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This commit is contained in:
Matthias Janetschek
2015-05-20 17:23:02 +02:00
parent 0d62915a11
commit 37ebf68d6b
15 changed files with 745 additions and 95 deletions
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src/hos_cosgi_common/CMakeLists.txt
+14
View File
@@ -159,3 +159,17 @@ install(DIRECTORY include/${PROJECT_NAME}/
## Add folders to be run by python nosetests ## Add folders to be run by python nosetests
# catkin_add_nosetests(test) # catkin_add_nosetests(test)
###################
## Documentation ##
###################
find_package(Doxygen)
if(DOXYGEN_FOUND)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
add_custom_target(doc
${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
COMMENT "Generating API documentation with Doxygen" VERBATIM
)
endif(DOXYGEN_FOUND)
src/hos_cosgi_common/Doxyfile.in
+361
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@@ -0,0 +1,361 @@
# Doxyfile 1.8.8
#---------------------------------------------------------------------------
# Project related configuration options
#---------------------------------------------------------------------------
DOXYFILE_ENCODING = UTF-8
PROJECT_NAME = hos_cosgi_common
PROJECT_NUMBER =
PROJECT_BRIEF =
PROJECT_LOGO =
OUTPUT_DIRECTORY = doc
CREATE_SUBDIRS = NO
ALLOW_UNICODE_NAMES = NO
OUTPUT_LANGUAGE = English
BRIEF_MEMBER_DESC = YES
REPEAT_BRIEF = YES
ABBREVIATE_BRIEF = "The $name class" \
"The $name widget" \
"The $name file" \
is \
provides \
specifies \
contains \
represents \
a \
an \
the
ALWAYS_DETAILED_SEC = NO
INLINE_INHERITED_MEMB = NO
FULL_PATH_NAMES = YES
STRIP_FROM_PATH =
STRIP_FROM_INC_PATH =
SHORT_NAMES = NO
JAVADOC_AUTOBRIEF = NO
QT_AUTOBRIEF = NO
MULTILINE_CPP_IS_BRIEF = NO
INHERIT_DOCS = YES
SEPARATE_MEMBER_PAGES = NO
TAB_SIZE = 4
ALIASES =
TCL_SUBST =
OPTIMIZE_OUTPUT_FOR_C = NO
OPTIMIZE_OUTPUT_JAVA = NO
OPTIMIZE_FOR_FORTRAN = NO
OPTIMIZE_OUTPUT_VHDL = NO
EXTENSION_MAPPING =
MARKDOWN_SUPPORT = YES
AUTOLINK_SUPPORT = YES
BUILTIN_STL_SUPPORT = NO
CPP_CLI_SUPPORT = NO
SIP_SUPPORT = NO
IDL_PROPERTY_SUPPORT = YES
DISTRIBUTE_GROUP_DOC = NO
SUBGROUPING = YES
INLINE_GROUPED_CLASSES = NO
INLINE_SIMPLE_STRUCTS = NO
TYPEDEF_HIDES_STRUCT = NO
LOOKUP_CACHE_SIZE = 0
#---------------------------------------------------------------------------
# Build related configuration options
#---------------------------------------------------------------------------
EXTRACT_ALL = YES
EXTRACT_PRIVATE = NO
EXTRACT_PACKAGE = NO
EXTRACT_STATIC = NO
EXTRACT_LOCAL_CLASSES = YES
EXTRACT_LOCAL_METHODS = NO
EXTRACT_ANON_NSPACES = NO
HIDE_UNDOC_MEMBERS = NO
HIDE_UNDOC_CLASSES = NO
HIDE_FRIEND_COMPOUNDS = NO
HIDE_IN_BODY_DOCS = NO
INTERNAL_DOCS = NO
CASE_SENSE_NAMES = NO
HIDE_SCOPE_NAMES = NO
SHOW_INCLUDE_FILES = YES
SHOW_GROUPED_MEMB_INC = NO
FORCE_LOCAL_INCLUDES = NO
INLINE_INFO = YES
SORT_MEMBER_DOCS = YES
SORT_BRIEF_DOCS = NO
SORT_MEMBERS_CTORS_1ST = NO
SORT_GROUP_NAMES = NO
SORT_BY_SCOPE_NAME = NO
STRICT_PROTO_MATCHING = NO
GENERATE_TODOLIST = YES
GENERATE_TESTLIST = YES
GENERATE_BUGLIST = YES
GENERATE_DEPRECATEDLIST= YES
ENABLED_SECTIONS =
MAX_INITIALIZER_LINES = 30
SHOW_USED_FILES = YES
SHOW_FILES = YES
SHOW_NAMESPACES = YES
FILE_VERSION_FILTER =
LAYOUT_FILE =
CITE_BIB_FILES =
#---------------------------------------------------------------------------
# Configuration options related to warning and progress messages
#---------------------------------------------------------------------------
QUIET = NO
WARNINGS = YES
WARN_IF_UNDOCUMENTED = YES
WARN_IF_DOC_ERROR = YES
WARN_NO_PARAMDOC = NO
WARN_FORMAT = "$file:$line: $text"
WARN_LOGFILE =
#---------------------------------------------------------------------------
# Configuration options related to the input files
#---------------------------------------------------------------------------
INPUT = @CMAKE_CURRENT_SOURCE_DIR@/include
INPUT_ENCODING = UTF-8
FILE_PATTERNS = *.c \
*.cc \
*.cxx \
*.cpp \
*.c++ \
*.java \
*.ii \
*.ixx \
*.ipp \
*.i++ \
*.inl \
*.idl \
*.ddl \
*.odl \
*.h \
*.hh \
*.hxx \
*.hpp \
*.h++ \
*.cs \
*.d \
*.php \
*.php4 \
*.php5 \
*.phtml \
*.inc \
*.m \
*.markdown \
*.md \
*.mm \
*.dox \
*.py \
*.f90 \
*.f \
*.for \
*.tcl \
*.vhd \
*.vhdl \
*.ucf \
*.qsf \
*.as \
*.js
RECURSIVE = YES
EXCLUDE =
EXCLUDE_SYMLINKS = NO
EXCLUDE_PATTERNS =
EXCLUDE_SYMBOLS =
EXAMPLE_PATH =
EXAMPLE_PATTERNS = *
EXAMPLE_RECURSIVE = NO
IMAGE_PATH =
INPUT_FILTER =
FILTER_PATTERNS =
FILTER_SOURCE_FILES = NO
FILTER_SOURCE_PATTERNS =
USE_MDFILE_AS_MAINPAGE =
#---------------------------------------------------------------------------
# Configuration options related to source browsing
#---------------------------------------------------------------------------
SOURCE_BROWSER = NO
INLINE_SOURCES = NO
STRIP_CODE_COMMENTS = YES
REFERENCED_BY_RELATION = NO
REFERENCES_RELATION = NO
REFERENCES_LINK_SOURCE = YES
SOURCE_TOOLTIPS = YES
USE_HTAGS = NO
VERBATIM_HEADERS = YES
#---------------------------------------------------------------------------
# Configuration options related to the alphabetical class index
#---------------------------------------------------------------------------
ALPHABETICAL_INDEX = YES
COLS_IN_ALPHA_INDEX = 5
IGNORE_PREFIX =
#---------------------------------------------------------------------------
# Configuration options related to the HTML output
#---------------------------------------------------------------------------
GENERATE_HTML = YES
HTML_OUTPUT = html
HTML_FILE_EXTENSION = .html
HTML_HEADER =
HTML_FOOTER =
HTML_STYLESHEET =
HTML_EXTRA_STYLESHEET =
HTML_EXTRA_FILES =
HTML_COLORSTYLE_HUE = 220
HTML_COLORSTYLE_SAT = 100
HTML_COLORSTYLE_GAMMA = 80
HTML_TIMESTAMP = YES
HTML_DYNAMIC_SECTIONS = NO
HTML_INDEX_NUM_ENTRIES = 100
GENERATE_DOCSET = NO
DOCSET_FEEDNAME = "Doxygen generated docs"
DOCSET_BUNDLE_ID = org.doxygen.Project
DOCSET_PUBLISHER_ID = org.doxygen.Publisher
DOCSET_PUBLISHER_NAME = Publisher
GENERATE_HTMLHELP = NO
CHM_FILE =
HHC_LOCATION =
GENERATE_CHI = NO
CHM_INDEX_ENCODING =
BINARY_TOC = NO
TOC_EXPAND = NO
GENERATE_QHP = NO
QCH_FILE =
QHP_NAMESPACE = org.doxygen.Project
QHP_VIRTUAL_FOLDER = doc
QHP_CUST_FILTER_NAME =
QHP_CUST_FILTER_ATTRS =
QHP_SECT_FILTER_ATTRS =
QHG_LOCATION =
GENERATE_ECLIPSEHELP = NO
ECLIPSE_DOC_ID = org.doxygen.Project
DISABLE_INDEX = NO
GENERATE_TREEVIEW = YES
ENUM_VALUES_PER_LINE = 4
TREEVIEW_WIDTH = 250
EXT_LINKS_IN_WINDOW = NO
FORMULA_FONTSIZE = 10
FORMULA_TRANSPARENT = YES
USE_MATHJAX = NO
MATHJAX_FORMAT = HTML-CSS
MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
MATHJAX_EXTENSIONS =
MATHJAX_CODEFILE =
SEARCHENGINE = YES
SERVER_BASED_SEARCH = NO
EXTERNAL_SEARCH = NO
SEARCHENGINE_URL =
SEARCHDATA_FILE = searchdata.xml
EXTERNAL_SEARCH_ID =
EXTRA_SEARCH_MAPPINGS =
#---------------------------------------------------------------------------
# Configuration options related to the LaTeX output
#---------------------------------------------------------------------------
GENERATE_LATEX = YES
LATEX_OUTPUT = latex
LATEX_CMD_NAME = latex
MAKEINDEX_CMD_NAME = makeindex
COMPACT_LATEX = NO
PAPER_TYPE = a4
EXTRA_PACKAGES =
LATEX_HEADER =
LATEX_FOOTER =
LATEX_EXTRA_FILES =
PDF_HYPERLINKS = YES
USE_PDFLATEX = YES
LATEX_BATCHMODE = NO
LATEX_HIDE_INDICES = NO
LATEX_SOURCE_CODE = NO
LATEX_BIB_STYLE = plain
#---------------------------------------------------------------------------
# Configuration options related to the RTF output
#---------------------------------------------------------------------------
GENERATE_RTF = NO
RTF_OUTPUT = rtf
COMPACT_RTF = NO
RTF_HYPERLINKS = NO
RTF_STYLESHEET_FILE =
RTF_EXTENSIONS_FILE =
#---------------------------------------------------------------------------
