.

src/hos_cosgi_webserver/CMakeLists.txt

@@ -8,6 +8,7 @@ find_package(catkin REQUIRED COMPONENTS
   hos_cosgi_core
   hos_cpp_utils
   hos_deps
+  cmake_modules
   roscpp
 )
 
@@ -17,6 +18,7 @@ find_package(CELIX REQUIRED)
 find_package(Boost REQUIRED)
 find_package(libvariant REQUIRED)
 find_package(libhttpserver REQUIRED)
+find_package(Poco REQUIRED COMPONENTS Net NetSSL)
 
 
 ###################################
@@ -44,6 +46,7 @@ include_directories(
 	${APR_INCLUDE_DIR}/apr-1.0
 	${libvariant_INCLUDE_DIRS}
 	${libhttpserver_INCLUDE_DIRS}
+	${Poco_INCLUDE_DIRS}
 )
 
 set(BUNDLE_SYMBOLICNAME "hos.hos_webserver")
@@ -54,15 +57,16 @@ bundle(hos_cosgi_webserver
 	SOURCES 
 	${PROJECT_SOURCE_DIR}/src/BundleActivator
 	${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/DevicesHTTPResource
-	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/webserver/resources/SchemaHTTPResource
+	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/webserver/resources/SchemaResource
 )
 
 target_link_libraries(hos_cosgi_webserver
 	${catkin_LIBRARIES}
 	${APR_LIBRARIES}
-	${libvariant_LIBRARY}
+	${libvariant_LIBRARIES}
-	${libhttpserver_LIBRARY}
+	${libhttpserver_LIBRARIES}
+	${Poco_LIBRARIES}
 )
 
 

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

@@ -6,10 +6,18 @@
 #include <Variant/Variant.h>
 #include <memory>
 #include <vector>
+#include <string>
 
 
 // forward declarations
 namespace httpserver { class webserver;}
+namespace libvariant { class Variant; }
+namespace Poco {
+class URI;
+namespace Net {
+class HTTPRequestHandler;
+class HTTPServerRequest;
+}}
 
 
 // service namespace
@@ -23,16 +31,11 @@ namespace webserver {
 class WebServerService;
 
 
-
+class WebResourceHandlerFactory
-class WebResource
 	: public virtual interface::Object  {
 
 public:
-	virtual void init( 	const std::vector<std::string>& prefixPath,
+	virtual Poco::Net::HTTPRequestHandler* createRequestHandler( const Poco::Net::HTTPServerRequest& request, bool ssl = false ) noexcept = 0;
-						const std::string& registeredPath,
-						const std::string& absolutePath,
-						httpserver::webserver& webserver,
-						WebServerService& service ) = 0;
 };
 
 
@@ -44,7 +47,11 @@ public:
 
 	static constexpr const char* SERVICE_NAME = "hos_webserver_service";
 
-	virtual void registerWebResource(const std::string& path, std::shared_ptr<WebResource> resource) = 0;
+	virtual bool registerWebResource(const std::string& path, std::shared_ptr<WebResourceHandlerFactory> factory) noexcept = 0;
+
+	virtual const Poco::URI& getPrefixPath() noexcept = 0;
+
+	virtual const std::vector<std::string>& getPrefixPathPieces() noexcept = 0;
 
 };
 

src/hos_cosgi_webserver/include/hos_cosgi_webserver/hos/cosgi/service/webserver/resources/WebResourceHandlerImpl.h

