.

src/hos_cosgi_ruleengine/test/rulepkg01.json

@@ -1,5 +1,5 @@
 {
-	"language": "python",
+	"language": "python2",
 	"globalcontext": { "code": "print(\"GlobalContext: Init!\")\nvar1 = 66.6\nvar2 = 0"},
 	"rules": {
 		"rule01": {
@@ -53,7 +53,7 @@
 					}
 				]
 			},
-			"script": { "code": "print(\"Dimmer 0 reached 100\")\nDevices[\"dummySwitch1\"].sendCommand({\"switch\": {\"set\": True}})" }
+			"script": { "code": "print(\"Dimmer 0 reached 100\")\nDevices[\"dummySwitch1\"].sendCommand({u\"switch\": {u\"set\": True}})" }
 		},
 		"rule05": {
 			"condition": {
@@ -68,7 +68,7 @@
 					}
 				]
 			},
-			"script": { "code": "print(\"Dimmer 0 left 100\")\nDevices[\"dummySwitch1\"].sendCommand({\"switch\": {\"set\": False}})" }
+			"script": { "code": "print(\"Dimmer 0 left 100\")\nDevices[\"dummySwitch1\"].sendCommand({u\"switch\": {\"set\": False}})" }
 		}
 	}
 }

src/hos_cosgi_scripting_python/CMakeLists.txt

@@ -59,7 +59,7 @@ catkin_package(
 
 add_definitions(
 	-std=c++11
-	-D_PYTHON_${USE_PYTHON_VERSION}_
+	-D_PYTHON_VERSION_=${USE_PYTHON_VERSION}
 )
 
 include_directories(
@@ -70,11 +70,11 @@ include_directories(
 	${PYTHON_INCLUDE_DIRS}
 )
 
-set(BUNDLE_SYMBOLICNAME "hos.hos_scripting_python")
+set(BUNDLE_SYMBOLICNAME "hos.hos_scripting_python${USE_PYTHON_VERSION}")
 set(BUNDLE_VERSION "1.0.0")
-set(BUNDLE_NAME "hos_scripting_python")
+set(BUNDLE_NAME "hos_scripting_python${USE_PYTHON_VERSION}")
 
-bundle(hos_cosgi_scripting_python
+bundle(hos_cosgi_scripting_python${USE_PYTHON_VERSION}
 	SOURCES 
 	${PROJECT_SOURCE_DIR}/src/BundleActivator
 	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/scripting/python/PyScriptingServiceImpl
@@ -82,7 +82,7 @@ bundle(hos_cosgi_scripting_python
 	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/scripting/python/hosapi/PyHOSAPI
 )
 
-target_link_libraries(hos_cosgi_scripting_python
+target_link_libraries(hos_cosgi_scripting_python${USE_PYTHON_VERSION}
 	${catkin_LIBRARIES}
 	${APR_LIBRARIES}
 	${Boost_LIBRARIES}
@@ -96,7 +96,7 @@ target_link_libraries(hos_cosgi_scripting_python
 #############
 
 install(FILES
-	${CMAKE_BINARY_DIR}/hos_cosgi_scripting_python.zip
+	${CMAKE_BINARY_DIR}/hos_cosgi_scripting_python${USE_PYTHON_VERSION}.zip
 	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/bundles
 )
 

src/hos_cosgi_scripting_python/src/hos/cosgi/service/scripting/python/PyScriptingServiceImpl.cpp

@@ -64,12 +64,14 @@ void PyScriptingService::init() noexcept {
 	ROS_INFO_STREAM("PyScriptingService: Python Version: " << version);
 
 	// Initialize HOS Python API
-	#if defined ( _PYTHON_2_ )
+	#if not defined ( _PYTHON_VERSION_ )
+		#error "Python version not defined"
+	#elif ( _PYTHON_VERSION_ == 2 )
 		inithos();
-	#elif defined ( _PYTHON_3_ )
+	#elif ( _PYTHON_VERSION_ == 3 )
 		init_module_hos();
 	#else
-		#error "Python version not defined"
+		#error "Unknown Python version"
 	#endif
 	deviceService.reset(new hosapi::PyDeviceRepositoryWrapper(repoService));
 

src/hos_cosgi_scripting_python/src/hos/cosgi/service/scripting/python/PyScriptingServiceImpl.h