# Configuration options related to the man page output
#---------------------------------------------------------------------------
GENERATE_MAN = NO
MAN_OUTPUT = man
MAN_EXTENSION = .3
MAN_SUBDIR =
MAN_LINKS = NO
#---------------------------------------------------------------------------
# Configuration options related to the XML output
#---------------------------------------------------------------------------
GENERATE_XML = NO
XML_OUTPUT = xml
XML_PROGRAMLISTING = YES
#---------------------------------------------------------------------------
# Configuration options related to the DOCBOOK output
#---------------------------------------------------------------------------
GENERATE_DOCBOOK = NO
DOCBOOK_OUTPUT = docbook
DOCBOOK_PROGRAMLISTING = NO
#---------------------------------------------------------------------------
# Configuration options for the AutoGen Definitions output
#---------------------------------------------------------------------------
GENERATE_AUTOGEN_DEF = NO
#---------------------------------------------------------------------------
# Configuration options related to the Perl module output
#---------------------------------------------------------------------------
GENERATE_PERLMOD = NO
PERLMOD_LATEX = NO
PERLMOD_PRETTY = YES
PERLMOD_MAKEVAR_PREFIX =
#---------------------------------------------------------------------------
# Configuration options related to the preprocessor
#---------------------------------------------------------------------------
ENABLE_PREPROCESSING = YES
MACRO_EXPANSION = NO
EXPAND_ONLY_PREDEF = NO
SEARCH_INCLUDES = YES
INCLUDE_PATH =
INCLUDE_FILE_PATTERNS =
PREDEFINED =
EXPAND_AS_DEFINED =
SKIP_FUNCTION_MACROS = YES
#---------------------------------------------------------------------------
# Configuration options related to external references
#---------------------------------------------------------------------------
TAGFILES =
GENERATE_TAGFILE =
ALLEXTERNALS = NO
EXTERNAL_GROUPS = YES
EXTERNAL_PAGES = YES
PERL_PATH = /usr/bin/perl
#---------------------------------------------------------------------------
# Configuration options related to the dot tool
#---------------------------------------------------------------------------
CLASS_DIAGRAMS = YES
MSCGEN_PATH =
DIA_PATH =
HIDE_UNDOC_RELATIONS = YES
HAVE_DOT = NO
DOT_NUM_THREADS = 0
DOT_FONTNAME = Helvetica
DOT_FONTSIZE = 10
DOT_FONTPATH =
CLASS_GRAPH = YES
COLLABORATION_GRAPH = YES
GROUP_GRAPHS = YES
UML_LOOK = NO
UML_LIMIT_NUM_FIELDS = 10
TEMPLATE_RELATIONS = NO
INCLUDE_GRAPH = YES
INCLUDED_BY_GRAPH = YES
CALL_GRAPH = NO
CALLER_GRAPH = NO
GRAPHICAL_HIERARCHY = YES
DIRECTORY_GRAPH = YES
DOT_IMAGE_FORMAT = png
INTERACTIVE_SVG = NO
DOT_PATH =
DOTFILE_DIRS =
MSCFILE_DIRS =
DIAFILE_DIRS =
PLANTUML_JAR_PATH =
DOT_GRAPH_MAX_NODES = 50
MAX_DOT_GRAPH_DEPTH = 0
DOT_TRANSPARENT = NO
DOT_MULTI_TARGETS = NO
GENERATE_LEGEND = YES
DOT_CLEANUP = YES
src/hos_cosgi_common/include/hos_cosgi_common/hos/cosgi/service/interface.h
+160 -9
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@@ -1,87 +1,238 @@
/*
* cosgi_common.h
*
* Created on: 19.04.2015
* Author: matzman
*/
#ifndef INCLUDE_HOS_COSGI_COMMON_COSGI_CORE_H_
#define INCLUDE_HOS_COSGI_COMMON_COSGI_CORE_H_
#pragma once
#include <cstddef> #include <cstddef>
// main namespace
namespace hos { namespace hos {
namespace cosgi{ namespace cosgi{
namespace service { namespace service {
namespace interface { namespace interface {
/**
* Basic public OSGI interface class.
*
* Every public OSGI interface class needs to inherit from this class.
* At the moment it only defines an empty virtual destructor.
*/
class Object { class Object {
public: public:
virtual ~Object() {} virtual ~Object() {}
}; };
/**
* Basic public OSGI service interface class.
*
* Every public OSGI service interface class needs to inherit from this class.
