mjpeg_server::MJPEGServer Class Reference

#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, 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	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	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: line end was reached timeout occured.
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.
Private Attributes
ImageBufferMap	image_buffers_
boost::mutex	image_maps_mutex_
ImageSubscriberMap	image_subscribers_
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 97 of file mjpeg_server.h.

Member Typedef Documentation

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

Definition at line 143 of file mjpeg_server.h.

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

Definition at line 144 of file mjpeg_server.h.

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

Definition at line 145 of file mjpeg_server.h.

Constructor & Destructor Documentation

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

Constructor.

Returns:

Definition at line 92 of file mjpeg_server.cpp.

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

Destructor - Cleans up.

Definition at line 99 of file mjpeg_server.cpp.

Member Function Documentation

void mjpeg_server::MJPEGServer::cleanUp ( )

Closes all client threads.

Definition at line 922 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 662 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 233 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 371 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 792 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 158 of file mjpeg_server.cpp.

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

Definition at line 388 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 270 of file mjpeg_server.cpp.

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

Definition at line 103 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 143 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 149 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 402 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 215 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 165 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 324 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 555 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 416 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::spin ( )

Starts the server and spins.

Definition at line 929 of file mjpeg_server.cpp.

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

Split string into a list of tokens.

Parameters:

string

to split

Returns:: vector of tokens

Definition at line 113 of file mjpeg_server.cpp.

void mjpeg_server::MJPEGServer::stop ( )

Stops the server.

Definition at line 937 of file mjpeg_server.cpp.

int mjpeg_server::MJPEGServer::stringToInt	(	const std::string &	str,
		const int	default_value = `0`
	)			`[private]`

Convert a string to an integer.

Parameters:

	string
	default	return value

Returns:: corresponding value, default_value in case of error

Definition at line 131 of file mjpeg_server.cpp.

int mjpeg_server::MJPEGServer::unescape ( char * string ) [private]

Replaces XX with the character code it represents, URI.

Parameters:

string

to unescape

Returns:: 0 if everything is ok, -1 in case of error

Definition at line 284 of file mjpeg_server.cpp.

Member Data Documentation

ImageBufferMap mjpeg_server::MJPEGServer::image_buffers_ [private]

Definition at line 292 of file mjpeg_server.h.

boost::mutex mjpeg_server::MJPEGServer::image_maps_mutex_ [private]

Definition at line 294 of file mjpeg_server.h.

ImageSubscriberMap mjpeg_server::MJPEGServer::image_subscribers_ [private]

Definition at line 293 of file mjpeg_server.h.

image_transport::ImageTransport mjpeg_server::MJPEGServer::image_transport_ [private]

Definition at line 283 of file mjpeg_server.h.

ros::NodeHandle mjpeg_server::MJPEGServer::node_ [private]

Definition at line 282 of file mjpeg_server.h.

int mjpeg_server::MJPEGServer::port_ [private]

Definition at line 284 of file mjpeg_server.h.

int mjpeg_server::MJPEGServer::sd[MAX_NUM_SOCKETS] [private]

Definition at line 286 of file mjpeg_server.h.

int mjpeg_server::MJPEGServer::sd_len [private]

Definition at line 287 of file mjpeg_server.h.

bool mjpeg_server::MJPEGServer::stop_requested_ [private]

Definition at line 289 of file mjpeg_server.h.

char* mjpeg_server::MJPEGServer::www_folder_ [private]

Definition at line 290 of file mjpeg_server.h.

The documentation for this class was generated from the following files:

mjpeg_server::MJPEGServer Class Reference

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation