.

src/hos_cosgi_webserver/CMakeLists.txt

@@ -0,0 +1,209 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hos_cosgi_webserver)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  hos_celix
+  hos_cosgi_common
+  hos_cosgi_devicerepository
+  hos_cosgi_launcher
+  hos_cpp_common
+  hos_libhttpserver
+  hos_libvariant
+  roscpp
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+find_package(APR REQUIRED)
+find_package(CELIX REQUIRED)
+find_package(Boost REQUIRED)
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES hos_cosgi_webserver
+#  CATKIN_DEPENDS hos_celix hos_cosgi_common hos_cosgi_devicerepository hos_cosgi_launcher hos_cpp_common hos_libhttpserver hos_libvariant roscpp
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+add_definitions(
+	-std=c++11
+)
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+	${catkin_INCLUDE_DIRS}
+	${APR_INCLUDE_DIR}
+	${APR_INCLUDE_DIR}/apr-1.0
+	include/${PROJECT_NAME}/
+	${hos_libvariant_INCLUDE_DIRS}/hos_libvariant
+)
+
+set(BUNDLE_SYMBOLICNAME "hos.hos_webserver")
+set(BUNDLE_VERSION "1.0.0")
+set(BUNDLE_NAME "hos_webserver")
+
+bundle(hos_cosgi_webserver
+	SOURCES 
+	${PROJECT_SOURCE_DIR}/src/bundle_activator
+	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/webserver/webserver_serviceimpl
+	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/webserver/resources/DevicesHTTPResource
+	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/webserver/resources/SchemaHTTPResource
+)
+target_link_libraries(hos_cosgi_webserver
+	${catkin_LIBRARIES}
+	${APR_LIBRARIES}
+)
+
+
+## Declare a cpp library
+# add_library(hos_cosgi_webserver
+#   src/${PROJECT_NAME}/hos_cosgi_webserver.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(hos_cosgi_webserver_node src/hos_cosgi_webserver_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(hos_cosgi_webserver_node hos_cosgi_webserver_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(hos_cosgi_webserver_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+	DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+	FILES_MATCHING PATTERN "*.h"
+)
+
+install(FILES
+	${CMAKE_BINARY_DIR}/hos_cosgi_webserver.zip
+	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/bundles
+)
+
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS hos_cosgi_webserver hos_cosgi_webserver_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hos_cosgi_webserver.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/hos_cosgi_webserver/include/hos_cosgi_webserver/hos/cosgi/service/webserver/webserver_service.h

@@ -0,0 +1,34 @@
+/*
+ * hos_ruleengine_service.h
+ *
+ *  Created on: 26.04.2015
+ *      Author: matzman
+ */
+
+#pragma once
+
+
+#include <hos/common/observable.h>
+#include <hos/cosgi/service/interface.h>
+#include <memory>
+#include <Variant/Variant.h>
+
+
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace webserver {
+
+
+class WebServerService : public virtual interface::Service  {
+public:
+	static constexpr const char* SERVICE_NAME = "hos_webserver_service";
+};
+
+
+} // namespace webserver
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+
+

src/hos_cosgi_webserver/package.xml

@@ -0,0 +1,66 @@
+<?xml version="1.0"?>
+<package>
+  <name>hos_cosgi_webserver</name>
+  <version>0.0.0</version>
+  <description>The hos_cosgi_webserver package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="matzman@todo.todo">matzman</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/hos_cosgi_webserver</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>hos_celix</build_depend>
+  <build_depend>hos_cosgi_common</build_depend>
+  <build_depend>hos_cosgi_devicerepository</build_depend>
+  <build_depend>hos_cosgi_launcher</build_depend>
+  <build_depend>hos_cpp_common</build_depend>
+  <build_depend>hos_libhttpserver</build_depend>
+  <build_depend>hos_libvariant</build_depend>
+  <build_depend>roscpp</build_depend>
+  <run_depend>hos_celix</run_depend>
+  <run_depend>hos_cosgi_common</run_depend>
+  <run_depend>hos_cosgi_devicerepository</run_depend>
+  <run_depend>hos_cosgi_launcher</run_depend>
+  <run_depend>hos_cpp_common</run_depend>
+  <run_depend>hos_libhttpserver</run_depend>
+  <run_depend>hos_libvariant</run_depend>
+  <run_depend>roscpp</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/hos_cosgi_webserver/src/bundle_activator.cpp