@@ -126,7 +126,15 @@ private:
 public:
 
 	/** Language identifier. */
-	static constexpr const char* LANGUAGE = "python";
+	#if not defined ( _PYTHON_VERSION_ )
+		#error "Python version not defined"
+	#elif ( _PYTHON_VERSION_ == 2 )
+		static constexpr const char* LANGUAGE = "python2";
+	#elif ( _PYTHON_VERSION_ == 3 )
+		static constexpr const char* LANGUAGE = "python3";
+	#else
+		#error "Unknown Python version"
+	#endif
 
 
 	/* Initialization */

src/hos_cosgi_scripting_python/src/hos/cosgi/service/scripting/python/hosapi/PyHOSAPI.h

@@ -12,12 +12,14 @@
 /**
  * This function declares the python hos module.
  */
-#if defined ( _PYTHON_2_ )
+#if not defined ( _PYTHON_VERSION_ )
+	#error "Python version not defined"
+#elif ( _PYTHON_VERSION_ == 2 )
 	extern "C" void inithos();
-#elif defined ( _PYTHON_3_ )
+#elif ( _PYTHON_VERSION_ == 3 )
 	extern "C" void init_module_hos();
 #else
-	#error "Python version not defined"
+	#error "Unknown Python version"
 #endif
 
 

src/hos_cosgi_scripting_python/src/hos/cosgi/service/scripting/python/utils/utils.cpp

@@ -15,7 +15,7 @@ namespace utils {
 
 
 
-boost::python::object convertVariantToBoostPython(const libvariant::Variant& var) noexcept {
+boost::python::object convertVariantToBoostPython(const libvariant::Variant& var) {
 	if (var.IsBool()) {
 		return boost::python::object(var.AsBool());
 	} else if (var.IsFloat()) {
@@ -45,15 +45,22 @@ boost::python::object convertVariantToBoostPython(const libvariant::Variant& var
 }
 
 
-libvariant::Variant convertBoostPythonTovariant(const boost::python::object& obj) noexcept {
+libvariant::Variant convertBoostPythonTovariant(const boost::python::object& obj) {
 	libvariant::Variant retval;
 	if (!obj.is_none()) {
 		if (PyObject_TypeCheck(obj.ptr(), &PyUnicode_Type)) {
+			retval = libvariant::Variant(boost::python::extract<std::string>(boost::python::str(obj).encode()));
+			//retval = libvariant::Variant(boost::python::extract<std::string>(obj));
+		} else if (PyObject_TypeCheck(obj.ptr(), &PyBytes_Type)) {
 			retval = libvariant::Variant(boost::python::extract<std::string>(obj));
 		} else if (PyObject_TypeCheck(obj.ptr(), &PyBool_Type)) {
 			retval = libvariant::Variant(boost::python::extract<bool>(obj));
 		} else if (PyObject_TypeCheck(obj.ptr(), &PyFloat_Type)) {
 			retval = libvariant::Variant(boost::python::extract<double>(obj));
+		#if ( _PYTHON_VERSION_ == 2 )
+			} else if (PyObject_TypeCheck(obj.ptr(), &PyInt_Type)) {
+				retval = libvariant::Variant(boost::python::extract<int>(obj));
+		#endif
 		} else if (PyObject_TypeCheck(obj.ptr(), &PyLong_Type)) {
 			retval = libvariant::Variant(boost::python::extract<long>(obj));
 		} else if (PyObject_TypeCheck(obj.ptr(), &PyDict_Type)) {

src/hos_cosgi_scripting_python/src/hos/cosgi/service/scripting/python/utils/utils.h

@@ -22,7 +22,7 @@ namespace utils {
  * \param[in] variant object.
  * \return boost python object.
  */
-boost::python::object convertVariantToBoostPython(const libvariant::Variant& var) noexcept;
+boost::python::object convertVariantToBoostPython(const libvariant::Variant& var);
 
