对时间配置统一改成time.Duration类型

Merge pull request #79 from yangchao2015/v4
调整和更新GB轨迹订阅和获取
2025-12-24 13:27:57 +08:00 · 2023-02-02 12:03:44 +08:00 · 2023-02-01 16:59:20 +08:00 · 2023-02-01 16:07:45 +08:00 · 2023-01-18 21:03:08 +08:00 · 2023-01-10 09:24:27 +08:00
12 changed files with 860 additions and 457 deletions
--- a/README.md
+++ b/README.md
@@ -19,30 +19,31 @@ _ "m7s.live/plugin/gb28181/v4"
 ```yaml
 gb28181:
  autoinvite:     true
+  position:
+    autosubposition: false #是否自动订阅定位
+    expires: 3600s #订阅周期(单位：秒)，默认3600
+    interval: 6s #订阅间隔（单位：秒），默认6
  prefetchrecord: false
  udpcachesize:   0
  sipnetwork:     udp
-  sipip:          
+  sipip:          ""
  sipport:        5060
  serial:         "34020000002000000001"
  realm:          "3402000000"
  username:       ""
  password:       ""
  
-  acktimeout:        10
-  registervalidity:  60
-  registerinterval:  60
-  heartbeatinterval: 60
-  heartbeatretry:    3
+  registervalidity:  60s
  
-  mediaip:          
+  mediaip:          ""
  mediaport:        58200
  mediaidletimeout: 30
  medianetwork:     udp
-  
-  removebaninterval: 600
+  mediaportmin:     0
+  meidaportmax:     0
+
+  removebaninterval: 10m
  loglevel:         info
-  audioenable:       true
 ```

 - `AutoInvite`     bool 表示自动发起invite，当Server（SIP）接收到设备信息时，立即向设备发送invite命令获取流
@@ -57,23 +58,21 @@ gb28181:
 - `Username`   string sip 服务器账号
 - `Password`   string sip 服务器密码

- `AckTimeout`        uint16 sip 服务应答超时，单位秒
- `RegisterValidity`  int    注册有效期，单位秒，默认 3600
- `RegisterInterval`  int    注册间隔，单位秒，默认 60
- `HeartbeatInterval` int    心跳间隔，单位秒，默认 60
- `HeartbeatRetry`    int    心跳超时次数，默认 3
+- `RegisterValidity`  time.Duration    注册有效期，单位秒，默认 60

 * 媒体服务器配置
 - `MediaIP`          string 媒体服务器地址 默认 自动适配设备网段
 - `MediaPort`        uint16 媒体服务器端口
 - `MediaNetwork`     string 媒体传输协议，默认UDP，可选TCP
 - `MediaIdleTimeout` uint16 推流超时时间，超过则断开链接，让设备重连
-
- `AudioEnable`       bool 是否开启音频
- `LogLevel`        string 日志级别，默认 info（trace，debug，info，warn，error，fatal, panic）
- `RemoveBanInterval` int  定时移除注册失败的设备黑名单，单位秒，默认10分钟（600秒）
+- `MediaPortMin`     uint16 媒体服务器端口范围最小值
+- `MediaPortMax`     uint16 媒体服务器端口范围最大值
+- `LogLevel`          string 日志级别，默认 info（trace，debug，info，warn，error，fatal, panic）
+- `RemoveBanInterval` time.Duration  定时移除注册失败的设备黑名单，单位秒，默认10分钟（600秒）
 - `UdpCacheSize`      int  表示UDP缓存大小，默认为0，不开启。仅当TCP关闭，切缓存大于0时才开启，会最多缓存最多N个包，并排序，修复乱序造成的无法播放问题，注意开启后，会有一定的性能损耗，并丢失部分包。

+**如果配置了端口范围，将采用范围端口机制，每一个流对应一个端口
+
 **注意某些摄像机没有设置用户名的地方，摄像机会以自身的国标id作为用户名，这个时候m7s会忽略使用摄像机的用户名，忽略配置的用户名**
 如果设备配置了错误的用户名和密码，连续三次上报错误后，m7s会记录设备id，并在10分钟内禁止设备注册

@@ -126,12 +125,12 @@ type Device struct {

 `/gb28181/api/invite`

-参数名 | 必传 | 含义
-|----|---|---
-id|是 | 设备ID
-channel|是|通道编号
-startTime|否|开始时间（纯数字Unix时间戳）
-endTime|否|结束时间（纯数字Unix时间戳）
+| 参数名    | 必传 | 含义                         |
+| --------- | ---- | ---------------------------- |
+| id        | 是   | 设备ID                       |
+| channel   | 是   | 通道编号                     |
+| startTime | 否   | 开始时间（纯数字Unix时间戳） |
+| endTime   | 否   | 结束时间（纯数字Unix时间戳） |

 返回200代表成功

@@ -139,38 +138,38 @@ endTime|否|结束时间（纯数字Unix时间戳）

 `/gb28181/api/bye`

-参数名 | 必传 | 含义
-|----|---|---
-id|是 | 设备ID
-channel|是|通道编号
+| 参数名  | 必传 | 含义     |
+| ------- | ---- | -------- |
+| id      | 是   | 设备ID   |
+| channel | 是   | 通道编号 |

 ### 发送控制命令

 `/gb28181/api/control`

-参数名 | 必传 | 含义
-|----|---|---
-id|是 | 设备ID
-channel|是|通道编号
-ptzcmd|是|PTZ控制指令
+| 参数名  | 必传 | 含义        |
+| ------- | ---- | ----------- |
+| id      | 是   | 设备ID      |
+| channel | 是   | 通道编号    |
+| ptzcmd  | 是   | PTZ控制指令 |

 ### 查询录像

 `/gb28181/api/records`

-参数名 | 必传 | 含义
-|----|---|---
-id|是 | 设备ID
-channel|是|通道编号
-startTime|否|开始时间（字符串，格式：2021-7-23T12:00:00）
-endTime|否|结束时间（字符串格式同上）
+| 参数名    | 必传 | 含义                                         |
+| --------- | ---- | -------------------------------------------- |
+| id        | 是   | 设备ID                                       |
+| channel   | 是   | 通道编号                                     |
+| startTime | 否   | 开始时间（字符串，格式：2021-7-23T12:00:00） |
+| endTime   | 否   | 结束时间（字符串格式同上）                   |

 ### 移动位置订阅

 `/gb28181/api/position`

-参数名 | 必传 | 含义
-|----|---|---
-id|是 | 设备ID
-expires|是|订阅周期（秒）
-interval|是|订阅间隔（秒）
+| 参数名   | 必传 | 含义           |
+| -------- | ---- | -------------- |
+| id       | 是   | 设备ID         |
+| expires  | 是   | 订阅周期（秒） |
+| interval | 是   | 订阅间隔（秒） |
--- a/channel.go
+++ b/channel.go
@@ -1,16 +1,18 @@
 package gb28181

 import (
+	"errors"
 	"fmt"
 	"math/rand"
 	"net/http"
 	"strconv"
 	"strings"
-	"sync/atomic"
+	"sync"
 	"time"

 	"github.com/ghettovoice/gosip/sip"
 	"go.uber.org/zap"
+	. "m7s.live/engine/v4"
 	"m7s.live/plugin/gb28181/v4/utils"
 )

@@ -24,7 +26,7 @@ type ChannelEx struct {
 	RecordEndTime   string
 	recordStartTime time.Time
 	recordEndTime   time.Time
-	state           int32
+	liveInviteLock  sync.Mutex
 	tcpPortIndex    uint16
 	GpsTime         time.Time //gps时间
 	Longitude       string    //经度
@@ -41,6 +43,7 @@ type Channel struct {
 	Owner        string
 	CivilCode    string
 	Address      string
+	Port         int
 	Parental     int
 	SafetyWay    int
 	RegisterWay  int
@@ -50,12 +53,35 @@ type Channel struct {
 	*ChannelEx              //自定义属性
 }

+func (c *Channel) Copy(v *Channel) {
+	if v == nil {
+		return
+	}
+
+	c.DeviceID = v.DeviceID
+	c.ParentID = v.ParentID
+	c.Name = v.Name
+	c.Manufacturer = v.Manufacturer
+	c.Model = v.Model
+	c.Owner = v.Owner
+	c.CivilCode = v.CivilCode
+	c.Address = v.Address
+	c.Parental = v.Parental
+	c.SafetyWay = v.SafetyWay
+	c.RegisterWay = v.RegisterWay
+	c.Secrecy = v.Secrecy
+	c.Status = v.Status
+	c.Status = v.Status
+	c.ChannelEx = v.ChannelEx
+}
+
 func (c *Channel) CreateRequst(Method sip.RequestMethod) (req sip.Request) {
 	d := c.device
 	d.sn++

 	callId := sip.CallID(utils.RandNumString(10))
 	userAgent := sip.UserAgentHeader("Monibuca")
+	maxForwards := sip.MaxForwards(70) //增加max-forwards为默认值 70
 	cseq := sip.CSeq{
 		SeqNo:      uint32(d.sn),
 		MethodName: Method,
@@ -70,9 +96,17 @@ func (c *Channel) CreateRequst(Method sip.RequestMethod) (req sip.Request) {
 		},
 		Params: sip.NewParams().Add("tag", sip.String{Str: utils.RandNumString(9)}),
 	}
+	//非同一域的目标地址需要使用@host
+	host := conf.Realm
+	if c.DeviceID[0:9] != host {
+		deviceIp := d.NetAddr
+		deviceIp = deviceIp[0:strings.LastIndex(deviceIp, ":")]
+		host = fmt.Sprintf("%s:%d", deviceIp, c.Port)
+	}
+
 	channelAddr := sip.Address{
 		//DisplayName: sip.String{Str: d.serverConfig.Serial},
-		Uri: &sip.SipUri{FUser: sip.String{Str: c.DeviceID}, FHost: conf.Realm},
+		Uri: &sip.SipUri{FUser: sip.String{Str: c.DeviceID}, FHost: host},
 	}
 	req = sip.NewRequest(
 		"",
@@ -85,6 +119,7 @@ func (c *Channel) CreateRequst(Method sip.RequestMethod) (req sip.Request) {
 			&callId,
 			&userAgent,
 			&cseq,
+			&maxForwards,
 			serverAddr.AsContactHeader(),
 		},
 		"",
@@ -114,7 +149,7 @@ func (channel *Channel) QueryRecord(startTime, endTime string) int {
 		<EndTime>%s</EndTime>
 		<Secrecy>0</Secrecy>
 		<Type>all</Type>
-		</Query>`, d.sn, d.ID, startTime, endTime)
+		</Query>`, d.sn, channel.DeviceID, startTime, endTime)
 	request.SetBody(body, true)
 	resp, err := d.SipRequestForResponse(request)
 	if err != nil {
@@ -133,7 +168,7 @@ func (channel *Channel) Control(PTZCmd string) int {
 		<SN>%d</SN>
 		<DeviceID>%s</DeviceID>
 		<PTZCmd>%s</PTZCmd>
-		</Control>`, d.sn, d.ID, PTZCmd)
+		</Control>`, d.sn, channel.DeviceID, PTZCmd)
 	request.SetBody(body, true)
 	resp, err := d.SipRequestForResponse(request)
 	if err != nil {
@@ -143,8 +178,8 @@ func (channel *Channel) Control(PTZCmd string) int {
 }

 type InviteOptions struct {
-	Start     string
-	End       string
+	Start     int
+	End       int
 	dump      string
 	ssrc      string
 	SSRC      uint32
@@ -152,23 +187,32 @@ type InviteOptions struct {
 }

 func (o InviteOptions) IsLive() bool {
-	return o.Start == ""
+	return o.Start == 0 || o.End == 0
 }

 func (o InviteOptions) Record() bool {
-	return o.Start != ""
+	return !o.IsLive()
 }