* Defines generic methods to get information about a service.
*/
class Service : public virtual Object { class Service : public virtual Object {
public: public:
/**
* Returns the name of the service.
*
* The service name is used to register a service in the OSGI framework.
*
* \return service name.
**/
virtual const char* getServiceName() = 0; virtual const char* getServiceName() = 0;
/**
* Returns the version of the service.
*
* The version numbers are used to determine compatibility. Different major numbers are incompatible with each other.
* Different minor numbers are backwards compatible (e.g. a mininum requirement of 1.2 means that service version 1.3 is compatible
* but service version 1.1 is incompatible).
*
* \param[out] major version major number.
* \param[out] minor version minor number.
*/
virtual void getServiceVersion(int& major, int& minor) = 0; virtual void getServiceVersion(int& major, int& minor) = 0;
}; };
/**
* General template implementing the observer from the observer-pattern.
*
* This template does not provide any functionality, so do not use it but use only its specializations.
*/
template<class...> class Observer {}; template<class...> class Observer {};
/**
* General template implementing the observable from the observer-pattern.
*
* This template does not provide any functionality, so do not use it but use only its specializations.
*/
template<class...> class Observable {}; template<class...> class Observable {};
/**
* Convenience template merging the Object class and the Observable template into a single template.
*/
template<class... _Args> class ObservableObject : public virtual Object, public virtual Observable<_Args...> {}; template<class... _Args> class ObservableObject : public virtual Object, public virtual Observable<_Args...> {};
/**
* Convenience template merging the Service class and the Observable template into a single template.
*/
template<class... _Args> class ObservableService : public virtual Service, public virtual Observable<_Args...> {}; template<class... _Args> class ObservableService : public virtual Service, public virtual Observable<_Args...> {};
/**
* Specialization of the Observer template with one template argument (the event emitted from the observable).
*/
template<class _Event> template<class _Event>
class Observer<_Event> : public virtual Object { class Observer<_Event> : public virtual Object {
public: public:
/**
* Specifies the type of compatible observables.
*/
typedef Observable<_Event> observable_type; typedef Observable<_Event> observable_type;
/**
* Function that is called when an event is emitted by the observable object.
*
* \param[in] o observable object emitting the event.
* \param[in] e the event (can be null).
*/
virtual void notificationReceived(observable_type* o, const _Event* e) = 0; virtual void notificationReceived(observable_type* o, const _Event* e) = 0;
}; };
/**
* Specialization of the Observer template with two template arguments (the key used to filter observers,
* and the event emitted from the observable).
*/
template<class _Key, class _Event> template<class _Key, class _Event>
class Observer<_Key, _Event> : public virtual Object { class Observer<_Key, _Event> : public virtual Object {
public: public:
/**
* Specifies the type of compatible observables.
*/
typedef Observable<_Key, _Event> observable_type; typedef Observable<_Key, _Event> observable_type;
/**
* Function that is called when an event is emitted by the observable object.
*
* \param[in] o observable object emitting the event.
* \param[in] key the filter key.
* \param[in] e the event (can be null).
*/
virtual void notificationReceived(observable_type* o, const _Key& key, const _Event* e) = 0; virtual void notificationReceived(observable_type* o, const _Key& key, const _Event* e) = 0;
}; };
/**
* Specialization of the Observable template with one template argument (the event emitted from the observable).
*
* When an event is emitted, all registered observers will be notified.
*/
template<class _Event> template<class _Event>
class Observable<_Event> : public virtual Object { class Observable<_Event> : public virtual Object {
protected: protected:
/**
* Notify observers of a new event.
*
* \param[in] e event.
*/
virtual void notifyObservers(const _Event* e) = 0; virtual void notifyObservers(const _Event* e) = 0;
public: public:
/**
* Specifies the type of compatible observers.
*/
typedef Observer<_Event> observer_type; typedef Observer<_Event> observer_type;
/**
* Registers an observer.
*
* \param[in] o observer to be registered.
*/
virtual void addObserver(observer_type* o) = 0; virtual void addObserver(observer_type* o) = 0;
/**
* Unregisters an observer.
*
* \param[in] o observer to be unregistered.
*/
virtual void deleteObserver(observer_type* o) = 0; virtual void deleteObserver(observer_type* o) = 0;
/**
* Unregisters all observers.
*/
virtual void deleteObservers() = 0; virtual void deleteObservers() = 0;
/**
* Returns the number of registered observers.
*
* \return number of registered observers.
*/
virtual size_t countObservers() = 0; virtual size_t countObservers() = 0;
}; };
/**
* Specialization of the Observable template with two template arguments (the key used to filter observers,
* and the event emitted from the observable).
*
* When an event is emitted, only observers registered under the specified key will be notified.
*/
template<class _Key, class _Event> template<class _Key, class _Event>
class Observable<_Key, _Event> : public virtual Object { class Observable<_Key, _Event> : public virtual Object {
protected: protected:
/**
* Notify observers of a new event.
*
* \param[in] key observer filter key.
* \param[in] e event.
