStreamer integration - Protocol: JSON metadata + binary JPEG frames (PixEagle-compatible) - Threading: Object created in worker thread, moved to main thread for Qt event loop - Cleanup: Thread-safe deleteLater() to prevent cross-thread deletion crashes - Timestamps: GST_CLOCK_TIME_NONE with do-timestamp=TRUE for proper live streaming - Bandwidth tracking: 30-frame sliding window for adaptive quality decisions - Pipeline: appsrc → jpegdec → [QGC video pipeline] Cross-Platform Support: - Qt6::WebSockets module (already in main CMakeLists.txt COMPONENTS) - GStreamer App component added to find_package on Linux/macOS - Platform-specific linking: .lib path for Windows, library name for Unix - No platform-specific code or headers - pure Qt6 and GStreamer APIs - Tested on Windows MSVC, designed for Linux/macOS/Android builds Files Modified: - CMakeLists.txt: Added WebSockets to Qt6 COMPONENTS - src/Settings/Video.SettingsGroup.json: Changed videoFit default to 0 (Fit Width) - src/VideoManager/VideoReceiver/GStreamer/CMakeLists.txt: Added App component, Qt6::WebSockets link, gstapp-1.0 library, new source files - src/VideoManager/VideoReceiver/GStreamer/GstVideoReceiver.cc: Implemented _makeWebSocketSource() with thread-safe architecture Files Added: - src/VideoManager/VideoReceiver/GStreamer/QGCWebSocketVideoSource.h: Header (~130 lines) - src/VideoManager/VideoReceiver/GStreamer/QGCWebSocketVideoSource.cc: Implementation (~435 lines) Testing: - Tested with PixEagle drone simulator at ws://127.0.0.1:5077/ws/video_feed - Verified continuous real-time video playback with adaptive quality - Confirmed thread-safe connection/disconnection and cleanup - HTTP MJPEG streaming (Phase 1) continues to work correctly - All settings persist via Qt Fact system as per QGC standards Developed by: Alireza Ghaderi (alireza787b) Contact: [email protected] GitHub/LinkedIn: alireza787b
All GitHub Actions workflows were failing with: Could NOT find Qt6WebSockets (missing: Qt6WebSockets_DIR) Failed to find required Qt component "WebSockets" Root cause: Qt6::WebSockets module was not in the install-qt-action modules list, causing CMake to fail when finding Qt6 COMPONENTS. Changes: - Added qtwebsockets to Linux workflow (ubuntu-22.04, ubuntu-24.04-arm) - Added qtwebsockets to Windows workflow (win64_msvc2022_64, win64_msvc2022_arm64) - Added qtwebsockets to macOS workflow (clang_64) - Added qtwebsockets to iOS workflow (macOS host + iOS target) - Added qtwebsockets to Custom workflow (Windows custom builds) - Added qtwebsockets to Android action (desktop + all Android ABIs) This ensures Qt6::WebSockets is available across all platforms for WebSocket video streaming support introduced in previous commits. Tested: Verified module list matches pattern used for other Qt modules Expected: CI builds should now pass CMake configuration step
Android builds failing with: Could NOT find GStreamer (missing: App) Root cause: Android's GStreamer package (1.22.12) does not include the gstreamer-app-1.0 library needed for appsrc support in WebSocket video streaming. Solution: Make App component optional and conditionally compile WebSocket support only when App component is available. Changes: - Moved 'App' from REQUIRED to OPTIONAL_COMPONENTS in find_package - Added QGC_GST_APP_AVAILABLE preprocessor define when App found - Conditionally compile QGCWebSocketVideoSource only if App available - Guarded WebSocket code in GstVideoReceiver with #ifdef - Added status messages to CMake output Platform Support After This Fix: - Desktop (Windows/Linux/macOS): WebSocket + HTTP + UDP/RTSP/TCP - Android: HTTP + UDP/RTSP/TCP (WebSocket unavailable) - iOS: HTTP + UDP/RTSP/TCP (WebSocket unavailable if no App) WebSocket video streaming remains fully functional on desktop platforms where GStreamer App component is available. Android and other limited platforms can still use HTTP MJPEG and traditional video sources. Build tested: Local Windows MSVC Expected: Android CI builds should now pass
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Pretty cool, although I think you're missing some more places where the WebSockets lib needs to be added. One example being the Vagrantfile |
Ensures qtwebsockets module is included in all developer environment setup methods, matching the GitHub Actions CI workflows. This maintains consistency between CI and local development environments. Files Updated: - deploy/vagrant/Vagrantfile: Added qtwebsockets to Vagrant dev environment - tools/setup/install-qt-debian.sh: Added qtwebsockets to Debian/Ubuntu setup - tools/setup/install-qt-windows.ps1: Added qtwebsockets to Windows setup - tools/setup/install-qt-macos.sh: Added qtwebsockets to macOS setup This addresses collaborator feedback about missing qtwebsockets in developer setup locations beyond CI workflows. 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <[email protected]>
Thanks for catching that! You're absolutely right - I've now added qtwebsockets to all the additional Qt installation locations:
This ensures consistency across all development environments (CI workflows, Vagrant, and manual setups). The changes have been pushed - |
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How can this be tested without needing to buy some sort of camera that supports this. With other gstreamer based feed we can simulate streams using gstreamer to validate things work. |
Provides minimal Python-based manual test servers for validating QGC's
HTTP/HTTPS MJPEG and WebSocket video streaming without requiring physical
cameras or external hardware. Follows the existing test pattern (test/ADSB/).
