#include <mjpeg_server.h>

Public Member Functions
void	cleanUp ()
	Closes all client threads.
void	client (int fd)
	Client thread function Serve a connected TCP-client. This thread function is called for each connect of a HTTP client like a webbrowser. It determines if it is a valid HTTP request and dispatches between the different response options.
void	execute ()
	Runs whenever a new goal is sent to the move_base.
	MJPEGServer (ros::NodeHandle &node)
	Constructor.
void	spin ()
	Starts the server and spins.
void	stop ()
	Stops the server.
virtual	~MJPEGServer ()
	Destructor - Cleans up.
Private Types
typedef std::map< std::string, ImageBuffer * >	ImageBufferMap
typedef std::map< std::string, size_t >	ImageSubscriberCountMap
typedef std::map< std::string, image_transport::Subscriber >	ImageSubscriberMap
typedef std::map< std::string, std::string >	ParameterMap
Private Member Functions
void	decodeBase64 (char *data)
	Decodes the data and stores the result to the same buffer. The buffer will be large enough, because base64 requires more space then plain text.
void	decodeParameter (const std::string &parameter, ParameterMap &parameter_map)
	Decodes URI parameters in form of ?parameter=value.
void	decreaseSubscriberCount (const std::string topic)
	increase the number of the subscribers of the specified topic
void	freeRequest (request *req)
	If strings were assigned to the different members free them. This will fail if strings are static, so always use strdup().
ImageBuffer *	getImageBuffer (const std::string &topic)
int	hexCharToInt (char in)
	Convert a hexadecimal ASCII character to integer.
void	imageCallback (const sensor_msgs::ImageConstPtr &msg, const std::string &topic)
void	increaseSubscriberCount (const std::string topic)
	decrease the number of the subscribers of the specified topic
void	initIOBuffer (iobuffer *iobuf)
	Initializes the iobuffer structure properly.
void	initRequest (request *req)
	Initializes the request structure properly.
void	invertImage (const cv::Mat &input, cv::Mat &output)
	Rotate input image by 180 degrees.
int	readLineWithTimeout (int fd, iobuffer iobuf, char buffer, size_t len, int timeout)
	Read a single line from the provided fildescriptor. This funtion will return under two conditions:
int	readWithTimeout (int fd, iobuffer iobuf, char buffer, size_t len, int timeout)
	read with timeout, implemented without using signals tries to read len bytes and returns if enough bytes were read or the timeout was triggered. In case of timeout the return value may differ from the requested bytes "len".
void	sendError (int fd, int which, const char *message)
	Send an error message.
void	sendSnapshot (int fd, const char *parameter)
	Send a complete HTTP response and a single JPG-frame.
void	sendStream (int fd, const char *parameter)
	Send a complete HTTP response and a stream of JPG-frames.
void	splitString (const std::string &str, std::vector< std::string > &tokens, const std::string &delimiter=" ")
	Split string into a list of tokens.
int	stringToInt (const std::string &str, const int default_value=0)
	Convert a string to an integer.
int	unescape (char *string)
	Replaces XX with the character code it represents, URI.
void	unregisterSubscriberIfPossible (const std::string topic)
	remove ros::Subscriber if the number of the subscribers of the topic is equal to 0
Private Attributes
std::string	header
ImageBufferMap	image_buffers_
boost::mutex	image_maps_mutex_
ImageSubscriberMap	image_subscribers_
ImageSubscriberCountMap	image_subscribers_count_
image_transport::ImageTransport	image_transport_
ros::NodeHandle	node_
int	port_
int	sd [MAX_NUM_SOCKETS]
int	sd_len
bool	stop_requested_
char *	www_folder_

Detailed Description

Definition at line 101 of file mjpeg_server.h.

Member Typedef Documentation

typedef std::map<std::string, ImageBuffer*> mjpeg_server::MJPEGServer::ImageBufferMap [private]

Definition at line 148 of file mjpeg_server.h.

typedef std::map<std::string, size_t> mjpeg_server::MJPEGServer::ImageSubscriberCountMap [private]

Definition at line 150 of file mjpeg_server.h.

typedef std::map<std::string, image_transport::Subscriber> mjpeg_server::MJPEGServer::ImageSubscriberMap [private]

Definition at line 149 of file mjpeg_server.h.

typedef std::map<std::string, std::string> mjpeg_server::MJPEGServer::ParameterMap [private]

Definition at line 151 of file mjpeg_server.h.

Constructor & Destructor Documentation

mjpeg_server::MJPEGServer::MJPEGServer ( ros::NodeHandle & node )

Constructor.

Returns:

Definition at line 80 of file mjpeg_server.cpp.

mjpeg_server::MJPEGServer::~MJPEGServer ( ) [virtual]

Destructor - Cleans up.

Definition at line 91 of file mjpeg_server.cpp.

Member Function Documentation

void mjpeg_server::MJPEGServer::cleanUp ( )

Closes all client threads.

Definition at line 1043 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::client ( int fd )

Client thread function Serve a connected TCP-client. This thread function is called for each connect of a HTTP client like a webbrowser. It determines if it is a valid HTTP request and dispatches between the different response options.