*/
virtual void notifyObservers(const _Key& key, const _Event* e) = 0; virtual void notifyObservers(const _Key& key, const _Event* e) = 0;
public: public:
/**
* Specifies the type of compatible observers.
*/
typedef Observer<_Key, _Event> observer_type; typedef Observer<_Key, _Event> observer_type;
/**
* Registers an observer.
*
* \param[in] key filter key.
* \param[in] o observer to be registered.
*/
virtual void addObserver(_Key& key, observer_type* o) = 0; virtual void addObserver(_Key& key, observer_type* o) = 0;
/**
* Unregisters an observer.
*
* \param[in] key filter key.
* \param[in] o observer to be unregistered.
*/
virtual void deleteObserver(_Key& key, observer_type* o) = 0; virtual void deleteObserver(_Key& key, observer_type* o) = 0;
/**
* Unregisters all observers.
*/
virtual void deleteObservers() = 0; virtual void deleteObservers() = 0;
/**
* Returns the number of registered observers.
*
* \return number of registered observers.
*/
virtual size_t countObservers() = 0; virtual size_t countObservers() = 0;
}; };
} // namespace interface } // namespace interface
} // namespace service } // namespace service
} // namespace cosgi } // namespace cosgi
} // namespace hos } // namespace hos
#endif /* INCLUDE_HOS_COSGI_COMMON_COSGI_CORE_H_ */
src/hos_cosgi_webserver/src/hos/cosgi/service/webserver/resources/DevicesHTTPResource.cpp
+161 -4
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@@ -1,5 +1,7 @@
#include "DevicesHTTPResource.h" #include "DevicesHTTPResource.h"
#include <boost/format.hpp>
#include <boost/algorithm/string.hpp>
// Service Namespace // Service Namespace
@@ -10,9 +12,22 @@ namespace webserver {
namespace resources { namespace resources {
using namespace httpserver; using namespace httpserver;
using namespace ::libvariant;
DevicesHTTPResource::DevicesHTTPResource(devicerepository::DeviceRepositoryService* repoService)
: repoService(repoService) { class ResourceException : public std::runtime_error {
protected:
int errorCode;
public:
ResourceException(std::string msg, int errorCode)
: std::runtime_error(msg), errorCode(errorCode) {}
int getErrorCode() { return errorCode; }
};
DevicesHTTPResource::DevicesHTTPResource(devicerepository::DeviceRepositoryService* repoService, size_t prefixPathPieces)
: repoService(repoService), prefixPathPieces(prefixPathPieces) {
disallow_all(); disallow_all();
set_allowing(MHD_HTTP_METHOD_GET, true); set_allowing(MHD_HTTP_METHOD_GET, true);
set_allowing(MHD_HTTP_METHOD_POST, true); set_allowing(MHD_HTTP_METHOD_POST, true);
@@ -22,19 +37,161 @@ DevicesHTTPResource::DevicesHTTPResource(devicerepository::DeviceRepositoryServi
void DevicesHTTPResource::render_GET(const httpserver::http_request& req, httpserver::http_response** res) { void DevicesHTTPResource::render_GET(const httpserver::http_request& req, httpserver::http_response** res) {
std::cout << "DevicesHTTPResource::render_GET()" << std::endl; std::cout << "DevicesHTTPResource::render_GET()" << std::endl;
std::cout << req; std::cout << req;
*res = new http_response(http_response_builder("GET response", 200).string_response());
try {
if (req.get_path_pieces_size() < prefixPathPieces) {
ROS_ERROR_STREAM("Requested path " << req.get_path() << " has fewer pieces than prefix path.");
throw ResourceException("Internal Server Error", 500);
} else {
bool isSetCommand = false;
Variant setValue;
if (req.get_arg("command").compare("set") == 0) {
isSetCommand = true;
std::string value = req.get_arg("value");
if (value.empty()) {
throw ResourceException("No value given for set command.", 400);
} else {
boost::algorithm::trim(value);
if (boost::starts_with(value, "{") || boost::starts_with(value, "[")) {
setValue = DeserializeJSON(value);
} else {
setValue = Variant(value);
}
}
}
if (req.get_path_pieces_size() == prefixPathPieces) {
if (isSetCommand) {
throw ResourceException("No device given for set command.", 400);
}
std::vector<std::shared_ptr<devicerepository::Device>> devices;
repoService->getDevices(devices);
Variant result;
for (auto d : devices) {
result[d->getDeviceID()] = getDeviceInfo(d.get());
}
*res = new http_response(http_response_builder(SerializeJSON(result, true), 200).string_response());
} else {
std::string devid = req.get_path_piece(prefixPathPieces);
auto device = repoService->getDevice(devid);
if (device) {
if (isSetCommand) {
std::vector<std::string> path;
for (int i = prefixPathPieces+1; i < req.get_path_pieces_size(); i++) {
path.push_back(req.get_path_piece(i));
}
setDeviceState(device.get(), setValue, path);
*res = new http_response(http_response_builder("OK", 200).string_response());
} else {
std::string info;
if (req.get_path_pieces_size() > prefixPathPieces+1) {
info = req.get_path_piece(prefixPathPieces+1);
}
std::stringstream ss;
for (int i = prefixPathPieces+2; i < req.get_path_pieces_size(); i++) {
ss << "/" << req.get_path_piece(i);
}
std::string path = ss.str();
Variant result = getDeviceInfo(device.get(), info, path);
*res = new http_response(http_response_builder(SerializeJSON(result, true), 200).string_response());
