Reformat headers

fictionlab · Sep 19, 2024 · 515b2c9 · 515b2c9
1 parent f2e4b15
commit 515b2c9
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Showing 11 changed files with 333 additions and 303 deletions.
diff --git a/include/web_video_server/h264_streamer.hpp b/include/web_video_server/h264_streamer.hpp
@@ -9,28 +9,31 @@
 namespace web_video_server
 {
 
-  class H264Streamer: public LibavStreamer
-  {
+class H264Streamer : public LibavStreamer
+{
 public:
-    H264Streamer(const async_web_server_cpp::HttpRequest & request,
-      async_web_server_cpp::HttpConnectionPtr connection,
-              rclcpp::Node::SharedPtr nh);
-    ~H264Streamer();
+  H264Streamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr nh);
+  ~H264Streamer();
+
 protected:
-    virtual void initializeEncoder();
-    std::string preset_;
-  };
+  virtual void initializeEncoder();
+  std::string preset_;
+};
 
-  class H264StreamerType: public LibavStreamerType
-  {
+class H264StreamerType : public LibavStreamerType
+{
 public:
-    H264StreamerType();
-    virtual boost::shared_ptr < ImageStreamer >
-    create_streamer(const async_web_server_cpp::HttpRequest & request,
-                                                           async_web_server_cpp::HttpConnectionPtr
-      connection,
-                                                           rclcpp::Node::SharedPtr nh);
-  };
+  H264StreamerType();
+  virtual boost::shared_ptr<ImageStreamer>
+  create_streamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr
+    connection,
+    rclcpp::Node::SharedPtr nh);
+};
 
 }
 

diff --git a/include/web_video_server/image_streamer.hpp b/include/web_video_server/image_streamer.hpp
@@ -12,84 +12,88 @@
 namespace web_video_server
 {
 
-  class ImageStreamer
-  {
+class ImageStreamer
+{
 public:
-    ImageStreamer(const async_web_server_cpp::HttpRequest & request,
-                async_web_server_cpp::HttpConnectionPtr connection,
-                rclcpp::Node::SharedPtr nh);
+  ImageStreamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr nh);
 
-    virtual void start() = 0;
-    virtual ~ImageStreamer();
+  virtual void start() = 0;
+  virtual ~ImageStreamer();
 
-    bool isInactive()
-    {
-      return inactive_;
-    }
+  bool isInactive()
+  {
+    return inactive_;
+  }
 
   /**
    * Restreams the last received image frame if older than max_age.
    */
-    virtual void restreamFrame(double max_age) = 0;
+  virtual void restreamFrame(double max_age) = 0;
+
+  std::string getTopic()
+  {
+    return topic_;
+  }
 
-    std::string getTopic()
-    {
-      return topic_;
-    }
 protected:
-    async_web_server_cpp::HttpConnectionPtr connection_;
-    async_web_server_cpp::HttpRequest request_;
-    rclcpp::Node::SharedPtr nh_;
-    bool inactive_;
-    image_transport::Subscriber image_sub_;
-    std::string topic_;
-  };
+  async_web_server_cpp::HttpConnectionPtr connection_;
+  async_web_server_cpp::HttpRequest request_;
+  rclcpp::Node::SharedPtr nh_;
+  bool inactive_;
+  image_transport::Subscriber image_sub_;
+  std::string topic_;
+};
 
 
-  class ImageTransportImageStreamer: public ImageStreamer
-  {
+class ImageTransportImageStreamer : public ImageStreamer
+{
 public:
-    ImageTransportImageStreamer(const async_web_server_cpp::HttpRequest & request,
-      async_web_server_cpp::HttpConnectionPtr connection,
-                              rclcpp::Node::SharedPtr nh);
-    virtual ~ImageTransportImageStreamer();
+  ImageTransportImageStreamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr nh);
+  virtual ~ImageTransportImageStreamer();
 
