Merge branch 'master' of http://git.ht-atia.cn/qinyanlei/inspect-tcpserver

pom.xml

@@ -136,6 +136,11 @@
             <groupId>com.fasterxml.jackson.dataformat</groupId>
             <artifactId>jackson-dataformat-xml</artifactId>
         </dependency>
+        <dependency>
+            <groupId>org.bytedeco</groupId>
+            <artifactId>javacv-platform</artifactId>
+            <version>1.5.9</version>
+        </dependency>
 
 
     </dependencies>

src/main/java/com/inspect/tcpserver/sip/gb28181/Gb28181PsMuxer.java

@@ -0,0 +1,45 @@
+package com.inspect.tcpserver.sip.gb28181;
+
+import java.io.ByteArrayOutputStream;
+import java.nio.ByteBuffer;
+
+public class Gb28181PsMuxer {
+
+    private boolean headerSent = false;
+
+    public byte[] muxH264(byte[] annexB, long pts90k) {
+        try {
+            ByteArrayOutputStream out = new ByteArrayOutputStream();
+
+            if (!headerSent) {
+                out.write(PsHeader.packHeader());
+                out.write(PsHeader.systemHeader());
+                out.write(PsHeader.psmHeader());
+                headerSent = true;
+            }
+
+            out.write(PesPacket.buildH264Pes(annexB, pts90k));
+            return out.toByteArray();
+
+        } catch (Exception e) {
+            return null;
+        }
+    }
+
+    public byte[] muxOneFrame(byte[] h264, long pts90k) {
+        try {
+            ByteArrayOutputStream out = new ByteArrayOutputStream();
+
+            // ⚠️ 每一帧都必须有
+            out.write(PsHeader.packHeader());
+            out.write(PsHeader.systemHeader());
+            out.write(PsHeader.psmHeader());
+
+            out.write(PesPacket.buildH264Pes(h264, pts90k));
+            return out.toByteArray();
+
+        } catch (Exception e) {
+            return null;
+        }
+    }
+}

src/main/java/com/inspect/tcpserver/sip/gb28181/H264AnnexBExtractor.java

@@ -0,0 +1,71 @@
+package com.inspect.tcpserver.sip.gb28181;
+
+import org.bytedeco.ffmpeg.avcodec.AVPacket;
+import org.bytedeco.javacpp.BytePointer;
+
+import java.nio.ByteBuffer;
+
+public class H264AnnexBExtractor {
+
+    private static final byte[] START_CODE = {0, 0, 0, 1};
+
+    /**
+     * 从 AVPacket 中提取 Annex-B H264
+     */
+    public static byte[] extractFromAvPacket(AVPacket pkt) {
+        if (pkt == null || pkt.size() <= 0 || pkt.data() == null) {
+            return null;
+        }
+
+        BytePointer ptr = pkt.data();
+        int size = pkt.size();
+
+        byte[] raw = new byte[size];
+        ptr.get(raw);
+
+        // 已经是 Annex-B
+        if (isAnnexB(raw)) {
+            return raw;
+        }
+
+        // AVCC → Annex-B
+        return avccToAnnexB(raw);
+    }
+
+    /**
+     * 判断是否 Annex-B
+     */
+    private static boolean isAnnexB(byte[] data) {
+        if (data.length < 4) return false;
+        return data[0] == 0 && data[1] == 0 && data[2] == 0 && data[3] == 1;
+    }
+
+    /**
+     * AVCC（length-prefixed）→ Annex-B（start code）
+     */
+    private static byte[] avccToAnnexB(byte[] avcc) {
+        ByteBuffer in = ByteBuffer.wrap(avcc);
+        ByteBuffer out = ByteBuffer.allocate(avcc.length + 64);
+
+        while (in.remaining() >= 4) {
+            int nalLen =
+                    ((in.get() & 0xff) << 24) |
+                            ((in.get() & 0xff) << 16) |
+                            ((in.get() & 0xff) << 8) |
+                            (in.get() & 0xff);
+
+            if (nalLen <= 0 || nalLen > in.remaining()) {
+                break;
+            }
+
+            out.put(START_CODE);
+            out.put(in.array(), in.position(), nalLen);
+            in.position(in.position() + nalLen);
+        }
+
+        byte[] annexB = new byte[out.position()];
+        out.flip();
+        out.get(annexB);
+        return annexB;
+    }
+}

src/main/java/com/inspect/tcpserver/sip/gb28181/MediaSession.java

@@ -0,0 +1,46 @@
+package com.inspect.tcpserver.sip.gb28181;
+
+import java.net.*;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+
+public class MediaSession {
+    private final String remoteIp;
+    private final int remotePort;
+    private final int ssrc;
+    private DatagramSocket socket;
+    private final AtomicBoolean running = new AtomicBoolean(false);
+
+
+    private final RtpSender rtpSender;
+    private final PsMuxer psMuxer;
+
+
+    public MediaSession(String ip, int port, int ssrc) throws Exception {
+        this.remoteIp = ip;
+        this.remotePort = port;
+        this.ssrc = ssrc;
+        this.socket = new DatagramSocket();
+        this.rtpSender = new RtpSender(socket, InetAddress.getByName(ip), port, ssrc);
+        this.psMuxer = new PsMuxer();
+    }
+
+
+    public void start() {
+        running.set(true);
+    }
+
+
+    public void stop() {
+        running.set(false);
+        socket.close();
+    }
+
+
+    // RTSP Client 回调此方法
+    public void onH264Frame(byte[] annexB, long pts90k) throws Exception {
+        if (!running.get()) return;
+        byte[] ps = psMuxer.muxH264(annexB, pts90k);
+        rtpSender.send(ps, true);
+    }
+}

src/main/java/com/inspect/tcpserver/sip/gb28181/MediaSessionEx.java

@@ -0,0 +1,28 @@
+package com.inspect.tcpserver.sip.gb28181;
+
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+import java.net.InetSocketAddress;
+
+public class MediaSessionEx {
+
+    private final RtpSenderEx rtpSenderEx;
+    private final Gb28181PsMuxer psMuxer;
+
+    public MediaSessionEx(String remoteIp, int remotePort, int ssrc) throws Exception {
+        this.rtpSenderEx = new RtpSenderEx(remoteIp, remotePort, ssrc, 96);
+        this.psMuxer = new Gb28181PsMuxer();
+    }
+
+    /** RTSP Client 回调 */
+    public void onH264Frame(byte[] annexB, long pts90k) {
+        byte[] ps = psMuxer.muxOneFrame(annexB, pts90k);
+        if (ps != null) {
+            rtpSenderEx.sendOne(ps, pts90k);
+        }
+    }
+
+    public void close() {
+        rtpSenderEx.close();
+    }
+}