}
} else {
throw ResourceException((boost::format("Could not find device \"%1%\"") % devid).str(), 404);
}
}
}
} catch (ResourceException& e) {
*res = new http_response(http_response_builder(e.what(), e.getErrorCode()).string_response());
} catch (std::exception& e) {
*res = new http_response(http_response_builder(e.what(), 500).string_response());
}
std::cout << **res; std::cout << **res;
} }
Variant DevicesHTTPResource::getDeviceInfo(devicerepository::Device* device, std::string info, const std::string path) {
Variant retval;
if (info.empty()) {
retval["type"] = device->getDeviceType();
retval["status_topic"] = device->getStatusTopic();
retval["command_topic"] = device->getCmdTopic();
retval["current_state"] = device->getCurrentState();
retval["last_state"] = device->getLastState();
} else {
if (info.compare("type") == 0) {
if (path.empty()) {
retval = device->getDeviceType();
} else {
throw ResourceException("Device info \"type\" has no path.", 400);
}
} else if (info.compare("status_topic") == 0) {
if (path.empty()) {
retval = device->getStatusTopic();
} else {
throw ResourceException("Device info \"status_topic\" has no path.", 400);
}
} else if (info.compare("command_topic") == 0) {
if (path.empty()) {
retval = device->getCmdTopic();
} else {
throw ResourceException("Device info \"command_topic\" has no path.", 400);
}
} else if (info.compare("current_state") == 0) {
retval = device->getCurrentState();
if (!path.empty()) {
if (retval.HasPath(path)) {
retval = retval.GetPath(path);
} else {
throw ResourceException((boost::format("Unknown path \"%1%\" for device info \"current_state\".") % path).str(), 404);
}
}
} else if (info.compare("last_state") == 0) {
retval = device->getLastState();
if (!path.empty()) {
if (retval.HasPath(path)) {
retval = retval.GetPath(path);
} else {
throw ResourceException((boost::format("Unknown path \"%1%\" for device info \"last_state\".") % path).str(), 404);
}
}
} else {
throw ResourceException((boost::format("Unknown device info \"%1%\"") % info).str(), 404);
}
}
return retval;
}
void DevicesHTTPResource::setDeviceState(devicerepository::Device* device, Variant cmd, std::vector<std::string> path) {
Variant cmdMsg;
if (path.size() > 0) {
Variant& current = cmdMsg;
for (int i = 0; i < path.size()-1; i++) {
Variant tmp;
current[path[i]] = tmp;
current = tmp;
}
current[path[path.size()-1]] = cmd;
} else {
cmdMsg = cmd;
}
device->sendCommand(cmdMsg);
}
void DevicesHTTPResource::render_POST(const httpserver::http_request& req, httpserver::http_response** res) { void DevicesHTTPResource::render_POST(const httpserver::http_request& req, httpserver::http_response** res) {
std::cout << "DevicesHTTPResource::render_POST()" << std::endl; std::cout << "DevicesHTTPResource::render_POST()" << std::endl;
std::cout << req; std::cout << req;
*res = new http_response(http_response_builder("POST response", 200).string_response()); *res = new http_response(http_response_builder("ToDo: Implement POST", 500).string_response());
std::cout << **res; std::cout << **res;
} }
} // namespace resources } // namespace resources
} // namespace webserver } // namespace webserver
} // namespace service } // namespace service
src/hos_cosgi_webserver/src/hos/cosgi/service/webserver/resources/DevicesHTTPResource.h
+8 -1
View File
@@ -5,6 +5,8 @@
#include <ros/ros.h> #include <ros/ros.h>
#include <httpserver.hpp> #include <httpserver.hpp>
#include <hos/cosgi/service/devicerepository/devicerepository_service.h> #include <hos/cosgi/service/devicerepository/devicerepository_service.h>
#include <Variant/Variant.h>
#include <string>
// Service Namespace // Service Namespace
namespace hos { namespace hos {
@@ -18,11 +20,16 @@ namespace resources {
class DevicesHTTPResource : public httpserver::http_resource<DevicesHTTPResource> { class DevicesHTTPResource : public httpserver::http_resource<DevicesHTTPResource> {
private: private:
devicerepository::DeviceRepositoryService* repoService = nullptr; devicerepository::DeviceRepositoryService* repoService = nullptr;
size_t prefixPathPieces;
public: public:
DevicesHTTPResource(devicerepository::DeviceRepositoryService* repoService); DevicesHTTPResource(devicerepository::DeviceRepositoryService* repoService, size_t prefixPathPieces);
void render_GET(const httpserver::http_request& req, httpserver::http_response** res); void render_GET(const httpserver::http_request& req, httpserver::http_response** res);
void render_POST(const httpserver::http_request& req, httpserver::http_response** res); void render_POST(const httpserver::http_request& req, httpserver::http_response** res);
::libvariant::Variant getDeviceInfo(devicerepository::Device* device, const std::string info = std::string(), const std::string path = std::string());
void setDeviceState(devicerepository::Device* device, ::libvariant::Variant cmd, std::vector<std::string> path = std::vector<std::string>());
}; };
} // namespace resources } // namespace resources