-func (o InviteOptions) Validate() bool {
-	sint, err1 := strconv.ParseInt(o.Start, 10, 0)
-	eint, err2 := strconv.ParseInt(o.End, 10, 0)
-	if err1 != nil || err2 != nil {
-		return false
+func (o *InviteOptions) Validate(start, end string) error {
+	if start != "" {
+		sint, err1 := strconv.ParseInt(start, 10, 0)
+		if err1 != nil {
+			return err1
+		}
+		o.Start = int(sint)
 	}
-	if sint >= eint {
-		return false
+	if end != "" {
+		eint, err2 := strconv.ParseInt(end, 10, 0)
+		if err2 != nil {
+			return err2
+		}
+		o.End = int(eint)
 	}
-	return true
+	if o.Start >= o.End {
+		return errors.New("start < end")
+	}
+	return nil
 }

 func (o InviteOptions) String() string {
@@ -234,14 +278,14 @@ f = v/a/编码格式/码率大小/采样率
 f字段中视、音频参数段之间不需空格分割。
 可使用f字段中的分辨率参数标识同一设备不同分辨率的码流。
 */
-func (channel *Channel) Invite(opt InviteOptions) (code int) {
+func (channel *Channel) Invite(opt InviteOptions) (code int, err error) {
 	if opt.IsLive() {
-		if !atomic.CompareAndSwapInt32(&channel.state, 0, 1) {
-			return 304
+		if !channel.liveInviteLock.TryLock() {
+			return 304, nil
 		}
 		defer func() {
 			if code != 200 {
-				atomic.StoreInt32(&channel.state, 0)
+				channel.liveInviteLock.Unlock()
 			}
 		}()
 	}
@@ -251,29 +295,52 @@ func (channel *Channel) Invite(opt InviteOptions) (code int) {
 	s := "Play"
 	opt.CreateSSRC()
 	if opt.Record() {
-		if !opt.Validate() {
-			return 400
-		}
 		s = "Playback"
-		streamPath = fmt.Sprintf("%s/%s/%s-%s", d.ID, channel.DeviceID, opt.Start, opt.End)
+		streamPath = fmt.Sprintf("%s/%s/%d-%d", d.ID, channel.DeviceID, opt.Start, opt.End)
+	}
+	if opt.dump == "" {
+		opt.dump = conf.DumpPath
 	}
-
 	// size := 1
 	// fps := 15
 	// bitrate := 200
 	// fmt.Sprintf("f=v/2/%d/%d/1/%da///", size, fps, bitrate)
-
+	publisher := &GBPublisher{
+		InviteOptions: opt,
+		channel:       channel,
+	}
 	protocol := ""
-	if opt.MediaPort == 0 {
-		opt.MediaPort = conf.MediaPort
-		if conf.IsMediaNetworkTCP() {
-			protocol = "TCP/"
-			opt.MediaPort = conf.MediaPort + channel.tcpPortIndex
-			if channel.tcpPortIndex++; channel.tcpPortIndex >= conf.MediaPortMax {
-				channel.tcpPortIndex = 0
+	if conf.IsMediaNetworkTCP() {
+		protocol = "TCP/"
+		if conf.tcpPorts.Valid {
+			opt.MediaPort, err = publisher.ListenTCP()
+			if err != nil {
+				return 500, err
 			}
+		} else if opt.MediaPort == 0 {
+			opt.MediaPort = conf.MediaPort
+		}
+	} else {
+		if conf.udpPorts.Valid {
+			opt.MediaPort, err = publisher.ListenUDP()
+			if err != nil {
+				code = 500
+				return
+			}
+		} else if opt.MediaPort == 0 {
+			opt.MediaPort = conf.MediaPort
 		}
 	}
+	// if opt.MediaPort == 0 {
+	// 	opt.MediaPort = conf.MediaPort
+	// 	if conf.IsMediaNetworkTCP() {
+	// 		protocol = "TCP/"
+	// 		opt.MediaPort = conf.MediaPort + channel.tcpPortIndex
+	// 		if channel.tcpPortIndex++; channel.tcpPortIndex >= conf.MediaPortMax {
+	// 			channel.tcpPortIndex = 0
+	// 		}
+	// 	}
+	// }
 	sdpInfo := []string{
 		"v=0",
 		fmt.Sprintf("o=%s 0 0 IN IP4 %s", channel.DeviceID, d.mediaIP),
@@ -287,9 +354,9 @@ func (channel *Channel) Invite(opt InviteOptions) (code int) {
 		"y=" + opt.ssrc,
 		"",
 	}
-	// if config.IsMediaNetworkTCP() {
-	// 	sdpInfo = append(sdpInfo, "a=setup:passive", "a=connection:new")
-	// }
+	if conf.IsMediaNetworkTCP() {
+		sdpInfo = append(sdpInfo, "a=setup:passive", "a=connection:new")
+	}
 	invite := channel.CreateRequst(sip.INVITE)
 	contentType := sip.ContentType("application/sdp")
 	invite.AppendHeader(&contentType)
@@ -300,14 +367,14 @@ func (channel *Channel) Invite(opt InviteOptions) (code int) {
 		HeaderName: "Subject", Contents: fmt.Sprintf("%s:%s,%s:0", channel.DeviceID, opt.ssrc, conf.Serial),
 	}
 	invite.AppendHeader(&subject)
-	response, err := d.SipRequestForResponse(invite)
-	if response == nil || err != nil {
-		return http.StatusRequestTimeout
+	publisher.inviteRes, err = d.SipRequestForResponse(invite)
+	if err != nil {
+		return http.StatusRequestTimeout, err
 	}
-	plugin.Info(fmt.Sprintf("Channel :%s invite response status code: %d", channel.DeviceID, response.StatusCode()))
-	code = int(response.StatusCode())
+	code = int(publisher.inviteRes.StatusCode())
+	plugin.Info(fmt.Sprintf("Channel :%s invite response status code: %d", channel.DeviceID, code))
 	if code == 200 {
-		ds := strings.Split(response.Body(), "\r\n")
+		ds := strings.Split(publisher.inviteRes.Body(), "\r\n")
 		for _, l := range ds {
 			if ls := strings.Split(l, "="); len(ls) > 1 {
 				if ls[0] == "y" && len(ls[1]) > 0 {
@@ -320,21 +387,14 @@ func (channel *Channel) Invite(opt InviteOptions) (code int) {
 				}
 			}
 		}
-		if opt.dump == "" {
-			opt.dump = conf.DumpPath
-		}
-		publisher := &GBPublisher{
-			InviteOptions: opt,
-			channel:       channel,
-			inviteRes:     &response,
-		}
 		if conf.UdpCacheSize > 0 && !conf.IsMediaNetworkTCP() {
 			publisher.udpCache = utils.NewPqRtp()
 		}
-		if plugin.Publish(streamPath, publisher) != nil {
-			return 403
+		if err = plugin.Publish(streamPath, publisher); err != nil {
+			code = 403
+			return
 		}
-		ack := sip.NewAckRequest("", invite, response, "", nil)
+		ack := sip.NewAckRequest("", invite, publisher.inviteRes, "", nil)
 		srv.Send(ack)
 	} else if opt.IsLive() && conf.AutoInvite {
 		time.AfterFunc(time.Second*5, func() {
@@ -345,6 +405,11 @@ func (channel *Channel) Invite(opt InviteOptions) (code int) {
 }

 func (channel *Channel) Bye(live bool) int {
+	d := channel.device
+	streamPath := fmt.Sprintf("%s/%s", d.ID, channel.DeviceID)
+	if s := Streams.Get(streamPath); s != nil {
+		s.Close()
+	}
 	if live && channel.LivePublisher != nil {
 		return channel.LivePublisher.Bye()
 	}
--- a/device.go
+++ b/device.go
@@ -2,8 +2,10 @@ package gb28181

 import (
 	"context"
+	"encoding/json"
 	"fmt"
 	"net/http"
+	"os"
 	"strings"
 	"sync"
 	"time"
@@ -58,7 +60,6 @@ type Device struct {
 	addr            sip.Address
 	sipIP           string //设备对应网卡的服务器ip
 	mediaIP         string //设备对应网卡的服务器ip
-	tx              *sip.ServerTransaction
 	NetAddr         string
 	channelMap      map[string]*Channel
 	channelMutex    sync.RWMutex
@@ -66,9 +67,47 @@ type Device struct {
 		CallID  string
 		Timeout time.Time
 	}
+	GpsTime   time.Time //gps时间
+	Longitude string    //经度
+	Latitude  string    //纬度
 }

-func (config *GB28181Config) StoreDevice(id string, req sip.Request, tx *sip.ServerTransaction) {
+func (config *GB28181Config) RecoverDevice(d *Device, req sip.Request) {
+	from, _ := req.From()
+	d.addr = sip.Address{
+		DisplayName: from.DisplayName,
+		Uri:         from.Address,
+	}
+	deviceIp := req.Source()
+	servIp := req.Recipient().Host()
+	//根据网卡ip获取对应的公网ip
+	sipIP := config.routes[servIp]
+	//如果相等，则服务器是内网通道.海康摄像头不支持...自动获取
+	if strings.LastIndex(deviceIp, ".") != -1 && strings.LastIndex(servIp, ".") != -1 {
+		if servIp[0:strings.LastIndex(servIp, ".")] == deviceIp[0:strings.LastIndex(deviceIp, ".")] || sipIP == "" {
+			sipIP = servIp
+		}
+	}
+	//如果用户配置过则使用配置的
+	if config.SipIP != "" {
+		sipIP = config.SipIP
+	} else if sipIP == "" {
+		sipIP = myip.InternalIPv4()
+	}
+	mediaIp := sipIP
+	if config.MediaIP != "" {
+		mediaIp = config.MediaIP
+	}
+	plugin.Info("RecoverDevice", zap.String("id", d.ID), zap.String("deviceIp", deviceIp), zap.String("servIp", servIp), zap.String("sipIP", sipIP), zap.String("mediaIp", mediaIp))
+	d.Status = string(sip.REGISTER)
+	d.sipIP = sipIP
+	d.mediaIP = mediaIp
+	d.NetAddr = deviceIp
+	d.UpdateTime = time.Now()
+	d.channelMap = make(map[string]*Channel)
+	go d.Catalog()
+}
+func (config *GB28181Config) StoreDevice(id string, req sip.Request) {
 	var d *Device
 	from, _ := req.From()
 	deviceAddr := sip.Address{
@@ -111,14 +150,41 @@ func (config *GB28181Config) StoreDevice(id string, req sip.Request, tx *sip.Ser
 			addr:         deviceAddr,
 			sipIP:        sipIP,
 			mediaIP:      mediaIp,
-			tx:           tx,
 			NetAddr:      deviceIp,
 			channelMap:   make(map[string]*Channel),
 		}
 		Devices.Store(id, d)
+		SaveDevices()
 		go d.Catalog()
 	}
 }
+func ReadDevices() {
+	if f, err := os.OpenFile("devices.json", os.O_RDONLY, 0644); err == nil {
+		defer f.Close()
+		var items []*Device
+		if err = json.NewDecoder(f).Decode(&items); err == nil {
+			for _, item := range items {
+				if time.Since(item.UpdateTime) < conf.RegisterValidity {
+					item.Status = "RECOVER"
+					Devices.Store(item.ID, item)
+				}
+			}
+		}
+	}
+}
+func SaveDevices() {
+	var item []any
+	Devices.Range(func(key, value any) bool {
+		item = append(item, value)
+		return true
+	})
+	if f, err := os.OpenFile("devices.json", os.O_WRONLY|os.O_CREATE, 0644); err == nil {
+		defer f.Close()
+		encoder := json.NewEncoder(f)
+		encoder.SetIndent("", " ")
+		encoder.Encode(item)
+	}
+}

 func (d *Device) addChannel(channel *Channel) {
 	for _, c := range d.Channels {
@@ -170,10 +236,13 @@ func (d *Device) UpdateChannels(list []*Channel) {
 					go c.QueryRecord(n.Format(TIME_LAYOUT), n.Add(time.Hour*24-time.Second).Format(TIME_LAYOUT))
 				}
 			}
+			old.Copy(c)
+			c = old
 		} else {
 			c.ChannelEx = &ChannelEx{
 				device: d,
 			}
+			d.channelMap[c.DeviceID] = c
 		}
 		if conf.AutoInvite && (c.LivePublisher == nil) {
 			go c.Invite(InviteOptions{})
@@ -183,7 +252,6 @@ func (d *Device) UpdateChannels(list []*Channel) {
 		} else {
 			c.LiveSubSP = ""
 		}
-		d.channelMap[c.DeviceID] = c
 	}
 }
 func (d *Device) UpdateRecord(channelId string, list []*Record) {
@@ -199,6 +267,7 @@ func (d *Device) CreateRequest(Method sip.RequestMethod) (req sip.Request) {

 	callId := sip.CallID(utils.RandNumString(10))
 	userAgent := sip.UserAgentHeader("Monibuca")
+	maxForwards := sip.MaxForwards(70) //增加max-forwards为默认值 70
 	cseq := sip.CSeq{
 		SeqNo:      uint32(d.sn),
 		MethodName: Method,
@@ -224,6 +293,7 @@ func (d *Device) CreateRequest(Method sip.RequestMethod) (req sip.Request) {
 			&callId,
 			&userAgent,
 			&cseq,
+			&maxForwards,
 			serverAddr.AsContactHeader(),
 		},
 		"",
@@ -336,19 +406,19 @@ func (d *Device) SipRequestForResponse(request sip.Request) (sip.Response, error
 }