Definition at line 747 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::decodeBase64 ( char * data ) [private]

Decodes the data and stores the result to the same buffer. The buffer will be large enough, because base64 requires more space then plain text.

Parameters:

base64 encoded data

Returns:: plain decoded data

Definition at line 236 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::decodeParameter	(	const std::string &	parameter,
		ParameterMap &	parameter_map
	)		`[private]`

Decodes URI parameters in form of ?parameter=value.

Parameters:

URI string

Returns:: a map of parameter/value pairs

Definition at line 402 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::decreaseSubscriberCount ( const std::string topic ) [private]

increase the number of the subscribers of the specified topic

Parameters:

topic name string

Definition at line 1065 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::execute ( )

Runs whenever a new goal is sent to the move_base.

Parameters:

goal	The goal to pursue
feedback	Feedback that the action gives to a higher-level monitor, in this case, the position of the robot

Returns:: The result of the execution, ie: Success, Preempted, Aborted, etc.

Definition at line 893 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::freeRequest ( request * req ) [private]

If strings were assigned to the different members free them. This will fail if strings are static, so always use strdup().

Parameters:

req,: pointer to request structure

Definition at line 152 of file mjpeg_server.cpp.

ImageBuffer * mjpeg_server::MJPEGServer::getImageBuffer ( const std::string & topic ) [private]

Definition at line 422 of file mjpeg_server.cpp.

int mjpeg_server::MJPEGServer::hexCharToInt ( char in ) [private]

Convert a hexadecimal ASCII character to integer.

Parameters:

ASCII character

Returns:: corresponding value between 0 and 15, or -1 in case of error

Definition at line 280 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::imageCallback	(	const sensor_msgs::ImageConstPtr &	msg,
		const std::string &	topic
	)		`[private]`

Definition at line 96 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::increaseSubscriberCount ( const std::string topic ) [private]

decrease the number of the subscribers of the specified topic

Parameters:

topic name string

Definition at line 1086 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::initIOBuffer ( iobuffer * iobuf ) [private]

Initializes the iobuffer structure properly.

Parameters:

Pointer to already allocated iobuffer

Definition at line 137 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::initRequest ( request * req ) [private]

Initializes the request structure properly.

Parameters:

Pointer to already allocated req

Definition at line 143 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::invertImage	(	const cv::Mat &	input,
		cv::Mat &	output
	)		`[private]`

Rotate input image by 180 degrees.

Parameters:

input	image
output	image

Definition at line 438 of file mjpeg_server.cpp.

int mjpeg_server::MJPEGServer::readLineWithTimeout	(	int	fd,
		iobuffer *	iobuf,
		char *	buffer,
		size_t	len,
		int	timeout
	)		`[private]`

Read a single line from the provided fildescriptor. This funtion will return under two conditions:

line end was reached

timeout occured

Parameters:

fd.....,:	fildescriptor to read from
iobuf..,:	iobuffer that allows to use this functions from multiple threads because the complete context is the iobuffer.
buffer.,:	The buffer to store values at, will be set to zero before storing values.
len....,:	the length of buffer
timeout,:	seconds to wait for an answer

Returns:: buffer.: will become filled with bytes read; iobuf..: May get altered to save the context for future calls.; func().: bytes copied to buffer or -1 in case of error

Definition at line 216 of file mjpeg_server.cpp.

int mjpeg_server::MJPEGServer::readWithTimeout	(	int	fd,
		iobuffer *	iobuf,
		char *	buffer,
		size_t	len,
		int	timeout
	)		`[private]`

read with timeout, implemented without using signals tries to read len bytes and returns if enough bytes were read or the timeout was triggered. In case of timeout the return value may differ from the requested bytes "len".

Parameters:

fd.....,:	fildescriptor to read from
iobuf..,:	iobuffer that allows to use this functions from multiple threads because the complete context is the iobuffer.
buffer.,:	The buffer to store values at, will be set to zero before storing values.
len....,:	the length of buffer
timeout,:	seconds to wait for an answer

Returns:: buffer.: will become filled with bytes read; iobuf..: May get altered to save the context for future calls.; func().: bytes copied to buffer or -1 in case of error

Definition at line 162 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::sendError	(	int	fd,
		int	which,
		const char *	message
	)		`[private]`

Send an error message.

Parameters:

fildescriptor	fd to send the answer to
error	number
error	message

Definition at line 340 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::sendSnapshot	(	int	fd,
		const char *	parameter
	)		`[private]`

Send a complete HTTP response and a single JPG-frame.

Parameters:

fildescriptor	fd to send the answer to
parameter	string

Definition at line 622 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::sendStream	(	int	fd,
		const char *	parameter
	)		`[private]`

Send a complete HTTP response and a stream of JPG-frames.

Parameters:

fildescriptor	fd to send the answer to
parameter	string

Definition at line 454 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::spin ( )

Starts the server and spins.

Definition at line 1051 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::splitString	(	const std::string &	str,
		std::vector< std::string > &	tokens,
		const std::string &	delimiter = `" "`
	)		`[private]`