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Add "default_stream_type" parameter #84

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merged 2 commits into from
Jan 30, 2019
Merged

Add "default_stream_type" parameter #84

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c63c6c6
Add "default_stream_type" parameter
sfalexrog Jan 25, 2019
6b82a3f
Merge branch 'develop' into pr-add-stream-type-parameter
jihoonl Jan 28, 2019
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6 changes: 5 additions & 1 deletion src/web_video_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,8 @@ 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,
Expand Down Expand Up @@ -61,6 +63,8 @@ WebVideoServer::WebVideoServer(ros::NodeHandle &nh, ros::NodeHandle &private_nh)

private_nh.param("ros_threads", ros_threads_, 2);

private_nh.param<std::string>("default_stream_type", __default_stream_type, "mjpeg");

stream_types_["mjpeg"] = boost::shared_ptr<ImageStreamerType>(new MjpegStreamerType());
stream_types_["png"] = boost::shared_ptr<ImageStreamerType>(new PngStreamerType());
stream_types_["ros_compressed"] = boost::shared_ptr<ImageStreamerType>(new RosCompressedStreamerType());
Expand Down Expand Up @@ -124,7 +128,7 @@ bool WebVideoServer::handle_stream(const async_web_server_cpp::HttpRequest &requ
async_web_server_cpp::HttpConnectionPtr connection, const char* begin,
const char* end)
{
std::string type = request.get_query_param_value_or_default("type", "mjpeg");
std::string type = request.get_query_param_value_or_default("type", __default_stream_type);
if (stream_types_.find(type) != stream_types_.end())
{
boost::shared_ptr<ImageStreamer> streamer = stream_types_[type]->create_streamer(request, connection, nh_);
Expand Down