src/hos_cosgi_webserver/src/hos/cosgi/service/webserver/resources/SchemaHTTPResource.cpp
+23 -14
View File
@@ -1,5 +1,6 @@
#include "SchemaHTTPResource.h" #include "SchemaHTTPResource.h"
#include <boost/format.hpp>
// Service Namespace // Service Namespace
@@ -10,28 +11,36 @@ namespace webserver {
namespace resources { namespace resources {
using namespace httpserver; using namespace httpserver;
using namespace ::libvariant;
SchemaHTTPResource::SchemaHTTPResource(ros::NodeHandle* nodehandle)
: nodehandle(nodehandle) { SchemaHTTPResource::SchemaHTTPResource(ros::NodeHandle* nodehandle, size_t prefixPathPieces)
: nodehandle(nodehandle), prefixPathPieces(prefixPathPieces) {
disallow_all(); disallow_all();
set_allowing(MHD_HTTP_METHOD_GET, true); set_allowing(MHD_HTTP_METHOD_GET, true);
set_allowing(MHD_HTTP_METHOD_POST, true); schemaLoader.reset(new libvariant::HosSchemaLoader());
} }
void SchemaHTTPResource::render_GET(const httpserver::http_request& req, httpserver::http_response** res) { void SchemaHTTPResource::render_GET(const httpserver::http_request& req, httpserver::http_response** res) {
std::cout << "SchemaHTTPResource::render_GET()" << std::endl; if (req.get_path_pieces_size() < prefixPathPieces) {
std::cout << req; ROS_ERROR_STREAM("Requested path " << req.get_path() << " has fewer pieces than prefix path.");
*res = new http_response(http_response_builder("GET response", 200).string_response()); *res = new http_response(http_response_builder("Internal Server Error", 500).string_response());
std::cout << **res; } else if (req.get_path_pieces_size() == prefixPathPieces) {
*res = new http_response(http_response_builder("No schema given", 400).string_response());
} else {
std::stringstream ss;
for (int i = prefixPathPieces; i < req.get_path_pieces_size(); i++) {
ss << "/" << req.get_path_piece(i);
}
auto schemaPath = (boost::format("hos:schema:/%1%") % ss.str()).str();
try {
auto schema = schemaLoader->GetSchema(schemaPath);
*res = new http_response(http_response_builder(SerializeJSON(schema, true), 200).string_response());
} catch(std::exception& e) {
*res = new http_response(http_response_builder((boost::format("Could not find schema \"%1%\": %2%") % schemaPath % e.what()).str(), 404).string_response());
}
} }
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;
} }
src/hos_cosgi_webserver/src/hos/cosgi/service/webserver/resources/SchemaHTTPResource.h
+4 -2
View File
@@ -4,6 +4,7 @@
#include <ros/ros.h> #include <ros/ros.h>
#include <httpserver.hpp> #include <httpserver.hpp>
#include <HosSchemaLoader/HosSchemaLoader.h>
// Service Namespace // Service Namespace
namespace hos { namespace hos {
@@ -17,11 +18,12 @@ namespace resources {
class SchemaHTTPResource : public httpserver::http_resource<SchemaHTTPResource> { class SchemaHTTPResource : public httpserver::http_resource<SchemaHTTPResource> {
private: private:
ros::NodeHandle* nodehandle = nullptr; ros::NodeHandle* nodehandle = nullptr;
std::unique_ptr<libvariant::HosSchemaLoader> schemaLoader;
size_t prefixPathPieces;
public: public:
SchemaHTTPResource(ros::NodeHandle* nodehandle); SchemaHTTPResource(ros::NodeHandle* nodehandle, size_t prefixPathPieces);
void render_GET(const httpserver::http_request& req, httpserver::http_response** res); 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 resources
src/hos_cosgi_webserver/src/hos/cosgi/service/webserver/webserver_serviceimpl.cpp
+2 -2
View File
@@ -61,8 +61,8 @@ void WebServerServiceImpl::init() {
create_webserver serverParams(8888); create_webserver serverParams(8888);
serverParams.max_threads(5).regex_checking(); serverParams.max_threads(5).regex_checking();
webServer.reset(new webserver::webserver(serverParams)); webServer.reset(new webserver::webserver(serverParams));
devicesResource.reset(new resources::DevicesHTTPResource(repoService)); devicesResource.reset(new resources::DevicesHTTPResource(repoService, 2));
schemaResource.reset(new resources::SchemaHTTPResource(nodehandle)); schemaResource.reset(new resources::SchemaHTTPResource(nodehandle, 2));
webServer->register_resource("/hos/devices", devicesResource.get(), true); webServer->register_resource("/hos/devices", devicesResource.get(), true);
webServer->register_resource("/hos/schemas", schemaResource.get(), true); webServer->register_resource("/hos/schemas", schemaResource.get(), true);
webServer->start(false); webServer->start(false);
src/hos_cpp_common/include/hos_cpp_common/hos/common/observable.h
+2 -10
View File
@@ -1,12 +1,6 @@
/*
* observable.h
*
* Created on: 25.04.2015
* Author: matzman
*/
#ifndef INCLUDE_HOS_CPP_COMMON_OBSERVABLE_H_ #pragma once
#define INCLUDE_HOS_CPP_COMMON_OBSERVABLE_H_
#include <cstddef> #include <cstddef>
#include <mutex> #include <mutex>
@@ -143,5 +137,3 @@ public:
} // namespace common } // namespace common
} // namespace hos } // namespace hos
#endif /* INCLUDE_HOS_CPP_COMMON_OBSERVABLE_H_ */
src/hos_libhttpserver/src/libmicrohttpd/aclocal.m4
Vendored
+3 -4
View File
@@ -318,10 +318,9 @@ _AM_AUTOCONF_VERSION(m4_defn([AC_AUTOCONF_VERSION]))])