@@ -0,0 +1,233 @@
+
+#pragma once
+
+
+#include <hos/cosgi/service/webserver/WebServerService.h>
+#include <Poco/Net/HTTPRequestHandler.h>
+#include <Poco/Net/HTTPServerRequest.h>
+#include <Poco/Net/HTTPServerResponse.h>
+#include <Poco/Net/HTMLForm.h>
+#include <Variant/Variant.h>
+#include <boost/format.hpp>
+#include <functional>
+
+
+
+// service namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace webserver {
+namespace resources {
+
+
+
+/**
+ * Used for internal error handling.
+ */
+class WebResourceHandlerException
+	: public std::runtime_error {
+protected:
+	Poco::Net::HTTPResponse::HTTPStatus statusCode;
+public:
+	WebResourceHandlerException(const std::string& msg, Poco::Net::HTTPResponse::HTTPStatus statusCode)
+			: std::runtime_error(msg), statusCode(statusCode) {}
+	Poco::Net::HTTPResponse::HTTPStatus getStatusCode() const {
+		return statusCode;
+	}
+};
+
+
+
+class GenericWebResourceHandlerFactory
+	: public virtual WebResourceHandlerFactory {
+public:
+	typedef std::function<Poco::Net::HTTPRequestHandler*(const Poco::Net::HTTPServerRequest&, bool)> factory_t;
+private:
+	factory_t _factory;
+public:
+	GenericWebResourceHandlerFactory(factory_t factory)
+			: _factory(factory) {}
+	virtual Poco::Net::HTTPRequestHandler* createRequestHandler( const Poco::Net::HTTPServerRequest& request, bool ssl = false ) noexcept override {
+		return _factory(request, ssl);
+	}
+};
+
+
+
+enum class ResponseDataFormat : int {
+	JSON,
+	JSONP,
+	YAML,
+	XMLPLIST,
+	BUNDLEHDR,
+	MSGPACK,
+	AUTO_GUESS
+};
+
+
+class WebResourceHandlerImpl
+	: public Poco::Net::HTTPRequestHandler {
+
+protected:
+
+	class NotImplementedException
+		: public std::exception {};
+
+	ResponseDataFormat getResponseDataFormat(const Poco::Net::HTTPServerRequest& request) {
+		ResponseDataFormat retval = ResponseDataFormat::JSON;
+		Poco::Net::HTMLForm form(request);
+		if (form.has("format")) {
+			std::string formatRaw = form.get("format");
+			if (formatRaw.compare("json") == 0) {
+				// do nothing
+			} else if (formatRaw.compare("jsonp") == 0) {
+				retval = ResponseDataFormat::JSONP;
+			} else if (formatRaw.compare("yaml") == 0) {
+				retval = ResponseDataFormat::YAML;
+			} else if (formatRaw.compare("xmlplist") == 0) {
+				retval = ResponseDataFormat::XMLPLIST;
+			} else if (formatRaw.compare("bundlehdr") == 0) {
+				retval = ResponseDataFormat::BUNDLEHDR;
+			} else if (formatRaw.compare("msgpack") == 0) {
+				retval = ResponseDataFormat::MSGPACK;
+			} else {
+				throw WebResourceHandlerException((boost::format("Unknown format parameter \"%1%\"") % formatRaw).str(),
+						Poco::Net::HTTPResponse::HTTPStatus::HTTP_BAD_REQUEST);
+			}
+		}
+		return retval;
+	}
+
+	std::string encodeVariant( 	const libvariant::Variant& msg,
+								const Poco::Net::HTTPServerRequest& request,
+								ResponseDataFormat format = ResponseDataFormat::AUTO_GUESS ) {
+		if (format == ResponseDataFormat::AUTO_GUESS) {
+			format = getResponseDataFormat(request);
+		}
+		switch (format) {
+			case ResponseDataFormat::JSON:
+				return libvariant::SerializeJSON(msg, true);
+			case ResponseDataFormat::JSONP:
+				{
+					Poco::Net::HTMLForm form(request);
+					std::string padding;
+					if (form.has("callback")) {
+						padding = form.get("callback");
+					} else if (form.has("jsonp")) {
+						padding = form.get("jsonp");
+					}
+					if (padding.empty()) {
+						throw WebResourceHandlerException("No callback parameter specified for JSONP.",
+								Poco::Net::HTTPResponse::HTTPStatus::HTTP_BAD_REQUEST);
+					}
+					std::stringstream ss;
+					ss << padding << "(" << libvariant::SerializeJSON(msg, false) << ")";
+					return ss.str();
+				}
+			case ResponseDataFormat::YAML:
+				return libvariant::SerializeYAML(msg);
+			case ResponseDataFormat::XMLPLIST:
+				return libvariant::SerializeXMLPLIST(msg, true);