 
 /**
@@ -31,7 +31,7 @@ boost::python::object convertVariantToBoostPython(const libvariant::Variant& var
  * \param[in] boost python object.
  * \return variant object.
  */
-libvariant::Variant convertBoostPythonTovariant(const boost::python::object& obj) noexcept;
+libvariant::Variant convertBoostPythonTovariant(const boost::python::object& obj);
 
 
 

src/hos_cosgi_webserver/CMakeLists.txt

@@ -52,8 +52,8 @@ set(BUNDLE_NAME "hos_webserver")
 
 bundle(hos_cosgi_webserver
 	SOURCES 
-	${PROJECT_SOURCE_DIR}/src/bundle_activator
+	${PROJECT_SOURCE_DIR}/src/BundleActivator
-	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/webserver/webserver_serviceimpl
+	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/webserver/WebServerServiceImpl
 	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/webserver/resources/DevicesHTTPResource
 	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/webserver/resources/SchemaHTTPResource
 )

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

@@ -0,0 +1,57 @@
+
+#pragma once
+
+
+#include <hos/cosgi/service/Interface.h>
+#include <Variant/Variant.h>
+#include <memory>
+#include <vector>
+
+
+// forward declarations
+namespace httpserver { class webserver;}
+
+
+// service namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace webserver {
+
+
+// forward declarations
+class WebServerService;
+
+
+
+class WebResource
+	: public virtual interface::Object  {
+
+public:
+	virtual void init( 	const std::vector<std::string>& prefixPath,
+						const std::string& registeredPath,
+						const std::string& absolutePath,
+						httpserver::webserver& webserver,
+						WebServerService& service ) = 0;
+};
+
+
+
+class WebServerService
+	: public virtual interface::Service  {
+
+public:
+
+	static constexpr const char* SERVICE_NAME = "hos_webserver_service";
+
+	virtual void registerWebResource(const std::string& path, std::shared_ptr<WebResource> resource) = 0;
+
+};
+
+
+
+} // namespace webserver
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+

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

@@ -1,32 +0,0 @@
-/*
- * hos_ruleengine_service.h
- *
- *  Created on: 26.04.2015
- *      Author: matzman
- */
-
-#pragma once
-
-#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/src/BundleActivator.cpp

@@ -21,7 +21,7 @@ extern "C" {
 }
 
 #include <hos/cosgi/service/core/CoreService.h>
-#include "hos/cosgi/service/webserver/webserver_serviceimpl.h"
+#include "hos/cosgi/service/webserver/WebServerServiceImpl.h"
 #include <memory>
 #include <mutex>
 

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

@@ -1,18 +1,8 @@
-/*
- * hos_ruleengine_service_impl.cpp
- *
- *  Created on: 26.04.2015
- *      Author: matzman
- */
 
-#include "webserver_serviceimpl.h"
+#include "WebServerServiceImpl.h"
+#include <boost/algorithm/string.hpp>
 #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 {
@@ -20,19 +10,24 @@ namespace cosgi {
 namespace service {
 namespace webserver {
 
-using namespace ::libvariant;
+
+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>::major = 1;
-template<> const int implementation::ServiceInfo<WebServerServiceImpl>::minor = 6;
+template<> const int implementation::ServiceInfo<WebServerServiceImpl>::minor = 0;
+
+
 
 WebServerServiceImpl::~WebServerServiceImpl() {
 	webServer->stop();
 }
 
-void WebServerServiceImpl::setCoreService(service::core::CoreService* coreService) {
+
+void WebServerServiceImpl::setCoreService(service::core::CoreService* coreService) noexcept {
 	if (coreService && !this->coreService) {
 		this->coreService = coreService;
 		this->nodehandle = &coreService->getPrivateNodeHandle();
@@ -45,7 +40,8 @@ void WebServerServiceImpl::setCoreService(service::core::CoreService* coreServic
 	}
 }
 