# configured tree to be moved without reconfiguration. # configured tree to be moved without reconfiguration.
AC_DEFUN([AM_AUX_DIR_EXPAND], AC_DEFUN([AM_AUX_DIR_EXPAND],
[dnl Rely on autoconf to set up CDPATH properly. [AC_REQUIRE([AC_CONFIG_AUX_DIR_DEFAULT])dnl
AC_PREREQ([2.50])dnl # 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 $ac_aux_dir && pwd`
]) ])
# AM_CONDITIONAL -*- Autoconf -*- # AM_CONDITIONAL -*- Autoconf -*-
src/hos_libhttpserver/src/libmicrohttpd/configure
Vendored
+2 -2
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@@ -2666,8 +2666,8 @@ test "$program_suffix" != NONE &&
ac_script='s/[\\$]/&&/g;s/;s,x,x,$//' ac_script='s/[\\$]/&&/g;s/;s,x,x,$//'
program_transform_name=`$as_echo "$program_transform_name" | sed "$ac_script"` 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"${MISSING+set}" != xset; then if test x"${MISSING+set}" != xset; then
case $am_aux_dir in case $am_aux_dir in
src/hos_libhttpserver/src/libmicrohttpd/doc/libmicrohttpd.info
BIN
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Binary file not shown.
src/hos_libhttpserver/src/libmicrohttpd/doc/stamp-vti
+2 -2
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@@ -1,4 +1,4 @@
@set UPDATED 19 May 2015 @set UPDATED 3 April 2015
@set UPDATED-MONTH May 2015 @set UPDATED-MONTH April 2015
@set EDITION 0.9.42 @set EDITION 0.9.42
@set VERSION 0.9.42 @set VERSION 0.9.42
src/hos_libhttpserver/src/libmicrohttpd/doc/version.texi
+2 -2
View File
@@ -1,4 +1,4 @@
@set UPDATED 19 May 2015 @set UPDATED 3 April 2015
@set UPDATED-MONTH May 2015 @set UPDATED-MONTH April 2015
@set EDITION 0.9.42 @set EDITION 0.9.42
@set VERSION 0.9.42 @set VERSION 0.9.42
src/hos_libhttpserver/src/libmicrohttpd/w32/VS2013/microhttpd_dll_res_vc.rc
-42
View File
@@ -1,42 +0,0 @@
/* W32 resources for .dll */
#include <winresrc.h>
LANGUAGE LANG_ENGLISH, SUBLANG_ENGLISH_US
VS_VERSION_INFO VERSIONINFO
FILEVERSION 0,9,42,0
PRODUCTVERSION 0,9,42,0
FILEFLAGSMASK VS_FFI_FILEFLAGSMASK
#if defined(_DEBUG)
FILEFLAGS VS_FF_DEBUG
#else
FILEFLAGS 0
#endif
FILEOS VOS_NT_WINDOWS32
FILETYPE VFT_DLL
FILESUBTYPE VFT2_UNKNOWN
BEGIN
BLOCK "StringFileInfo"
BEGIN
BLOCK "04090000" /* Lang = US English, Charset = ASCII */
BEGIN
VALUE "ProductName", "GNU libmicrohttpd\0"
VALUE "ProductVersion", "0.9.42\0"
VALUE "FileVersion", "0.9.42\0"
VALUE "FileDescription", "GNU libmicrohttpd dll for Windows (VC build)\0"
VALUE "InternalName", "libmicrohttpd\0"
#if defined(_DEBUG)
VALUE "OriginalFilename", "libmicrohttpd_d.dll\0"
#else
VALUE "OriginalFilename", "libmicrohttpd.dll\0"
#endif
VALUE "CompanyName", "Free Software Foundation\0"
VALUE "LegalCopyright", "Copyright (C) 2007-2015 Christian Grothoff and project contributors\0"
VALUE "Comments", "http://www.gnu.org/software/libmicrohttpd/\0"
END
END
BLOCK "VarFileInfo"
BEGIN
VALUE "Translation", 0x0409, 0 /* US English, ASCII */
END
END