 // MobilePositionSubscribe 移动位置订阅
-func (d *Device) MobilePositionSubscribe(id string, expires int, interval int) (code int) {
+func (d *Device) MobilePositionSubscribe(id string, expires time.Duration, interval time.Duration) (code int) {
 	mobilePosition := d.CreateRequest(sip.SUBSCRIBE)
 	if d.subscriber.CallID != "" {
 		callId := sip.CallID(utils.RandNumString(10))
 		mobilePosition.ReplaceHeaders(callId.Name(), []sip.Header{&callId})
 	}
-	expiresHeader := sip.Expires(expires)
-	d.subscriber.Timeout = time.Now().Add(time.Second * time.Duration(expires))
+	expiresHeader := sip.Expires(expires / time.Second)
+	d.subscriber.Timeout = time.Now().Add(expires)
 	contentType := sip.ContentType("Application/MANSCDP+xml")
 	mobilePosition.AppendHeader(&contentType)
 	mobilePosition.AppendHeader(&expiresHeader)

-	mobilePosition.SetBody(BuildDevicePositionXML(d.sn, id, interval), true)
+	mobilePosition.SetBody(BuildDevicePositionXML(d.sn, id, int(interval/time.Second)), true)

 	response, err := d.SipRequestForResponse(mobilePosition)
 	if err == nil && response != nil {
@@ -366,12 +436,16 @@ func (d *Device) MobilePositionSubscribe(id string, expires int, interval int) (
 // UpdateChannelPosition 更新通道GPS坐标
 func (d *Device) UpdateChannelPosition(channelId string, gpsTime string, lng string, lat string) {
 	if c, ok := d.channelMap[channelId]; ok {
-		c.ChannelEx.GpsTime, _ = time.ParseInLocation("2006-01-02 15:04:05", gpsTime, time.Local)
+		c.ChannelEx.GpsTime = time.Now() //时间取系统收到的时间，避免设备时间和格式问题
 		c.ChannelEx.Longitude = lng
 		c.ChannelEx.Latitude = lat
 		plugin.Sugar().Debugf("更新通道[%s]坐标成功\n", c.Name)
 	} else {
-		plugin.Sugar().Debugf("更新失败，未找到通道[%s]\n", channelId)
+		//如果未找到通道，则更新到设备上
+		d.GpsTime = time.Now() //时间取系统收到的时间，避免设备时间和格式问题
+		d.Longitude = lng
+		d.Latitude = lat
+		plugin.Sugar().Debugf("未找到通道[%s]，更新设备[%s]坐标成功\n", channelId, d.ID)
 	}
 }

@@ -393,7 +467,7 @@ func (d *Device) UpdateChannelStatus(deviceList []*notifyMessage) {
 			d.channelOffline(v.DeviceID)
 		case "ADD":
 			plugin.Debug("收到通道新增通知")
-			channel := Channel{
+			channel := &Channel{
 				DeviceID:     v.DeviceID,
 				ParentID:     v.ParentID,
 				Name:         v.Name,
@@ -402,17 +476,19 @@ func (d *Device) UpdateChannelStatus(deviceList []*notifyMessage) {
 				Owner:        v.Owner,
 				CivilCode:    v.CivilCode,
 				Address:      v.Address,
+				Port:         v.Port,
 				Parental:     v.Parental,
 				SafetyWay:    v.SafetyWay,
 				RegisterWay:  v.RegisterWay,
 				Secrecy:      v.Secrecy,
 				Status:       v.Status,
 			}
-			d.addChannel(&channel)
+			channels := []*Channel{channel}
+			d.UpdateChannels(channels)
 		case "DEL":
 			//删除
 			plugin.Debug("收到通道删除通知")
-			delete(d.channelMap, v.DeviceID)
+			d.channelOffline(v.DeviceID)
 		case "UPDATE":
 			plugin.Debug("收到通道更新通知")
 			// 更新通道
@@ -425,6 +501,7 @@ func (d *Device) UpdateChannelStatus(deviceList []*notifyMessage) {
 				Owner:        v.Owner,
 				CivilCode:    v.CivilCode,
 				Address:      v.Address,
+				Port:         v.Port,
 				Parental:     v.Parental,
 				SafetyWay:    v.SafetyWay,
 				RegisterWay:  v.RegisterWay,
--- a/go.mod
+++ b/go.mod
@@ -3,50 +3,59 @@ module m7s.live/plugin/gb28181/v4
 go 1.18

 require (
-	github.com/ghettovoice/gosip v0.0.0-20220420085539-cf932c28a8fe
-	github.com/husanpao/ip v0.0.0-20220711072141-f1e1174bc11b
+	github.com/ghettovoice/gosip v0.0.0-20221121090201-9a2ed2233b6d
+	github.com/husanpao/ip v0.0.0-20220711082147-73160bb611a8
 	github.com/logrusorgru/aurora v2.0.3+incompatible
 	github.com/pion/rtp/v2 v2.0.0-20220302185659-b3d10fc096b0
-	go.uber.org/zap v1.21.0
-	golang.org/x/net v0.0.0-20220607020251-c690dde0001d
-	golang.org/x/text v0.3.7
-	m7s.live/engine/v4 v4.5.0
+	go.uber.org/zap v1.23.0
+	golang.org/x/net v0.2.0
+	golang.org/x/text v0.4.0
+	m7s.live/engine/v4 v4.8.5
 )