@@ -0,0 +1,168 @@
+/*
+ * bundle_activator.cpp
+ *
+ *  Created on: 26.04.2015
+ *      Author: matzman
+ */
+
+#include <cstdlib>
+#include <cstdio>
+
+#include <apr_general.h>
+
+#include "ros/ros.h"
+
+extern "C" {
+	#include "celix/bundle_activator.h"
+	#include "celix/bundle_context.h"
+	#include "celix/service_listener.h"
+	#include "celix/service_reference.h"
+	#include "celix/constants.h"
+}
+
+#include <hos/cosgi/service/core/core_service.h>
+#include "hos/cosgi/service/webserver/webserver_serviceimpl.h"
+#include <memory>
+#include <mutex>
+
+
+using namespace hos::cosgi::service::webserver;
+using namespace hos::cosgi::service::devicerepository;
+using namespace hos::cosgi::service::core;
+using namespace hos::cosgi;
+
+struct UserData {
+    	apr_pool_t* memoryPool = nullptr;
+    	std::unique_ptr<WebServerServiceImpl> serviceImpl = nullptr;
+    	service_registration_pt serviceReg = nullptr;
+    	serviceListener myServiceListener;
+    	bundle_context_pt bundleContext;
+};
+
+
+celix_status_t cb_serviceChanged(void* listener, service_event_pt event) {
+	UserData* myUserData = (UserData*) ((serviceListener*)listener)->handle;
+	if (event->type == OSGI_FRAMEWORK_SERVICE_EVENT_REGISTERED) {
+		char* serviceName = nullptr;
+		bool checkReg = false;
+		serviceReference_getProperty(event->reference, (char*)OSGI_FRAMEWORK_OBJECTCLASS, &serviceName);
+		if (serviceName && std::strcmp(serviceName, DeviceRepositoryService::SERVICE_NAME) == 0) {
+			DeviceRepositoryService *service = nullptr;
+			bundleContext_getService(myUserData->bundleContext, event->reference, (void**)&service);
+			myUserData->serviceImpl->setRepoService(service);
+			checkReg = true;
+		}
+		// Register hos-devicerepository-service
+		if (checkReg && !myUserData->serviceReg && myUserData->serviceImpl->isInitialized()) {
+			bundleContext_registerService(myUserData->bundleContext, (char*)WebServerServiceImpl::SERVICE_NAME, myUserData->serviceImpl.get(), nullptr, &myUserData->serviceReg);
+		}
+	} else if (event->type == OSGI_FRAMEWORK_SERVICE_EVENT_UNREGISTERING) {
+	}
+	return CELIX_SUCCESS;
+}
+
+celix_status_t bundleActivator_create(bundle_context_pt context, void **userData) {
+    celix_status_t status = CELIX_START_ERROR;
+    apr_pool_t* memoryPool = nullptr;
+	// Create APR memory pool
+	apr_status_t astatus = apr_pool_create(&memoryPool, NULL);
+	if (astatus != APR_SUCCESS) {
+		ROS_ERROR("WebServerService: Could not create APR memory pool (%i).", astatus);
+	} else {
+		// Create user data
+		UserData* myUserData = (UserData*)apr_palloc(memoryPool, sizeof(UserData));
+		if (myUserData != nullptr) {
+			myUserData->memoryPool = memoryPool;
+			myUserData->bundleContext = context;
+			*userData = (void*)myUserData;
+			status = CELIX_SUCCESS;
+			ROS_INFO("WebServerService: Bundle successfully created");
+		} else {
+			ROS_ERROR("WebServerService: Could not create user data struct");
+			apr_pool_destroy(memoryPool);
+		}
+	}
+    return status;
+}
+
+celix_status_t bundleActivator_start(void * userData, bundle_context_pt context) {
+    celix_status_t status = CELIX_SUCCESS;
+	if (userData != nullptr) {
+		UserData* myUserData = (UserData*)userData;
+		// Create hos-devicerepository-service
+		if (myUserData->serviceReg != nullptr) {
+			serviceRegistration_unregister(myUserData->serviceReg);
+			myUserData->serviceReg = nullptr;
+		}
+		myUserData->serviceImpl.reset(new WebServerServiceImpl());
+		// Get HOS Core Service
+		service_reference_pt ref = nullptr;
+		bundleContext_getServiceReference(context, (char*)CoreService::SERVICE_NAME, &ref);
+		CoreService* coreService = nullptr;
+		bundleContext_getService(context, ref, (void**)&coreService);
+		if (coreService == nullptr) {
+			ROS_ERROR("WebServerService: Could not retrieve HOSCoreService. Are you using hos_cosgi_launcher?");
+		} else {
+			myUserData->serviceImpl->setCoreService(coreService);
+		}
+		// Get HOS Core Service
+		service_reference_pt ref2 = nullptr;
+		bundleContext_getServiceReference(context, (char*)DeviceRepositoryService::SERVICE_NAME, &ref2);
+		DeviceRepositoryService* repoService = nullptr;
+		bundleContext_getService(context, ref2, (void**)&repoService);
+		if (repoService) {
+			myUserData->serviceImpl->setRepoService(repoService);
+		}
+		// Register hos-devicerepository-service
+		if (myUserData->serviceImpl->isInitialized()) {
+			bundleContext_registerService(context, (char*)WebServerServiceImpl::SERVICE_NAME, myUserData->serviceImpl.get(), nullptr, &myUserData->serviceReg);
+		}
+		// Register service listener
+		myUserData->myServiceListener.handle = myUserData;
+		myUserData->myServiceListener.serviceChanged = cb_serviceChanged;
+		bundleContext_addServiceListener(context, &myUserData->myServiceListener, nullptr);
+		ROS_INFO("WebServerService: Bundle successfully started");
+	} else {
+		ROS_ERROR("WebServerService: Could not start bundle, user data struct is null");
+	}
+    return status;
+}
+
+celix_status_t bundleActivator_stop(void * userData, bundle_context_pt context) {
+    celix_status_t status = CELIX_ILLEGAL_STATE;
+	if (userData != nullptr) {
+		UserData* myUserData = (UserData*)userData;
+		status = bundleContext_removeServiceListener(context, &myUserData->myServiceListener);
+		if (myUserData->serviceReg != nullptr) {
+			serviceRegistration_unregister(myUserData->serviceReg);
+			myUserData->serviceReg = nullptr;
+		}
+		if (myUserData->serviceImpl) {
+			myUserData->serviceImpl.reset();
+		}
+		ROS_INFO("WebServerService: Bundle successfully stopped");
+		status = CELIX_SUCCESS;
+	} else {
+		ROS_ERROR("WebServerService: Could not stop bundle, user data struct is null");
+	}
+    return status;
+}
+
+celix_status_t bundleActivator_destroy(void * userData, bundle_context_pt context) {
+    celix_status_t status = CELIX_ILLEGAL_STATE;
+    if (userData != nullptr) {
+    	apr_pool_t* memoryPool = ((UserData*)userData)->memoryPool;
+    	if (memoryPool != nullptr) {
+    		apr_pool_destroy(memoryPool);
+    		ROS_INFO("WebServerService: Bundle successfully destroyed");
+    	} else {
+    		ROS_ERROR("WebServerService: Could not destroy bundle, there is no APR memory pool");
+    	}
+		status = CELIX_SUCCESS;
+    } else {
+		ROS_ERROR("WebServerService: Could not destroy bundle, user data struct is null");
+	}
+    return status;
+}
+
+

