Gstreamer pipeline Translation

Goal is translate a Gstreamer pipeline in working C code for Nvidia Jetson TX1. Pipeline simply starts grab audio/video stream from alsa/v4l2 device and write file to local disk, i need possibility to change some pipeline option like: Video encoder bitrate, framerate, resolution (omxh264enc/omxh265enc) Audio encoder number audio traks, bitrate. File name. What i expect: C functions to include in my project, where i can call for start pipeline, read playing state and stop pipeline. I can provide remote connection to development board if needed,