Program Listing for File streamer.hpp

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// Copyright (c) 2014, Worcester Polytechnic Institute
// Copyright (c) 2024-2025, The Robot Web Tools Contributors
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#pragma once

#include <chrono>
#include <memory>
#include <string>
#include <vector>

#include "async_web_server_cpp/http_connection.hpp"
#include "async_web_server_cpp/http_request.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/node.hpp"

namespace web_video_server
{

class StreamerInterface
{
public:
  virtual ~StreamerInterface() {}

  virtual void start() = 0;

  virtual bool is_inactive() = 0;

  virtual void restream_frame(std::chrono::duration<double> max_age) = 0;

  virtual std::string get_topic() = 0;
};

class StreamerBase : public StreamerInterface
{
public:
  StreamerBase(
    const async_web_server_cpp::HttpRequest & request,
    async_web_server_cpp::HttpConnectionPtr connection,
    rclcpp::Node::WeakPtr node,
    std::string logger_name = "streamer");

  bool is_inactive() override
  {
    return inactive_;
  }

  std::string get_topic() override
  {
    return topic_;
  }

protected:
  rclcpp::Node::SharedPtr lock_node() const;

  async_web_server_cpp::HttpConnectionPtr connection_;
  async_web_server_cpp::HttpRequest request_;
  rclcpp::Node::WeakPtr node_;
  rclcpp::Logger logger_;
  bool inactive_;
  std::string topic_;
};

class StreamerFactoryInterface
{
public:
  virtual ~StreamerFactoryInterface() = default;

  virtual std::string get_type() = 0;

  virtual std::shared_ptr<StreamerInterface> create_streamer(
    const async_web_server_cpp::HttpRequest & request,
    async_web_server_cpp::HttpConnectionPtr connection,
    rclcpp::Node::WeakPtr node) = 0;

  virtual std::string create_viewer(const async_web_server_cpp::HttpRequest & request);

  virtual std::vector<std::string> get_available_topics(rclcpp::Node & node);
};

class SnapshotStreamerFactoryInterface : public StreamerFactoryInterface {};

}  // namespace web_video_server