src/hos_cosgi_webserver/src/hos/cosgi/service/webserver/resources/DevicesHTTPResource.cpp

@@ -0,0 +1,45 @@
+
+#include "DevicesHTTPResource.h"
+
+
+// Service Namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace webserver {
+namespace resources {
+
+using namespace httpserver;
+
+DevicesHTTPResource::DevicesHTTPResource(devicerepository::DeviceRepositoryService* repoService)
+		: repoService(repoService) {
+	disallow_all();
+	set_allowing(MHD_HTTP_METHOD_GET, true);
+	set_allowing(MHD_HTTP_METHOD_POST, true);
+}
+
+
+void DevicesHTTPResource::render_GET(const httpserver::http_request& req, httpserver::http_response** res) {
+	std::cout << "DevicesHTTPResource::render_GET()" << std::endl;
+    std::cout << req;
+	*res = new http_response(http_response_builder("GET response", 200).string_response());
+    std::cout << **res;
+}
+
+
+void DevicesHTTPResource::render_POST(const httpserver::http_request& req, httpserver::http_response** res) {
+	std::cout << "DevicesHTTPResource::render_POST()" << std::endl;
+    std::cout << req;
+	*res = new http_response(http_response_builder("POST response", 200).string_response());
+    std::cout << **res;
+}
+
+
+} // namespace resources
+} // namespace webserver
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+
+
+

src/hos_cosgi_webserver/src/hos/cosgi/service/webserver/resources/DevicesHTTPResource.h

