image_handler.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <memory>
#include <vector>
 
#include "cyber/cyber.h"
#include "modules/common_msgs/sensor_msgs/sensor_image.pb.h"
 
#include "CivetServer.h"
 
namespace apollo {
namespace dreamview {
 
class ImageHandler : public CivetHandler {
 public:
  // The scale used to resize images sent to frontend
  static constexpr double kImageScale = 0.2;
 
  ImageHandler();
 
  bool handleGet(CivetServer *server, struct mg_connection *conn);
 
 private:
  template <typename SensorMsgsImage>
  void OnImage(const std::shared_ptr<SensorMsgsImage> &image);
 
  void OnImageFront(const std::shared_ptr<apollo::drivers::Image> &image);
  void OnImageShort(
      const std::shared_ptr<apollo::drivers::CompressedImage> &image);
 
  std::vector<uint8_t> send_buffer_;
  std::atomic<int> requests_;
 
  // mutex lock and condition variable to protect the received image
  std::mutex mutex_;
  std::condition_variable cvar_;
 
  std::unique_ptr<cyber::Node> node_;
};
 
}  // namespace dreamview
}  // namespace apollo