src/main/java/com/inspect/tcpserver/sip/gb28181/PesPacket.java

@@ -0,0 +1,30 @@
+package com.inspect.tcpserver.sip.gb28181;
+
+import java.io.ByteArrayOutputStream;
+
+public class PesPacket {
+
+    public static byte[] buildH264Pes(byte[] h264, long pts90k) throws Exception {
+        ByteArrayOutputStream out = new ByteArrayOutputStream();
+
+        out.write(new byte[]{
+                0x00,0x00,0x01,(byte)0xE0,
+                0x00,0x00,
+                (byte)0x80,(byte)0x80,0x05
+        });
+
+        writePts(out, pts90k);
+        out.write(h264);
+
+        return out.toByteArray();
+    }
+
+    private static void writePts(ByteArrayOutputStream out, long pts) {
+        long val = pts & 0x1FFFFFFFFL;
+        out.write((byte)(0x21 | ((val >> 29) & 0x0E)));
+        out.write((byte)(val >> 22));
+        out.write((byte)(0x01 | ((val >> 14) & 0xFE)));
+        out.write((byte)(val >> 7));
+        out.write((byte)(0x01 | ((val << 1) & 0xFE)));
+    }
+}

src/main/java/com/inspect/tcpserver/sip/gb28181/PsHeader.java

@@ -0,0 +1,35 @@
+package com.inspect.tcpserver.sip.gb28181;
+
+public class PsHeader {
+
+    public static byte[] packHeader() {
+        return new byte[]{
+                0x00,0x00,0x01,(byte)0xBA,
+                0x44,0x00,0x04,0x00,
+                0x04,0x01,(byte)0x89,(byte)0xC3,
+                (byte)0xF8
+        };
+    }
+
+    public static byte[] systemHeader() {
+        return new byte[]{
+                0x00,0x00,0x01,(byte)0xBB,
+                0x00,0x0C,
+                (byte)0x80,0x04,
+                (byte)0xE0,0x07,
+                (byte)0xE0,(byte)0xC0,
+                0x20,(byte)0xBD,(byte)0xE0
+        };
+    }
+
+    public static byte[] psmHeader() {
+        return new byte[]{
+                0x00,0x00,0x01,(byte)0xBC,
+                0x00,0x12,
+                0x00,0x00,
+                (byte)0xE0,0x00,
+                0x1B,0x00,0x00,
+                0x00,0x00
+        };
+    }
+}

src/main/java/com/inspect/tcpserver/sip/gb28181/PsMuxer.java

@@ -0,0 +1,21 @@
+package com.inspect.tcpserver.sip.gb28181;
+
+import java.io.*;
+
+
+public class PsMuxer {
+    private boolean sentHeader = false;
+
+
+    public byte[] muxH264(byte[] annexB, long pts90k) throws IOException {
+        ByteArrayOutputStream out = new ByteArrayOutputStream();
+        if (!sentHeader) {
+            out.write(PsPackHeader.packHeader());
+            out.write(PsSystemHeader.systemHeader());
+            out.write(PsProgramStreamMap.psm());
+            sentHeader = true;
+        }
+        out.write(PsPesPacket.pes(annexB, pts90k));
+        return out.toByteArray();
+    }
+}

src/main/java/com/inspect/tcpserver/sip/gb28181/PsPackHeader.java

@@ -0,0 +1,10 @@
+package com.inspect.tcpserver.sip.gb28181;
+
+public class PsPackHeader {
+    public static byte[] packHeader() {
+        return new byte[]{
+                0x00,0x00,0x01,(byte)0xBA,
+                0x44,0x00,0x04,0x00,0x04,0x01,0x00,0x01
+        };
+    }
+}

src/main/java/com/inspect/tcpserver/sip/gb28181/PsPesPacket.java

@@ -0,0 +1,28 @@
+package com.inspect.tcpserver.sip.gb28181;
+
+import java.io.*;
+
+
+public class PsPesPacket {
+    public static byte[] pes(byte[] h264, long pts) throws IOException {
+        ByteArrayOutputStream out = new ByteArrayOutputStream();
+        out.write(new byte[]{0x00,0x00,0x01,(byte)0xE0});
+        int len = h264.length + 13;
+        out.write((len >> 8) & 0xFF);
+        out.write(len & 0xFF);
+        out.write(new byte[]{(byte)0x80,(byte)0x80,0x05});
+        writePts(out, pts);
+        out.write(h264);
+        return out.toByteArray();
+    }
+
+
+    private static void writePts(ByteArrayOutputStream out, long pts) throws IOException {
+        long val = pts & 0x1FFFFFFFFL;
+        out.write((byte)(0x21 | (((val >> 30) & 0x07) << 1)));
+        out.write((byte)((val >> 22) & 0xFF));
+        out.write((byte)((((val >> 15) & 0x7F) << 1) | 1));
+        out.write((byte)((val >> 7) & 0xFF));
+        out.write((byte)(((val & 0x7F) << 1) | 1));
+    }
+}

src/main/java/com/inspect/tcpserver/sip/gb28181/PsProgramStreamMap.java

@@ -0,0 +1,12 @@
+package com.inspect.tcpserver.sip.gb28181;
+
+public class PsProgramStreamMap {
+    public static byte[] psm() {
+        return new byte[]{
+                0x00,0x00,0x01,(byte)0xBC,
+                0x00,0x12,
+                (byte)0xE0,0x00,0x00,0x00,
+                0x01,(byte)0xE0,0x00,0x00
+        };
+    }
+}

src/main/java/com/inspect/tcpserver/sip/gb28181/PsSystemHeader.java

@@ -0,0 +1,12 @@
+package com.inspect.tcpserver.sip.gb28181;
+
+public class PsSystemHeader {
+    public static byte[] systemHeader() {
+        return new byte[]{
+                0x00,0x00,0x01,(byte)0xBB,
+                0x00,0x0C,
+                (byte)0x80,(byte)0x04,(byte)0xE4,(byte)0x7F,
+                (byte)0xE0,0x07,(byte)0xE1,0x07
+        };
+    }
+}

src/main/java/com/inspect/tcpserver/sip/gb28181/RtpSender.java

@@ -0,0 +1,60 @@
+package com.inspect.tcpserver.sip.gb28181;
+
+import java.net.*;
+import java.util.concurrent.atomic.AtomicInteger;
+
+
+public class RtpSender {
+    private static final int RTP_HEADER_SIZE = 12;
+    private static final int MTU = 1400;
+
+
+    private final DatagramSocket socket;
+    private final InetAddress remote;
+    private final int port;
+    private final int ssrc;
+    private final AtomicInteger seq = new AtomicInteger(0);
+    private int timestamp = 0;
+
+
+    public RtpSender(DatagramSocket socket, InetAddress remote, int port, int ssrc) {
+        this.socket = socket;
+        this.remote = remote;
+        this.port = port;
+        this.ssrc = ssrc;
+    }
+
+
+    public void send(byte[] ps, boolean marker) throws Exception {
+        int offset = 0;
+        while (offset < ps.length) {
+
+            int size = Math.min(MTU, ps.length - offset);
+            byte[] pkt = new byte[RTP_HEADER_SIZE + size];
+
+
+            pkt[0] = (byte) 0x80;
+            pkt[1] = (byte) (96 | (marker ? 0x80 : 0x00));
+            pkt[2] = (byte) (seq.get() >> 8);
+            pkt[3] = (byte) (seq.getAndIncrement());
+
+
+            timestamp += 3600;
+            pkt[4] = (byte) (timestamp >> 24);
+            pkt[5] = (byte) (timestamp >> 16);
+            pkt[6] = (byte) (timestamp >> 8);
+            pkt[7] = (byte) (timestamp);
+
+
+            pkt[8] = (byte) (ssrc >> 24);
+            pkt[9] = (byte) (ssrc >> 16);
+            pkt[10] = (byte) (ssrc >> 8);
+            pkt[11] = (byte) (ssrc);
+
+
+            System.arraycopy(ps, offset, pkt, RTP_HEADER_SIZE, size);
+            socket.send(new DatagramPacket(pkt, pkt.length, remote, port));
+            offset += size;
+        }
+    }
+}

