Remove sendCurrentFrame

huskyroboticsteam · Jul 21, 2024 · 277f93a · 277f93a
1 parent ff4766b
commit 277f93a
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Showing 3 changed files with 9 additions and 20 deletions.
diff --git a/src/network/MissionControlProtocol.cpp b/src/network/MissionControlProtocol.cpp
@@ -6,6 +6,7 @@
 #include "../control_interface.h"
 #include "../utils/core.h"
 #include "../utils/json.h"
+#include "../base64/base64_img.h"
 #include "../world_interface/data.h"
 #include "../world_interface/world_interface.h"
 #include "MissionControlMessages.h"
@@ -325,7 +326,14 @@ static bool validateCameraFrameRequest(const json& j) {
 
 void MissionControlProtocol::handleCameraFrameRequest(const json& j) {
 	CameraID cam = j["camera"];
-	_camera_stream_task.sendCurrentFrame(cam);
+	auto camDP = robot::readCamera(cam);
+	if (camDP) {
+		auto data = camDP.getData();
+		cv::Mat frame = data.first;
+		std::string b64_data = base64::encodeMat(frame, ".jpg");
+		json msg = {{"type", CAMERA_FRAME_REP_TYPE}, {"camera", cam}, {"data", b64_data}};
+		_server.sendJSON(Constants::MC_PROTOCOL_NAME, msg);
+	}
 }
 
 void MissionControlProtocol::sendArmIKEnabledReport(bool enabled) {

diff --git a/src/network/MissionControlTasks.cpp b/src/network/MissionControlTasks.cpp
@@ -2,7 +2,6 @@
 
 #include "../Constants.h"
 #include "../Globals.h"
-#include "../base64/base64_img.h"
 #include "../control_interface.h"
 #include "../utils/core.h"
 #include "../world_interface/world_interface.h"
@@ -142,17 +141,6 @@ void CameraStreamTask::closeStream(const CameraID& cam) {
 	_camera_encoders.erase(cam);
 }
 
-void CameraStreamTask::sendCurrentFrame(const robot::types::CameraID& cam) {
-	auto camDP = robot::readCamera(cam);
-	if (camDP) {
-		auto data = camDP.getData();
-		cv::Mat frame = data.first;
-		std::string b64_data = base64::encodeMat(frame, ".jpg");
-		json msg = {{"type", CAMERA_FRAME_REP_TYPE}, {"camera", cam}, {"data", b64_data}};
-		_server.sendJSON(Constants::MC_PROTOCOL_NAME, msg);
-	}
-}
-
 void CameraStreamTask::task(std::unique_lock<std::mutex>&) {
 	while (isRunningInternal()) {
 		{

diff --git a/src/network/MissionControlTasks.h b/src/network/MissionControlTasks.h
@@ -88,13 +88,6 @@ class CameraStreamTask : public util::AsyncTask<> {
 	 */
 	void closeStream(const robot::types::CameraID& cam);
 
-	/**
-	 * @brief Send the current frame of an open stream to Mission Control as a
-	 * 		base64 encoded string.
-	 * @param cam The camera that should be sent.
-	 */
-	void sendCurrentFrame(const robot::types::CameraID& cam);
-
 protected:
 	void task(std::unique_lock<std::mutex>& lock) override;