 require (
 	github.com/cnotch/ipchub v1.1.0 // indirect
 	github.com/discoviking/fsm v0.0.0-20150126104936-f4a273feecca // indirect
-	github.com/fsnotify/fsnotify v1.5.4 // indirect
+	github.com/fsnotify/fsnotify v1.6.0 // indirect
 	github.com/go-ole/go-ole v1.2.6 // indirect
+	github.com/go-task/slim-sprig v0.0.0-20210107165309-348f09dbbbc0 // indirect
 	github.com/gobwas/httphead v0.1.0 // indirect
 	github.com/gobwas/pool v0.2.1 // indirect
 	github.com/gobwas/ws v1.1.0 // indirect
+	github.com/golang/mock v1.6.0 // indirect
+	github.com/google/pprof v0.0.0-20210407192527-94a9f03dee38 // indirect
 	github.com/google/uuid v1.3.0 // indirect
 	github.com/kr/text v0.2.0 // indirect
-	github.com/lufia/plan9stats v0.0.0-20220517141722-cf486979b281 // indirect
-	github.com/mattn/go-colorable v0.1.12 // indirect
-	github.com/mattn/go-isatty v0.0.14 // indirect
+	github.com/lucas-clemente/quic-go v0.31.0 // indirect
+	github.com/lufia/plan9stats v0.0.0-20220913051719-115f729f3c8c // indirect
+	github.com/marten-seemann/qtls-go1-18 v0.1.3 // indirect
+	github.com/marten-seemann/qtls-go1-19 v0.1.1 // indirect
+	github.com/mattn/go-colorable v0.1.13 // indirect
+	github.com/mattn/go-isatty v0.0.16 // indirect
 	github.com/mgutz/ansi v0.0.0-20200706080929-d51e80ef957d // indirect
 	github.com/onsi/ginkgo v1.16.5 // indirect
-	github.com/onsi/gomega v1.19.0 // indirect
+	github.com/onsi/ginkgo/v2 v2.2.0 // indirect
 	github.com/pion/randutil v0.1.0 // indirect
 	github.com/pion/rtp v1.7.13 // indirect
+	github.com/pkg/errors v0.9.1 // indirect
 	github.com/power-devops/perfstat v0.0.0-20220216144756-c35f1ee13d7c // indirect
-	github.com/q191201771/naza v0.30.2 // indirect
+	github.com/q191201771/naza v0.30.8 // indirect
 	github.com/satori/go.uuid v1.2.1-0.20181028125025-b2ce2384e17b // indirect
-	github.com/shirou/gopsutil/v3 v3.22.5 // indirect
-	github.com/sirupsen/logrus v1.8.1 // indirect
+	github.com/shirou/gopsutil/v3 v3.22.10 // indirect
+	github.com/sirupsen/logrus v1.9.0 // indirect
 	github.com/tevino/abool v1.2.0 // indirect
-	github.com/tklauser/go-sysconf v0.3.10 // indirect
-	github.com/tklauser/numcpus v0.5.0 // indirect
+	github.com/tklauser/go-sysconf v0.3.11 // indirect
+	github.com/tklauser/numcpus v0.6.0 // indirect
 	github.com/x-cray/logrus-prefixed-formatter v0.5.2 // indirect
 	github.com/yusufpapurcu/wmi v1.2.2 // indirect
-	go.uber.org/atomic v1.9.0 // indirect
+	go.uber.org/atomic v1.10.0 // indirect
 	go.uber.org/multierr v1.8.0 // indirect
-	golang.org/x/crypto v0.0.0-20220525230936-793ad666bf5e // indirect
-	golang.org/x/sync v0.0.0-20220601150217-0de741cfad7f // indirect
-	golang.org/x/sys v0.0.0-20220615213510-4f61da869c0c // indirect
-	golang.org/x/term v0.0.0-20220526004731-065cf7ba2467 // indirect
+	golang.org/x/crypto v0.3.0 // indirect
+	golang.org/x/exp v0.0.0-20221126150942-6ab00d035af9 // indirect
+	golang.org/x/mod v0.7.0 // indirect
+	golang.org/x/sync v0.1.0 // indirect
+	golang.org/x/sys v0.2.0 // indirect
+	golang.org/x/term v0.2.0 // indirect
+	golang.org/x/tools v0.3.0 // indirect
 	gopkg.in/yaml.v3 v3.0.1 // indirect
-
 )
--- a/go.sum
+++ b/go.sum
@@ -1,6 +1,5 @@
 github.com/BurntSushi/toml v0.3.1/go.mod h1:xHWCNGjB5oqiDr8zfno3MHue2Ht5sIBksp03qcyfWMU=
 github.com/benbjohnson/clock v1.1.0 h1:Q92kusRqC1XV2MjkWETPvjJVqKetz1OzxZB7mHJLju8=
-github.com/benbjohnson/clock v1.1.0/go.mod h1:J11/hYXuz8f4ySSvYwY0FKfm+ezbsZBKZxNJlLklBHA=
 github.com/cnotch/apirouter v0.0.0-20200731232942-89e243a791f3/go.mod h1:5deJPLON/x/s2dLOQfuKS0lenhOIT4xX0pvtN/OEIuY=
 github.com/cnotch/ipchub v1.1.0 h1:hH0lh2mU3AZXPiqMwA0pdtqrwo7PFIMRGush9OobMUs=
 github.com/cnotch/ipchub v1.1.0/go.mod h1:2PbeBs2q2VxxTVCn1eYCDwpAWuVXbq1+N0FU7GimOH4=
@@ -18,11 +17,12 @@ github.com/discoviking/fsm v0.0.0-20150126104936-f4a273feecca/go.mod h1:W+3LQaEk
 github.com/emitter-io/address v1.0.0/go.mod h1:GfZb5+S/o8694B1GMGK2imUYQyn2skszMvGNA5D84Ug=
 github.com/fsnotify/fsnotify v1.4.7/go.mod h1:jwhsz4b93w/PPRr/qN1Yymfu8t87LnFCMoQvtojpjFo=
 github.com/fsnotify/fsnotify v1.4.9/go.mod h1:znqG4EE+3YCdAaPaxE2ZRY/06pZUdp0tY4IgpuI1SZQ=
-github.com/fsnotify/fsnotify v1.5.4 h1:jRbGcIw6P2Meqdwuo0H1p6JVLbL5DHKAKlYndzMwVZI=
-github.com/ghettovoice/gosip v0.0.0-20220420085539-cf932c28a8fe h1:turrF/P/KarJUx9aUnRNZMQtUu2hsNFNa+iNog+e/fc=
-github.com/ghettovoice/gosip v0.0.0-20220420085539-cf932c28a8fe/go.mod h1:yTr3BEYSFe9As6XM7ldyrVgqsPwlnw8Ahc4N28VFM2g=
+github.com/fsnotify/fsnotify v1.6.0 h1:n+5WquG0fcWoWp6xPWfHdbskMCQaFnG6PfBrh1Ky4HY=
+github.com/ghettovoice/gosip v0.0.0-20221121090201-9a2ed2233b6d h1:f1JRfm0MwkluwtUsbYxuVReDMajlc9Wn6zc2orX4sRE=
+github.com/ghettovoice/gosip v0.0.0-20221121090201-9a2ed2233b6d/go.mod h1:yTr3BEYSFe9As6XM7ldyrVgqsPwlnw8Ahc4N28VFM2g=
 github.com/go-ole/go-ole v1.2.6 h1:/Fpf6oFPoeFik9ty7siob0G6Ke8QvQEuVcuChpwXzpY=
 github.com/go-ole/go-ole v1.2.6/go.mod h1:pprOEPIfldk/42T2oK7lQ4v4JSDwmV0As9GaiUsvbm0=
+github.com/go-task/slim-sprig v0.0.0-20210107165309-348f09dbbbc0 h1:p104kn46Q8WdvHunIJ9dAyjPVtrBPhSr3KT2yUst43I=
 github.com/go-task/slim-sprig v0.0.0-20210107165309-348f09dbbbc0/go.mod h1:fyg7847qk6SyHyPtNmDHnmrv/HOrqktSC+C9fM+CJOE=
 github.com/gobwas/httphead v0.1.0 h1:exrUm0f4YX0L7EBwZHuCF4GDp8aJfVeBrlLQrs6NqWU=
 github.com/gobwas/httphead v0.1.0/go.mod h1:O/RXo79gxV8G+RqlR/otEwx4Q36zl9rqC5u12GKvMCM=
@@ -31,6 +31,8 @@ github.com/gobwas/pool v0.2.1/go.mod h1:q8bcK0KcYlCgd9e7WYLm9LpyS+YeLd8JVDW6Wezm
 github.com/gobwas/ws v1.1.0-rc.1/go.mod h1:nzvNcVha5eUziGrbxFCo6qFIojQHjJV5cLYIbezhfL0=
 github.com/gobwas/ws v1.1.0 h1:7RFti/xnNkMJnrK7D1yQ/iCIB5OrrY/54/H930kIbHA=
 github.com/gobwas/ws v1.1.0/go.mod h1:nzvNcVha5eUziGrbxFCo6qFIojQHjJV5cLYIbezhfL0=
+github.com/golang/mock v1.6.0 h1:ErTB+efbowRARo13NNdxyJji2egdxLGQhRaY+DUumQc=
+github.com/golang/mock v1.6.0/go.mod h1:p6yTPP+5HYm5mzsMV8JkE6ZKdX+/wYM6Hr+LicevLPs=
 github.com/golang/protobuf v1.2.0/go.mod h1:6lQm79b+lXiMfvg/cZm0SGofjICqVBUtrP5yJMmIC1U=
 github.com/golang/protobuf v1.4.0-rc.1/go.mod h1:ceaxUfeHdC40wWswd/P6IGgMaK3YpKi5j83Wpe3EHw8=
 github.com/golang/protobuf v1.4.0-rc.1.0.20200221234624-67d41d38c208/go.mod h1:xKAWHe0F5eneWXFV3EuXVDTCmh+JuBKY0li0aMyXATA=
@@ -38,36 +40,45 @@ github.com/golang/protobuf v1.4.0-rc.2/go.mod h1:LlEzMj4AhA7rCAGe4KMBDvJI+AwstrU
 github.com/golang/protobuf v1.4.0-rc.4.0.20200313231945-b860323f09d0/go.mod h1:WU3c8KckQ9AFe+yFwt9sWVRKCVIyN9cPHBJSNnbL67w=
 github.com/golang/protobuf v1.4.0/go.mod h1:jodUvKwWbYaEsadDk5Fwe5c77LiNKVO9IDvqG2KuDX0=
 github.com/golang/protobuf v1.4.2/go.mod h1:oDoupMAO8OvCJWAcko0GGGIgR6R6ocIYbsSw735rRwI=
+github.com/golang/protobuf v1.5.2 h1:ROPKBNFfQgOUMifHyP+KYbvpjbdoFNs+aK7DXlji0Tw=
 github.com/google/go-cmp v0.3.0/go.mod h1:8QqcDgzrUqlUb/G2PQTWiueGozuR1884gddMywk6iLU=
 github.com/google/go-cmp v0.3.1/go.mod h1:8QqcDgzrUqlUb/G2PQTWiueGozuR1884gddMywk6iLU=
 github.com/google/go-cmp v0.4.0/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE=
 github.com/google/go-cmp v0.5.6/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE=
-github.com/google/go-cmp v0.5.8 h1:e6P7q2lk1O+qJJb4BtCQXlK8vWEO8V1ZeuEdJNOqZyg=
+github.com/google/go-cmp v0.5.9 h1:O2Tfq5qg4qc4AmwVlvv0oLiVAGB7enBSJ2x2DqQFi38=
+github.com/google/go-cmp v0.5.9/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
+github.com/google/pprof v0.0.0-20210407192527-94a9f03dee38 h1:yAJXTCF9TqKcTiHJAE8dj7HMvPfh66eeA2JYW7eFpSE=
 github.com/google/uuid v1.3.0 h1:t6JiXgmwXMjEs8VusXIJk2BXHsn+wx8BZdTaoZ5fu7I=
 github.com/google/uuid v1.3.0/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
 github.com/gorilla/websocket v1.4.2/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
 github.com/hpcloud/tail v1.0.0/go.mod h1:ab1qPbhIpdTxEkNHXyeSf5vhxWSCs/tWer42PpOxQnU=
+github.com/husanpao/ip v0.0.0-20220711082147-73160bb611a8 h1:4Jk58quTZmzJcTrLlbB5L1Q6qXu49EIjCReWxcBFWKo=
+github.com/husanpao/ip v0.0.0-20220711082147-73160bb611a8/go.mod h1:medl9/CfYoQlqAXtAARmMW5dAX2UOdwwkhaszYPk0AM=
 github.com/kelindar/process v0.0.0-20170730150328-69a29e249ec3/go.mod h1:+lTCLnZFXOkqwD8sLPl6u4erAc0cP8wFegQHfipz7KE=
 github.com/kelindar/rate v1.0.0/go.mod h1:AjT4G+hTItNwt30lucEGZIz8y7Uk5zPho6vurIZ+1Es=
 github.com/kelindar/tcp v1.0.0/go.mod h1:JB5hj1cshLU60XrLij2BBxW3JQ4hOye8vqbyvuKb52k=
 github.com/konsorten/go-windows-terminal-sequences v1.0.1/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
 github.com/konsorten/go-windows-terminal-sequences v1.0.2/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
-github.com/kr/pretty v0.1.0/go.mod h1:dAy3ld7l9f0ibDNOQOHHMYYIIbhfbHSm3C4ZsoJORNo=
 github.com/kr/pretty v0.3.0 h1:WgNl7dwNpEZ6jJ9k1snq4pZsg7DOEN8hP9Xw0Tsjwk0=
-github.com/kr/pty v1.1.1/go.mod h1:pFQYn66WHrOpPYNljwOMqo10TkYh1fy3cYio2l3bCsQ=
-github.com/kr/text v0.1.0/go.mod h1:4Jbv+DJW3UT/LiOwJeYQe1efqtUx/iVham/4vfdArNI=
 github.com/kr/text v0.2.0 h1:5Nx0Ya0ZqY2ygV366QzturHI13Jq95ApcVaJBhpS+AY=
 github.com/kr/text v0.2.0/go.mod h1:eLer722TekiGuMkidMxC/pM04lWEeraHUUmBw8l2grE=
 github.com/logrusorgru/aurora v2.0.3+incompatible h1:tOpm7WcpBTn4fjmVfgpQq0EfczGlG91VSDkswnjF5A8=
 github.com/logrusorgru/aurora v2.0.3+incompatible/go.mod h1:7rIyQOR62GCctdiQpZ/zOJlFyk6y+94wXzv6RNZgaR4=
+github.com/lucas-clemente/quic-go v0.31.0 h1:MfNp3fk0wjWRajw6quMFA3ap1AVtlU+2mtwmbVogB2M=
 github.com/lufia/plan9stats v0.0.0-20211012122336-39d0f177ccd0/go.mod h1:zJYVVT2jmtg6P3p1VtQj7WsuWi/y4VnjVBn7F8KPB3I=
-github.com/lufia/plan9stats v0.0.0-20220517141722-cf486979b281 h1:aczX6NMOtt6L4YT0fQvKkDK6LZEtdOso9sUH89V1+P0=
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+golang.org/x/sync v0.1.0 h1:wsuoTGHzEhffawBOhz5CYhcrV4IdKZbEyZjBMuTp12o=
+golang.org/x/sync v0.1.0/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sys v0.0.0-20180909124046-d0be0721c37e/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20190222072716-a9d3bda3a223/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
@@ -172,20 +201,25 @@ golang.org/x/sys v0.0.0-20201214095126-aec9a390925b/go.mod h1:h1NjWce9XRLGQEsW7w
 golang.org/x/sys v0.0.0-20210112080510-489259a85091/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20210330210617-4fbd30eecc44/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20210510120138-977fb7262007/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
-golang.org/x/sys v0.0.0-20220615213510-4f61da869c0c h1:aFV+BgZ4svzjfabn8ERpuB4JI4N6/rdy1iusx77G3oU=
+golang.org/x/sys v0.0.0-20220128215802-99c3d69c2c27/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
+golang.org/x/sys v0.0.0-20220520151302-bc2c85ada10a/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
+golang.org/x/sys v0.0.0-20220715151400-c0bba94af5f8/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
+golang.org/x/sys v0.2.0 h1:ljd4t30dBnAvMZaQCevtY0xLLD0A+bRZXbgLMLU1F/A=
+golang.org/x/sys v0.2.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/term v0.0.0-20201117132131-f5c789dd3221/go.mod h1:Nr5EML6q2oocZ2LXRh80K7BxOlk5/8JxuGnuhpl+muw=
 golang.org/x/term v0.0.0-20201126162022-7de9c90e9dd1/go.mod h1:bj7SfCRtBDWHUb9snDiAeCFNEtKQo2Wmx5Cou7ajbmo=
-golang.org/x/term v0.0.0-20220526004731-065cf7ba2467 h1:CBpWXWQpIRjzmkkA+M7q9Fqnwd2mZr3AFqexg8YTfoM=
+golang.org/x/term v0.2.0 h1:z85xZCsEl7bi/KwbNADeBYoOP0++7W1ipu+aGnpwzRM=
+golang.org/x/term v0.2.0/go.mod h1:TVmDHMZPmdnySmBfhjOoOdhjzdE1h4u1VwSiw2l1Nuc=
 golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
 golang.org/x/text v0.3.2/go.mod h1:bEr9sfX3Q8Zfm5fL9x+3itogRgK3+ptLWKqgva+5dAk=
 golang.org/x/text v0.3.3/go.mod h1:5Zoc/QRtKVWzQhOtBMvqHzDpF6irO9z98xDceosuGiQ=
-golang.org/x/text v0.3.7 h1:olpwvP2KacW1ZWvsR7uQhoyTYvKAupfQrRGBFM352Gk=
-golang.org/x/text v0.3.7/go.mod h1:u+2+/6zg+i71rQMx5EYifcz6MCKuco9NR6JIITiCfzQ=
+golang.org/x/text v0.4.0 h1:BrVqGRd7+k1DiOgtnFvAkoQEWQvBc25ouMJM6429SFg=
+golang.org/x/text v0.4.0/go.mod h1:mrYo+phRRbMaCq/xk9113O4dZlRixOauAjOtrjsXDZ8=
 golang.org/x/tools v0.0.0-20180917221912-90fa682c2a6e/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ=
-golang.org/x/tools v0.0.0-20190311212946-11955173bddd/go.mod h1:LCzVGOaR6xXOjkQ3onu1FJEFr0SW1gC7cKk1uF8kGRs=
 golang.org/x/tools v0.0.0-20191119224855-298f0cb1881e/go.mod h1:b+2E5dAYhXwXZwtnZ6UAqBI28+e2cm9otk0dWdXHAEo=
 golang.org/x/tools v0.0.0-20201224043029-2b0845dc783e/go.mod h1:emZCQorbCU4vsT4fOWvOPXz4eW1wZW4PmDk9uLelYpA=
-golang.org/x/tools v0.1.5/go.mod h1:o0xws9oXOQQZyjljx8fwUC0k7L1pTE6eaCbjGeHmOkk=
+golang.org/x/tools v0.1.1/go.mod h1:o0xws9oXOQQZyjljx8fwUC0k7L1pTE6eaCbjGeHmOkk=
+golang.org/x/tools v0.3.0 h1:SrNbZl6ECOS1qFzgTdQfWXZM9XBkiA6tkFrH9YSTPHM=
 golang.org/x/xerrors v0.0.0-20190717185122-a985d3407aa7/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
 golang.org/x/xerrors v0.0.0-20191011141410-1b5146add898/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
 golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
@@ -196,8 +230,8 @@ google.golang.org/protobuf v0.0.0-20200228230310-ab0ca4ff8a60/go.mod h1:cfTl7dwQ
 google.golang.org/protobuf v1.20.1-0.20200309200217-e05f789c0967/go.mod h1:A+miEFZTKqfCUM6K7xSMQL9OKL/b6hQv+e19PK+JZNE=
 google.golang.org/protobuf v1.21.0/go.mod h1:47Nbq4nVaFHyn7ilMalzfO3qCViNmqZ2kzikPIcrTAo=
 google.golang.org/protobuf v1.23.0/go.mod h1:EGpADcykh3NcUnDUJcl1+ZksZNG86OlYog2l/sGQquU=
+google.golang.org/protobuf v1.28.0 h1:w43yiav+6bVFTBQFZX0r7ipe9JQ1QsbMgHwbBziscLw=
 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
-gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/check.v1 v1.0.0-20190902080502-41f04d3bba15 h1:YR8cESwS4TdDjEe65xsg0ogRM/Nc3DYOhEAlW+xobZo=
 gopkg.in/fsnotify.v1 v1.4.7/go.mod h1:Tz8NjZHkW78fSQdbUxIjBTcgA1z1m8ZHf0WmKUhAMys=
 gopkg.in/natefinch/lumberjack.v2 v2.0.0/go.mod h1:l0ndWWf7gzL7RNwBG7wST/UCcT4T24xpD6X8LsfU/+k=
@@ -206,11 +240,10 @@ gopkg.in/tomb.v1 v1.0.0-20141024135613-dd632973f1e7/go.mod h1:dt/ZhP58zS4L8KSrWD
 gopkg.in/yaml.v2 v2.2.1/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
 gopkg.in/yaml.v2 v2.2.2/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
 gopkg.in/yaml.v2 v2.2.4/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
-gopkg.in/yaml.v2 v2.2.8/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
 gopkg.in/yaml.v2 v2.3.0/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
-gopkg.in/yaml.v2 v2.4.0 h1:D8xgwECY7CYvx+Y2n4sBz93Jn9JRvxdiyyo8CTfuKaY=
 gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
 gopkg.in/yaml.v3 v3.0.0-20210107192922-496545a6307b/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
 gopkg.in/yaml.v3 v3.0.1 h1:fxVm/GzAzEWqLHuvctI91KS9hhNmmWOoWu0XTYJS7CA=
-m7s.live/engine/v4 v4.5.0 h1:8UP1Yg0ryiwvKlYtwf4g+RX6EZPDEnpNWzrWcnsxU3U=
-m7s.live/engine/v4 v4.5.0/go.mod h1:uzpGiVnIcuoXehpvqOj9iTVxnyf7RZQZ/Ikiwyjs01E=
+gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
+m7s.live/engine/v4 v4.8.5 h1:bUH71X7Ravj4gxINy/UrA67Nxycz26saiLeL3hBzuMU=
+m7s.live/engine/v4 v4.8.5/go.mod h1:Knz1H4ZhJDooORkHOuHGNquSyA4txJFgVCng5rTEAm8=
--- a/handle.go
+++ b/handle.go
@@ -92,7 +92,7 @@ func (config *GB28181Config) OnRegister(req sip.Request, tx sip.ServerTransactio
 		}
 	}
 	if passAuth {
-		config.StoreDevice(id, req, &tx)
+		config.StoreDevice(id, req)
 		DeviceNonce.Delete(id)
 		DeviceRegisterCount.Delete(id)
 		resp := sip.NewResponseFromRequest("", req, http.StatusOK, "OK", "")
@@ -127,7 +127,11 @@ func (config *GB28181Config) OnMessage(req sip.Request, tx sip.ServerTransaction
 	id := from.Address.User().String()
 	if v, ok := Devices.Load(id); ok {
 		d := v.(*Device)
-		if d.Status == string(sip.REGISTER) {
+		switch d.Status {
+		case "RECOVER":
+			config.RecoverDevice(d, req)
+			return
+		case string(sip.REGISTER):
 			d.Status = "ONLINE"
 			//go d.QueryDeviceInfo(req)
 		}
@@ -173,6 +177,11 @@ func (config *GB28181Config) OnMessage(req sip.Request, tx sip.ServerTransaction

