ros_compressed_streamer.cpp
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00001 #include "web_video_server/ros_compressed_streamer.h"
00002 
00003 namespace web_video_server
00004 {
00005 
00006 RosCompressedStreamer::RosCompressedStreamer(const async_web_server_cpp::HttpRequest &request,
00007                              async_web_server_cpp::HttpConnectionPtr connection, ros::NodeHandle& nh) :
00008   ImageStreamer(request, connection, nh), stream_(connection)
00009 {
00010   stream_.sendInitialHeader();
00011 }
00012 
00013 void RosCompressedStreamer::start() {
00014   std::string compressed_topic = topic_ + "/compressed";
00015   image_sub_ = nh_.subscribe(compressed_topic, 1, &RosCompressedStreamer::imageCallback, this);
00016 }
00017 
00018 void RosCompressedStreamer::imageCallback(const sensor_msgs::CompressedImageConstPtr &msg) {
00019   try {
00020     std::string content_type;
00021     if(msg->format.find("jpeg") != std::string::npos) {
00022       content_type = "image/jpeg";
00023     }
00024     else if(msg->format.find("png") != std::string::npos) {
00025       content_type = "image/png";
00026     }
00027     else {
00028       ROS_WARN_STREAM("Unknown ROS compressed image format: " << msg->format);
00029       return;
00030     }
00031 
00032     stream_.sendPart(msg->header.stamp, content_type, boost::asio::buffer(msg->data), msg);
00033   }
00034   catch (boost::system::system_error &e)
00035   {
00036     // happens when client disconnects
00037     ROS_DEBUG("system_error exception: %s", e.what());
00038     inactive_ = true;
00039     return;
00040   }
00041   catch (std::exception &e)
00042   {
00043     ROS_ERROR_THROTTLE(30, "exception: %s", e.what());
00044     inactive_ = true;
00045     return;
00046   }
00047   catch (...)
00048   {
00049     ROS_ERROR_THROTTLE(30, "exception");
00050     inactive_ = true;
00051     return;
00052   }
00053 }
00054 
00055 
00056 boost::shared_ptr<ImageStreamer> RosCompressedStreamerType::create_streamer(const async_web_server_cpp::HttpRequest &request,
00057                                                                                  async_web_server_cpp::HttpConnectionPtr connection,
00058                                                                                  ros::NodeHandle& nh)
00059 {
00060   return boost::shared_ptr<ImageStreamer>(new RosCompressedStreamer(request, connection, nh));
00061 }
00062 
00063 std::string RosCompressedStreamerType::create_viewer(const async_web_server_cpp::HttpRequest &request)
00064 {
00065   std::stringstream ss;
00066   ss << "<img src=\"/stream?";
00067   ss << request.query;
00068   ss << "\"></img>";
00069   return ss.str();
00070 }
00071 
00072 
00073 }


web_video_server
Author(s): Mitchell Wills
autogenerated on Sun Jan 22 2017 04:06:43