+			case ResponseDataFormat::BUNDLEHDR:
+				return libvariant::SerializeBundleHdr(msg);
+			case ResponseDataFormat::MSGPACK:
+				return libvariant::Serialize(msg, libvariant::SERIALIZE_MSGPACK);
+			default:
+				throw WebResourceHandlerException("Internal Server Error",
+						Poco::Net::HTTPResponse::HTTPStatus::HTTP_INTERNAL_SERVER_ERROR);
+		}
+	}
+
+	void handleResponse( const Poco::Net::HTTPServerRequest& request,
+								Poco::Net::HTTPServerResponse &resp,
+								const libvariant::Variant& msg,
+								Poco::Net::HTTPResponse::HTTPStatus status = Poco::Net::HTTPResponse::HTTPStatus::HTTP_OK ) {
+		resp.setStatusAndReason(status);
+		auto format = getResponseDataFormat(request);
+		resp.send() << encodeVariant(msg, request, format);
+	}
+
+	void handleResponse( const Poco::Net::HTTPServerRequest& request,
+								Poco::Net::HTTPServerResponse &resp,
+								const std::string& msg,
+								Poco::Net::HTTPResponse::HTTPStatus status = Poco::Net::HTTPResponse::HTTPStatus::HTTP_OK ) {
+		resp.setStatusAndReason(status);
+		resp.send() << msg;
+	}
+
+	void handleErrorResponse( const Poco::Net::HTTPServerRequest& request,
+								Poco::Net::HTTPServerResponse &resp,
+								const std::string& msg = "Internal Server Error",
+								Poco::Net::HTTPResponse::HTTPStatus status = Poco::Net::HTTPResponse::HTTPStatus::HTTP_INTERNAL_SERVER_ERROR ) {
+		resp.setStatusAndReason(status);
+		resp.send() << "ERROR: " << msg;
+	}
+
+	void handleErrorResponse( const Poco::Net::HTTPServerRequest& request,
+								Poco::Net::HTTPServerResponse &resp,
+								const WebResourceHandlerException& e ) {
+		resp.setStatusAndReason(e.getStatusCode());
+		resp.send() << "ERROR: " << e.what();
+	}
+
+	void handleErrorResponse( const Poco::Net::HTTPServerRequest& request,
+								Poco::Net::HTTPServerResponse &resp,
+								const std::exception& e,
+								Poco::Net::HTTPResponse::HTTPStatus status = Poco::Net::HTTPResponse::HTTPStatus::HTTP_INTERNAL_SERVER_ERROR ) {
+		resp.setStatusAndReason(status);
+		resp.send() << "ERROR: " << e.what();
+	}
+
+	virtual void _handleRequest(Poco::Net::HTTPServerRequest &req, Poco::Net::HTTPServerResponse &resp) {
+		throw NotImplementedException();
+	}
+
+	virtual void _handleGET(Poco::Net::HTTPServerRequest &req, Poco::Net::HTTPServerResponse &resp) {
+		throw NotImplementedException();
+	}
+
+	virtual void _handlePOST(Poco::Net::HTTPServerRequest &req, Poco::Net::HTTPServerResponse &resp) {
+		throw NotImplementedException();
+	}
+
+	virtual void handleRequest(Poco::Net::HTTPServerRequest &req, Poco::Net::HTTPServerResponse &resp) override {
+		try {
+			try {
+				_handleRequest(req, resp);
+			} catch (NotImplementedException& e) {
+				try {
+					if (req.getMethod() == Poco::Net::HTTPRequest::HTTP_GET) {
+						_handleGET(req, resp);
+					} else if (req.getMethod() == Poco::Net::HTTPRequest::HTTP_POST) {
+						_handlePOST(req, resp);
+					} else {
+						std::cout << "Unsupported HTTP Request Method" << std::endl;
+						handleErrorResponse(req, resp, (boost::format("Unsupported HTTP Request Method %1%") % req.getMethod()).str(),
+								Poco::Net::HTTPResponse::HTTPStatus::HTTP_BAD_REQUEST);
+					}
+				} catch (NotImplementedException& e) {
+					std::cout << "Unsupported HTTP Request Method" << std::endl;
+					handleErrorResponse(req, resp, (boost::format("Unsupported HTTP Request Method %1%") % req.getMethod()).str(),
+							Poco::Net::HTTPResponse::HTTPStatus::HTTP_BAD_REQUEST);
+				}
+			}
+		} catch (WebResourceHandlerException& e) {
+			handleErrorResponse(req, resp, e);
+		} catch (std::exception& e) {
+			handleErrorResponse(req, resp, e);
+		} catch (...) {
+			handleErrorResponse(req, resp, "Unknown exception");
+		}
+	}
+
+};
+
+
+
+} // namespace resources
+} // namespace webserver
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+

