streamer.cpp

// Copyright (c) 2014, Worcester Polytechnic Institute
// Copyright (c) 2024-2025, The Robot Web Tools Contributors
// All rights reserved.
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// modification, are permitted provided that the following conditions are met:
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//    * Redistributions in binary form must reproduce the above copyright
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#include "web_video_server/streamer.hpp"

#include <vector>
#include <sstream>
#include <string>
#include <utility>

#include "rclcpp/node.hpp"
#include "rclcpp/logging.hpp"

#include "async_web_server_cpp/http_connection.hpp"
#include "async_web_server_cpp/http_request.hpp"

namespace web_video_server
{

StreamerBase::StreamerBase(
  const async_web_server_cpp::HttpRequest & request,
  async_web_server_cpp::HttpConnectionPtr connection,
  rclcpp::Node::WeakPtr node,
  std::string logger_name)
: connection_(connection), request_(request), node_(std::move(node)),
  logger_(node_.lock()->get_logger().get_child(logger_name)), inactive_(false),
  topic_(request.get_query_param_value_or_default("topic", "")),
  client_id_(request.get_query_param_value_or_default("client_id", ""))
{
}

rclcpp::Node::SharedPtr StreamerBase::lock_node() const
{
  auto node = node_.lock();
  if (!node) {
    RCLCPP_WARN(logger_, "Unable to access node because the owning node has been destroyed");
  }
  return node;
}

std::string StreamerFactoryInterface::create_viewer(
  const async_web_server_cpp::HttpRequest & request)
{
  std::stringstream ss;
  ss << "<img src=\"/stream?";
  ss << request.query;
  ss << "\"></img>";
  return ss.str();
}

std::vector<std::string> StreamerFactoryInterface::get_available_topics(
  rclcpp::Node & /* node */)
{
  return {};
}

}  // namespace web_video_server