Program Listing for File ros_compressed_streamer.hpp
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// Copyright (c) 2014, Worcester Polytechnic Institute
// Copyright (c) 2024, The Robot Web Tools Contributors
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
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// this software without specific prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#pragma once
#include <memory>
#include <string>
#include "sensor_msgs/msg/compressed_image.hpp"
#include "web_video_server/image_streamer.hpp"
#include "async_web_server_cpp/http_request.hpp"
#include "async_web_server_cpp/http_connection.hpp"
#include "web_video_server/multipart_stream.hpp"
namespace web_video_server
{
class RosCompressedStreamer : public ImageStreamer
{
public:
RosCompressedStreamer(
const async_web_server_cpp::HttpRequest & request,
async_web_server_cpp::HttpConnectionPtr connection,
rclcpp::Node::SharedPtr node);
~RosCompressedStreamer();
virtual void start();
virtual void restreamFrame(std::chrono::duration<double> max_age);
protected:
virtual void sendImage(
const sensor_msgs::msg::CompressedImage::ConstSharedPtr msg,
const std::chrono::steady_clock::time_point & time);
private:
void imageCallback(const sensor_msgs::msg::CompressedImage::ConstSharedPtr msg);
MultipartStream stream_;
rclcpp::Subscription<sensor_msgs::msg::CompressedImage>::SharedPtr image_sub_;
std::chrono::steady_clock::time_point last_frame_;
sensor_msgs::msg::CompressedImage::ConstSharedPtr last_msg;
std::mutex send_mutex_;
std::string qos_profile_name_;
};
class RosCompressedStreamerType : public ImageStreamerType
{
public:
std::shared_ptr<ImageStreamer> create_streamer(
const async_web_server_cpp::HttpRequest & request,
async_web_server_cpp::HttpConnectionPtr connection,
rclcpp::Node::SharedPtr node);
std::string create_viewer(const async_web_server_cpp::HttpRequest & request);
};
} // namespace web_video_server