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

@@ -2,6 +2,7 @@
 #include "WebServerServiceImpl.h"
 #include <boost/algorithm/string.hpp>
 #include <ros/ros.h>
+#include "resources/SchemaResource.h"
 
 
 
@@ -13,6 +14,7 @@ namespace webserver {
 
 using namespace libvariant;
 using namespace httpserver;
+using namespace Poco;
 
 
 
@@ -23,7 +25,12 @@ template<> const int implementation::ServiceInfo<WebServerServiceImpl>::minor =
 
 
 WebServerServiceImpl::~WebServerServiceImpl() {
-	webServer->stop();
+	if (webServer) {
+		webServer->stop();
+	}
+	if (webServerSSL) {
+		webServerSSL->stop();
+	}
 }
 
 
@@ -54,46 +61,104 @@ void WebServerServiceImpl::setRepoService(devicerepository::DeviceRepositoryServ
 }
 
 
+
+void WebServerServiceImpl::RequestHandlerFactory::DefaultRequestHandler::handleRequest(
+		Poco::Net::HTTPServerRequest &req, Poco::Net::HTTPServerResponse &resp ) {
+	resp.setStatusAndReason(Poco::Net::HTTPResponse::HTTP_FORBIDDEN);
+	resp.setContentType("text/plain");
+	resp.send()
+		<< "ERROR: " << resp.getReason() << std::endl
+		<< "========== DEBUG ==========" << std::endl
+		<< "getURI: " << req.getURI() << std::endl
+		<< "getHost: " << req.getHost() << std::endl
+		<< "getMethod: " << req.getMethod() << std::endl
+		<< "getTransferEncoding: " << req.getTransferEncoding() << std::endl
+		<< "getVersion: " << req.getVersion() << std::endl
+		<< "getContentType: " << req.getContentType() << std::endl
+		<< "getContentLength: " << req.getContentLength() << std::endl
+		<< "======== DEBUG END ========" << std::endl ;
+}
+
+
+Poco::Net::HTTPRequestHandler* WebServerServiceImpl::RequestHandlerFactory::createRequestHandler( const Poco::Net::HTTPServerRequest& request) {
+	// We want a longest prefix match.
+	// Since we have an ordered map, we just need to iterate it in reverse order and return the first match.
+	for (auto i = parent->webResourceFactories.rbegin(); i != parent->webResourceFactories.rend(); i++) {
+		if (boost::algorithm::starts_with(request.getURI(), i->first)) {
+			return i->second->createRequestHandler(request, ssl);
+		}
+	}
+	// return default handler
+	return new DefaultRequestHandler();
+}
+
+
+
 void WebServerServiceImpl::init() noexcept {
 	// Create and start webserver
-	create_webserver serverParams(8888);
+	//create_webserver serverParams(8888);
-	serverParams.max_threads(5);
+	//serverParams.max_threads(5);
-	webServer.reset(new webserver::webserver(serverParams));
+	//webServer.reset(new webserver::webserver(serverParams));
 
-	// Register web resources
+	Net::ServerSocket webServerSocket(8080);
-	registerWebResource( "/schemas",
+	Net::HTTPServerParams::Ptr webServerParams = new Net::HTTPServerParams();
+	webServerParams->setServerName("Home Operating System");
+	webServerParams->setSoftwareVersion("Home Operating System alpha");
+	webServer.reset(new Poco::Net::HTTPServer(new RequestHandlerFactory(this), webServerSocket, webServerParams));
+	webServer->start();
+	/*auto& sslManager = Poco::Net::SSLManager::instance();
+	sslManager.defaultServerContext();
+	Poco::Net::SecureServerSocket webServerSSLSocket(8090);
+	webServerSSL.reset(new Poco::Net::HTTPServer(new RequestHandlerFactory(), webServerSocket, webServerParams));
+	webServerSSL->start();*/
+
+	// Register web resources ros::NodeHandle* nodehandle, utils::SchemaLoader* schemaLoader, webserver::WebServerService* service
+	registerWebResource("/schemas",
+		std::make_shared<resources::GenericWebResourceHandlerFactory>([=](const Net::HTTPServerRequest&, bool)->Net::HTTPRequestHandler* {
+			return new resources::SchemaResourceHandler(nodehandle, &coreService->getSchemaLoader(), this);
+		})
+	);
+	registerWebResource("/default",
+		std::make_shared<resources::GenericWebResourceHandlerFactory>([=](const Net::HTTPServerRequest&, bool)->Net::HTTPRequestHandler* {
+			return new resources::WebResourceHandlerImpl();
+		})
+	);
+
+
+	/*registerWebResource( "/schemas",
 		std::make_shared<resources::SchemaHTTPResource>(nodehandle, &coreService->getSchemaLoader())
 	);
 	registerWebResource( "/devices",
 		std::make_shared<resources::DevicesHTTPResource>(repoService)
-	);
+	);*/
 