 			}
 			d.CheckSubStream()
+			//在KeepLive 进行位置订阅的处理，如果开启了自动订阅位置，则去订阅位置
+			if config.Position.AutosubPosition && time.Since(d.GpsTime) > time.Duration(conf.Position.Interval*2)*time.Second {
+				d.MobilePositionSubscribe(d.ID, config.Position.Expires, config.Position.Interval)
+				plugin.Sugar().Debugf("位置自动订阅，设备[%s]成功\n", d.ID)
+			}
 		case "Catalog":
 			d.UpdateChannels(temp.DeviceList)
 		case "RecordInfo":
@@ -257,6 +266,7 @@ type notifyMessage struct {
 	Owner        string
 	CivilCode    string
 	Address      string
+	Port         int
 	Parental     int
 	SafetyWay    int
 	RegisterWay  int
--- a/main.go
+++ b/main.go
@@ -3,12 +3,19 @@ package gb28181
 import (
 	"fmt"
 	"strings"
+	"time"

 	myip "github.com/husanpao/ip"
 	. "m7s.live/engine/v4"
 	"m7s.live/engine/v4/config"
 )

+type GB28181PositionConfig struct {
+	AutosubPosition bool          //是否自动订阅定位
+	Expires         time.Duration //订阅周期(单位：秒)
+	Interval        time.Duration //订阅间隔（单位：秒）
+}
+
 type GB28181Config struct {
 	AutoInvite     bool
 	PreFetchRecord bool
@@ -22,29 +29,31 @@ type GB28181Config struct {
 	Username   string //sip 服务器账号
 	Password   string //sip 服务器密码

-	AckTimeout        uint16 //sip 服务应答超时，单位秒
-	RegisterValidity  int    //注册有效期，单位秒，默认 3600
-	RegisterInterval  int    //注册间隔，单位秒，默认 60
-	HeartbeatInterval int    //心跳间隔，单位秒，默认 60
-	HeartbeatRetry    int    //心跳超时次数，默认 3
+	// AckTimeout        uint16 //sip 服务应答超时，单位秒
+	RegisterValidity time.Duration //注册有效期，单位秒，默认 3600
+	// RegisterInterval  int    //注册间隔，单位秒，默认 60
+	// HeartbeatInterval int    //心跳间隔，单位秒，默认 60
+	// HeartbeatRetry    int    //心跳超时次数，默认 3

 	//媒体服务器配置
-	MediaIP          string //媒体服务器地址
-	MediaPort        uint16 //媒体服务器端口
-	MediaNetwork     string //媒体传输协议，默认UDP，可选TCP
-	MediaPortMin     uint16
-	MediaPortMax     uint16
-	MediaIdleTimeout uint16 //推流超时时间，超过则断开链接，让设备重连
+	MediaIP      string //媒体服务器地址
+	MediaPort    uint16 //媒体服务器端口
+	MediaNetwork string //媒体传输协议，默认UDP，可选TCP
+	MediaPortMin uint16
+	MediaPortMax uint16
+	// MediaIdleTimeout uint16 //推流超时时间，超过则断开链接，让设备重连

 	// WaitKeyFrame      bool //是否等待关键帧，如果等待，则在收到第一个关键帧之前，忽略所有媒体流
-	RemoveBanInterval int //移除禁止设备间隔
-	UdpCacheSize      int //udp缓存大小
+	RemoveBanInterval time.Duration //移除禁止设备间隔
+	UdpCacheSize      int           //udp缓存大小

 	config.Publish
 	Server
 	LogLevel string //trace, debug, info, warn, error, fatal, panic
 	routes   map[string]string
 	DumpPath string //dump PS流本地文件路径
+
+	Position GB28181PositionConfig //关于定位的配置参数
 }

 func (c *GB28181Config) initRoutes() {
@@ -52,13 +61,16 @@ func (c *GB28181Config) initRoutes() {
 	tempIps := myip.LocalAndInternalIPs()
 	for k, v := range tempIps {
 		c.routes[k] = v
-		c.routes[k[0:strings.LastIndex(k, ".")]] = k
+		if lastdot := strings.LastIndex(k, "."); lastdot >= 0 {
+			c.routes[k[0:lastdot]] = k
+		}
 	}
 	plugin.Info(fmt.Sprintf("LocalAndInternalIPs detail: %s", c.routes))
 }
 func (c *GB28181Config) OnEvent(event any) {
 	switch event.(type) {
 	case FirstConfig:
+		ReadDevices()
 		go c.initRoutes()
 		c.startServer()
 	}
@@ -80,20 +92,21 @@ var conf = &GB28181Config{
 	Username:       "",
 	Password:       "",

-	AckTimeout:        10,
-	RegisterValidity:  60,
-	RegisterInterval:  60,
-	HeartbeatInterval: 60,
-	HeartbeatRetry:    3,
+	// AckTimeout:        10,
+	RegisterValidity: 60 * time.Second,
+	// RegisterInterval:  60,
+	// HeartbeatInterval: 60,
+	// HeartbeatRetry:    3,

-	MediaIP:          "",
-	MediaPort:        58200,
-	MediaIdleTimeout: 30,
-	MediaNetwork:     "udp",
+	MediaIP:   "",
+	MediaPort: 58200,
+	// MediaIdleTimeout: 30,
+	MediaNetwork: "udp",

-	RemoveBanInterval: 600,
+	RemoveBanInterval: 600 * time.Second,
 	LogLevel:          "info",
 	// WaitKeyFrame:      true,
+	Position: GB28181PositionConfig{AutosubPosition: true, Expires: 3600 * time.Second, Interval: 6 * time.Second},
 }

 var plugin = InstallPlugin(conf)
--- a/publisher.go
+++ b/publisher.go
@@ -4,14 +4,16 @@ import (
 	"encoding/binary"
 	"fmt"
 	"io"
+	"net"
 	"os"
-	"sync/atomic"
 	"time"

 	"github.com/ghettovoice/gosip/sip"
 	"github.com/pion/rtp/v2"
 	"go.uber.org/zap"
 	. "m7s.live/engine/v4"
+	. "m7s.live/engine/v4/codec"
+	"m7s.live/engine/v4/codec/mpegts"
 	. "m7s.live/engine/v4/track"
 	"m7s.live/engine/v4/util"
 	"m7s.live/plugin/gb28181/v4/utils"
@@ -21,13 +23,14 @@ type GBPublisher struct {
 	Publisher
 	InviteOptions
 	channel     *Channel
-	inviteRes   *sip.Response
+	inviteRes   sip.Response
 	parser      *utils.DecPSPackage
 	lastSeq     uint16
 	udpCache    *utils.PriorityQueueRtp
 	dumpFile    *os.File
 	dumpPrint   io.Writer
 	lastReceive time.Time
+	reorder     util.RTPReorder[*rtp.Packet]
 }

 func (p *GBPublisher) PrintDump(s string) {
@@ -41,7 +44,7 @@ func (p *GBPublisher) OnEvent(event any) {
 		p.IO.OnEvent(event)
 		return
 	}
-	switch v := event.(type) {
+	switch event.(type) {
 	case IPublisher:
 		if p.IsLive() {
 			p.Type = "GB28181 Live"
@@ -56,35 +59,31 @@ func (p *GBPublisher) OnEvent(event any) {
 				p.Error("open dump file failed", zap.Error(err))
 			}
 		}
-		if p.Equal(v) { //第一任
-
-		} else {
-			//删除前任
-			conf.publishers.Delete(v.(*GBPublisher).SSRC)
-			p.Publisher.OnEvent(v)
-		}
 	case SEwaitPublish:
 		//掉线自动重新拉流
 		if p.IsLive() {
-			atomic.StoreInt32(&p.channel.state, 0)
-			p.channel.LivePublisher = nil
+			if p.channel.LivePublisher != nil {
+				p.channel.LivePublisher = nil
+				p.channel.liveInviteLock.Unlock()
+			}
 			go p.channel.Invite(InviteOptions{})
 		}
 	case SEclose, SEKick:
 		if p.IsLive() {
-			p.channel.LivePublisher = nil
+			if p.channel.LivePublisher != nil {
+				p.channel.LivePublisher = nil
+				p.channel.liveInviteLock.Unlock()
+			}
 		} else {
 			p.channel.RecordPublisher = nil
 		}
-		p.Publisher.OnEvent(v)
 		conf.publishers.Delete(p.SSRC)
 		if p.dumpFile != nil {
 			p.dumpFile.Close()
 		}
 		p.Bye()
-	default:
-		p.Publisher.OnEvent(v)
 	}
+	p.Publisher.OnEvent(event)
 }

