Revert "Add a workaround for MultipartStream constant busy state (Rob…

…otWebTools#83)" This reverts commit c3d08d4.
dfautomation · Sep 11, 2024 · 5b7b0a8 · 5b7b0a8
1 parent c33cab3
commit 5b7b0a8
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Showing 2 changed files with 8 additions and 26 deletions.
diff --git a/include/web_video_server/multipart_stream.h b/include/web_video_server/multipart_stream.h
@@ -9,11 +9,6 @@
 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,
@@ -22,7 +17,7 @@ class MultipartStream {
 
   void sendInitialHeader();
   void sendPartHeader(const ros::Time &time, const std::string& type, size_t payload_size);
-  void sendPartFooter(const ros::Time &time);
+  void sendPartFooter();
   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);
@@ -34,7 +29,7 @@ class MultipartStream {
   const std::size_t max_queue_size_;
   async_web_server_cpp::HttpConnectionPtr connection_;
   std::string boundry_;
-  std::queue<PendingFooter> pending_footers_;
+  std::queue<boost::weak_ptr<const void> > pending_footers_;
 };
 
 }

diff --git a/src/multipart_stream.cpp b/src/multipart_stream.cpp
@@ -37,13 +37,10 @@ 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(const ros::Time &time) {
+void MultipartStream::sendPartFooter() {
   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(pf);
+  if (max_queue_size_ > 0) pending_footers_.push(str);
 }
 
 void MultipartStream::sendPartAndClear(const ros::Time &time, const std::string& type,
@@ -52,7 +49,7 @@ void MultipartStream::sendPartAndClear(const ros::Time &time, const std::string&
   {
     sendPartHeader(time, type, data.size());
     connection_->write_and_clear(data);
-    sendPartFooter(time);
+    sendPartFooter();
   }
 }
 
@@ -63,24 +60,14 @@ void MultipartStream::sendPart(const ros::Time &time, const std::string& type,
   {
     sendPartHeader(time, type, boost::asio::buffer_size(buffer));
     connection_->write(buffer, resource);
-    sendPartFooter(time);
+    sendPartFooter();
   }
 }
 
 bool MultipartStream::isBusy() {
-  ros::Time currentTime = ros::Time::now();
-  while (!pending_footers_.empty())
+  while (!pending_footers_.empty() && pending_footers_.front().expired())
   {
-    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;
-      }
-    }
+    pending_footers_.pop();
   }
   return !(max_queue_size_ == 0 || pending_footers_.size() < max_queue_size_);
 }