-	webServer->start(false);
+	//webServer->start(false);
 	initialized = true;
 	ROS_INFO_STREAM("WebServerService: Initialized and Ready.");
 }
 
 
-void WebServerServiceImpl::registerWebResource(const std::string& path, std::shared_ptr<WebResource> resource) {
+bool WebServerServiceImpl::registerWebResource(const std::string& path, std::shared_ptr<WebResourceHandlerFactory> factory) noexcept {
-	std::string apath = getAbsolutePath(path);
+	auto uri = getAbsoluteURI(path);
-	if (webResources.find(apath) == webResources.end()) {
+	if (webResourceFactories.find(uri.getPath()) == webResourceFactories.end()) {
-		resource->init(prefixPath, path, apath, *webServer, *this);
+		webResourceFactories[uri.getPath()] = factory;
-		webResources[apath] = resource;
+		return true;
 	}
+	return false;
 }
 
 
-std::string WebServerServiceImpl::getAbsolutePath(const std::string& path)  {
+Poco::URI WebServerServiceImpl::getAbsoluteURI(const std::string& relpath)  {
 	std::stringstream ss;
-	for (auto p : prefixPath) {
+	ss << prefixPath.getPath();
-		ss << "/" << p;
+	std::string tpath = boost::algorithm::trim_copy(relpath);
-	}
-	std::string tpath = boost::algorithm::trim_copy(path);
 	if (tpath[0] != '/') {
 		ss << "/";
 	}
 	ss << tpath;
-	return ss.str();
+	Poco::URI uri(ss.str());
+	uri.normalize();
+	return uri;
 }
 
 

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

@@ -7,13 +7,33 @@
 #include <hos/cosgi/service/core/CoreService.h>
 #include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
 #include <mutex>
+#include <boost/algorithm/string.hpp>
 #include <memory>
 #include <string>
 #include <map>
 #include <vector>
+#include <iostream>
+
+
+
 #include <httpserver.hpp>
-#include "resources/SchemaHTTPResource.h"
+//#include "resources/SchemaHTTPResource.h"
-#include "resources/DevicesHTTPResource.h"
+//#include "resources/DevicesHTTPResource.h"
+
+
+
+
+#include <Poco/Net/HTTPServer.h>
+	#include <Poco/Net/HTTPRequestHandlerFactory.h>
+#include <Poco/Net/HTTPRequestHandler.h>
+#include <Poco/Net/HTTPServerRequest.h>
+#include <Poco/Net/HTTPServerResponse.h>
+#include <Poco/URI.h>
+#include <Poco/Net/HTMLForm.h>
+#include <Poco/Net/SecureServerSocket.h>
+#include <Poco/Net/SSLManager.h>
+
+
 
 
 
@@ -24,6 +44,22 @@ namespace service {
 namespace webserver {
 
 
+/**
+ * Used for internal error handling.
+ */
+class WebResourceHandlerException
+	: public std::runtime_error {
+protected:
+	Poco::Net::HTTPResponse::HTTPStatus statusCode;
+public:
+	WebResourceHandlerException(const std::string& msg, Poco::Net::HTTPResponse::HTTPStatus statusCode)
+			: std::runtime_error(msg), statusCode(statusCode) {}
+	Poco::Net::HTTPResponse::HTTPStatus getStatusCode() {
+		return statusCode;
+	}
+};
+
+
 
 class WebServerServiceImpl
 	: public virtual WebServerService,
@@ -31,19 +67,40 @@ class WebServerServiceImpl
 
 private:
 
