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Fix request logging, remove global parameters (#156)
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@bjsowa
bjsowa authored Oct 2, 2024
1 parent 9fc0d63 commit cadc7c2
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Showing 2 changed files with 34 additions and 34 deletions.
8 changes: 8 additions & 0 deletions include/web_video_server/web_video_server.h
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,9 @@ class WebVideoServer

void setup_cleanup_inactive_streams();

bool handle_request(const async_web_server_cpp::HttpRequest &request,
async_web_server_cpp::HttpConnectionPtr connection, const char* begin, const char* end);

bool handle_stream(const async_web_server_cpp::HttpRequest &request,
async_web_server_cpp::HttpConnectionPtr connection, const char* begin, const char* end);

Expand All @@ -61,10 +64,15 @@ class WebVideoServer

rclcpp::Node::SharedPtr node_;
rclcpp::WallTimer<rclcpp::VoidCallbackType>::SharedPtr cleanup_timer_;

// Parameters
int ros_threads_;
double publish_rate_;
int port_;
std::string address_;
bool verbose_;
std::string default_stream_type_;

boost::shared_ptr<async_web_server_cpp::HttpServer> server_;
async_web_server_cpp::HttpRequestHandlerGroup handler_group_;

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60 changes: 26 additions & 34 deletions src/web_video_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,34 +21,6 @@ using namespace boost::placeholders;
namespace web_video_server
{

static bool __verbose;

static std::string __default_stream_type;

static bool ros_connection_logger(async_web_server_cpp::HttpServerRequestHandler forward,
const async_web_server_cpp::HttpRequest &request,
async_web_server_cpp::HttpConnectionPtr connection, const char* begin,
const char* end)
{
if (__verbose)
{
// TODO reenable
// RCLCPP_INFO(node->get_logger(), "Handling Request: %s", request.uri.c_str());
}
try
{
forward(request, connection, begin, end);
return true;
}
catch (std::exception &e)
{
// TODO reenable
// RCLCPP_WARN(node->get_logger(), "Error Handling Request: %s", e.what());
return false;
}
return false;
}

WebVideoServer::WebVideoServer(rclcpp::Node::SharedPtr & node) :
node_(node), handler_group_(
async_web_server_cpp::HttpReply::stock_reply(async_web_server_cpp::HttpReply::not_found))
Expand All @@ -62,13 +34,13 @@ WebVideoServer::WebVideoServer(rclcpp::Node::SharedPtr & node) :
node_->declare_parameter("default_stream_type", "mjpeg");

node_->get_parameter("port", port_);
node_->get_parameter("verbose", __verbose);
node_->get_parameter("verbose", verbose_);
node_->get_parameter("address", address_);
int server_threads;
node_->get_parameter("server_threads", server_threads);
node_->get_parameter("ros_threads", ros_threads_);
node_->get_parameter("publish_rate", publish_rate_);
node_->get_parameter("default_stream_type", __default_stream_type);
node_->get_parameter("default_stream_type", default_stream_type_);

stream_types_["mjpeg"] = boost::shared_ptr<ImageStreamerType>(new MjpegStreamerType());
stream_types_["png"] = boost::shared_ptr<ImageStreamerType>(new PngStreamerType());
Expand All @@ -87,7 +59,7 @@ WebVideoServer::WebVideoServer(rclcpp::Node::SharedPtr & node) :
{
server_.reset(
new async_web_server_cpp::HttpServer(address_, boost::lexical_cast<std::string>(port_),
boost::bind(ros_connection_logger, handler_group_, _1, _2, _3, _4),
boost::bind(&WebVideoServer::handle_request, this, _1, _2, _3, _4),
server_threads));
}
catch(boost::exception& e)
Expand Down Expand Up @@ -140,7 +112,7 @@ void WebVideoServer::cleanup_inactive_streams()
typedef std::vector<boost::shared_ptr<ImageStreamer> >::iterator itr_type;
itr_type new_end = std::partition(image_subscribers_.begin(), image_subscribers_.end(),
!boost::bind(&ImageStreamer::isInactive, _1));
if (__verbose)
if (verbose_)
{
for (itr_type itr = new_end; itr < image_subscribers_.end(); ++itr)
{
Expand All @@ -151,11 +123,31 @@ void WebVideoServer::cleanup_inactive_streams()
}
}

bool WebVideoServer::handle_request(const async_web_server_cpp::HttpRequest &request,
async_web_server_cpp::HttpConnectionPtr connection, const char* begin,
const char* end)
{
if (verbose_)
{
RCLCPP_INFO(node_->get_logger(), "Handling Request: %s", request.uri.c_str());
}

try
{
return handler_group_(request, connection, begin, end);
}
catch (std::exception &e)
{
RCLCPP_WARN(node_->get_logger(), "Error Handling Request: %s", e.what());
return false;
}
}

bool WebVideoServer::handle_stream(const async_web_server_cpp::HttpRequest &request,
async_web_server_cpp::HttpConnectionPtr connection, const char* begin,
const char* end)
{
std::string type = request.get_query_param_value_or_default("type", __default_stream_type);
std::string type = request.get_query_param_value_or_default("type", default_stream_type_);
if (stream_types_.find(type) != stream_types_.end())
{
std::string topic = request.get_query_param_value_or_default("topic", "");
Expand Down Expand Up @@ -211,7 +203,7 @@ bool WebVideoServer::handle_stream_viewer(const async_web_server_cpp::HttpReques
async_web_server_cpp::HttpConnectionPtr connection, const char* begin,
const char* end)
{
std::string type = request.get_query_param_value_or_default("type", __default_stream_type);
std::string type = request.get_query_param_value_or_default("type", default_stream_type_);
if (stream_types_.find(type) != stream_types_.end())
{
std::string topic = request.get_query_param_value_or_default("topic", "");
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