@@ -0,0 +1,32 @@
+
+#pragma once
+
+
+#include <ros/ros.h>
+#include <httpserver.hpp>
+#include <hos/cosgi/service/devicerepository/devicerepository_service.h>
+
+// Service Namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace webserver {
+namespace resources {
+
+
+
+class DevicesHTTPResource : public httpserver::http_resource<DevicesHTTPResource> {
+private:
+	devicerepository::DeviceRepositoryService* repoService = nullptr;
+public:
+	DevicesHTTPResource(devicerepository::DeviceRepositoryService* repoService);
+
+	void render_GET(const httpserver::http_request& req, httpserver::http_response** res);
+	void render_POST(const httpserver::http_request& req, httpserver::http_response** res);
+};
+
+} // namespace resources
+} // namespace webserver
+} // namespace service
+} // namespace cosgi
+} // namespace hos

src/hos_cosgi_webserver/src/hos/cosgi/service/webserver/resources/SchemaHTTPResource.cpp

@@ -0,0 +1,45 @@
+
+#include "SchemaHTTPResource.h"
+
+
+// Service Namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace webserver {
+namespace resources {
+
+using namespace httpserver;
+
+SchemaHTTPResource::SchemaHTTPResource(ros::NodeHandle* nodehandle)
+		: nodehandle(nodehandle) {
+	disallow_all();
+	set_allowing(MHD_HTTP_METHOD_GET, true);
+	set_allowing(MHD_HTTP_METHOD_POST, true);
+}
+
+
+void SchemaHTTPResource::render_GET(const httpserver::http_request& req, httpserver::http_response** res) {
+	std::cout << "SchemaHTTPResource::render_GET()" << std::endl;
+    std::cout << req;
+	*res = new http_response(http_response_builder("GET response", 200).string_response());
+    std::cout << **res;
+}
+
+
+void SchemaHTTPResource::render_POST(const httpserver::http_request& req, httpserver::http_response** res) {
+	std::cout << "SchemaHTTPResource::render_POST()" << std::endl;
+    std::cout << req;
+	*res = new http_response(http_response_builder("POST response", 200).string_response());
+    std::cout << **res;
+}
+
+
+} // namespace resources
+} // namespace webserver
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+
+
+

src/hos_cosgi_webserver/src/hos/cosgi/service/webserver/resources/SchemaHTTPResource.h

@@ -0,0 +1,31 @@
+
+#pragma once
+
+
+#include <ros/ros.h>
+#include <httpserver.hpp>
+
+// Service Namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace webserver {
+namespace resources {
+
+
+
+class SchemaHTTPResource : public httpserver::http_resource<SchemaHTTPResource> {
+private:
+	ros::NodeHandle* nodehandle = nullptr;
+public:
+	SchemaHTTPResource(ros::NodeHandle* nodehandle);
+
+	void render_GET(const httpserver::http_request& req, httpserver::http_response** res);
+	void render_POST(const httpserver::http_request& req, httpserver::http_response** res);
+};
+
+} // namespace resources
+} // namespace webserver
+} // namespace service
+} // namespace cosgi
+} // namespace hos

src/hos_cosgi_webserver/src/hos/cosgi/service/webserver/webserver_serviceimpl.cpp