These are manual test utilities (NOT automated unit tests) that developers
can run locally to test video streaming functionality.
Features:
- HTTP MJPEG streaming server (FastAPI + OpenCV)
- WebSocket streaming server (FastAPI + OpenCV)
- Generated test patterns (color bars, moving elements, timestamps)
- Configurable resolution, FPS, and quality
- Browser-based test page for WebSocket validation
- Comprehensive documentation with GStreamer CLI alternatives
Files Added:
- test/VideoStreaming/http_mjpeg_server.py: HTTP MJPEG test server
- test/VideoStreaming/websocket_video_server.py: WebSocket test server
- test/VideoStreaming/requirements.txt: Python dependencies
- test/VideoStreaming/README.md: Setup guide and troubleshooting
- .gitignore: Added Python cache patterns
Usage:
pip install -r test/VideoStreaming/requirements.txt
python test/VideoStreaming/http_mjpeg_server.py
# Configure QGC: http://127.0.0.1:5077/video_feed
Benefits:
- Self-contained testing (no external tools or hardware required)
- Easy developer onboarding
- Cross-platform (Windows, Linux, macOS)
- Can be extended for automated testing in the future
Note: These are manual testing utilities similar to ADSB_Simulator.py,
not integrated into CTest/automated testing workflow.
🤖 Generated with [Claude Code](https://claude.com/claude-code)
Co-Authored-By: Claude <[email protected]>
Updated WebSocket video server to use the correct endpoint path and port that matches QGroundControl's WebSocket video source configuration. Changes: - WebSocket endpoint: /video → /ws/video_feed - Default port remains 5077 (same as HTTP MJPEG server) - Updated all documentation and usage examples - Fixed browser test page URL Correct URLs: - HTTP MJPEG: http://127.0.0.1:5077/video_feed - WebSocket: ws://127.0.0.1:5077/ws/video_feed Files Updated: - test/VideoStreaming/websocket_video_server.py: Endpoint and output messages - test/VideoStreaming/README.md: All WebSocket URL references 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <[email protected]>
The WebSocket test server was sending raw binary frames, but QGC expects
the PixEagle protocol with frame metadata announcements before binary data.
This caused QGC to drop all frames as unexpected binary messages.
Protocol Implementation:
- Send JSON metadata first: {"type": "frame", "size": X, "quality": Y}
- Then send binary JPEG frame data
- Support ping/pong heartbeat messages
- Support dynamic quality changes via setQuality messages
- Bidirectional communication with asyncio.gather
Changes:
- Added json import
- Split streaming into two async tasks (frames + message handling)
- Frame sender sends metadata JSON before each binary frame
- Message handler responds to ping and setQuality requests
- Updated README with complete protocol documentation
This now matches the exact protocol that PixEagle uses and that QGC's
QGCWebSocketVideoSource expects (see QGCWebSocketVideoSource.cc).
Tested with:
- Browser test page (backward compatible)
- QGC WebSocket video source (now works correctly)
🤖 Generated with [Claude Code](https://claude.com/claude-code)
Co-Authored-By: Claude <[email protected]>
Corrected the quality change message type from "setQuality" to "quality"
to match what QGC actually sends. Also added timestamp logging for ping
messages and documented the complete protocol.
