ros_compressed_streamer.h

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#ifndef ROS_COMPRESSED_STREAMERS_H_
#define ROS_COMPRESSED_STREAMERS_H_
 
#include <sensor_msgs/CompressedImage.h>
#include "web_video_server/image_streamer.h"
#include "async_web_server_cpp/http_request.hpp"
#include "async_web_server_cpp/http_connection.hpp"
#include "web_video_server/multipart_stream.h"
 
namespace web_video_server
{
 
class RosCompressedStreamer : public ImageStreamer
{
public:
  RosCompressedStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
                        ros::NodeHandle& nh);
  ~RosCompressedStreamer();
 
  virtual void start();
  virtual void restreamFrame(double max_age);
 
protected:
  virtual void sendImage(const sensor_msgs::CompressedImageConstPtr &msg, const ros::Time &time);
 
private:
  void imageCallback(const sensor_msgs::CompressedImageConstPtr &msg);
  MultipartStream stream_;
  ros::Subscriber image_sub_;
  ros::Time last_frame;
  sensor_msgs::CompressedImageConstPtr last_msg;
  boost::mutex send_mutex_;
};
 
class RosCompressedStreamerType : public ImageStreamerType
{
public:
  boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
                                                   async_web_server_cpp::HttpConnectionPtr connection,
                                                   ros::NodeHandle& nh);
  std::string create_viewer(const async_web_server_cpp::HttpRequest &request);
};
 
}
 
#endif