ros_compressed_streamer.hpp

// Copyright (c) 2014, Worcester Polytechnic Institute
// Copyright (c) 2024, The Robot Web Tools Contributors
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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