Changes Based on QGCWebSocketVideoSource.cc Analysis:
- Quality request: "setQuality" → "quality" (line 343 in QGC source)
- Ping includes timestamp field (line 358 in QGC source)
- Added "error" message type documentation
- Updated README with exact protocol specification
QGC Sends:
- {"type": "ping", "timestamp": <ms>}
- {"type": "quality", "quality": <value>}
QGC Expects:
- {"type": "frame", "size": X, "quality": Y}
- {"type": "pong"}
- {"type": "error", "message": "..."}
This ensures 100% protocol compatibility with QGroundControl's
WebSocket video implementation.
🤖 Generated with [Claude Code](https://claude.com/claude-code)
Co-Authored-By: Claude <[email protected]>
Helps diagnose QGC connection issues by logging: - Client IP and port - Connection endpoint - Connection acceptance status Makes it easier to see if QGC is connecting at all.
PROBLEM: Previous commit (4862235) made GStreamer App component OPTIONAL for all platforms to fix Android builds. This caused WebSocket support to be silently disabled on Windows/Linux/macOS when CMake didn't properly detect the App component, breaking PixEagle and all WebSocket streaming. ROOT CAUSE: - App was in OPTIONAL_COMPONENTS for all platforms - If FindGStreamer.cmake didn't set GStreamer_App_FOUND properly, WebSocket was disabled without any build error - User built with Qt Creator, which didn't show the CMake warning SOLUTION: - Android: App is OPTIONAL (Android GStreamer lacks gstreamer-app-1.0) - Desktop (Windows/Linux/macOS): App is REQUIRED for WebSocket support - Build will fail with clear error if App is missing on desktop platforms Changes: 1. Split find_package(GStreamer) into ANDROID vs desktop branches 2. Desktop: App in REQUIRED COMPONENTS (will fail if missing) 3. Android: App in OPTIONAL_COMPONENTS (gracefully disabled if missing) 4. Better status messages showing WebSocket enabled/disabled state Testing: - Desktop platforms: WebSocket ALWAYS enabled (or build fails) - Android: WebSocket enabled only if App found - GitHub Actions: Will fail on desktop if App missing (good!) - Local builds: Clear error message if GStreamer App not installed This ensures WebSocket works on desktop while maintaining Android compatibility. Fixes: Breaking change introduced in commit 4862235 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <[email protected]>
CRITICAL FIX: FindGStreamer.cmake was missing the code to search for
the App component (gstreamer-app-1.0), even though it was listed in
FIND_COMPONENTS. This caused App to NEVER be found on any platform.
Problem:
- FindGStreamer.cmake only searched for: GlEgl, GlWayland, GlX11
- App component was completely missing from the search logic
- Result: GStreamer_App_FOUND was always FALSE
- WebSocket support was always disabled, even with App installed
Solution:
- Added: if(App IN_LIST GStreamer_FIND_COMPONENTS)
find_gstreamer_component(App gstreamer-app-1.0)
- Now App is properly detected via pkg-config
- Sets GStreamer_App_FOUND=TRUE when gstreamer-app-1.0 is installed
This fixes the root cause of WebSocket being disabled. Combined with
the previous commit (3c4d2c7), WebSocket will now work on desktop
platforms when App component is properly installed.
Testing:
- pkg-config --exists gstreamer-app-1.0 ✓ (returns 0)
- CMake will now find App and enable WebSocket
🤖 Generated with [Claude Code](https://claude.com/claude-code)
Co-Authored-By: Claude <[email protected]>
Resolved conflicts in Qt module lists by adding both qtscxml (from master) and qtwebsockets (from feature branch) to maintain compatibility with latest QGC requirements while enabling WebSocket video streaming. Changes: - All workflow files: Added qtscxml and qtwebsockets modules - Developer setup scripts: Added qtscxml and qtwebsockets modules - Ensures consistent Qt module installation across all platforms - Maintains backward compatibility with master branch changes Files modified: - GitHub Actions workflows (linux, windows, macos, ios, custom, qt-android) - Developer setup scripts (Vagrantfile, install-qt-*.sh/ps1) - Core CMakeLists.txt and source files from master
@DonLakeFlyer, I've included synthetic test servers that follow the ADSB simulator pattern and don't require a camera or video files to run. How to Test Without a Camera
The test servers will generate synthetic test patterns for validation. The project's README also contains GStreamer CLI alternatives if you prefer command-line tools for simulation. Real-World TestingFor more comprehensive, real-world testing, you can use PixEagle, which works well with webcams, video files, or the simulator sources mentioned above: |
Updated video source descriptions to be protocol-agnostic rather than PixEagle-specific. The implementation supports any standard HTTP MJPEG or WebSocket video source, not just PixEagle. Changes to Video.SettingsGroup.json: - httpUrl: Clarified it works with any HTTP MJPEG source (PixEagle, IP cameras, test servers, etc.) - websocketUrl: Clarified it works with any WebSocket source that sends JPEG frames with metadata protocol - Both now reference test/VideoStreaming/ for easy local testing - Maintained PixEagle as example but not as the only use case This makes the feature more accessible to users with different video sources while maintaining accurate technical information. Technical note: The WebSocket protocol (JSON metadata + binary JPEG) is a simple standard that any video server can implement, not proprietary to PixEagle.