src/main/java/com/inspect/tcpserver/sip/gb28181/RtpSenderEx.java

@@ -0,0 +1,84 @@
+package com.inspect.tcpserver.sip.gb28181;
+
+import java.net.*;
+import java.util.concurrent.atomic.AtomicInteger;
+
+public class RtpSenderEx {
+
+    private final DatagramSocket socket;
+    private final InetSocketAddress target;
+    private final int ssrc;
+    private final int payloadType;
+    private final AtomicInteger seq = new AtomicInteger(0);
+
+    public RtpSenderEx(String ip, int port, int ssrc, int pt) throws Exception {
+        this.socket = new DatagramSocket();
+        this.target = new InetSocketAddress(ip, port);
+        this.ssrc = ssrc;
+        this.payloadType = pt;
+    }
+
+//    public void send(byte[] ps, long ts90k) {
+//        int offset = 0;
+//        while (offset < ps.length) {
+//            int len = Math.min(1400, ps.length - offset);
+//            byte[] rtp = buildRtp(ps, offset, len, ts90k);
+//            socketSend(rtp);
+//            offset += len;
+//        }
+//    }
+//
+//    private byte[] buildRtp(byte[] ps, int off, int len, long ts) {
+//        byte[] pkt = new byte[12 + len];
+//        pkt[0] = (byte) 0x80;
+//        pkt[1] = (byte) payloadType;
+//        pkt[2] = (byte) (seq.getAndIncrement() >> 8);
+//        pkt[3] = (byte) seq.get();
+//        pkt[4] = (byte) (ts >> 24);
+//        pkt[5] = (byte) (ts >> 16);
+//        pkt[6] = (byte) (ts >> 8);
+//        pkt[7] = (byte) ts;
+//        pkt[8] = (byte) (ssrc >> 24);
+//        pkt[9] = (byte) (ssrc >> 16);
+//        pkt[10] = (byte) (ssrc >> 8);
+//        pkt[11] = (byte) ssrc;
+//
+//        System.arraycopy(ps, off, pkt, 12, len);
+//        return pkt;
+//    }
+
+    public void sendOne(byte[] ps, long ts90k) {
+        byte[] rtp = buildRtp(ps, ts90k, true);
+        socketSend(rtp);
+    }
+
+    private byte[] buildRtp(byte[] payload, long ts, boolean marker) {
+        byte[] pkt = new byte[12 + payload.length];
+        pkt[0] = (byte) 0x80;
+        pkt[1] = (byte) (payloadType | (marker ? 0x80 : 0));
+        pkt[2] = (byte) (seq.get() >> 8);
+        pkt[3] = (byte) seq.getAndIncrement();
+        pkt[4] = (byte) (ts >> 24);
+        pkt[5] = (byte) (ts >> 16);
+        pkt[6] = (byte) (ts >> 8);
+        pkt[7] = (byte) ts;
+        pkt[8] = (byte) (ssrc >> 24);
+        pkt[9] = (byte) (ssrc >> 16);
+        pkt[10] = (byte) (ssrc >> 8);
+        pkt[11] = (byte) ssrc;
+
+        System.arraycopy(payload, 0, pkt, 12, payload.length);
+        return pkt;
+    }
+
+
+    private void socketSend(byte[] pkt) {
+        try {
+            socket.send(new DatagramPacket(pkt, pkt.length, target));
+        } catch (Exception ignored) {}
+    }
+
+    public void close() {
+        socket.close();
+    }
+}

src/main/java/com/inspect/tcpserver/sip/gb28181/RtspClient.java

@@ -0,0 +1,74 @@
+package com.inspect.tcpserver.sip.gb28181;
+
+import org.bytedeco.ffmpeg.avcodec.AVPacket;
+import org.bytedeco.javacv.FFmpegFrameGrabber;
+
+import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.function.BiConsumer;
+
+public class RtspClient {
+
+    private final String url;
+    private FFmpegFrameGrabber grabber;
+    private final AtomicBoolean running = new AtomicBoolean(false);
+
+    public RtspClient(String url) {
+        this.url = url;
+    }
+
+    /**
+     * @param onH264 callback(h264AnnexB, pts90k)
+     */
+    public void start(BiConsumer<byte[], Long> onH264) throws Exception {
+        grabber = new FFmpegFrameGrabber(url);
+        grabber.setOption("rtsp_transport", "tcp");
+        grabber.setOption("stimeout", "5000000");
+        grabber.start();
+
+        running.set(true);
+
+        new Thread(() -> {
+            try {
+                while (running.get()) {
+                    AVPacket pkt = grabber.grabPacket();
+                    if (pkt == null || pkt.size() <= 0) {
+                        continue;
+                    }
+
+                    // 1️⃣ 提取 Annex-B H264
+                    byte[] annexB = H264AnnexBExtractor.extractFromAvPacket(pkt);
+                    if (annexB == null) {
+                        continue;
+                    }
+
+                    // 2️⃣ PTS → 90kHz
+                    long pts90k = ptsTo90k(pkt.pts(), grabber.getTimestamp());
+
+                    onH264.accept(annexB, pts90k);
+                }
+            } catch (Exception e) {
+                e.printStackTrace();
+            } finally {
+                stop();
+            }
+        }, "RtspClient-Thread").start();
+    }
+
+    private long ptsTo90k(long pts, double timeBase) {
+        if (pts <= 0 || timeBase <= 0) {
+            return System.nanoTime() / 11_111; // fallback
+        }
+        return (long) (pts * timeBase * 90_000);
+    }
+
+    public void stop() {
+        running.set(false);
+        try {
+            if (grabber != null) {
+                grabber.stop();
+                grabber.release();
+            }
+        } catch (Exception ignored) {
+        }
+    }
+}

src/main/java/com/inspect/tcpserver/sip/media/MediaSession.java

@@ -0,0 +1,45 @@
+package com.inspect.tcpserver.sip.media;
+
+import com.inspect.tcpserver.sip.media.rtcp.RtcpSrSender;
+import com.inspect.tcpserver.sip.media.rtp.RtpPacketizer;
+import com.inspect.tcpserver.sip.media.rtp.RtpSender;
+import com.inspect.tcpserver.sip.media.rtp.RtpTcpSender;
+import com.inspect.tcpserver.sip.media.rtp.RtpUdpSender;
+import com.inspect.tcpserver.sip.media.rtsp.RtspClient;
+
+public class MediaSession {
+
+    private final String remoteIp;
+    private final int remotePort;
+    private final long ssrc;
+    private final boolean tcp;
+    private final String rtspUrl;
+
+    public MediaSession(String remoteIp, int remotePort, long ssrc, boolean tcp, String rtspUrl) {
+        this.remoteIp = remoteIp;
+        this.remotePort = remotePort;
+        this.ssrc = ssrc;
+        this.tcp = tcp;
+        this.rtspUrl = rtspUrl;
+    }
+
+    public void start() throws Exception {
+        RtpSender sender = tcp
+                ? new RtpTcpSender(remoteIp, remotePort)
+                : new RtpUdpSender(remoteIp, remotePort);
+
+        // 先发 RTCP SR（B.6.1）
+        RtcpSrSender.send(sender.getControlStream(), ssrc);
+
+        // 启动 RTSP 拉流 → RTP
+        RtspClient rtspClient = new RtspClient(rtspUrl);
+        rtspClient.start(nal -> {
+            try {
+                RtpPacketizer.packetizerAndSend(nal, ssrc, sender);
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
+        });
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/media/SdpInfo.java

@@ -0,0 +1,138 @@
+package com.inspect.tcpserver.sip.media;
+
+import java.util.HashMap;
+import java.util.Map;
+
+public class SdpInfo {
+
+    /** 会话级 IP（c= 行） */
+    private String remoteIp;
+
+    /** 媒体端口（m=video） */
+    private int mediaPort;
+
+    /** RTP / TCP / UDP */
+    private Transport transport;
+
+    /** payload type，如 98 */
+    private int payloadType;
+
+    /** 编码，如 H264 */
+    private String codec;
+
+    /** 时钟频率，如 90000 */
+    private int clockRate;
+
+    /** SDP setup 属性（RFC4145） */
+    private String setup; // active / passive
+
+    /** SDP connection 属性 */
+    private String connection; // new
+
+    /** y= 行里的 SSRC */
+    private long ssrc;
+
+    /** 原始属性缓存（方便扩展） */
+    private final Map<String, String> attributes = new HashMap<>();
+
+    public enum Transport {
+        RTP_UDP,
+        RTP_TCP
+    }
+
+    public String getRemoteIp() {
+        return remoteIp;
+    }
+
+    public void setRemoteIp(String remoteIp) {
+        this.remoteIp = remoteIp;
+    }
+
+    public int getMediaPort() {
+        return mediaPort;
+    }
+
+    public void setMediaPort(int mediaPort) {
+        this.mediaPort = mediaPort;
+    }
+
+    public Transport getTransport() {
+        return transport;
+    }
+
+    public void setTransport(Transport transport) {
+        this.transport = transport;
+    }
+
+    public int getPayloadType() {
+        return payloadType;
+    }
+
+    public void setPayloadType(int payloadType) {
+        this.payloadType = payloadType;
+    }
+
+    public String getCodec() {
+        return codec;
+    }
+
+    public void setCodec(String codec) {
+        this.codec = codec;
+    }
+
+    public int getClockRate() {
+        return clockRate;
+    }
+
+    public void setClockRate(int clockRate) {
+        this.clockRate = clockRate;
+    }
+
+    public String getSetup() {
+        return setup;
+    }
+
+    public void setSetup(String setup) {
+        this.setup = setup;
+    }
+
+    public String getConnection() {
+        return connection;
+    }
+
+    public void setConnection(String connection) {
+        this.connection = connection;
+    }
+
+    public long getSsrc() {
+        return ssrc;
+    }
+
+    public void setSsrc(long ssrc) {
+        this.ssrc = ssrc;
+    }
+
+    public void putAttribute(String key, String value) {
+        attributes.put(key, value);
+    }
+
+    public String getAttribute(String key) {
+        return attributes.get(key);
+    }
+
+    @Override
+    public String toString() {
+        return "SdpInfo{" +
+                "remoteIp='" + remoteIp + '\'' +
+                ", mediaPort=" + mediaPort +
+                ", transport=" + transport +
+                ", payloadType=" + payloadType +
+                ", codec='" + codec + '\'' +
+                ", clockRate=" + clockRate +
+                ", setup='" + setup + '\'' +
+                ", connection='" + connection + '\'' +
+                ", ssrc=" + ssrc +
+                '}';
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/media/SdpParser.java

@@ -0,0 +1,92 @@
+package com.inspect.tcpserver.sip.media;
+
+import java.util.StringTokenizer;
+
+public class SdpParser {
+
+    public static SdpInfo parse(String sdp) {
+        SdpInfo info = new SdpInfo();
+
+        String[] lines = sdp.split("\\r?\\n");
+
+        for (String line : lines) {
+            line = line.trim();
+            if (line.isEmpty()) continue;
+
+            // ---------- 会话级 ----------
+            if (line.startsWith("c=")) {
+                // c=IN IP4 192.168.1.116
+                String[] parts = line.split("\\s+");
+                if (parts.length >= 3) {
+                    info.setRemoteIp(parts[2]);
+                }
+            }
+
+            // ---------- media ----------
+            else if (line.startsWith("m=video")) {
+                // m=video 50000 TCP/AVP 98
+                StringTokenizer st = new StringTokenizer(line);
+                st.nextToken(); // m=video
+
+                info.setMediaPort(Integer.parseInt(st.nextToken()));
+
+                String proto = st.nextToken();
+                if (proto.toUpperCase().contains("TCP")) {
+                    info.setTransport(SdpInfo.Transport.RTP_TCP);
+                } else {
+                    info.setTransport(SdpInfo.Transport.RTP_UDP);
+                }
+
+                info.setPayloadType(Integer.parseInt(st.nextToken()));
+            }
+
+            // ---------- rtpmap ----------
+            else if (line.startsWith("a=rtpmap")) {
+                // a=rtpmap:98 H264/90000
+                String value = line.substring("a=rtpmap:".length());
+                String[] parts = value.split("\\s+");
+                if (parts.length == 2) {
+                    String[] codecInfo = parts[1].split("/");
+                    info.setCodec(codecInfo[0]);
+                    info.setClockRate(Integer.parseInt(codecInfo[1]));
+                }
+            }
+
+            // ---------- setup ----------
+            else if (line.startsWith("a=setup:")) {
+                info.setSetup(line.substring("a=setup:".length()));
+            }
+
+            // ---------- connection ----------
+            else if (line.startsWith("a=connection:")) {
+                info.setConnection(line.substring("a=connection:".length()));
+            }
+
+            // ---------- fmtp ----------
+            else if (line.startsWith("a=fmtp:")) {
+                // 可留作扩展
+                info.putAttribute("fmtp", line);
+            }
+
+            // ---------- y= (SSRC) ----------
+            else if (line.startsWith("y=")) {
+                // y=0700000038
+                info.setSsrc(Long.parseLong(line.substring(2)));
+            }
+
+            // ---------- 其他属性 ----------
+            else if (line.startsWith("a=")) {
+                int idx = line.indexOf(':');
+                if (idx > 0) {
+                    info.putAttribute(
+                            line.substring(2, idx),
+                            line.substring(idx + 1)
+                    );
+                }
+            }
+        }
+
+        return info;
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/media/rtcp/RtcpPacket.java

