Check out live555 . This will allow you to process all RTSP messages and provide data (in your case, h264) to your application for further processing / decoding. This is a C / C ++ library and therefore can work on iOS.
Your integration options with the cocoa app:
1) Run live555 in your thread using the event loop mechanism given as part of the library (note that all operations directly related to live555 should be performed in this thread, since live555 itself is not designed for thread safety).
2) Provide the cocoa "TaskScheduler" implementation in which you use the cocoa library for asynchronous callbacks, timers, etc.
The above items will make more sense to you after watching doco live555.
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