Replace nh with node (#155)

bjsowa · web-flow · commit 9fc0d63e30d2 · 2024-10-02T18:39:27.000+02:00
diff --git a/include/web_video_server/h264_streamer.h b/include/web_video_server/h264_streamer.h
@@ -13,7 +13,7 @@ class H264Streamer : public LibavStreamer
 {
 public:
   H264Streamer(const async_web_server_cpp::HttpRequest& request, async_web_server_cpp::HttpConnectionPtr connection,
-              rclcpp::Node::SharedPtr nh);
+              rclcpp::Node::SharedPtr node);
   ~H264Streamer();
 protected:
   virtual void initializeEncoder();
@@ -26,7 +26,7 @@ class H264StreamerType : public LibavStreamerType
   H264StreamerType();
   virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest& request,
                                                            async_web_server_cpp::HttpConnectionPtr connection,
-                                                           rclcpp::Node::SharedPtr nh);
+                                                           rclcpp::Node::SharedPtr node);
 };
 
 }
diff --git a/include/web_video_server/image_streamer.h b/include/web_video_server/image_streamer.h
@@ -17,7 +17,7 @@ class ImageStreamer
 public:
   ImageStreamer(const async_web_server_cpp::HttpRequest &request,
 		async_web_server_cpp::HttpConnectionPtr connection,
-		rclcpp::Node::SharedPtr nh);
+		rclcpp::Node::SharedPtr node);
 
   virtual void start() = 0;
   virtual ~ImageStreamer();
@@ -41,7 +41,7 @@ class ImageStreamer
 protected:
   async_web_server_cpp::HttpConnectionPtr connection_;
   async_web_server_cpp::HttpRequest request_;
-  rclcpp::Node::SharedPtr nh_;
+  rclcpp::Node::SharedPtr node_;
   bool inactive_;
   image_transport::Subscriber image_sub_;
   std::string topic_;
@@ -52,7 +52,7 @@ class ImageTransportImageStreamer : public ImageStreamer
 {
 public:
   ImageTransportImageStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
-			      rclcpp::Node::SharedPtr nh);
+			      rclcpp::Node::SharedPtr node);
   virtual ~ImageTransportImageStreamer();
 
   virtual void start();
@@ -85,7 +85,7 @@ class ImageStreamerType
 public:
   virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
                                                            async_web_server_cpp::HttpConnectionPtr connection,
-                                                           rclcpp::Node::SharedPtr nh) = 0;
+                                                           rclcpp::Node::SharedPtr node) = 0;
 
   virtual std::string create_viewer(const async_web_server_cpp::HttpRequest &request) = 0;
 };
diff --git a/include/web_video_server/jpeg_streamers.h b/include/web_video_server/jpeg_streamers.h
@@ -14,7 +14,7 @@ class MjpegStreamer : public ImageTransportImageStreamer
 {
 public:
   MjpegStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
-                rclcpp::Node::SharedPtr nh);
+                rclcpp::Node::SharedPtr node);
   ~MjpegStreamer();
 protected:
   virtual void sendImage(const cv::Mat &, const rclcpp::Time &time);
@@ -29,15 +29,15 @@ class MjpegStreamerType : public ImageStreamerType
 public:
   boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
                                                    async_web_server_cpp::HttpConnectionPtr connection,
-                                                   rclcpp::Node::SharedPtr nh);
+                                                   rclcpp::Node::SharedPtr node);
   std::string create_viewer(const async_web_server_cpp::HttpRequest &request);
 };
 
 class JpegSnapshotStreamer : public ImageTransportImageStreamer
 {
 public:
   JpegSnapshotStreamer(const async_web_server_cpp::HttpRequest &request,
-                       async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr nh);
+                       async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr node);
   ~JpegSnapshotStreamer();
 protected:
   virtual void sendImage(const cv::Mat &, const rclcpp::Time &time);
diff --git a/include/web_video_server/libav_streamer.h b/include/web_video_server/libav_streamer.h
@@ -25,7 +25,7 @@ class LibavStreamer : public ImageTransportImageStreamer
 {
 public:
   LibavStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
-                rclcpp::Node::SharedPtr nh, const std::string &format_name, const std::string &codec_name,
+                rclcpp::Node::SharedPtr node, const std::string &format_name, const std::string &codec_name,
                 const std::string &content_type);
 