-    virtual void start();
+  virtual void start();
 
 protected:
-    virtual void sendImage(const cv::Mat &, const rclcpp::Time & time) = 0;
-    virtual void restreamFrame(double max_age);
-    virtual void initialize(const cv::Mat &);
+  virtual void sendImage(const cv::Mat &, const rclcpp::Time & time) = 0;
+  virtual void restreamFrame(double max_age);
+  virtual void initialize(const cv::Mat &);
 
-    image_transport::Subscriber image_sub_;
-    int output_width_;
-    int output_height_;
-    bool invert_;
-    std::string default_transport_;
-    std::string qos_profile_name_;
+  image_transport::Subscriber image_sub_;
+  int output_width_;
+  int output_height_;
+  bool invert_;
+  std::string default_transport_;
+  std::string qos_profile_name_;
 
-    rclcpp::Time last_frame;
-    cv::Mat output_size_image;
-    boost::mutex send_mutex_;
+  rclcpp::Time last_frame;
+  cv::Mat output_size_image;
+  boost::mutex send_mutex_;
 
 private:
-    image_transport::ImageTransport it_;
-    bool initialized_;
+  image_transport::ImageTransport it_;
+  bool initialized_;
 
-    void imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr & msg);
-  };
+  void imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr & msg);
+};
 
-  class ImageStreamerType
-  {
+class ImageStreamerType
+{
 public:
-    virtual boost::shared_ptr < ImageStreamer >
-    create_streamer(const async_web_server_cpp::HttpRequest & request,
-                                                           async_web_server_cpp::HttpConnectionPtr
-      connection,
-                                                           rclcpp::Node::SharedPtr nh) = 0;
-
-    virtual std::string create_viewer(const async_web_server_cpp::HttpRequest & request) = 0;
-  };
+  virtual boost::shared_ptr<ImageStreamer>
+  create_streamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr
+    connection,
+    rclcpp::Node::SharedPtr nh) = 0;
+
+  virtual std::string create_viewer(const async_web_server_cpp::HttpRequest & request) = 0;
+};
 
 }
 

diff --git a/include/web_video_server/jpeg_streamers.hpp b/include/web_video_server/jpeg_streamers.hpp
@@ -11,45 +11,50 @@
 namespace web_video_server
 {
 
-  class MjpegStreamer: public ImageTransportImageStreamer
-  {
+class MjpegStreamer : public ImageTransportImageStreamer
+{
 public:
-    MjpegStreamer(const async_web_server_cpp::HttpRequest & request,
-      async_web_server_cpp::HttpConnectionPtr connection,
-                rclcpp::Node::SharedPtr nh);
-    ~MjpegStreamer();
+  MjpegStreamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr nh);
+  ~MjpegStreamer();
+
 protected:
-    virtual void sendImage(const cv::Mat &, const rclcpp::Time & time);
+  virtual void sendImage(const cv::Mat &, const rclcpp::Time & time);
 
 private:
-    MultipartStream stream_;
-    int quality_;
-  };
+  MultipartStream stream_;
+  int quality_;
+};
 
-  class MjpegStreamerType: public ImageStreamerType
-  {
+class MjpegStreamerType : public ImageStreamerType
+{
 public:
-    boost::shared_ptr < ImageStreamer >
-    create_streamer(const async_web_server_cpp::HttpRequest & request,
-                                                   async_web_server_cpp::HttpConnectionPtr
-      connection,
-                                                   rclcpp::Node::SharedPtr nh);
-    std::string create_viewer(const async_web_server_cpp::HttpRequest & request);
-  };
-
-  class JpegSnapshotStreamer: public ImageTransportImageStreamer
-  {
+  boost::shared_ptr<ImageStreamer>
+  create_streamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr
+    connection,
+    rclcpp::Node::SharedPtr nh);
+  std::string create_viewer(const async_web_server_cpp::HttpRequest & request);
+};
+
+class JpegSnapshotStreamer : public ImageTransportImageStreamer
+{
 public:
-    JpegSnapshotStreamer(const async_web_server_cpp::HttpRequest & request,
-                       async_web_server_cpp::HttpConnectionPtr connection,
-      rclcpp::Node::SharedPtr nh);
-    ~JpegSnapshotStreamer();
+  JpegSnapshotStreamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr nh);
+  ~JpegSnapshotStreamer();
+
 protected:
-    virtual void sendImage(const cv::Mat &, const rclcpp::Time & time);
+  virtual void sendImage(const cv::Mat &, const rclcpp::Time & time);
 
 private:
-    int quality_;
-  };
+  int quality_;
+};
 
