WebServerWorker

class WebServerWorker : public Worker

The threaded webserver which serves a simple MJPEG stream of all annotated camera images to clients. Runs on t he host machine at 0.0.0.0:8080.

Public Functions

WebServerWorker(WebServerWorker const&) = delete

No copy constructor.

explicit WebServerWorker(unsigned short port)

Setup the worker thread and instantiate the Mongoose server manager.

Parameters:

port – The port that the webserver binds to.

bool RegisterMatFunc(const std::function<cv::Mat()> &mat_func)

Register the callback function which grabs the latest annotated camera image. All registered functions will be called once an Execute cycle to acquire new camera data.

Parameters:

mat_func – The callback function to execute to acquire fresh camera images.

Returns:

true if registration succeeds, false otherwise.

bool RegisterRobotPoseFunc(const std::function<RobotPose()> &pose_func)

Register the callback function which grabs the latest robot pose. This function will be called once an Execute cycle to acquire new pose data.

Parameters:

mat_func – The callback function to execute to acquire the latest robot pose.

Returns:

true if registration succeeds, false otherwise.