   ~LibavStreamer();
@@ -65,7 +65,7 @@ class LibavStreamerType : public ImageStreamerType
 
   boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
                                                    async_web_server_cpp::HttpConnectionPtr connection,
-                                                   rclcpp::Node::SharedPtr nh);
+                                                   rclcpp::Node::SharedPtr node);
 
   std::string create_viewer(const async_web_server_cpp::HttpRequest &request);
 
diff --git a/include/web_video_server/png_streamers.h b/include/web_video_server/png_streamers.h
@@ -14,7 +14,7 @@ class PngStreamer : public ImageTransportImageStreamer
 {
 public:
   PngStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
-              rclcpp::Node::SharedPtr nh);
+              rclcpp::Node::SharedPtr node);
   ~PngStreamer();
 protected:
   virtual void sendImage(const cv::Mat &, const rclcpp::Time &time);
@@ -29,15 +29,15 @@ class PngStreamerType : public ImageStreamerType
 public:
   boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
                                                    async_web_server_cpp::HttpConnectionPtr connection,
-                                                   rclcpp::Node::SharedPtr nh);
+                                                   rclcpp::Node::SharedPtr node);
   std::string create_viewer(const async_web_server_cpp::HttpRequest &request);
 };
 
 class PngSnapshotStreamer : public ImageTransportImageStreamer
 {
 public:
   PngSnapshotStreamer(const async_web_server_cpp::HttpRequest &request,
-                      async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr nh);
+                      async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr node);
   ~PngSnapshotStreamer();
 protected:
   virtual void sendImage(const cv::Mat &, const rclcpp::Time &time);
diff --git a/include/web_video_server/ros_compressed_streamer.h b/include/web_video_server/ros_compressed_streamer.h
@@ -14,7 +14,7 @@ class RosCompressedStreamer : public ImageStreamer
 {
 public:
   RosCompressedStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
-			rclcpp::Node::SharedPtr nh);
+			rclcpp::Node::SharedPtr node);
   ~RosCompressedStreamer();
   virtual void start();
   virtual void restreamFrame(double max_age);
@@ -37,7 +37,7 @@ class RosCompressedStreamerType : public ImageStreamerType
 public:
   boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
                                                    async_web_server_cpp::HttpConnectionPtr connection,
-                                                   rclcpp::Node::SharedPtr nh);
+                                                   rclcpp::Node::SharedPtr node);
   std::string create_viewer(const async_web_server_cpp::HttpRequest &request);
 };
 
diff --git a/include/web_video_server/vp8_streamer.h b/include/web_video_server/vp8_streamer.h
@@ -49,7 +49,7 @@ class Vp8Streamer : public LibavStreamer
 {
 public:
   Vp8Streamer(const async_web_server_cpp::HttpRequest& request, async_web_server_cpp::HttpConnectionPtr connection,
-              rclcpp::Node::SharedPtr nh);
+              rclcpp::Node::SharedPtr node);
   ~Vp8Streamer();
 protected:
   virtual void initializeEncoder();
@@ -63,7 +63,7 @@ class Vp8StreamerType : public LibavStreamerType
   Vp8StreamerType();
   virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest& request,
                                                            async_web_server_cpp::HttpConnectionPtr connection,
-                                                           rclcpp::Node::SharedPtr nh);
+                                                           rclcpp::Node::SharedPtr node);
 };
 
 }
diff --git a/include/web_video_server/vp9_streamer.h b/include/web_video_server/vp9_streamer.h
@@ -13,7 +13,7 @@ class Vp9Streamer : public LibavStreamer
 {
 public:
   Vp9Streamer(const async_web_server_cpp::HttpRequest& request, async_web_server_cpp::HttpConnectionPtr connection,
-              rclcpp::Node::SharedPtr nh);
+              rclcpp::Node::SharedPtr node);
   ~Vp9Streamer();
 protected:
   virtual void initializeEncoder();
@@ -25,7 +25,7 @@ class Vp9StreamerType : public LibavStreamerType
   Vp9StreamerType();
   virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest& request,
                                                            async_web_server_cpp::HttpConnectionPtr connection,
-                                                           rclcpp::Node::SharedPtr nh);
+                                                           rclcpp::Node::SharedPtr node);
 };
 