+	class RequestHandlerFactory
+		: public Poco::Net::HTTPRequestHandlerFactory {
+	private:
+		WebServerServiceImpl* parent;
+		bool ssl;
+		class DefaultRequestHandler
+			: public Poco::Net::HTTPRequestHandler {
+		public:
+			virtual void handleRequest(Poco::Net::HTTPServerRequest &req, Poco::Net::HTTPServerResponse &resp) override;
+		};
+	public:
+		RequestHandlerFactory(WebServerServiceImpl* parent, bool ssl = false)
+				: parent(parent), ssl(ssl) {}
+		virtual Poco::Net::HTTPRequestHandler* createRequestHandler( const Poco::Net::HTTPServerRequest& request) override;
+	};
+
 	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;
+	Poco::URI prefixPath = Poco::URI("/hos");
-	std::map<std::string, std::shared_ptr<WebResource>> webResources;
+	std::vector<std::string> prefixPathPieces;
+	std::unique_ptr<Poco::Net::HTTPServer> webServer;
+	std::unique_ptr<Poco::Net::HTTPServer> webServerSSL;
+	std::map<std::string, std::shared_ptr<WebResourceHandlerFactory>> webResourceFactories;
 
 	void init() noexcept;
 
 public:
+	WebServerServiceImpl() {
+		prefixPath.getPathSegments(prefixPathPieces);
+	}
 	~WebServerServiceImpl();
 
 
@@ -56,7 +113,15 @@ public:
 
 	/* Public Service Implementations */
 
-	virtual void registerWebResource(const std::string& path, std::shared_ptr<WebResource> resource);
+	virtual bool registerWebResource(const std::string& path, std::shared_ptr<WebResourceHandlerFactory> factory) noexcept override;
+
+	virtual const Poco::URI& getPrefixPath() noexcept override {
+		return prefixPath;
+	}
+
+	virtual const std::vector<std::string>& getPrefixPathPieces() noexcept override {
+		return prefixPathPieces;
+	}
 
 
 	/* Internal */
@@ -65,7 +130,7 @@ public:
 		return initialized;
 	}
 
-	std::string getAbsolutePath(const std::string& path);
+	Poco::URI getAbsoluteURI(const std::string& relpath);
 
 };
 

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

@@ -1,63 +0,0 @@
-
-#include "SchemaHTTPResource.h"
-#include <boost/format.hpp>
-
-
-
-// Service Namespace
-namespace hos {
-namespace cosgi {
-namespace service {
-namespace webserver {
-namespace resources {
-
-
-
-using namespace httpserver;
-using namespace libvariant;
-
-
-
-void SchemaHTTPResource::init( 	const std::vector<std::string>& prefixPath,
-					const std::string& registeredPath,
-					const std::string& absolutePath,
-					httpserver::webserver& webserver,
-					WebServerService& service ) {
-	webResource.prefixPath = prefixPath;
-	webResource.disallow_all();
-	webResource.set_allowing(MHD_HTTP_METHOD_GET, true);
-	webserver.register_resource(absolutePath, &webResource, true);
-}
-
-
-void SchemaHTTPResource::WebResource::render_GET(const httpserver::http_request& req, httpserver::http_response** res) {
-	// Requested URL is too short to contain any schema
-    if (req.get_path_pieces_size() <= prefixPath.size() + 1) {
-    	*res = new http_response(http_response_builder("ERROR: No schema given", 400).string_response());
-    // Requested URL may contain a valid schema
-    } else {
-    	// Get requested schema
-    	std::stringstream ss;
-    	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();
-    	// Try to retrieve schema
-    	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("ERROR: Could not find schema \"%1%\": %2%") % schemaPath % e.what()).str(), 404).string_response());
-    	}
-    }
-}
-
-
-} // namespace resources
-} // namespace webserver
-} // namespace service
-} // namespace cosgi
-} // namespace hos
-
-
-