@@ -0,0 +1,84 @@
+/*
+ * hos_ruleengine_service_impl.cpp
+ *
+ *  Created on: 26.04.2015
+ *      Author: matzman
+ */
+
+#include "webserver_serviceimpl.h"
+#include <ros/ros.h>
+#include <exception>
+#include <iostream>
+#include <unordered_set>
+#include <Variant/Variant.h>
+#include <celix/bundle_context.h>
+#include <Variant/Variant.h>
+
+
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace webserver {
+
+using namespace ::libvariant;
+using namespace httpserver;
+
+
+template<> const char* implementation::ServiceInfo<WebServerServiceImpl>::name = service::webserver::WebServerServiceImpl::SERVICE_NAME;
+template<> const int implementation::ServiceInfo<WebServerServiceImpl>::major = 0;
+template<> const int implementation::ServiceInfo<WebServerServiceImpl>::minor = 6;
+
+WebServerServiceImpl::~WebServerServiceImpl() {
+	webServer->stop();
+}
+
+void WebServerServiceImpl::setCoreService(service::core::CoreService* coreService) {
+	if (coreService && !this->coreService) {
+		this->coreService = coreService;
+		this->nodehandle = coreService->getPrivateNodeHandle();
+		int major = 0, minor = 0;
+		coreService->getServiceVersion(major, minor);
+		ROS_INFO_STREAM("WebServerService: Found HOSCoreService Version " << major << "." << minor);
+		if (repoService) {
+			init();
+		}
+	}
+}
+
+void WebServerServiceImpl::setRepoService(devicerepository::DeviceRepositoryService* repoService) {
+	if (repoService && !this->repoService) {
+		this->repoService = repoService;
+		int major = 0, minor = 0;
+		repoService->getServiceVersion(major, minor);
+		ROS_INFO_STREAM("WebServerService: Found HOSDeviceRepositoryService Version " << major << "." << minor);
+		if (coreService) {
+			init();
+		}
+	}
+}
+
+void WebServerServiceImpl::init() {
+	create_webserver serverParams(8888);
+	serverParams.max_threads(5).regex_checking();
+	webServer.reset(new webserver::webserver(serverParams));
+	devicesResource.reset(new resources::DevicesHTTPResource(repoService));
+	schemaResource.reset(new resources::SchemaHTTPResource(nodehandle));
+	webServer->register_resource("/hos/devices", devicesResource.get(), true);
+	webServer->register_resource("/hos/schemas", schemaResource.get(), true);
+	webServer->start(false);
+	initialized = true;
+	ROS_INFO_STREAM("WebServerService: Initialized and Ready.");
+}
+
+
+} // namespace webserver
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+
+
+
+
+
+
+

src/hos_cosgi_webserver/src/hos/cosgi/service/webserver/webserver_serviceimpl.h

@@ -0,0 +1,78 @@
+/*
+ * hos_ruleengine_service_impl.h
+ *
+ *  Created on: 26.04.2015
+ *      Author: matzman
+ */
+
+#pragma once
+
+
+#include <hos/cosgi/service/implementation.h>
+#include <mutex>
+#include <map>
+#include <set>
+#include <hos/cosgi/service/devicerepository/devicerepository_service.h>
+#include <hos/cosgi/service/webserver/webserver_service.h>
+#include <hos/cosgi/service/core/core_service.h>
+#include <ros/ros.h>
+#include <memory>
+#include <string>
+#include <httpserver.hpp>
+#include "resources/SchemaHTTPResource.h"
+#include "resources/DevicesHTTPResource.h"
+
+
+
+// Service Namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace webserver {
+
+
+class WebServerServiceImpl;
+class WebServerServiceImpl :
+		public virtual WebServerService,
+		public virtual implementation::Service<WebServerServiceImpl> {
+private:
+
+	service::core::CoreService* coreService = nullptr;
+	devicerepository::DeviceRepositoryService* repoService = nullptr;
+	ros::NodeHandle* nodehandle = nullptr;
+
+	bool initialized = false;
+
+	std::unique_ptr<httpserver::webserver> webServer;
+	std::unique_ptr<resources::DevicesHTTPResource> devicesResource;
+	std::unique_ptr<resources::SchemaHTTPResource> schemaResource;
+
+	void init();
+
+public:
+	~WebServerServiceImpl();
+
+	/* Initialization */
+
+	void setCoreService(service::core::CoreService* coreService);
+	void setRepoService(devicerepository::DeviceRepositoryService* repoService);
+
+	/* Public Service Implementations */
+
+	/* Observer Callbacks */
+	/* Internal Stuff */
+
+	bool isInitialized() { return initialized; }
+
+	devicerepository::DeviceRepositoryService* getDeviceRepository() { return repoService; }
+};
+
+
+} // namespace webserver
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+
+
+
+

src/hos_launch/launch/hos_cosgi.launch

@@ -11,6 +11,7 @@
 					$(find hos_cosgi_launcher)/../../devel_isolated/hos_celix/share/celix/bundles/shell_tui.zip 
 					$(find hos_cosgi_launcher)/../../build_isolated/hos_cosgi_scripting_python/hos_cosgi_scripting_python.zip
 					$(find hos_cosgi_launcher)/../../build_isolated/hos_cosgi_ruleengine/hos_cosgi_ruleengine.zip
-					$(find hos_cosgi_launcher)/../../build_isolated/hos_cosgi_devicerepository/hos_cosgi_devicerepository.zip"/>
+					$(find hos_cosgi_launcher)/../../build_isolated/hos_cosgi_devicerepository/hos_cosgi_devicerepository.zip
+					$(find hos_cosgi_launcher)/../../build_isolated/hos_cosgi_webserver/hos_cosgi_webserver.zip"/>
 	</node>
 </launch>

src/hos_libhttpserver/CMakeLists.txt

@@ -76,8 +76,8 @@ find_package(catkin REQUIRED)
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-#  INCLUDE_DIRS include
+  INCLUDE_DIRS include/${PROJECT_NAME}/
-#  LIBRARIES hos_libhttpserver
+  LIBRARIES gcrypt microhttpd httpserver
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
 )
@@ -96,6 +96,10 @@ ExternalProject_Add( libgcrypt_project
 	INSTALL_COMMAND make install
 )
 
