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Add a workaround for MultipartStream constant busy state #83

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merged 2 commits into from
Jan 28, 2019
Merged

Add a workaround for MultipartStream constant busy state #83

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e5819b1
Add a workaround for MultipartStream constant busy state
sfalexrog Jan 24, 2019
e18e073
Remove C++11 features
sfalexrog Jan 25, 2019
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9 changes: 7 additions & 2 deletions include/web_video_server/multipart_stream.h
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,11 @@
namespace web_video_server
{

struct PendingFooter {
ros::Time timestamp;
boost::weak_ptr<std::string> contents;
};

class MultipartStream {
public:
MultipartStream(async_web_server_cpp::HttpConnectionPtr& connection,
Expand All @@ -17,7 +22,7 @@ class MultipartStream {

void sendInitialHeader();
void sendPartHeader(const ros::Time &time, const std::string& type, size_t payload_size);
void sendPartFooter();
void sendPartFooter(const ros::Time &time);
void sendPartAndClear(const ros::Time &time, const std::string& type, std::vector<unsigned char> &data);
void sendPart(const ros::Time &time, const std::string& type, const boost::asio::const_buffer &buffer,
async_web_server_cpp::HttpConnection::ResourcePtr resource);
Expand All @@ -29,7 +34,7 @@ class MultipartStream {
const std::size_t max_queue_size_;
async_web_server_cpp::HttpConnectionPtr connection_;
std::string boundry_;
std::queue<boost::weak_ptr<const void> > pending_footers_;
std::queue<PendingFooter> pending_footers_;
};

}
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25 changes: 19 additions & 6 deletions src/multipart_stream.cpp
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Expand Up @@ -32,10 +32,13 @@ void MultipartStream::sendPartHeader(const ros::Time &time, const std::string& t
connection_->write(async_web_server_cpp::HttpReply::to_buffers(*headers), headers);
}

void MultipartStream::sendPartFooter() {
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.contents = str;
connection_->write(boost::asio::buffer(*str), str);
if (max_queue_size_ > 0) pending_footers_.push(str);
if (max_queue_size_ > 0) pending_footers_.push(pf);
}

void MultipartStream::sendPartAndClear(const ros::Time &time, const std::string& type,
Expand All @@ -44,7 +47,7 @@ void MultipartStream::sendPartAndClear(const ros::Time &time, const std::string&
{
sendPartHeader(time, type, data.size());
connection_->write_and_clear(data);
sendPartFooter();
sendPartFooter(time);
}
}

Expand All @@ -55,14 +58,24 @@ void MultipartStream::sendPart(const ros::Time &time, const std::string& type,
{
sendPartHeader(time, type, boost::asio::buffer_size(buffer));
connection_->write(buffer, resource);
sendPartFooter();
sendPartFooter(time);
}
}

bool MultipartStream::isBusy() {
while (!pending_footers_.empty() && pending_footers_.front().expired())
ros::Time currentTime = ros::Time::now();
while (!pending_footers_.empty())
{
pending_footers_.pop();
if (pending_footers_.front().contents.expired()) {
pending_footers_.pop();
} else {
ros::Time footerTime = pending_footers_.front().timestamp;
if ((currentTime - footerTime).toSec() > 0.5) {
pending_footers_.pop();
} else {
break;
}
}
}
return !(max_queue_size_ == 0 || pending_footers_.size() < max_queue_size_);
}
Expand Down