 func (p *GBPublisher) Bye() int {
@@ -93,12 +92,11 @@ func (p *GBPublisher) Bye() int {
 		return 404
 	}
 	defer p.Stop()
-	defer atomic.StoreInt32(&p.channel.state, 0)
 	p.inviteRes = nil
 	bye := p.channel.CreateRequst(sip.BYE)
-	from, _ := (*res).From()
-	to, _ := (*res).To()
-	callId, _ := (*res).CallID()
+	from, _ := res.From()
+	to, _ := res.To()
+	callId, _ := res.CallID()
 	bye.ReplaceHeaders(from.Name(), []sip.Header{from})
 	bye.ReplaceHeaders(to.Name(), []sip.Header{to})
 	bye.ReplaceHeaders(callId.Name(), []sip.Header{callId})
@@ -113,87 +111,83 @@ func (p *GBPublisher) Bye() int {
 func (p *GBPublisher) PushVideo(pts uint32, dts uint32, payload []byte) {
 	if p.VideoTrack == nil {
 		switch p.parser.VideoStreamType {
-		case utils.StreamTypeH264:
+		case mpegts.STREAM_TYPE_H264:
 			p.VideoTrack = NewH264(p.Publisher.Stream)
-		case utils.StreamTypeH265:
+		case mpegts.STREAM_TYPE_H265:
 			p.VideoTrack = NewH265(p.Publisher.Stream)
 		default:
-			return
+			//推测编码类型
+			var maybe264 H264NALUType
+			maybe264 = maybe264.Parse(payload[4])
+			switch maybe264 {
+			case NALU_Non_IDR_Picture,
+				NALU_IDR_Picture,
+				NALU_SEI,
+				NALU_SPS,
+				NALU_PPS,
+				NALU_Access_Unit_Delimiter:
+				p.VideoTrack = NewH264(p.Publisher.Stream)
+			default:
+				p.Info("maybe h265", zap.Uint8("type", maybe264.Byte()))
+				p.VideoTrack = NewH265(p.Publisher.Stream)
+			}
 		}
 	}
-	p.PrintDump(fmt.Sprintf("<td>pts:%d dts:%d data: % 2X</td>", pts, dts, payload[:10]))
+	if len(payload) > 10 {
+		p.PrintDump(fmt.Sprintf("<td>pts:%d dts:%d data: % 2X</td>", pts, dts, payload[:10]))
+	} else {
+		p.PrintDump(fmt.Sprintf("<td>pts:%d dts:%d data: % 2X</td>", pts, dts, payload))
+	}
+	if dts == 0 {
+		dts = pts
+	}
 	p.VideoTrack.WriteAnnexB(pts, dts, payload)
 }
 func (p *GBPublisher) PushAudio(ts uint32, payload []byte) {
 	if p.AudioTrack == nil {
 		switch p.parser.AudioStreamType {
-		case utils.G711A:
-			at := NewG711(p.Publisher.Stream, true)
-			at.Audio.SampleRate = 8000
-			at.Audio.SampleSize = 16
-			at.Channels = 1
-			at.AVCCHead = []byte{(byte(at.CodecID) << 4) | (1 << 1)}
-			p.AudioTrack = at
-		case utils.G711A + 1:
-			at := NewG711(p.Publisher.Stream, false)
-			at.Audio.SampleRate = 8000
-			at.Audio.SampleSize = 16
-			at.Channels = 1
-			at.AVCCHead = []byte{(byte(at.CodecID) << 4) | (1 << 1)}
-			p.AudioTrack = at
+		case mpegts.STREAM_TYPE_G711A:
+			p.AudioTrack = NewG711(p.Publisher.Stream, true)
+		case mpegts.STREAM_TYPE_G711U:
+			p.AudioTrack = NewG711(p.Publisher.Stream, false)
+		case mpegts.STREAM_TYPE_AAC:
+			p.AudioTrack = NewAAC(p.Publisher.Stream)
+			p.WriteADTS(payload[:7])
+		case 0: //推测编码类型
+			if payload[0] == 0xff && payload[1]>>4 == 0xf {
+				p.AudioTrack = NewAAC(p.Publisher.Stream)
+				p.WriteADTS(payload[:7])
+			}
 		default:
-			return
+			p.Error("audio type not supported yet", zap.Uint32("type", p.parser.AudioStreamType))
 		}
+	} else {
+		p.AudioTrack.WriteRaw(ts, payload)
 	}
-	p.AudioTrack.WriteAVCC(ts, payload)
 }

+// 解析rtp封装 https://www.ietf.org/rfc/rfc2250.txt
 func (p *GBPublisher) PushPS(rtp *rtp.Packet) {
-	originRtp := *rtp
-	if conf.UdpCacheSize > 0 && !conf.IsMediaNetworkTCP() {
-		//序号小于第一个包的丢弃,rtp包序号达到65535后会从0开始，所以这里需要判断一下
-		if rtp.SequenceNumber < p.lastSeq && p.lastSeq-rtp.SequenceNumber < utils.MaxRtpDiff {
-			return
-		}
-		p.udpCache.Push(*rtp)
-		rtpTmp, _ := p.udpCache.Pop()
-		rtp = &rtpTmp
+	if p.parser == nil {
+		p.parser = utils.NewDecPSPackage(p)
 	}
-	ps := rtp.Payload
-	if p.lastSeq != 0 {
-		// rtp序号不连续，丢弃PS
-		if p.lastSeq+1 != rtp.SequenceNumber {
-			if conf.UdpCacheSize > 0 && !conf.IsMediaNetworkTCP() {
-				if p.udpCache.Len() < conf.UdpCacheSize {
-					p.udpCache.Push(*rtp)
-					return
-				} else {
-					p.udpCache.Empty()
-					rtp = &originRtp // 还原rtp包，而不是使用缓存中，避免rtp序号断裂
+	if conf.IsMediaNetworkTCP() {
+		p.parser.Feed(rtp)
+		p.lastSeq = rtp.SequenceNumber
+	} else {
+		for rtp = p.reorder.Push(rtp.SequenceNumber, rtp); rtp != nil; rtp = p.reorder.Pop() {
+			if rtp.SequenceNumber != p.lastSeq+1 {
+				p.parser.Drop()
+				if p.VideoTrack != nil {
+					p.VideoTrack.SetLostFlag()
 				}
 			}
-			p.parser.Reset()
+			p.parser.Feed(rtp)
+			p.lastSeq = rtp.SequenceNumber
 		}
 	}
-	p.lastSeq = rtp.SequenceNumber
-	if p.parser == nil {
-		p.parser = new(utils.DecPSPackage)
-	}
-	if len(ps) >= 4 && binary.BigEndian.Uint32(ps) == utils.StartCodePS {
-		if p.parser.Len() > 0 {
-			p.parser.Skip(4)
-			p.PrintDump("</td></tr>")
-			p.PrintDump("<tr>")
-			p.parser.Read(rtp.Timestamp, p)
-			p.PrintDump("</tr>")
-			p.PrintDump("<tr  class=gray><td colspan=12>")
-			p.parser.Reset()
-		}
-		p.parser.Write(ps)
-	} else if p.parser.Len() > 0 {
-		p.parser.Write(ps)
-	}
 }
+
 func (p *GBPublisher) Replay(f *os.File) (err error) {
 	var rtpPacket rtp.Packet
 	defer f.Close()
@@ -207,7 +201,6 @@ func (p *GBPublisher) Replay(f *os.File) (err error) {
 		p.PrintDump("<table>")
 		defer p.PrintDump("</table>")
 	}
-	p.PrintDump("<tr class=gray><td colspan=12>")
 	var t uint16
 	for l := make([]byte, 6); !p.IsClosed(); time.Sleep(time.Millisecond * time.Duration(t)) {
 		_, err = f.Read(l)
@@ -226,3 +219,95 @@ func (p *GBPublisher) Replay(f *os.File) (err error) {
 	}
 	return
 }
+
+func (p *GBPublisher) ListenUDP() (port uint16, err error) {
+	var rtpPacket rtp.Packet
+	networkBuffer := 1048576
+	port, err = conf.udpPorts.GetPort()
+	if err != nil {
+		return
+	}
+	addr := fmt.Sprintf(":%d", port)
+	mediaAddr, _ := net.ResolveUDPAddr("udp", addr)
+	conn, err := net.ListenUDP("udp", mediaAddr)
+	if err != nil {
+		conf.udpPorts.Recycle(port)
+		plugin.Error("listen media server udp err", zap.String("addr", addr), zap.Error(err))
+		return 0, err
+	}
+	p.SetIO(conn)
+	go func() {
+		defer conn.Close()
+		bufUDP := make([]byte, networkBuffer)
+		plugin.Info("Media udp server start.", zap.Uint16("port", port))
+		defer plugin.Info("Media udp server stop", zap.Uint16("port", port))
+		defer conf.udpPorts.Recycle(port)
+		dumpLen := make([]byte, 6)
+		conn.SetReadDeadline(time.Now().Add(time.Second * 10))
+		for n, _, err := conn.ReadFromUDP(bufUDP); err == nil; n, _, err = conn.ReadFromUDP(bufUDP) {
+			ps := bufUDP[:n]
+			if err := rtpPacket.Unmarshal(ps); err != nil {
+				plugin.Error("Decode rtp error:", zap.Error(err))
+			}
+			if p.dumpFile != nil {
+				util.PutBE(dumpLen[:4], n)
+				if p.lastReceive.IsZero() {
+					util.PutBE(dumpLen[4:], 0)
+				} else {
+					util.PutBE(dumpLen[4:], uint16(time.Since(p.lastReceive).Milliseconds()))
+				}
+				p.lastReceive = time.Now()
+				p.dumpFile.Write(dumpLen)
+				p.dumpFile.Write(ps)
+			}
+			p.PushPS(&rtpPacket)
+			conn.SetReadDeadline(time.Now().Add(time.Second * 10))
+		}
+	}()
+	return
+}
+
+func (p *GBPublisher) ListenTCP() (port uint16, err error) {
+	port, err = conf.tcpPorts.GetPort()
+	if err != nil {
+		return
+	}
+	addr := fmt.Sprintf(":%d", port)
+	mediaAddr, _ := net.ResolveTCPAddr("tcp", addr)
+	listen, err := net.ListenTCP("tcp", mediaAddr)
+	if err != nil {
+		defer conf.tcpPorts.Recycle(port)
+		plugin.Error("listen media server tcp err", zap.String("addr", addr), zap.Error(err))
+		return 0, err
+	}
+	go func() {
+		plugin.Info("Media tcp server start.", zap.Uint16("port", port))
+		defer conf.tcpPorts.Recycle(port)
+		defer plugin.Info("Media tcp server stop", zap.Uint16("port", port))
+		conn, err := listen.Accept()
+		listen.Close()
+		p.SetIO(conn)
+		if err != nil {
+			plugin.Error("Accept err=", zap.Error(err))
+			return
+		}
+		var rtpPacket rtp.Packet
+		lenBuf := make([]byte, 2)
+		defer conn.Close()
+		for err == nil {
+			if _, err = io.ReadFull(conn, lenBuf); err != nil {
+				return
+			}
+			ps := make([]byte, binary.BigEndian.Uint16(lenBuf))
+			if _, err = io.ReadFull(conn, ps); err != nil {
+				return
+			}
+			if err := rtpPacket.Unmarshal(ps); err != nil {
+				plugin.Error("gb28181 decode rtp error:", zap.Error(err))
+			} else if !p.IsClosed() {
+				p.PushPS(&rtpPacket)
+			}
+		}
+	}()
+	return
+}
--- a/restful.go
+++ b/restful.go
@@ -14,7 +14,7 @@ func (conf *GB28181Config) API_list(w http.ResponseWriter, r *http.Request) {
 	util.ReturnJson(func() (list []*Device) {
 		Devices.Range(func(key, value interface{}) bool {
 			device := value.(*Device)
-			if time.Since(device.UpdateTime) > time.Duration(conf.RegisterValidity)*time.Second {
+			if time.Since(device.UpdateTime) > conf.RegisterValidity {
 				Devices.Delete(key)
 			} else {
 				list = append(list, device)
@@ -33,7 +33,7 @@ func (conf *GB28181Config) API_records(w http.ResponseWriter, r *http.Request) {
 	if c := FindChannel(id, channel); c != nil {
 		w.WriteHeader(c.QueryRecord(startTime, endTime))
 	} else {
-		w.WriteHeader(404)
+		http.NotFound(w, r)
 	}
 }

@@ -44,7 +44,7 @@ func (conf *GB28181Config) API_control(w http.ResponseWriter, r *http.Request) {
 	if c := FindChannel(id, channel); c != nil {
 		w.WriteHeader(c.Control(ptzcmd))
 	} else {
-		w.WriteHeader(404)
+		http.NotFound(w, r)
 	}
 }

@@ -54,19 +54,18 @@ func (conf *GB28181Config) API_invite(w http.ResponseWriter, r *http.Request) {
 	channel := query.Get("channel")
 	port, _ := strconv.Atoi(query.Get("mediaPort"))
 	opt := InviteOptions{
-		query.Get("startTime"),
-		query.Get("endTime"),
-		query.Get("dump"),
-		"", 0, uint16(port),
+		dump:      query.Get("dump"),
+		MediaPort: uint16(port),
 	}
-	if c := FindChannel(id, channel); c != nil {
-		if opt.IsLive() && c.LivePublisher != nil {
-			w.WriteHeader(304) //直播流已存在
-		} else {
-			w.WriteHeader(c.Invite(opt))
-		}
+	opt.Validate(query.Get("startTime"), query.Get("endTime"))
+	if c := FindChannel(id, channel); c == nil {
+		http.NotFound(w, r)
+	} else if opt.IsLive() && c.LivePublisher != nil {
+		w.WriteHeader(304) //直播流已存在
+	} else if code, err := c.Invite(opt); err == nil {
+		w.WriteHeader(code)
 	} else {
-		w.WriteHeader(404)
+		http.Error(w, err.Error(), code)
 	}
 }

@@ -111,7 +110,7 @@ func (conf *GB28181Config) API_bye(w http.ResponseWriter, r *http.Request) {
 	if c := FindChannel(id, channel); c != nil {
 		w.WriteHeader(c.Bye(live != "false"))
 	} else {
-		w.WriteHeader(404)
+		http.NotFound(w, r)
 	}
 }

@@ -125,13 +124,48 @@ func (conf *GB28181Config) API_position(w http.ResponseWriter, r *http.Request)
 	//订阅间隔（单位：秒）
 	interval := query.Get("interval")

-	expiresInt, _ := strconv.Atoi(expires)
-	intervalInt, _ := strconv.Atoi(interval)
+	expiresInt, err := time.ParseDuration(expires)
+	if expires == "" || err != nil {
+		expiresInt = conf.Position.Expires
+	}
+	intervalInt, err := time.ParseDuration(interval)
+	if interval == "" || err != nil {
+		intervalInt = conf.Position.Interval
+	}

 	if v, ok := Devices.Load(id); ok {
 		d := v.(*Device)
 		w.WriteHeader(d.MobilePositionSubscribe(id, expiresInt, intervalInt))
 	} else {
-		w.WriteHeader(404)
+		http.NotFound(w, r)
 	}
 }
+
+type DevicePosition struct {
+	ID        string
+	GpsTime   time.Time //gps时间
+	Longitude string    //经度
+	Latitude  string    //纬度
+}
+
+func (conf *GB28181Config) API_get_position(w http.ResponseWriter, r *http.Request) {
+	query := r.URL.Query()
+	//设备id
+	id := query.Get("id")
+
+	util.ReturnJson(func() (list []*DevicePosition) {
+		if id == "" {
+			Devices.Range(func(key, value interface{}) bool {
+				d := value.(*Device)
+				if time.Since(d.GpsTime) <= time.Duration(conf.Position.Interval)*time.Second {
+					list = append(list, &DevicePosition{ID: d.ID, GpsTime: d.GpsTime, Longitude: d.Longitude, Latitude: d.Latitude})
+				}
+				return true
+			})
+		} else if v, ok := Devices.Load(id); ok {
+			d := v.(*Device)
+			list = append(list, &DevicePosition{ID: d.ID, GpsTime: d.GpsTime, Longitude: d.Longitude, Latitude: d.Latitude})
+		}
+		return
+	}, time.Second*time.Duration(conf.Position.Interval), w, r)
+}
--- a/server.go
+++ b/server.go
@@ -23,9 +23,55 @@ import (

 var srv gosip.Server

+type PortManager struct {
+	recycle chan uint16
+	max     uint16
+	pos     uint16
+	Valid   bool
+}
+
+func (pm *PortManager) Init(start, end uint16) {
+	pm.pos = start
+	pm.max = end
+	if pm.pos > 0 && pm.max > pm.pos {
+		pm.Valid = true
+		pm.recycle = make(chan uint16, pm.Range())
+	}
+}
+
+func (pm *PortManager) Range() uint16 {
+	return pm.max - pm.pos
+}
+
+func (pm *PortManager) Recycle(p uint16) (err error) {
+	select {
+	case pm.recycle <- p:
+		return nil
+	default:
+		return io.EOF //TODO: 换一个Error
+	}
+}
+
+func (pm *PortManager) GetPort() (p uint16, err error) {
+	select {
+	case p = <-pm.recycle:
+		return
+	default:
+		if pm.Range() > 0 {
+			pm.pos++
+			p = pm.pos
+			return
+		} else {
+			return 0, io.EOF //TODO: 换一个Error
+		}
+	}
+}
+
 type Server struct {
 	Ignores    map[string]struct{}
 	publishers util.Map[uint32, *GBPublisher]
+	tcpPorts   PortManager
+	udpPorts   PortManager
 }

 const MaxRegisterCount = 3
@@ -82,9 +128,15 @@ func (config *GB28181Config) startServer() {

 func (config *GB28181Config) startMediaServer() {
 	if config.MediaNetwork == "tcp" {
-		listenMediaTCP(config)
+		config.tcpPorts.Init(config.MediaPortMin, config.MediaPortMax)
+		if !config.tcpPorts.Valid {
+			config.listenMediaTCP()
+		}
 	} else {
-		listenMediaUDP(config)
+		config.udpPorts.Init(config.MediaPortMin, config.MediaPortMax)
+		if !config.udpPorts.Valid {
+			config.listenMediaUDP()
+		}
 	}
 }

@@ -110,7 +162,7 @@ func processTcpMediaConn(config *GB28181Config, conn net.Conn) {
 	}
 }

-func listenMediaTCP(config *GB28181Config) {
+func (config *GB28181Config) listenMediaTCP() {
 	addr := ":" + strconv.Itoa(int(config.MediaPort))
 	mediaAddr, _ := net.ResolveTCPAddr("tcp", addr)
 	listen, err := net.ListenTCP("tcp", mediaAddr)
@@ -132,7 +184,7 @@ func listenMediaTCP(config *GB28181Config) {
 	}
 }

-func listenMediaUDP(config *GB28181Config) {
+func (config *GB28181Config) listenMediaUDP() {
 	var rtpPacket rtp.Packet
 	networkBuffer := 1048576

@@ -186,7 +238,7 @@ func listenMediaUDP(config *GB28181Config) {
 // }

 func removeBanDevice(config *GB28181Config) {
-	t := time.NewTicker(time.Duration(config.RemoveBanInterval) * time.Second)
+	t := time.NewTicker(config.RemoveBanInterval)
 	for range t.C {
 		DeviceRegisterCount.Range(func(key, value interface{}) bool {
 			if value.(int) > MaxRegisterCount {
--- a/utils/buffer.go
+++ b/utils/buffer.go
@@ -60,6 +60,7 @@ func (b *IOBuffer) ReadByte() (byte, error) {
 	b.off++
 	return c, nil
 }
+
 func (b *IOBuffer) Reset() {
 	b.buf = b.buf[:0]
 	b.off = 0
@@ -81,20 +82,24 @@ func (b *IOBuffer) tryGrowByReslice(n int) (int, bool) {
 var ErrTooLarge = errors.New("IOBuffer: too large")

 func (b *IOBuffer) Write(p []byte) (n int, err error) {
-	defer func() {
-		if recover() != nil {
-			panic(ErrTooLarge)
-		}
-	}()
-	l := len(p)
-	oldLen := len(b.buf)
-	m, ok := b.tryGrowByReslice(l)
-	if !ok {
-		buf := make([]byte, oldLen+l)
-		copy(buf, b.buf[b.off:])
-		m = oldLen - b.off
-		b.off = 0
-		b.buf = buf
-	}
-	return copy(b.buf[m:], p), nil
+	l := copy(b.buf, b.buf[b.off:])
+	b.buf = append(b.buf[:l], p...)
+	b.off = 0
+	// println(b.buf, b.off, b.buf[b.off], b.buf[b.off+1], b.buf[b.off+2], b.buf[b.off+3])
+	return len(p), nil
+	// defer func() {
+	// 	if recover() != nil {
+	// 		panic(ErrTooLarge)
+	// 	}
+	// }()
+	// l := len(p)
+	// oldLen := len(b.buf)
+	// m, ok := b.tryGrowByReslice(l)
+	// if !ok {
+	// 	m = oldLen - b.off
+	// 	buf := append(append(([]byte)(nil), b.buf[b.off:]...), p...)
+	// 	b.off = 0
+	// 	b.buf = buf
+	// }
+	// return copy(b.buf[m:], p), nil
 }
--- a/utils/ps.go
+++ b/utils/ps.go
@@ -4,31 +4,23 @@ import (
 	"encoding/binary"
 	"errors"
 	"fmt"
+	"io"
+
+	"github.com/pion/rtp/v2"
 )

-//
 const (
 	UDPTransfer        int = 0
 	TCPTransferActive  int = 1
 	TCPTransferPassive int = 2
 	LocalCache         int = 3

-	StreamTypeH264 = 0x1b
-	StreamTypeH265 = 0x24
-	G711A          = 0x90 //PCMA
-	G7221AUDIOTYPE = 0x92
-	G7231AUDIOTYPE = 0x93
-	G729AUDIOTYPE  = 0x99
-
-	StreamIDVideo = 0xe0
-	StreamIDAudio = 0xc0
-
 	StartCodePS        = 0x000001ba
 	StartCodeSYS       = 0x000001bb
 	StartCodeMAP       = 0x000001bc
 	StartCodeVideo     = 0x000001e0
 	StartCodeAudio     = 0x000001c0
-	HaiKangCode        = 0x000001bd
+	PrivateStreamCode  = 0x000001bd
 	MEPGProgramEndCode = 0x000001b9

 	RTPHeaderLength    int = 12
@@ -112,142 +104,176 @@ type Pusher interface {
 https://github.com/videolan/vlc/blob/master/modules/demux/mpeg
 */
 type DecPSPackage struct {
-	systemClockReferenceBase      uint64
-	systemClockReferenceExtension uint64
-	programMuxRate                uint32
+	// systemClockReferenceBase      uint64
+	// systemClockReferenceExtension uint64
+	// programMuxRate                uint32

 	VideoStreamType uint32
 	AudioStreamType uint32
 	IOBuffer
-	Payload []byte
-	PTS     uint32
-	DTS     uint32
+	Payload     []byte
+	videoBuffer []byte
+	audioBuffer []byte
+	aPTS        uint32
+	aDTS        uint32
+	vPTS        uint32
+	vDTS        uint32
+	Pusher
 }

-func (dec *DecPSPackage) clean() {
-	dec.systemClockReferenceBase = 0
-	dec.systemClockReferenceExtension = 0
-	dec.programMuxRate = 0
-	dec.Payload = nil
-	dec.PTS = 0
-	dec.DTS = 0
+func NewDecPSPackage(p Pusher) *DecPSPackage {
+	p.PrintDump("<tr><td>")
+	return &DecPSPackage{
+		Pusher: p,
+	}
 }

+// func (dec *DecPSPackage) clean() {
+// 	dec.systemClockReferenceBase = 0
+// 	dec.systemClockReferenceExtension = 0
+// 	dec.programMuxRate = 0
+// 	dec.Payload = nil
+// 	dec.PTS = 0
+// 	dec.DTS = 0
+// }
+
 func (dec *DecPSPackage) ReadPayload() (payload []byte, err error) {
 	payloadlen, err := dec.Uint16()
 	if err != nil {
 		return
 	}
-	return dec.ReadN(int(payloadlen))
+	if l := int(payloadlen); dec.Len() >= l {
+		return dec.Next(l), nil
+	}
+	return dec.Next(dec.Len()), io.EOF
 }

-//read the buffer and push video or audio
-func (dec *DecPSPackage) Read(ts uint32, pusher Pusher) error {
-	dec.clean()
-	dec.PTS = ts
-	pusher.PrintDump(fmt.Sprintf("<td>%d</td>", ts))
-	if err := dec.Skip(9); err != nil {
-		return err
-	}
+// Drop 由于丢包引起的必须丢弃的数据
+func (dec *DecPSPackage) Drop() {
+	dec.Reset()
+	dec.videoBuffer = nil
+	dec.audioBuffer = nil
+	dec.Payload = nil
+}