 }
diff --git a/include/web_video_server/web_video_server.h b/include/web_video_server/web_video_server.h
@@ -29,7 +29,7 @@ class WebVideoServer
    * @brief  Constructor
    * @return
    */
-  WebVideoServer(rclcpp::Node::SharedPtr &nh);
+  WebVideoServer(rclcpp::Node::SharedPtr &node);
 
   /**
    * @brief  Destructor - Cleans up
@@ -59,7 +59,7 @@ class WebVideoServer
   void restreamFrames(double max_age);
   void cleanup_inactive_streams();
 
-  rclcpp::Node::SharedPtr nh_;
+  rclcpp::Node::SharedPtr node_;
   rclcpp::WallTimer<rclcpp::VoidCallbackType>::SharedPtr cleanup_timer_;
   int ros_threads_;
   double publish_rate_;
diff --git a/src/h264_streamer.cpp b/src/h264_streamer.cpp
@@ -4,8 +4,8 @@ namespace web_video_server
 {
 
 H264Streamer::H264Streamer(const async_web_server_cpp::HttpRequest& request,
-                         async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr nh) :
-    LibavStreamer(request, connection, nh, "mp4", "libx264", "video/mp4")
+                         async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr node) :
+    LibavStreamer(request, connection, node, "mp4", "libx264", "video/mp4")
 {
   /* possible quality presets:
    * ultrafast, superfast, veryfast, faster, fast, medium, slow, slower, veryslow, placebo
@@ -41,9 +41,9 @@ H264StreamerType::H264StreamerType() :
 
 boost::shared_ptr<ImageStreamer> H264StreamerType::create_streamer(const async_web_server_cpp::HttpRequest& request,
                                                                   async_web_server_cpp::HttpConnectionPtr connection,
-                                                                  rclcpp::Node::SharedPtr nh)
+                                                                  rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new H264Streamer(request, connection, nh));
+  return boost::shared_ptr<ImageStreamer>(new H264Streamer(request, connection, node));
 }
 
 }
diff --git a/src/image_streamer.cpp b/src/image_streamer.cpp
@@ -12,8 +12,8 @@ namespace web_video_server
 {
 
 ImageStreamer::ImageStreamer(const async_web_server_cpp::HttpRequest &request,
-                             async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr nh) :
-    request_(request), connection_(connection), nh_(nh), inactive_(false)
+                             async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr node) :
+    request_(request), connection_(connection), node_(node), inactive_(false)
 {
   topic_ = request.get_query_param_value_or_default("topic", "");
 }
@@ -23,8 +23,8 @@ ImageStreamer::~ImageStreamer()
 }
 
 ImageTransportImageStreamer::ImageTransportImageStreamer(const async_web_server_cpp::HttpRequest &request,
-                             async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr nh) :
-  ImageStreamer(request, connection, nh), it_(nh), initialized_(false)
+                             async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr node) :
+  ImageStreamer(request, connection, node), it_(node), initialized_(false)
 {
   output_width_ = request.get_query_param_value_or_default<int>("width", -1);
   output_height_ = request.get_query_param_value_or_default<int>("height", -1);
@@ -39,8 +39,8 @@ ImageTransportImageStreamer::~ImageTransportImageStreamer()
 
 void ImageTransportImageStreamer::start()
 {
-  image_transport::TransportHints hints(nh_.get(), default_transport_);
-  auto tnat = nh_->get_topic_names_and_types();
+  image_transport::TransportHints hints(node_.get(), default_transport_);
+  auto tnat = node_->get_topic_names_and_types();
   inactive_ = true;
   for (auto topic_and_types : tnat) {
     if (topic_and_types.second.size() > 1) {
@@ -55,19 +55,19 @@ void ImageTransportImageStreamer::start()
   }
 