@@ -0,0 +1,24 @@
+package com.inspect.tcpserver.sip.media.rtcp;
+
+import java.nio.ByteBuffer;
+
+public class RtcpPacket {
+
+    public static byte[] buildSr(long ssrc) {
+        ByteBuffer buf = ByteBuffer.allocate(28);
+
+        buf.put((byte) 0x80);
+        buf.put((byte) 200);
+        buf.putShort((short) 6);
+        buf.putInt((int) ssrc);
+
+        long ntp = System.currentTimeMillis() * 2208988800L;
+        buf.putLong(ntp);
+        buf.putInt(0);
+        buf.putInt(0);
+        buf.putInt(0);
+
+        return buf.array();
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/media/rtcp/RtcpSrSender.java

@@ -0,0 +1,13 @@
+package com.inspect.tcpserver.sip.media.rtcp;
+
+import java.io.OutputStream;
+
+public class RtcpSrSender {
+
+    public static void send(OutputStream out, long ssrc) throws Exception {
+        byte[] sr = RtcpPacket.buildSr(ssrc);
+        out.write(sr);
+        out.flush();
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/media/rtp/RtpPacket.java

@@ -0,0 +1,37 @@
+package com.inspect.tcpserver.sip.media.rtp;
+
+public class RtpPacket {
+
+    public static byte[] build(
+            int payloadType,
+            int seq,
+            int timestamp,
+            long ssrc,
+            byte[] payload,
+            boolean marker
+    ) {
+        int headerSize = 12;
+        byte[] packet = new byte[headerSize + payload.length];
+
+        packet[0] = (byte) 0x80;
+        packet[1] = (byte) (payloadType & 0x7F);
+        if (marker) {
+            packet[1] |= 0x80;
+        }
+
+        packet[2] = (byte) (seq >> 8);
+        packet[3] = (byte) seq;
+        packet[4] = (byte) (timestamp >> 24);
+        packet[5] = (byte) (timestamp >> 16);
+        packet[6] = (byte) (timestamp >> 8);
+        packet[7] = (byte) timestamp;
+        packet[8] = (byte) (ssrc >> 24);
+        packet[9] = (byte) (ssrc >> 16);
+        packet[10] = (byte) (ssrc >> 8);
+        packet[11] = (byte) ssrc;
+
+        System.arraycopy(payload, 0, packet, headerSize, payload.length);
+        return packet;
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/media/rtp/RtpPacketizer.java

@@ -0,0 +1,48 @@
+package com.inspect.tcpserver.sip.media.rtp;
+
+public class RtpPacketizer {
+
+    private static final int MTU = 1400;
+    private static int seq = 0;
+    private static int timestamp = 0;
+
+    public static void packetizerAndSend(byte[] nal, long ssrc, RtpSender sender) throws Exception {
+        if (nal.length <= MTU) {
+            byte[] pkt = RtpPacket.build(
+                    98, seq++, timestamp, ssrc, nal, true
+            );
+            sender.send(pkt, pkt.length);
+        } else {
+            // FU-A
+            int nalHeader = nal[0] & 0xFF;
+            int fuIndicator = (nalHeader & 0xE0) | 28;
+            int fuHeaderStart = 0x80 | (nalHeader & 0x1F);
+            int fuHeaderMid = nalHeader & 0x1F;
+            int fuHeaderEnd = 0x40 | (nalHeader & 0x1F);
+
+            int offset = 1;
+            boolean start = true;
+
+            while (offset < nal.length) {
+                int size = Math.min(MTU - 2, nal.length - offset);
+                byte[] payload = new byte[size + 2];
+
+                payload[0] = (byte) fuIndicator;
+                payload[1] = (byte) (start ? fuHeaderStart :
+                        (offset + size >= nal.length ? fuHeaderEnd : fuHeaderMid));
+
+                System.arraycopy(nal, offset, payload, 2, size);
+                offset += size;
+                start = false;
+
+                byte[] pkt = RtpPacket.build(
+                        98, seq++, timestamp, ssrc, payload, offset >= nal.length
+                );
+                sender.send(pkt, pkt.length);
+            }
+        }
+
+        timestamp += 3600;
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/media/rtp/RtpSender.java

@@ -0,0 +1,11 @@
+package com.inspect.tcpserver.sip.media.rtp;
+
+import java.io.OutputStream;
+
+public interface RtpSender {
+
+    void send(byte[] data, int len) throws Exception;
+
+    OutputStream getControlStream();
+}
+

src/main/java/com/inspect/tcpserver/sip/media/rtp/RtpTcpSender.java

@@ -0,0 +1,31 @@
+package com.inspect.tcpserver.sip.media.rtp;
+
+import java.io.OutputStream;
+import java.net.Socket;
+import java.nio.ByteBuffer;
+
+public class RtpTcpSender implements RtpSender {
+
+    private final Socket socket;
+    private final OutputStream out;
+
+    public RtpTcpSender(String ip, int port) throws Exception {
+        this.socket = new Socket(ip, port);
+        this.out = socket.getOutputStream();
+    }
+
+    @Override
+    public void send(byte[] data, int len) throws Exception {
+        ByteBuffer buf = ByteBuffer.allocate(len + 2);
+        buf.putShort((short) len);
+        buf.put(data, 0, len);
+        out.write(buf.array());
+        out.flush();
+    }
+
+    @Override
+    public OutputStream getControlStream() {
+        return out;
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/media/rtp/RtpUdpSender.java

@@ -0,0 +1,32 @@
+package com.inspect.tcpserver.sip.media.rtp;
+
+import java.io.ByteArrayOutputStream;
+import java.io.OutputStream;
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+import java.net.InetAddress;
+
+public class RtpUdpSender implements RtpSender {
+
+    private final DatagramSocket socket;
+    private final InetAddress addr;
+    private final int port;
+
+    public RtpUdpSender(String ip, int port) throws Exception {
+        this.socket = new DatagramSocket();
+        this.addr = InetAddress.getByName(ip);
+        this.port = port;
+    }
+
+    @Override
+    public void send(byte[] data, int len) throws Exception {
+        DatagramPacket packet = new DatagramPacket(data, len, addr, port);
+        socket.send(packet);
+    }
+
+    @Override
+    public OutputStream getControlStream() {
+        return new ByteArrayOutputStream(); // UDP 场景可忽略
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/media/rtsp/H264AnnexBExtractor.java