-void WebServerServiceImpl::setRepoService(devicerepository::DeviceRepositoryService* repoService) {
+
+void WebServerServiceImpl::setRepoService(devicerepository::DeviceRepositoryService* repoService) noexcept {
 	if (repoService && !this->repoService) {
 		this->repoService = repoService;
 		int major = 0, minor = 0;
@@ -57,28 +53,53 @@ void WebServerServiceImpl::setRepoService(devicerepository::DeviceRepositoryServ
 	}
 }
 
-void WebServerServiceImpl::init() {
+
+void WebServerServiceImpl::init() noexcept {
+	// Create and start webserver
 	create_webserver serverParams(8888);
-	serverParams.max_threads(5).regex_checking();
+	serverParams.max_threads(5);
 	webServer.reset(new webserver::webserver(serverParams));
-	devicesResource.reset(new resources::DevicesHTTPResource(repoService, 2));
+
-	schemaResource.reset(new resources::SchemaHTTPResource(nodehandle, 2));
+	// Register web resources
-	webServer->register_resource("/hos/devices", devicesResource.get(), true);
+	registerWebResource( "/schemas",
-	webServer->register_resource("/hos/schemas", schemaResource.get(), true);
+		std::make_shared<resources::SchemaHTTPResource>(nodehandle, &coreService->getSchemaLoader())
+	);
+	registerWebResource( "/devices",
+		std::make_shared<resources::DevicesHTTPResource>(repoService)
+	);
+
 	webServer->start(false);
 	initialized = true;
 	ROS_INFO_STREAM("WebServerService: Initialized and Ready.");
 }
 
 
+void WebServerServiceImpl::registerWebResource(const std::string& path, std::shared_ptr<WebResource> resource) {
+	std::string apath = getAbsolutePath(path);
+	if (webResources.find(apath) == webResources.end()) {
+		resource->init(prefixPath, path, apath, *webServer, *this);
+		webResources[apath] = resource;
+	}
+}
+
+
+std::string WebServerServiceImpl::getAbsolutePath(const std::string& path)  {
+	std::stringstream ss;
+	for (auto p : prefixPath) {
+		ss << "/" << p;
+	}
+	std::string tpath = boost::algorithm::trim_copy(path);
+	if (tpath[0] != '/') {
+		ss << "/";
+	}
+	ss << tpath;
+	return ss.str();
+}
+
+
+
 } // namespace webserver
 } // namespace service
 } // namespace cosgi
 } // namespace hos
 
-
-
-
-
-
-

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

@@ -1,24 +1,16 @@
-/*
- * hos_ruleengine_service_impl.h
- *
- *  Created on: 26.04.2015
- *      Author: matzman
- */
 
 #pragma once
 
 
-#include <hos/cosgi/service/core/CoreService.h>
+#include <hos/cosgi/service/webserver/WebServerService.h>
-#include <mutex>
-#include <map>
-#include <set>
-#include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
-#include <hos/cosgi/service/webserver/webserver_service.h>
 #include <hos/cosgi/service/Implementation.h>
-
+#include <hos/cosgi/service/core/CoreService.h>
-#include <ros/ros.h>
+#include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
+#include <mutex>
 #include <memory>
 #include <string>
+#include <map>
+#include <vector>
 #include <httpserver.hpp>
 #include "resources/SchemaHTTPResource.h"
 #include "resources/DevicesHTTPResource.h"
@@ -32,48 +24,55 @@ namespace service {
 namespace webserver {
 
 
-class WebServerServiceImpl;
+
-class WebServerServiceImpl :
+class WebServerServiceImpl
-		public virtual WebServerService,
+	: public virtual WebServerService,
-		public implementation::Service<WebServerServiceImpl> {
+	public implementation::Service<WebServerServiceImpl> {
+
 private:
 
 	service::core::CoreService* coreService = nullptr;
 	devicerepository::DeviceRepositoryService* repoService = nullptr;
 	ros::NodeHandle* nodehandle = nullptr;
 
