Program Listing for File theora_publisher.h

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#include "theora_image_transport/compression_common.h"

#include <rclcpp/node.hpp>

#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/compressed_image.hpp>

#include <image_transport/simple_publisher_plugin.hpp>
#include <cv_bridge/cv_bridge.hpp>
#include <std_msgs/msg/header.hpp>
#include <theora_image_transport/msg/packet.hpp>

#include <theora/codec.h>
#include <theora/theoraenc.h>
#include <theora/theoradec.h>

#include <string>
#include <vector>

namespace theora_image_transport {

using ParameterEvent = rcl_interfaces::msg::ParameterEvent;

class TheoraPublisher : public image_transport::SimplePublisherPlugin<theora_image_transport::msg::Packet>
{
public:
  TheoraPublisher();
  ~TheoraPublisher() override;

  // Return the system unique string representing the theora transport type
  std::string getTransportName() const override { return "theora"; }

protected:
  void advertiseImpl(
    rclcpp::Node* node,
    const std::string &base_topic,
    rmw_qos_profile_t custom_qos,
    rclcpp::PublisherOptions options) override;

  // TODO: Callback to send header packets to new clients
  // virtual void connectCallback(const ros::SingleSubscriberPublisher& pub);

  // Main publish function
  void publish(const sensor_msgs::msg::Image& message,
               const PublishFn& publish_fn) const;

  // Runtime reconfiguration support
  void refreshConfig() const;
  mutable bool refreshConfigNeeded;

  // Utility functions
  bool ensureEncodingContext(const sensor_msgs::msg::Image& image, const PublishFn& publish_fn) const;
  void oggPacketToMsg(const std_msgs::msg::Header& header,
                      const ogg_packet &oggpacket,
                      theora_image_transport::msg::Packet &msg) const;
  void updateKeyframeFrequency() const;

  // Some data is preserved across calls to publish(), but from the user's perspective publish() is
  // "logically const"
  mutable cv_bridge::CvImage img_image;
  mutable th_info encoder_setup_;
  mutable ogg_uint32_t keyframe_frequency_;
  mutable std::shared_ptr<th_enc_ctx> encoding_context_;
  mutable std::vector<theora_image_transport::msg::Packet> stream_header_;

  rclcpp::Logger logger_;
  rclcpp::Node * node_;

private:
  std::vector<std::string> parameters_;
  std::vector<std::string> deprecatedParameters_;

  rclcpp::Subscription<ParameterEvent>::SharedPtr parameter_subscription_;

  void declareParameter(const std::string &base_name,
                        const ParameterDefinition &definition);

  void onParameterEvent(ParameterEvent::SharedPtr event, std::string full_name, std::string base_name);
};

} //namespace compressed_image_transport