@@ -0,0 +1,21 @@
+package com.inspect.tcpserver.sip.media.rtsp;
+
+import org.bytedeco.javacv.Frame;
+
+import java.nio.ByteBuffer;
+
+public class H264AnnexBExtractor {
+
+    public static byte[] extract(Frame frame) {
+        if (frame.image == null || frame.image.length == 0) {
+            return null;
+        }
+
+        ByteBuffer buffer = (ByteBuffer) frame.image[0];
+        byte[] data = new byte[buffer.remaining()];
+        buffer.get(data);
+
+        return data;
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/media/rtsp/RtspClient.java

@@ -0,0 +1,33 @@
+package com.inspect.tcpserver.sip.media.rtsp;
+
+import org.bytedeco.javacv.FFmpegFrameGrabber;
+import org.bytedeco.javacv.Frame;
+
+import java.util.function.Consumer;
+
+public class RtspClient {
+
+    private final String url;
+
+    public RtspClient(String url) {
+        this.url = url;
+    }
+
+    public void start(Consumer<byte[]> onNal) throws Exception {
+        FFmpegFrameGrabber grabber = new FFmpegFrameGrabber(url);
+        grabber.setOption("rtsp_transport", "tcp");
+        grabber.start();
+
+        while (true) {
+            Frame frame = grabber.grabImage();
+            if (frame == null || frame.image == null) {
+                continue;
+            }
+
+            byte[] annexB = H264AnnexBExtractor.extract(frame);
+            if (annexB != null) {
+                onNal.accept(annexB);
+            }
+        }
+    }
+}

src/main/java/com/inspect/tcpserver/sip/service/SipClientService.java

@@ -1,6 +1,12 @@
 package com.inspect.tcpserver.sip.service;
 
+
+import com.inspect.tcpserver.sip.gb28181.MediaSession;
+import com.inspect.tcpserver.sip.gb28181.MediaSessionEx;
+import com.inspect.tcpserver.sip.gb28181.RtspClient;
 import com.inspect.tcpserver.sip.registry.SipEventRegistry;
+
+
 import com.inspect.tcpserver.sip.utils.DigestUtil;
 import com.inspect.tcpserver.sip.utils.SipXmlEnvelope;
 import com.inspect.tcpserver.sip.utils.SipXmlParser;
@@ -20,7 +26,7 @@ import javax.sip.message.MessageFactory;
 import javax.sip.message.Request;
 import javax.sip.message.Response;
 import java.io.BufferedReader;
-import java.io.IOException;
+
 import java.io.InputStreamReader;
 import java.io.UnsupportedEncodingException;
 import java.net.*;
@@ -833,7 +839,10 @@ public class SipClientService implements SipListener {
             } else if(Request.ACK.equals(request.getMethod())) {
                 // RFC 3261: The ACK request does not generate a response.
                 // ACK 是“事务内请求”，不是普通 SIP 方法,不生成任何 Response,ACK 是“事务内请求”，不是普通 SIP 方法
-                startRtspToRtp();
+
+                //Thread.sleep(30);
+                log.info("CALL startRtspToRtp");
+                //startRtspToRtp();
             }
             else {
                 Response notImpl = messageFactory.createResponse(Response.NOT_IMPLEMENTED, request);
@@ -853,32 +862,96 @@ public class SipClientService implements SipListener {
 
     private Process ffmpegProcess;
 
+//    private void startRtspToRtp() {
+//        try {
+//            String cmd =
+//                    "ffmpeg -rtsp_transport tcp " +
+//                            "-i \"rtsp://admin:wd19216811@192.168.1.244:554/h264/ch1/sub/av_stream\" " +
+//                            "-an -vcodec copy " +
+//                            "-f rtp -payload_type 96 " +
+//                            "\"rtp://192.168.1.116:50000?tcp\"";
+//
+//            ProcessBuilder pb = new ProcessBuilder(
+//                    "bash", "-c", cmd
+//            );
+//            pb.redirectErrorStream(true);
+//
+//            ffmpegProcess = pb.start();
+//
+//            new Thread(() -> {
+//                try (BufferedReader br =
+//                             new BufferedReader(new InputStreamReader(
+//                                     ffmpegProcess.getInputStream()))) {
+//                    String line;
+//                    while ((line = br.readLine()) != null) {
+//                        System.out.println("[FFmpeg] " + line);
+//                    }
+//                } catch (IOException ignored) {}
+//            }).start();
+//
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//        }
+//
+//        try {
+//            MediaSession session = new MediaSession(
+//                    "192.168.1.116",
+//                    50000,
+//                    1,
+//                    false,
+//                    "rtsp://admin:wd19216811@192.168.1.244:554/h264/ch1/sub/av_stream"
+//            );
+//        } catch (Exception e) {
+//
+//        }
+//
+//
+//    }
+
+//    private void startRtspToRtp() {
+//        try {
+//            MediaSession session = new MediaSession(
+//                    "192.168.1.116",
+//                    50000,
+//                    1
+//            );
+//
+//            session.startRtsp(
+//                    "rtsp://admin:wd19216811@192.168.1.244:554/h264/ch1/sub/av_stream"
+//            );
+//
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//        }
+//    }
+
     private void startRtspToRtp() {
         try {
-            String cmd =
-                    "ffmpeg -rtsp_transport tcp " +
-                            "-i \"rtsp://admin:wd19216811@192.168.1.244:554/h264/ch1/sub/av_stream\" " +
-                            "-an -vcodec copy " +
-                            "-f rtp -payload_type 96 " +
-                            "\"rtp://192.168.1.116:50000?tcp\"";
-
-            ProcessBuilder pb = new ProcessBuilder(
-                    "bash", "-c", cmd
+            MediaSessionEx session = new MediaSessionEx(
+                    "192.168.1.116",
+                    50000,
+                    1
             );
-            pb.redirectErrorStream(true);
+            //session.start();
 
-            ffmpegProcess = pb.start();
+            RtspClient client = new RtspClient(
+                    "rtsp://admin:wd19216811@192.168.1.244:554/h264/ch1/sub/av_stream"
+            );
 
-            new Thread(() -> {
-                try (BufferedReader br =
-                             new BufferedReader(new InputStreamReader(
-                                     ffmpegProcess.getInputStream()))) {
-                    String line;
-                    while ((line = br.readLine()) != null) {
-                        System.out.println("[FFmpeg] " + line);
-                    }
-                } catch (IOException ignored) {}
-            }).start();
+//            client.start((h264, pts90k) -> {
+//                try {
+//                    session.onH264Frame(h264, pts90k);
+//                } catch (Exception e) {
+//                    e.printStackTrace();
+//                }
+//            });
+            client.start((h264, pts90k) -> {
+                try {
+                    session.onH264Frame(h264, pts90k);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+            });
 