   // Get QoS profile from query parameter
-  RCLCPP_INFO(nh_->get_logger(), "Streaming topic %s with QoS profile %s", topic_.c_str(), qos_profile_name_.c_str());
+  RCLCPP_INFO(node_->get_logger(), "Streaming topic %s with QoS profile %s", topic_.c_str(), qos_profile_name_.c_str());
   auto qos_profile = get_qos_profile_from_name(qos_profile_name_);
   if (!qos_profile) {
     qos_profile = rmw_qos_profile_default;
     RCLCPP_ERROR(
-      nh_->get_logger(),
+      node_->get_logger(),
       "Invalid QoS profile %s specified. Using default profile.",
       qos_profile_name_.c_str());
   }
 
   // Create subscriber
   image_sub_ = image_transport::create_subscription(
-      nh_.get(), topic_, std::bind(&ImageTransportImageStreamer::imageCallback, this, std::placeholders::_1),
+      node_.get(), topic_, std::bind(&ImageTransportImageStreamer::imageCallback, this, std::placeholders::_1),
       default_transport_, qos_profile.value());
 }
 
@@ -80,29 +80,29 @@ void ImageTransportImageStreamer::restreamFrame(double max_age)
   if (inactive_ || !initialized_ )
     return;
   try {
-    if ( last_frame + rclcpp::Duration::from_seconds(max_age) < nh_->now() ) {
+    if ( last_frame + rclcpp::Duration::from_seconds(max_age) < node_->now() ) {
       boost::mutex::scoped_lock lock(send_mutex_);
-      sendImage(output_size_image, nh_->now() ); // don't update last_frame, it may remain an old value.
+      sendImage(output_size_image, node_->now() ); // don't update last_frame, it may remain an old value.
     }
   }
   catch (boost::system::system_error &e)
   {
     // happens when client disconnects
-    RCLCPP_DEBUG(nh_->get_logger(), "system_error exception: %s", e.what());
+    RCLCPP_DEBUG(node_->get_logger(), "system_error exception: %s", e.what());
     inactive_ = true;
     return;
   }
   catch (std::exception &e)
   {
     // TODO THROTTLE with 30
-    RCLCPP_ERROR(nh_->get_logger(), "exception: %s", e.what());
+    RCLCPP_ERROR(node_->get_logger(), "exception: %s", e.what());
     inactive_ = true;
     return;
   }
   catch (...)
   {
     // TODO THROTTLE with 30
-    RCLCPP_ERROR(nh_->get_logger(), "exception");
+    RCLCPP_ERROR(node_->get_logger(), "exception");
     inactive_ = true;
     return;
   }
@@ -170,41 +170,41 @@ void ImageTransportImageStreamer::imageCallback(const sensor_msgs::msg::Image::C
       initialized_ = true;
     }
 
-    last_frame = nh_->now();
+    last_frame = node_->now();
     sendImage(output_size_image, msg->header.stamp);
   }
   catch (cv_bridge::Exception &e)
   {
     // TODO THROTTLE with 30
-    RCLCPP_ERROR(nh_->get_logger(), "cv_bridge exception: %s", e.what());
+    RCLCPP_ERROR(node_->get_logger(), "cv_bridge exception: %s", e.what());
     inactive_ = true;
     return;
   }
   catch (cv::Exception &e)
   {
     // TODO THROTTLE with 30
-    RCLCPP_ERROR(nh_->get_logger(), "cv_bridge exception: %s", e.what());
+    RCLCPP_ERROR(node_->get_logger(), "cv_bridge exception: %s", e.what());
     inactive_ = true;
     return;
   }
   catch (boost::system::system_error &e)
   {
     // happens when client disconnects
-    RCLCPP_DEBUG(nh_->get_logger(), "system_error exception: %s", e.what());
+    RCLCPP_DEBUG(node_->get_logger(), "system_error exception: %s", e.what());
     inactive_ = true;
     return;
   }
   catch (std::exception &e)
   {
     // TODO THROTTLE with 30
-    RCLCPP_ERROR(nh_->get_logger(), "exception: %s", e.what());
+    RCLCPP_ERROR(node_->get_logger(), "exception: %s", e.what());
     inactive_ = true;
     return;
   }
   catch (...)
   {
     // TODO THROTTLE with 30
-    RCLCPP_ERROR(nh_->get_logger(), "exception");
+    RCLCPP_ERROR(node_->get_logger(), "exception");
     inactive_ = true;
     return;
   }
diff --git a/src/jpeg_streamers.cpp b/src/jpeg_streamers.cpp
@@ -5,8 +5,8 @@ namespace web_video_server
 {
 