 }
 

diff --git a/include/web_video_server/libav_streamer.hpp b/include/web_video_server/libav_streamer.hpp
@@ -21,65 +21,68 @@ extern "C"
 namespace web_video_server
 {
 
-  class LibavStreamer: public ImageTransportImageStreamer
-  {
+class LibavStreamer : public ImageTransportImageStreamer
+{
 public:
-    LibavStreamer(const async_web_server_cpp::HttpRequest & request,
-      async_web_server_cpp::HttpConnectionPtr connection,
-                rclcpp::Node::SharedPtr nh, const std::string & format_name,
-      const std::string & codec_name,
-                const std::string & content_type);
+  LibavStreamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr nh, const std::string & format_name,
+    const std::string & codec_name,
+    const std::string & content_type);
 
-    ~LibavStreamer();
+  ~LibavStreamer();
 
 protected:
-    virtual void initializeEncoder();
-    virtual void sendImage(const cv::Mat &, const rclcpp::Time & time);
-    virtual void initialize(const cv::Mat &);
-    AVOutputFormat output_format_;
-    AVFormatContext * format_context_;
-    const AVCodec * codec_;
-    AVCodecContext * codec_context_;
-    AVStream * video_stream_;
+  virtual void initializeEncoder();
+  virtual void sendImage(const cv::Mat &, const rclcpp::Time & time);
+  virtual void initialize(const cv::Mat &);
+  AVOutputFormat output_format_;
+  AVFormatContext * format_context_;
+  const AVCodec * codec_;
+  AVCodecContext * codec_context_;
+  AVStream * video_stream_;
 
-    AVDictionary * opt_; // container format options
+  AVDictionary * opt_;   // container format options
 
 private:
-    AVFrame * frame_;
-    struct SwsContext * sws_context_;
-    rclcpp::Time first_image_timestamp_;
-    boost::mutex encode_mutex_;
-
-    std::string format_name_;
-    std::string codec_name_;
-    std::string content_type_;
-    int bitrate_;
-    int qmin_;
-    int qmax_;
-    int gop_;
-
-    uint8_t * io_buffer_; // custom IO buffer
-  };
-
-  class LibavStreamerType: public ImageStreamerType
-  {
+  AVFrame * frame_;
+  struct SwsContext * sws_context_;
+  rclcpp::Time first_image_timestamp_;
+  boost::mutex encode_mutex_;
+
+  std::string format_name_;
+  std::string codec_name_;
+  std::string content_type_;
+  int bitrate_;
+  int qmin_;
+  int qmax_;
+  int gop_;
+
+  uint8_t * io_buffer_;   // custom IO buffer
+};
+
+class LibavStreamerType : public ImageStreamerType
+{
 public:
-    LibavStreamerType(const std::string & format_name, const std::string & codec_name,
-      const std::string & content_type);
+  LibavStreamerType(
+    const std::string & format_name, const std::string & codec_name,
+    const std::string & content_type);
 
-    boost::shared_ptr < ImageStreamer >
-    create_streamer(const async_web_server_cpp::HttpRequest & request,
-                                                   async_web_server_cpp::HttpConnectionPtr
-      connection,
-                                                   rclcpp::Node::SharedPtr nh);
+  boost::shared_ptr<ImageStreamer>
+  create_streamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr
+    connection,
+    rclcpp::Node::SharedPtr nh);
 
-    std::string create_viewer(const async_web_server_cpp::HttpRequest & request);
+  std::string create_viewer(const async_web_server_cpp::HttpRequest & request);
 
 private:
-    const std::string format_name_;
-    const std::string codec_name_;
-    const std::string content_type_;
-  };
+  const std::string format_name_;
+  const std::string codec_name_;
+  const std::string content_type_;
+};
 
 }