Use wall clock in places where the connection can leak if the sim time is looping

Author: jdavidberger

include/web_video_server/image_streamer.h

@@ -65,7 +65,7 @@ class ImageTransportImageStreamer : public ImageStreamer
   bool invert_;
   std::string default_transport_;
 
-  ros::Time last_frame;
+  ros::WallTime last_frame;
   cv::Mat output_size_image;
   boost::mutex send_mutex_;
 

include/web_video_server/multipart_stream.h

@@ -10,7 +10,7 @@ namespace web_video_server
 {
 
 struct PendingFooter {
-  ros::Time timestamp;
+  ros::WallTime timestamp;
   boost::weak_ptr<std::string> contents;
 };
 

src/image_streamer.cpp

@@ -63,7 +63,7 @@ void ImageTransportImageStreamer::restreamFrame(double max_age)
   if (inactive_ || !initialized_ )
     return;
   try {
-    if ( last_frame + ros::Duration(max_age) < ros::Time::now() ) {
+    if ( last_frame + ros::WallDuration(max_age) < ros::WallTime::now() ) {
       boost::mutex::scoped_lock lock(send_mutex_);
       sendImage(output_size_image, ros::Time::now() ); // don't update last_frame, it may remain an old value.
     }
@@ -154,7 +154,7 @@ void ImageTransportImageStreamer::imageCallback(const sensor_msgs::ImageConstPtr
       initialized_ = true;
     }
 
-    last_frame = ros::Time::now();
+    last_frame = ros::WallTime::now();
     sendImage(output_size_image, msg->header.stamp);
   }
   catch (cv_bridge::Exception &e)

src/multipart_stream.cpp

@@ -15,9 +15,10 @@ void MultipartStream::sendInitialHeader() {
   async_web_server_cpp::HttpReply::builder(async_web_server_cpp::HttpReply::ok).header("Connection", "close").header(
       "Server", "web_video_server").header("Cache-Control",
                                            "no-cache, no-store, must-revalidate, pre-check=0, post-check=0, max-age=0").header(
-      "Pragma", "no-cache").header("Content-type", "multipart/x-mixed-replace;boundary="+boundry_).header(
-      "Access-Control-Allow-Origin", "*").header("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,HEAD,OPTIONS").header(
-      "Access-Control-Allow-Headers", "Origin, Authorization, Accept, Content-Type").header("Access-Control-Max-Age", "3600").write(connection_);
+      "Pragma", "no-cache").header("Content-type", "multipart/x-mixed-replace;boundary="+boundry_)
+    .header("Access-Control-Allow-Origin", "*").header("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,HEAD,OPTIONS")
+    .header("Access-Control-Allow-Headers", "Origin, Authorization, Accept, Content-Type")
+    .header("Access-Control-Max-Age", "3600").write(connection_);
   connection_->write("--"+boundry_+"\r\n");
 }
 
@@ -40,7 +41,7 @@ void MultipartStream::sendPartHeader(const ros::Time &time, const std::string& t
 void MultipartStream::sendPartFooter(const ros::Time &time) {
   boost::shared_ptr<std::string> str(new std::string("\r\n--"+boundry_+"\r\n"));
   PendingFooter pf;
-  pf.timestamp = time;
+  pf.timestamp = ros::WallTime::now();
   pf.contents = str;
   connection_->write(boost::asio::buffer(*str), str);
   if (max_queue_size_ > 0) pending_footers_.push(pf);
@@ -68,13 +69,13 @@ void MultipartStream::sendPart(const ros::Time &time, const std::string& type,
 }
 
 bool MultipartStream::isBusy() {
-  ros::Time currentTime = ros::Time::now();
+  auto currentTime = ros::WallTime::now();
   while (!pending_footers_.empty())
   {
     if (pending_footers_.front().contents.expired()) {
       pending_footers_.pop();
     } else {
-      ros::Time footerTime = pending_footers_.front().timestamp;
+      auto footerTime = pending_footers_.front().timestamp;
       if ((currentTime - footerTime).toSec() > 0.5) {
         pending_footers_.pop();
       } else {