+	std::vector<std::string> prefixPath = { "hos" };
 	bool initialized = false;
 
 	std::unique_ptr<httpserver::webserver> webServer;
-	std::unique_ptr<resources::DevicesHTTPResource> devicesResource;
+	std::map<std::string, std::shared_ptr<WebResource>> webResources;
-	std::unique_ptr<resources::SchemaHTTPResource> schemaResource;
 
-	void init();
+	void init() noexcept;
 
 public:
 	~WebServerServiceImpl();
 
+
 	/* Initialization */
 
-	void setCoreService(service::core::CoreService* coreService);
+	void setCoreService(service::core::CoreService* coreService) noexcept;
-	void setRepoService(devicerepository::DeviceRepositoryService* repoService);
+
+	void setRepoService(devicerepository::DeviceRepositoryService* repoService) noexcept;
+
 
 	/* Public Service Implementations */
 
-	/* Observer Callbacks */
+	virtual void registerWebResource(const std::string& path, std::shared_ptr<WebResource> resource);
-	/* Internal Stuff */
 
-	bool isInitialized() { return initialized; }
 
-	devicerepository::DeviceRepositoryService* getDeviceRepository() { return repoService; }
+	/* Internal */
+
+	bool isInitialized() noexcept {
+		return initialized;
+	}
+
+	std::string getAbsolutePath(const std::string& path);
+
 };
 
 
+
 } // namespace webserver
 } // namespace service
 } // namespace cosgi
 } // namespace hos
 
-
-
-

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

@@ -26,21 +26,26 @@ public:
 };
 
 
-DevicesHTTPResource::DevicesHTTPResource(devicerepository::DeviceRepositoryService* repoService, size_t prefixPathPieces)
+
-		: repoService(repoService), prefixPathPieces(prefixPathPieces) {
+void DevicesHTTPResource::init( const std::vector<std::string>& prefixPath,
+								const std::string& registeredPath,
+								const std::string& absolutePath,
+								httpserver::webserver& webserver,
+								WebServerService& service ) {
+	this->prefixPath = prefixPath;
 	disallow_all();
 	set_allowing(MHD_HTTP_METHOD_GET, true);
 	set_allowing(MHD_HTTP_METHOD_POST, true);
+	webserver.register_resource(absolutePath, this, true);
 }
 
-
 void DevicesHTTPResource::render_GET(const httpserver::http_request& req, httpserver::http_response** res) {
 	std::cout << "DevicesHTTPResource::render_GET()" << std::endl;
     std::cout << req;
 
     try {
 
-		if (req.get_path_pieces_size() < prefixPathPieces) {
+		if (req.get_path_pieces_size() < prefixPath.size() + 1) {
 			ROS_ERROR_STREAM("Requested path " << req.get_path() << " has fewer pieces than prefix path.");
 			throw ResourceException("Internal Server Error", 500);
 		} else {
@@ -62,7 +67,7 @@ void DevicesHTTPResource::render_GET(const httpserver::http_request& req, httpse
 				}
 			}
 
-			if (req.get_path_pieces_size() == prefixPathPieces) {
+			if (req.get_path_pieces_size() == prefixPath.size() + 1) {
 				if (isSetCommand) {
 					throw ResourceException("No device given for set command.", 400);
 				}
@@ -72,12 +77,12 @@ void DevicesHTTPResource::render_GET(const httpserver::http_request& req, httpse
 				}
 				*res = new http_response(http_response_builder(SerializeJSON(result, true), 200).string_response());
 			} else {
-				std::string devid = req.get_path_piece(prefixPathPieces);
+				std::string devid = req.get_path_piece(prefixPath.size() + 2);
 				auto device = repoService->getDevice(devid);
 				if (!device.expired()) {
 					if (isSetCommand) {
 						std::vector<std::string> path;
-						for (int i = prefixPathPieces+1; i < req.get_path_pieces_size(); i++) {
+						for (int i = prefixPath.size() + 2; i < req.get_path_pieces_size(); i++) {
 							path.push_back(req.get_path_piece(i));
 						}
 						try {
@@ -89,11 +94,11 @@ void DevicesHTTPResource::render_GET(const httpserver::http_request& req, httpse
 						}
 					} else {
 						std::string info;
-						if (req.get_path_pieces_size() > prefixPathPieces+1) {
+						if (req.get_path_pieces_size() > prefixPath.size() + 2) {
-							info = req.get_path_piece(prefixPathPieces+1);
+							info = req.get_path_piece(prefixPath.size() + 2);
 						}
 						std::stringstream ss;
-						for (int i = prefixPathPieces+2; i < req.get_path_pieces_size(); i++) {
+						for (int i = prefixPath.size() + 3; i < req.get_path_pieces_size(); i++) {
 							ss << "/" << req.get_path_piece(i);
 						}
 						std::string path = ss.str();
@@ -116,7 +121,7 @@ void DevicesHTTPResource::render_GET(const httpserver::http_request& req, httpse
 