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This PR implements professional HTTP/HTTPS MJPEG and WebSocket video streaming capabilities for QGroundControl, enabling users to stream video from modern web-based video sources including HTTP servers, WebSocket endpoints, and cloud-based streaming services.
Features
HTTP/HTTPS MJPEG Streaming:
WebSocket Video Streaming:
Settings & UI:
Use Cases:
Technical Implementation
Architecture:
souphttpsrc → queue → multipartdemux → jpegdec → [QGC pipeline]appsrc (Qt-fed) → jpegdec → [QGC pipeline]WebSocket Threading Model:
QGCWebSocketVideoSourcecreated in GstVideoWorker thread, moved to main thread viamoveToThread()for Qt event loopQMetaObject::invokeMethodwithQt::QueuedConnectiondeleteLater()to prevent cross-thread deletion crashesGStreamer Integration:
GST_CLOCK_TIME_NONE+do-timestamp=TRUEfor automatic relative timestampsWebSocket Protocol Design:
Cross-Platform Compatibility:
find_packagefor Linux/macOSFiles Modified
CMakeLists.txt- Added WebSockets to Qt6 required componentssrc/Settings/Video.SettingsGroup.json- 14 new settings + videoFit default changed to Fit Widthsrc/Settings/VideoSettings.{h,cc}- Setting facts and validation logicsrc/VideoManager/VideoManager.cc- Stream source routing for HTTP/WebSocketsrc/VideoManager/VideoReceiver/GStreamer/CMakeLists.txt- GStreamer App component, Qt6::WebSockets linking, gstapp-1.0 librarysrc/VideoManager/VideoReceiver/GStreamer/GstVideoReceiver.{h,cc}- HTTP and WebSocket pipeline implementationsrc/UI/AppSettings/VideoSettings.qml- UI controls for new settingsFiles Added
src/VideoManager/VideoReceiver/GStreamer/QGCWebSocketVideoSource.h- WebSocket video source class header (~130 lines)src/VideoManager/VideoReceiver/GStreamer/QGCWebSocketVideoSource.cc- Implementation (~435 lines)Commits
Future Extensibility
This implementation provides a foundation for future video streaming enhancements:
Test Steps
Prerequisites
Option 1: PixEagle Drone Simulator (example test server)
http://127.0.0.1:5077/video_feedws://127.0.0.1:5077/ws/video_feedOption 2: Any Standard HTTP MJPEG Server
Option 3: Custom WebSocket Video Server
Build Requirements:
Test Case 1: HTTP MJPEG Streaming
http://127.0.0.1:5077/video_feedor your HTTP MJPEG source)Test Case 2: WebSocket Streaming
ws://127.0.0.1:5077/ws/video_feedor your WebSocket server)Test Case 3: Video Display Fit Options
Test Case 4: Adaptive Quality (WebSocket Only)
qgc.videomanager.websocketcategoryTest Case 5: Automatic Reconnection (WebSocket)
Test Case 6: Thread Safety & Resource Management
Test Case 7: Network Video Sources (Real-World)
Test Case 8: Cross-Platform CI Verification
Checklist:
Related Issue
This PR implements WebSocket and HTTP video streaming capabilities for modern network-based video sources. It addresses the need for flexible video streaming options beyond traditional UDP/RTSP/TCP sources, enabling QGroundControl to work with cloud-based services, IP cameras, and modern web-based video streaming protocols.
Note: This is an enhancement/feature addition implementing new functionality. No specific issue ID as this capability was not previously tracked.
Developer Information:
Alireza Ghaderi (@alireza787b)
Contact: [email protected]
By submitting this pull request, I confirm that you can use, modify, copy, and redistribute this contribution, under the terms of your choice.