         } catch (Exception e) {
             e.printStackTrace();

src/main/java/com/inspect/tcpserver/sip/stream/H264AnnexBExtractor.java

@@ -0,0 +1,35 @@
+package com.inspect.tcpserver.sip.stream;
+
+import org.bytedeco.ffmpeg.avcodec.AVPacket;
+import org.bytedeco.javacpp.BytePointer;
+
+public class H264AnnexBExtractor {
+
+    private static final byte[] START_CODE = {0x00, 0x00, 0x00, 0x01};
+
+    public static byte[] extractFromAvPacket(AVPacket pkt) {
+        BytePointer dataPtr = pkt.data();
+        int size = pkt.size();
+
+        if (dataPtr == null || size <= 0) {
+            return null;
+        }
+
+        byte[] raw = new byte[size];
+        dataPtr.get(raw);
+
+        // 如果已经是 Annex-B（00 00 00 01）
+        if (raw.length >= 4 &&
+                raw[0] == 0x00 && raw[1] == 0x00 &&
+                raw[2] == 0x00 && raw[3] == 0x01) {
+            return raw;
+        }
+
+        // AVCC → Annex-B（简单处理：前置 start code）
+        byte[] annexB = new byte[START_CODE.length + raw.length];
+        System.arraycopy(START_CODE, 0, annexB, 0, START_CODE.length);
+        System.arraycopy(raw, 0, annexB, START_CODE.length, raw.length);
+        return annexB;
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/stream/MediaSession.java

@@ -0,0 +1,35 @@
+package com.inspect.tcpserver.sip.stream;
+
+import com.inspect.tcpserver.sip.stream.ps.PsMuxer;
+
+public class MediaSession {
+
+    private final PsMuxer psMuxer;
+    private final RtpSender rtpSender;
+    private RtspClient rtspClient;
+
+    public MediaSession(String remoteIp, int remotePort, int ssrc) throws Exception {
+        this.psMuxer = new PsMuxer();
+        this.rtpSender = new RtpSender(remoteIp, remotePort, ssrc);
+    }
+
+    public void startRtsp(String rtspUrl) throws Exception {
+        rtspClient = new RtspClient(rtspUrl);
+
+        rtspClient.start(h264 -> {
+            try {
+                byte[] ps = psMuxer.mux(h264);
+                rtpSender.sendPs(ps);
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
+        });
+    }
+
+    public void stop() {
+        if (rtspClient != null) {
+            rtspClient.stop();
+        }
+        rtpSender.close();
+    }
+}

src/main/java/com/inspect/tcpserver/sip/stream/RtpClock.java

@@ -0,0 +1,15 @@
+package com.inspect.tcpserver.sip.stream;
+
+public class RtpClock {
+
+    private static final long CLOCK_90K = 90000;
+    private static final long FRAME_INTERVAL = 3600; // 40ms
+
+    private long timestamp = 0;
+
+    public long next() {
+        timestamp += FRAME_INTERVAL;
+        return timestamp;
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/stream/RtpPacket.java

@@ -0,0 +1,39 @@
+package com.inspect.tcpserver.sip.stream;
+
+public class RtpPacket {
+
+    public static final int HEADER_SIZE = 12;
+
+    public byte[] buffer;
+    public int length;
+
+    public RtpPacket(int payloadSize) {
+        buffer = new byte[HEADER_SIZE + payloadSize];
+    }
+
+    public void setHeader(
+            int payloadType,
+            int seq,
+            long timestamp,
+            int ssrc,
+            boolean marker
+    ) {
+        buffer[0] = (byte) 0x80;
+        buffer[1] = (byte) (payloadType & 0x7F);
+        if (marker) buffer[1] |= 0x80;
+
+        buffer[2] = (byte) (seq >> 8);
+        buffer[3] = (byte) (seq);
+
+        buffer[4] = (byte) (timestamp >> 24);
+        buffer[5] = (byte) (timestamp >> 16);
+        buffer[6] = (byte) (timestamp >> 8);
+        buffer[7] = (byte) (timestamp);
+
+        buffer[8] = (byte) (ssrc >> 24);
+        buffer[9] = (byte) (ssrc >> 16);
+        buffer[10] = (byte) (ssrc >> 8);
+        buffer[11] = (byte) (ssrc);
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/stream/RtpSender.java

@@ -0,0 +1,46 @@
+package com.inspect.tcpserver.sip.stream;
+
+import lombok.extern.slf4j.Slf4j;
+
+@Slf4j
+public class RtpSender {
+
+    private static final int MTU = 1400;
+    private static final int PAYLOAD_TYPE = 98;
+
+    private int seq = 0;
+    private final int ssrc;
+    private final RtpSocket socket;
+    private final RtpClock clock = new RtpClock();
+
+    public RtpSender(String ip, int port, int ssrc) throws Exception {
+        this.ssrc = ssrc;
+        this.socket = new RtpSocket(ip, port);
+    }
+
+    public void sendPs(byte[] ps) throws Exception {
+        long ts = clock.next();
+
+        int offset = 0;
+        while (offset < ps.length) {
+            int size = Math.min(MTU, ps.length - offset);
+            boolean marker = (offset + size) >= ps.length;
+
+            RtpPacket pkt = new RtpPacket(size);
+            pkt.setHeader(PAYLOAD_TYPE, seq++, ts, ssrc, marker);
+
+            System.arraycopy(ps, offset, pkt.buffer, RtpPacket.HEADER_SIZE, size);
+            pkt.length = RtpPacket.HEADER_SIZE + size;
+
+
+            socket.send(pkt.buffer, pkt.length);
+            offset += size;
+            log.info("sendPs offset = {}", offset);
+        }
+    }
+
+    public void close() {
+        socket.close();
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/stream/RtpSocket.java

@@ -0,0 +1,26 @@
+package com.inspect.tcpserver.sip.stream;
+
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+import java.net.InetSocketAddress;
+
+public class RtpSocket {
+
+    private final DatagramSocket socket;
+    private final InetSocketAddress remote;
+
+    public RtpSocket(String ip, int port) throws Exception {
+        socket = new DatagramSocket();
+        remote = new InetSocketAddress(ip, port);
+    }
+
+    public void send(byte[] data, int len) throws Exception {
+        DatagramPacket packet = new DatagramPacket(data, len, remote);
+        socket.send(packet);
+    }
+
+    public void close() {
+        socket.close();
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/stream/RtspClient.java