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

@@ -1,62 +0,0 @@
-
-#pragma once
-
-
-#include <hos/cosgi/service/webserver/WebServerService.h>
-#include <hos/utils/SchemaLoader.h>
-#include <ros/ros.h>
-#include <httpserver.hpp>
-#include <vector>
-
-
-
-// Service Namespace
-namespace hos {
-namespace cosgi {
-namespace service {
-namespace webserver {
-namespace resources {
-
-
-
-class SchemaHTTPResource
-	: public virtual webserver::WebResource {
-
-private:
-
-	/**
-	 * libhttpserver does a static_cast with any class registered as http resource. Unfortunately this breaks classes
-	 * using virtual inheritance. Therefore we register this inner class which does not use virtual inheritance.
-	 */
-	class WebResource
-		: public httpserver::http_resource<WebResource> {
-
-	public:
-
-		ros::NodeHandle* nodehandle = nullptr;
-		utils::SchemaLoader* schemaLoader = nullptr;
-		std::vector<std::string> prefixPath;
-
-		WebResource(ros::NodeHandle* nodehandle, utils::SchemaLoader* schemaLoader)
-				: nodehandle(nodehandle), schemaLoader(schemaLoader) {}
-
-		void render_GET(const httpserver::http_request& req, httpserver::http_response** res);
-
-	} webResource;
-
-public:
-	SchemaHTTPResource(ros::NodeHandle* nodehandle, utils::SchemaLoader* schemaLoader)
-			: webResource(nodehandle, schemaLoader) {}
-
-	virtual void init( 	const std::vector<std::string>& prefixPath,
-						const std::string& registeredPath,
-						const std::string& absolutePath,
-						httpserver::webserver& webserver,
-						WebServerService& service );
-};
-
-} // namespace resources
-} // namespace webserver
-} // namespace service
-} // namespace cosgi
-} // namespace hos

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

@@ -0,0 +1,61 @@
+
+#include "SchemaResource.h"
+
+#include <boost/format.hpp>
+#include <Poco/Net/HTTPServerRequest.h>
+#include <Poco/Net/HTTPServerResponse.h>
+#include <Poco/URI.h>
+#include "../WebServerServiceImpl.h"
+
+
+
+// Service Namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace webserver {
+namespace resources {
+
+
+
+using namespace httpserver;
+using namespace libvariant;
+
+
+
+void SchemaResourceHandler::_handleGET(Poco::Net::HTTPServerRequest &req, Poco::Net::HTTPServerResponse &resp) {
+	// Requested URL is too short to contain any schema
+	Poco::URI uri(req.getURI());
+	std::vector<std::string> pathPieces;
+	uri.getPathSegments(pathPieces);
+	size_t prefixPathSize = service->getPrefixPathPieces().size();
+	if (pathPieces.size() <= prefixPathSize + 1) {
+		throw WebResourceHandlerException("No schema given.", Poco::Net::HTTPResponse::HTTPStatus::HTTP_BAD_REQUEST);
+
+	// Requested URL may contain a valid schema
+	} else {
+		// Get requested schema
+		std::stringstream ss;
+		for (int i = prefixPathSize + 1; i < pathPieces.size(); i++) {
+			ss << "/" << pathPieces[i];
+		}
+		auto schemaPath = (boost::format("hos:schema:/%1%") % ss.str()).str();
+		// Try to retrieve schema
+		try {
+			auto schema = schemaLoader->GetSchema(schemaPath);
+			handleResponse(req, resp, schema);
+		} catch(std::exception& e) {
+			throw WebResourceHandlerException((boost::format("Could not find schema \"%1%\": %2%") % schemaPath % e.what()).str(),
+					Poco::Net::HTTPResponse::HTTPStatus::HTTP_NOT_FOUND);
+		}
+	}
+}
+
+
+
+} // namespace resources
+} // namespace webserver
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+

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

@@ -0,0 +1,44 @@
+
+#pragma once
+
+
+#include <hos/cosgi/service/webserver/WebServerService.h>
+#include <hos/cosgi/service/webserver/resources/WebResourceHandlerImpl.h>
+#include <hos/utils/SchemaLoader.h>
+#include <Poco/Net/HTTPRequestHandler.h>
+#include <ros/ros.h>
+#include <vector>
+
+
+
+// Service Namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace webserver {
+namespace resources {
+
+
+
+class SchemaResourceHandler
+	: public virtual WebResourceHandlerImpl {
+
+private:
+	ros::NodeHandle* nodehandle;
+	utils::SchemaLoader* schemaLoader;
+	WebServerService* service;
+
+public:
+	SchemaResourceHandler(ros::NodeHandle* nodehandle, utils::SchemaLoader* schemaLoader, webserver::WebServerService* service)
+			: nodehandle(nodehandle), schemaLoader(schemaLoader), service(service) {}
+
+	virtual void _handleGET(Poco::Net::HTTPServerRequest &req, Poco::Net::HTTPServerResponse &resp) override;
+};
+
+
+
+} // namespace resources
+} // namespace webserver
+} // namespace service
+} // namespace cosgi
+} // namespace hos