 
 
-Variant DevicesHTTPResource::getDeviceInfo(devicerepository::Device* device, std::string info, const std::string path) {
+Variant DevicesHTTPResource::getDeviceInfo(devicerepository::Device* device, const std::string& info, const std::string& path) {
 	Variant retval;
 	if (info.empty()) {
 		retval["type"] = device->getDeviceType();
@@ -168,7 +173,7 @@ Variant DevicesHTTPResource::getDeviceInfo(devicerepository::Device* device, std
 	return retval;
 }
 
-void DevicesHTTPResource::setDeviceState(devicerepository::Device* device, Variant cmd, std::vector<std::string> path) {
+void DevicesHTTPResource::setDeviceState(devicerepository::Device* device, const Variant& cmd, std::vector<std::string> path) {
 	Variant cmdMsg;
 	if (path.size() > 0) {
 		Variant& current = cmdMsg;

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

@@ -2,12 +2,15 @@
 #pragma once
 
 
-#include <ros/ros.h>
+#include <hos/cosgi/service/webserver/WebServerService.h>
-#include <httpserver.hpp>
 #include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
 #include <Variant/Variant.h>
+#include <ros/ros.h>
+#include <httpserver.hpp>
 #include <string>
 
+
+
 // Service Namespace
 namespace hos {
 namespace cosgi {
@@ -17,19 +20,35 @@ namespace resources {
 
 
 
-class DevicesHTTPResource : public httpserver::http_resource<DevicesHTTPResource> {
+class DevicesHTTPResource
+	: public virtual webserver::WebResource,
+	public httpserver::http_resource<DevicesHTTPResource> {
+
 private:
 	devicerepository::DeviceRepositoryService* repoService = nullptr;
-	size_t prefixPathPieces;
+	std::vector<std::string> prefixPath;
+
 public:
-	DevicesHTTPResource(devicerepository::DeviceRepositoryService* repoService, size_t prefixPathPieces);
+
+	DevicesHTTPResource(devicerepository::DeviceRepositoryService* repoService)
+		: repoService(repoService) {}
+
+	virtual void init( 	const std::vector<std::string>& prefixPath,
+						const std::string& registeredPath,
+						const std::string& absolutePath,
+						httpserver::webserver& webserver,
+						webserver::WebServerService& service );
 
 	void render_GET(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());
+	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>());
+	void setDeviceState( 	devicerepository::Device* device,
+							const libvariant::Variant& cmd,
+							std::vector<std::string> path = std::vector<std::string>() );
 };
 
 } // namespace resources

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

@@ -3,6 +3,7 @@
 #include <boost/format.hpp>
 
 
+
 // Service Namespace
 namespace hos {
 namespace cosgi {
@@ -10,27 +11,34 @@ namespace service {
 namespace webserver {
 namespace resources {
 
+
+
 using namespace httpserver;
 using namespace libvariant;
 