 MjpegStreamer::MjpegStreamer(const async_web_server_cpp::HttpRequest &request,
-                             async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr nh) :
-  ImageTransportImageStreamer(request, connection, nh), stream_(std::bind(&rclcpp::Node::now, nh), connection)
+                             async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr node) :
+  ImageTransportImageStreamer(request, connection, node), stream_(std::bind(&rclcpp::Node::now, node), connection)
 {
   quality_ = request.get_query_param_value_or_default<int>("quality", 95);
   stream_.sendInitialHeader();
@@ -32,9 +32,9 @@ void MjpegStreamer::sendImage(const cv::Mat &img, const rclcpp::Time &time)
 
 boost::shared_ptr<ImageStreamer> MjpegStreamerType::create_streamer(const async_web_server_cpp::HttpRequest &request,
                                                                     async_web_server_cpp::HttpConnectionPtr connection,
-                                                                    rclcpp::Node::SharedPtr nh)
+                                                                    rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new MjpegStreamer(request, connection, nh));
+  return boost::shared_ptr<ImageStreamer>(new MjpegStreamer(request, connection, node));
 }
 
 std::string MjpegStreamerType::create_viewer(const async_web_server_cpp::HttpRequest &request)
@@ -48,8 +48,8 @@ std::string MjpegStreamerType::create_viewer(const async_web_server_cpp::HttpReq
 
 JpegSnapshotStreamer::JpegSnapshotStreamer(const async_web_server_cpp::HttpRequest &request,
                                            async_web_server_cpp::HttpConnectionPtr connection,
-                                           rclcpp::Node::SharedPtr nh) :
-    ImageTransportImageStreamer(request, connection, nh)
+                                           rclcpp::Node::SharedPtr node) :
+    ImageTransportImageStreamer(request, connection, node)
 {
   quality_ = request.get_query_param_value_or_default<int>("quality", 95);
 }
diff --git a/src/libav_streamer.cpp b/src/libav_streamer.cpp
diff --git a/src/png_streamers.cpp b/src/png_streamers.cpp
diff --git a/src/ros_compressed_streamer.cpp b/src/ros_compressed_streamer.cpp
diff --git a/src/vp8_streamer.cpp b/src/vp8_streamer.cpp
diff --git a/src/vp9_streamer.cpp b/src/vp9_streamer.cpp
diff --git a/src/web_video_server.cpp b/src/web_video_server.cpp

Original file line number	Diff line number	Diff line change
`@@ -4,8 +4,8 @@ namespace web_video_server`
`4`	`4`	`{`
`5`	`5`
`6`	`6`	`H264Streamer::H264Streamer(const async_web_server_cpp::HttpRequest& request,`
`7`		`- async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr nh) :`
`8`		`- LibavStreamer(request, connection, nh, "mp4", "libx264", "video/mp4")`
	`7`	`+ async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr node) :`
	`8`	`+ LibavStreamer(request, connection, node, "mp4", "libx264", "video/mp4")`
`9`	`9`	`{`
`10`	`10`	`/* possible quality presets:`
`11`	`11`	`* ultrafast, superfast, veryfast, faster, fast, medium, slow, slower, veryslow, placebo`
`@@ -41,9 +41,9 @@ H264StreamerType::H264StreamerType() :`
`41`	`41`
`42`	`42`	`boost::shared_ptr<ImageStreamer> H264StreamerType::create_streamer(const async_web_server_cpp::HttpRequest& request,`
`43`	`43`	`async_web_server_cpp::HttpConnectionPtr connection,`
`44`		`- rclcpp::Node::SharedPtr nh)`
	`44`	`+ rclcpp::Node::SharedPtr node)`
`45`	`45`	`{`
`46`		`- return boost::shared_ptr<ImageStreamer>(new H264Streamer(request, connection, nh));`
	`46`	`+ return boost::shared_ptr<ImageStreamer>(new H264Streamer(request, connection, node));`
`47`	`47`	`}`
`48`	`48`
`49`	`49`	`}`