-	psl, err := dec.ReadByte()
-	if err != nil {
-		return err
+func (dec *DecPSPackage) Feed(rtp *rtp.Packet) (err error) {
+	ps := rtp.Payload
+	if len(ps) < 4 {
+		return nil
 	}
-	psl &= 0x07
-	if err = dec.Skip(int(psl)); err != nil {
-		return err
-	}
-	var video []byte
-	var nextStartCode uint32
-	pusher.PrintDump("<td>")
-loop:
-	for err == nil {
-		if nextStartCode, err = dec.Uint32(); err != nil {
-			break
+	// println(binary.BigEndian.Uint32(ps))
+	switch binary.BigEndian.Uint32(ps) {
+	case StartCodePS, StartCodeSYS, StartCodeMAP, StartCodeVideo, StartCodeAudio, PrivateStreamCode, MEPGProgramEndCode:
+		defer dec.Write(ps)
+		if dec.Len() >= 4 {
+			//说明需要处理PS包，处理完后，清空缓存
+			defer dec.Reset()
+		} else {
+			return
 		}
-		switch nextStartCode {
-		case StartCodeSYS:
-			pusher.PrintDump("[sys]")
-			dec.ReadPayload()
-			//err = dec.decSystemHeader()
-		case StartCodeMAP:
-			err = dec.decProgramStreamMap()
-			pusher.PrintDump("[map]")
-		case StartCodeVideo:
-			if err = dec.decPESPacket(); err == nil {
-				// if len(video) == 0 {
-				// 	if dec.PTS == 0 {
-				// 		dec.PTS = ts
-				// 	}
-				// 	// if dec.DTS == 0 {
-				// 	// 	dec.DTS = dec.PTS
-				// 	// }
-				// }
-				video = append(video, dec.Payload...)
-			} else {
-				fmt.Println("video", err)
+	default:
+		// 说明是中间数据，直接写入缓存，否则数据不合法需要丢弃
+		if dec.Len() > 0 {
+			dec.Write(ps)
+		}
+		return nil
+	}
+	for dec.Len() >= 4 {
+		code, _ := dec.Uint32()
+		// println("code:", code)
+		switch code {
+		case StartCodePS:
+			dec.PrintDump("</td></tr><tr><td>")
+			if len(dec.audioBuffer) > 0 {
+				dec.PushAudio(dec.aPTS, dec.audioBuffer)
+				dec.audioBuffer = nil
 			}
-			pusher.PrintDump("[video]")
+			if err := dec.Skip(9); err != nil {
+				return err
+			}
+			psl, err := dec.ReadByte()
+			if err != nil {
+				return err
+			}
+			psl &= 0x07
+			if err = dec.Skip(int(psl)); err != nil {
+				return err
+			}
+			if len(dec.videoBuffer) > 0 {
+				dec.PushVideo(dec.vPTS, dec.vDTS, dec.videoBuffer)
+				dec.videoBuffer = nil
+			}
+		case StartCodeSYS:
+			dec.PrintDump("</td><td>[sys]")
+			dec.ReadPayload()
+		case StartCodeMAP:
+			dec.decProgramStreamMap()
+			dec.PrintDump("</td><td>[map]")
+		case StartCodeVideo:
+			if dec.videoBuffer == nil {
+				dec.PrintDump("</td><td>")
+			}
+			dec.decPESPacket(&dec.vPTS, &dec.vDTS)
+			dec.videoBuffer = append(dec.videoBuffer, dec.Payload...)
+			// if err != nil {
+			//说明还有后续数据，需要继续处理
+			// println(rtp.SequenceNumber)
+			// }
+			dec.PrintDump("[video]")
 		case StartCodeAudio:
-			if err = dec.decPESPacket(); err == nil {
-				ts := ts / 90
-				if dec.PTS != 0 {
-					ts = dec.PTS / 90
-				}
-				pusher.PushAudio(ts, dec.Payload)
-				pusher.PrintDump("[audio]")
+
+			if dec.audioBuffer == nil {
+				dec.PrintDump("</td><td>")
+			}
+			if err = dec.decPESPacket(&dec.aPTS, &dec.aDTS); err == nil {
+				dec.audioBuffer = append(dec.audioBuffer, dec.Payload...)
+				dec.PrintDump("[audio]")
 			} else {
 				fmt.Println("audio", err)
 			}
-		case StartCodePS:
-			break loop
-		default:
-			pusher.PrintDump(fmt.Sprintf("[%d]", nextStartCode))
+		case PrivateStreamCode:
 			dec.ReadPayload()
+			dec.PrintDump("</td></tr><tr><td>[ac3]")
+		case MEPGProgramEndCode:
+			dec.PrintDump("</td></tr>")
+			return io.EOF
+		default:
+			fmt.Println("unknow code", code)
+			return ErrParsePakcet
 		}
 	}
-	if len(video) > 0 {
-		pusher.PrintDump("</td>")
-		pusher.PushVideo(dec.PTS, dec.DTS, video)
-		video = nil
-	}
-	if nextStartCode == StartCodePS {
-		// fmt.Println(aurora.Red("StartCodePS recursion..."), err)
-		return dec.Read(ts, pusher)
-	}
-	return err
-}
-
-/*
-func (dec *DecPSPackage) decSystemHeader() error {
-	syslens, err := dec.Uint16()
-	if err != nil {
-		return err
-	}
-	// drop rate video audio bound and lock flag
-	syslens -= 6
-	if err = dec.Skip(6); err != nil {
-		return err
-	}
-
-	// ONE WAY: do not to parse the stream  and skip the buffer
-	//br.Skip(syslen * 8)
-
-	// TWO WAY: parse every stream info
-	for syslens > 0 {
-		if nextbits, err := dec.Uint8(); err != nil {
-			return err
-		} else if (nextbits&0x80)>>7 != 1 {
-			break
-		}
-		if err = dec.Skip(2); err != nil {
-			return err
-		}
-		syslens -= 3
-	}
 	return nil
 }
+
+/*
+	func (dec *DecPSPackage) decSystemHeader() error {
+		syslens, err := dec.Uint16()
+		if err != nil {
+			return err
+		}
+		// drop rate video audio bound and lock flag
+		syslens -= 6
+		if err = dec.Skip(6); err != nil {
+			return err
+		}
+
+		// ONE WAY: do not to parse the stream  and skip the buffer
+		//br.Skip(syslen * 8)
+
+		// TWO WAY: parse every stream info
+		for syslens > 0 {
+			if nextbits, err := dec.Uint8(); err != nil {
+				return err
+			} else if (nextbits&0x80)>>7 != 1 {
+				break
+			}
+			if err = dec.Skip(2); err != nil {
+				return err
+			}
+			syslens -= 3
+		}
+		return nil
+	}
 */
 func (dec *DecPSPackage) decProgramStreamMap() error {
 	psm, err := dec.ReadPayload()
@@ -285,11 +311,9 @@ func (dec *DecPSPackage) decProgramStreamMap() error {
 	return nil
 }

-func (dec *DecPSPackage) decPESPacket() error {
+func (dec *DecPSPackage) decPESPacket(pts *uint32,dts *uint32) error {
 	payload, err := dec.ReadPayload()
-	if err != nil {
-		return err
-	}
+
 	if len(payload) < 4 {
 		return errors.New("not enough data")
 	}
@@ -297,24 +321,21 @@ func (dec *DecPSPackage) decPESPacket() error {
 	flag := payload[1]
 	ptsFlag := flag>>7 == 1
 	dtsFlag := (flag&0b0100_0000)>>6 == 1
-	var pts, dts uint32
 	pesHeaderDataLen := payload[2]
 	payload = payload[3:]
 	extraData := payload[:pesHeaderDataLen]
 	if ptsFlag && len(extraData) > 4 {
-		pts = uint32(extraData[0]&0b0000_1110) << 29
-		pts += uint32(extraData[1]) << 22
-		pts += uint32(extraData[2]&0b1111_1110) << 14
-		pts += uint32(extraData[3]) << 7
-		pts += uint32(extraData[4]) >> 1
-		dec.PTS = pts
+		*pts = uint32(extraData[0]&0b0000_1110) << 29
+		*pts += uint32(extraData[1]) << 22
+		*pts += uint32(extraData[2]&0b1111_1110) << 14
+		*pts += uint32(extraData[3]) << 7
+		*pts += uint32(extraData[4]) >> 1
 		if dtsFlag && len(extraData) > 9 {
-			dts = uint32(extraData[5]&0b0000_1110) << 29
-			dts += uint32(extraData[6]) << 22
-			dts += uint32(extraData[7]&0b1111_1110) << 14
-			dts += uint32(extraData[8]) << 7
-			dts += uint32(extraData[9]) >> 1
-			dec.DTS = dts
+			*dts = uint32(extraData[5]&0b0000_1110) << 29
+			*dts += uint32(extraData[6]) << 22
+			*dts += uint32(extraData[7]&0b1111_1110) << 14
+			*dts += uint32(extraData[8]) << 7
+			*dts += uint32(extraData[9]) >> 1
 		}
 	}
 	dec.Payload = payload[pesHeaderDataLen:]
Author	SHA1	Message	Date
dexter	583754ea82	对时间配置统一改成time.Duration类型	2023-02-02 12:03:44 +08:00
charlestamz	58b6a818bd	Merge pull request #79 from yangchao2015/v4 调整和更新GB轨迹订阅和获取	2023-02-01 16:59:20 +08:00
yangchao	8b1b176f51	调整和更新GB轨迹订阅和获取	2023-02-01 16:07:45 +08:00
dexter	68d6cbaab9	g711初始化代码收于引擎中	2023-01-18 21:03:08 +08:00
dexter	f88d4d264e	tcp使用范围端口时不再判断ssrc	2023-01-10 09:24:27 +08:00
dexter	55aa20e868	fix: 时间戳设置错误	2022-12-31 21:30:28 +08:00
dexter	9f4ad83da7	增加对aac的预测	2022-12-18 14:28:21 +08:00
charlestamz	68ff4dba5b	Merge remote-tracking branch 'origin/v4' into v4	2022-11-29 12:38:00 +08:00
charlestamz	e9f576e3f4	解决GB设备兼容的问题。修复发送invite指令中非同域To的地址问题	2022-11-29 12:37:46 +08:00
charlestamz	b271cb8e50	merge remote changes	2022-11-29 12:32:09 +08:00
dexter	2b82a0ffc4	📦 NEW: 设置丢帧标志	2022-11-22 11:18:21 +08:00
dexter	940d7c5e59	🐛 FIX: 优化PS解析	2022-11-17 23:47:20 +08:00
dexter	2142a474a3	🐛 FIX: 大PES分包机制	2022-11-17 11:53:36 +08:00
dexter	86e9bccb85	🐛 FIX: 增加对AAC的支持以及多slice合并发送	2022-11-13 23:30:45 +08:00
dexter	bb3a679a60	音频时间戳转换	2022-10-25 21:38:06 +08:00
dexter	ecd97c8439	🐛 FIX: tcp解析	2022-10-25 15:35:00 +08:00
dexter	bfd71a72d8	Merge pull request #74 from hongri8488/v4 添加28181 bye接口调用时将流关闭	2022-10-25 14:44:39 +08:00
dexter	c6bef8ccd8	🐛 FIX: udp范围端口增加超时功能	2022-10-25 14:44:03 +08:00
hongri8488	20c0ac52cb	添加28181 bye接口调用时将流关闭	2022-10-25 13:51:31 +08:00
dexter	34f5b7da79	🐛 FIX: 推测h264的时候取的下标错误	2022-10-24 10:54:03 +08:00
dexter	0d3a795dc2	👌 IMPROVE: 细粒度拼凑视频帧	2022-10-23 11:39:04 +08:00
dexter	b52d457990	🐛 FIX: 解决udp丢包引起的ps包组包错乱问题	2022-10-22 09:22:46 +08:00
dexter	4a214cebeb	🐛 FIX: PS解析	2022-10-21 16:16:44 +08:00
dexter	8f78f992ca	Merge pull request #73 from hongri8488/v4 修改tcp请求部分设备不能拉流的问题	2022-10-21 11:52:36 +08:00
zhangdongfang	228d7b0cd2	修改tcp请求部分设备不能拉流的问题	2022-10-21 10:49:31 +08:00
dexter	e99150b0be	Merge pull request #72 from hongri8488/v4 添加tcp多端口端口回收	2022-10-20 15:07:21 +08:00
zhangdongfang	31112e0052	添加tcp多端口端口回收	2022-10-20 15:03:18 +08:00
dexter	8663b8e171	Merge pull request #71 from hongri8488/v4 添加gb28181 tcp多端口	2022-10-20 14:55:32 +08:00
zhangdongfang	5960f07fc3	添加gb28181 tcp多端口	2022-10-20 14:49:31 +08:00
dexter	eb6004d6ef	🐛 FIX: 防止dts自动生成	2022-10-17 11:37:30 +08:00
dexter	cce5f67ab9	🐛 FIX: initRoutes索引越界	2022-10-13 16:23:32 +08:00
dexter	fdfb462d46	Merge pull request #70 from WXC9102/v4 更新通道panic	2022-09-26 18:52:23 +08:00
weixuechao	c05adce562	1.更新通道时会偶发panic, 2.新增/删除通道信息没有更新	2022-09-26 16:54:55 +08:00
dexter	aa3727f582	🐛 FIX: unlock时的判空	2022-09-19 00:21:48 +08:00
dexter	6e8709176e	🐛 FIX: sdp中t值序列化问题	2022-09-16 18:06:15 +08:00
dexter	3e6c43f6ff	📦 NEW: UDP多端口支持	2022-09-16 16:23:58 +08:00
dexter	4a7aa94bd2	🐛 FIX: PTZCmd报文传递DeviceID为通道ID	2022-09-16 13:29:11 +08:00
dexter	fd13c6d9ab	🐛 FIX: InviteOptions.String方法格式化类型不匹配	2022-09-14 17:44:09 +08:00
dexter	085d413d2b	📦 NEW: 增加设备信息写盘重启快速恢复连接	2022-09-12 22:56:04 +08:00