 
-SchemaHTTPResource::SchemaHTTPResource(ros::NodeHandle* nodehandle, size_t prefixPathPieces)
+
-		: nodehandle(nodehandle), prefixPathPieces(prefixPathPieces) {
+void SchemaHTTPResource::init( 	const std::vector<std::string>& prefixPath,
+					const std::string& registeredPath,
+					const std::string& absolutePath,
+					httpserver::webserver& webserver,
+					WebServerService& service ) {
+	this->prefixPath = prefixPath;
 	disallow_all();
 	set_allowing(MHD_HTTP_METHOD_GET, true);
-	schemaLoader.reset(new utils::SchemaLoader());
+	webserver.register_resource(absolutePath, this, true);
 }
 
 
 void SchemaHTTPResource::render_GET(const httpserver::http_request& req, httpserver::http_response** res) {
-    if (req.get_path_pieces_size() < prefixPathPieces) {
+    if (req.get_path_pieces_size() < prefixPath.size() + 1) {
     	ROS_ERROR_STREAM("Requested path " << req.get_path() << " has fewer pieces than prefix path.");
     	*res = new http_response(http_response_builder("Internal Server Error", 500).string_response());
-    } else if (req.get_path_pieces_size() == prefixPathPieces) {
+    } else if (req.get_path_pieces_size() == prefixPath.size() + 1) {
     	*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++) {
+    	for (int i = prefixPath.size() + 1; i < req.get_path_pieces_size(); i++) {
     		ss << "/" << req.get_path_piece(i);
     	}
     	auto schemaPath = (boost::format("hos:schema:/%1%") % ss.str()).str();

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

@@ -2,9 +2,13 @@
 #pragma once
 
 
+#include <hos/cosgi/service/webserver/WebServerService.h>
+#include <hos/utils/SchemaLoader.h>
 #include <ros/ros.h>
 #include <httpserver.hpp>
-#include <hos/utils/SchemaLoader.h>
+#include <vector>
+
+
 
 // Service Namespace
 namespace hos {
@@ -15,13 +19,24 @@ namespace resources {
 
 
 
-class SchemaHTTPResource : public httpserver::http_resource<SchemaHTTPResource> {
+class SchemaHTTPResource
+	: public virtual webserver::WebResource,
+	public httpserver::http_resource<SchemaHTTPResource> {
+
 private:
 	ros::NodeHandle* nodehandle = nullptr;
-	std::unique_ptr<utils::SchemaLoader> schemaLoader;
+	utils::SchemaLoader* schemaLoader = nullptr;
-	size_t prefixPathPieces;
+	std::vector<std::string> prefixPath;
+
 public:
-	SchemaHTTPResource(ros::NodeHandle* nodehandle, size_t prefixPathPieces);
+	SchemaHTTPResource(ros::NodeHandle* nodehandle, utils::SchemaLoader* schemaLoader)
+			: nodehandle(nodehandle), schemaLoader(schemaLoader) {}
+
+	virtual void init( 	const std::vector<std::string>& prefixPath,
+						const std::string& registeredPath,
+						const std::string& absolutePath,
+						httpserver::webserver& webserver,
+						WebServerService& service );
 
 	void render_GET(const httpserver::http_request& req, httpserver::http_response** res);
 };

src/hos_launch/launch/hos_cosgi.launch

@@ -9,7 +9,7 @@
 					$(find hos_cosgi_core)/../../devel_isolated/hos_celix/share/celix/bundles/log_writer_syslog.zip
 					$(find hos_cosgi_core)/../../devel_isolated/hos_celix/share/celix/bundles/shell.zip 
 					$(find hos_cosgi_core)/../../devel_isolated/hos_celix/share/celix/bundles/shell_tui.zip 
-					$(find hos_cosgi_core)/../../build_isolated/hos_cosgi_scripting_python/hos_cosgi_scripting_python.zip
+					$(find hos_cosgi_core)/../../build_isolated/hos_cosgi_scripting_python/hos_cosgi_scripting_python2.zip
 					$(find hos_cosgi_core)/../../build_isolated/hos_cosgi_ruleengine/hos_cosgi_ruleengine.zip
 					$(find hos_cosgi_core)/../../build_isolated/hos_cosgi_devicerepository/hos_cosgi_devicerepository.zip
 					$(find hos_cosgi_core)/../../build_isolated/hos_cosgi_webserver/hos_cosgi_webserver.zip"/>