@@ -0,0 +1,59 @@
+package com.inspect.tcpserver.sip.stream;
+
+import org.bytedeco.ffmpeg.avcodec.AVPacket;
+import org.bytedeco.javacv.FFmpegFrameGrabber;
+
+import java.nio.ByteBuffer;
+import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.function.Consumer;
+
+public class RtspClient {
+
+    private final String url;
+    private FFmpegFrameGrabber grabber;
+    private final AtomicBoolean running = new AtomicBoolean(false);
+
+    public RtspClient(String url) {
+        this.url = url;
+    }
+
+    public void start(Consumer<byte[]> onH264) throws Exception {
+        grabber = new FFmpegFrameGrabber(url);
+        grabber.setOption("rtsp_transport", "tcp");
+        grabber.setOption("stimeout", "5000000");
+        grabber.start();
+
+        running.set(true);
+
+        new Thread(() -> {
+            try {
+                while (running.get()) {
+                    AVPacket pkt = grabber.grabPacket();
+                    if (pkt == null || pkt.size() <= 0) {
+                        continue;
+                    }
+
+                    byte[] annexB = H264AnnexBExtractor.extractFromAvPacket(pkt);
+                    if (annexB != null) {
+                        onH264.accept(annexB);
+                    }
+                }
+            } catch (Exception e) {
+                e.printStackTrace();
+            } finally {
+                stop();
+            }
+        }, "RtspClient-Thread").start();
+    }
+
+    public void stop() {
+        running.set(false);
+        try {
+            if (grabber != null) {
+                grabber.stop();
+                grabber.release();
+            }
+        } catch (Exception ignored) {
+        }
+    }
+}

src/main/java/com/inspect/tcpserver/sip/stream/ps/PsConstants.java

@@ -0,0 +1,15 @@
+package com.inspect.tcpserver.sip.stream.ps;
+
+public final class PsConstants {
+
+    public static final int PACK_START_CODE = 0x000001BA;
+    public static final int SYSTEM_HEADER_START_CODE = 0x000001BB;
+    public static final int PROGRAM_STREAM_MAP = 0x000001BC;
+    public static final int PES_VIDEO_START_CODE = 0x000001E0;
+
+    public static final int STREAM_ID_VIDEO = 0xE0;
+    public static final long CLOCK_90K = 90000L;
+
+    private PsConstants() {}
+}
+

src/main/java/com/inspect/tcpserver/sip/stream/ps/PsMuxer.java

@@ -0,0 +1,28 @@
+package com.inspect.tcpserver.sip.stream.ps;
+
+import java.io.ByteArrayOutputStream;
+
+public class PsMuxer {
+
+    private boolean headerSent = false;
+    private long scr = 0;
+
+    public byte[] mux(byte[] h264) throws Exception {
+        ByteArrayOutputStream out = new ByteArrayOutputStream();
+
+        scr += 3600;
+
+        if (!headerSent) {
+            out.write(PsPackHeader.create(scr));
+            out.write(PsSystemHeader.create());
+            out.write(PsProgramStreamMap.create());
+            headerSent = true;
+        }
+
+        out.write(PsPackHeader.create(scr));
+        out.write(PsPesPacket.create(h264, scr));
+
+        return out.toByteArray();
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/stream/ps/PsPackHeader.java

@@ -0,0 +1,27 @@
+package com.inspect.tcpserver.sip.stream.ps;
+
+import java.io.ByteArrayOutputStream;
+
+public class PsPackHeader {
+
+    public static byte[] create(long scr) throws Exception {
+        ByteArrayOutputStream out = new ByteArrayOutputStream();
+
+        out.write(new byte[]{0, 0, 1, (byte) 0xBA});
+
+        long b = scr & 0x1FFFFFFFFL;
+
+        out.write((byte) (0x44 | ((b >> 27) & 0x38)));
+        out.write((byte) (b >> 19));
+        out.write((byte) (0x04 | ((b >> 14) & 0xF8)));
+        out.write((byte) (b >> 6));
+        out.write((byte) (0x04 | ((b << 2) & 0xF8)));
+
+        out.write(0x01);
+        out.write(new byte[]{0x00, 0x01, (byte) 0x89, (byte) 0xC3});
+        out.write(0xF8);
+
+        return out.toByteArray();
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/stream/ps/PsPesPacket.java

@@ -0,0 +1,35 @@
+package com.inspect.tcpserver.sip.stream.ps;
+
+import java.io.ByteArrayOutputStream;
+
+public class PsPesPacket {
+
+    public static byte[] create(byte[] es, long pts) throws Exception {
+        ByteArrayOutputStream out = new ByteArrayOutputStream();
+
+        out.write(new byte[]{0, 0, 1, (byte) 0xE0});
+
+        int len = es.length + 8;
+        out.write((len >> 8) & 0xFF);
+        out.write(len & 0xFF);
+
+        out.write(0x80);
+        out.write(0x80);
+        out.write(0x05);
+
+        writePts(out, pts);
+        out.write(es);
+
+        return out.toByteArray();
+    }
+
+    private static void writePts(ByteArrayOutputStream out, long pts) {
+        long v = pts & 0x1FFFFFFFFL;
+        out.write((byte) (0x21 | ((v >> 29) & 0x0E)));
+        out.write((byte) (v >> 22));
+        out.write((byte) (0x01 | ((v >> 14) & 0xFE)));
+        out.write((byte) (v >> 7));
+        out.write((byte) (0x01 | ((v << 1) & 0xFE)));
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/stream/ps/PsProgramStreamMap.java

@@ -0,0 +1,26 @@
+package com.inspect.tcpserver.sip.stream.ps;
+
+import java.io.ByteArrayOutputStream;
+
+public class PsProgramStreamMap {
+
+    public static byte[] create() throws Exception {
+        ByteArrayOutputStream out = new ByteArrayOutputStream();
+
+        out.write(new byte[]{0, 0, 1, (byte) 0xBC});
+        out.write(new byte[]{0x00, 0x12});
+
+        out.write(0xE0);
+        out.write(new byte[]{0x00, 0x00});
+        out.write(new byte[]{0x00, 0x08});
+
+        out.write(0x1B); // H264
+        out.write(PsConstants.STREAM_ID_VIDEO);
+        out.write(new byte[]{0x00, 0x00});
+
+        out.write(new byte[]{0, 0, 0, 0}); // CRC
+
+        return out.toByteArray();
+    }
+}
+

src/main/java/com/inspect/tcpserver/sip/stream/ps/PsSystemHeader.java

@@ -0,0 +1,21 @@
+package com.inspect.tcpserver.sip.stream.ps;
+
+import java.io.ByteArrayOutputStream;
+
+public class PsSystemHeader {
+
+    public static byte[] create() throws Exception {
+        ByteArrayOutputStream out = new ByteArrayOutputStream();
+
+        out.write(new byte[]{0, 0, 1, (byte) 0xBB});
+        out.write(new byte[]{0x00, 0x0C});
+
+        out.write(new byte[]{(byte) 0x80, 0x04, (byte) 0xE4});
+        out.write(0x04);
+        out.write(0xE1);
+        out.write(new byte[]{0x7F, (byte) 0xE0, 0x7F});
+
+        return out.toByteArray();
+    }
+}
+

src/main/resources/application-dev.yml

@@ -52,7 +52,7 @@ sip:
   domain: 192.168.1.116        # 平台SIP服务IP或域名
   port: 5060
   transport: tcp               # 也可以为udp
-  local-ip: 192.168.1.8      # 本服务的外网或可达IP
+  local-ip: 192.168.1.97      # 本服务的外网或可达IP
   local-port: 5061
   expires: 3600