+add_library( gcrypt SHARED IMPORTED )
+set_property( TARGET gcrypt PROPERTY IMPORTED_LOCATION "${CATKIN_DEVEL_PREFIX}/lib/libgcrypt.so")
+add_dependencies( gcrypt libgcrypt_project )
+
 
 ExternalProject_Add( libmicrohttpd_project
 	DEPENDS libgcrypt_project
@@ -105,8 +109,12 @@ ExternalProject_Add( libmicrohttpd_project
 	INSTALL_COMMAND make install
 )
 
+add_library( microhttpd SHARED IMPORTED )
+set_property( TARGET microhttpd PROPERTY IMPORTED_LOCATION "${CATKIN_DEVEL_PREFIX}/lib/libmicrohttpd.so")
+add_dependencies( microhttpd libmicrohttpd_project )
 
-ExternalProject_Add( libhttpserver
+
+ExternalProject_Add( libhttpserver_project
 	DEPENDS libmicrohttpd_project
 	#SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/libhttpserver
 	DOWNLOAD_COMMAND cp -rf ${CMAKE_CURRENT_SOURCE_DIR}/src/libhttpserver ${CMAKE_CURRENT_BINARY_DIR} && cd ${CMAKE_CURRENT_BINARY_DIR}/libhttpserver && ./bootstrap
@@ -115,6 +123,10 @@ ExternalProject_Add( libhttpserver
 	INSTALL_COMMAND make install
 )
 
+add_library( httpserver SHARED IMPORTED )
+set_property( TARGET httpserver PROPERTY IMPORTED_LOCATION "${CATKIN_DEVEL_PREFIX}/lib/libhttpserver.so")
+add_dependencies( httpserver libhttpserver_project )
+
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations

src/hos_libhttpserver/src/libmicrohttpd/aclocal.m4

@@ -318,9 +318,10 @@ _AM_AUTOCONF_VERSION(m4_defn([AC_AUTOCONF_VERSION]))])
 # configured tree to be moved without reconfiguration.
 
 AC_DEFUN([AM_AUX_DIR_EXPAND],
-[AC_REQUIRE([AC_CONFIG_AUX_DIR_DEFAULT])dnl
+[dnl Rely on autoconf to set up CDPATH properly.
-# Expand $ac_aux_dir to an absolute path.
+AC_PREREQ([2.50])dnl
-am_aux_dir=`cd "$ac_aux_dir" && pwd`
+# expand $ac_aux_dir to an absolute path
+am_aux_dir=`cd $ac_aux_dir && pwd`
 ])
 
 # AM_CONDITIONAL                                            -*- Autoconf -*-

src/hos_libhttpserver/src/libmicrohttpd/configure

@@ -2666,8 +2666,8 @@ test "$program_suffix" != NONE &&
 ac_script='s/[\\$]/&&/g;s/;s,x,x,$//'
 program_transform_name=`$as_echo "$program_transform_name" | sed "$ac_script"`
 
-# Expand $ac_aux_dir to an absolute path.
+# expand $ac_aux_dir to an absolute path
-am_aux_dir=`cd "$ac_aux_dir" && pwd`
+am_aux_dir=`cd $ac_aux_dir && pwd`
 
 if test x"${MISSING+set}" != xset; then
   case $am_aux_dir in

src/hos_libhttpserver/src/libmicrohttpd/doc/stamp-vti

@@ -1,4 +1,4 @@
-@set UPDATED 3 April 2015
+@set UPDATED 19 May 2015
-@set UPDATED-MONTH April 2015
+@set UPDATED-MONTH May 2015
 @set EDITION 0.9.42
 @set VERSION 0.9.42

src/hos_libhttpserver/src/libmicrohttpd/doc/version.texi

@@ -1,4 +1,4 @@
-@set UPDATED 3 April 2015
+@set UPDATED 19 May 2015
-@set UPDATED-MONTH April 2015
+@set UPDATED-MONTH May 2015
 @set EDITION 0.9.42
 @set VERSION 0.9.42