Add HTTP client

smacc/include/smacc/client_bases/smacc_http_client.h

@@ -0,0 +1,190 @@
+#pragma once
+
+#include <smacc/impl/smacc_state_impl.h>
+#include <smacc/smacc_client.h>
+
+#include <boost/asio/strand.hpp>
+#include <boost/beast/core.hpp>
+#include <boost/beast/http.hpp>
+#include <boost/beast/version.hpp>
+#include <boost/optional/optional_io.hpp>
+#include <functional>
+#include <thread>
+
+namespace smacc {
+namespace client_bases {
+
+class session : public std::enable_shared_from_this<session> {
+  boost::asio::ip::tcp::resolver resolver_;
+  boost::beast::tcp_stream stream_;
+  boost::beast::flat_buffer buffer_;  // (Must persist between reads)
+  boost::beast::http::request<boost::beast::http::empty_body> req_;
+  boost::beast::http::response<boost::beast::http::string_body> res_;
+
+ public:
+  // Objects are constructed with a strand to
+  // ensure that handlers do not execute concurrently.
+  session(boost::asio::io_context &ioc,
+          const std::function<void(const boost::beast::http::response<
+                                   boost::beast::http::string_body> &)>
+              response)
+      : resolver_(boost::asio::make_strand(ioc)),
+        stream_(boost::asio::make_strand(ioc)),
+        onResponse{response} {}
+
+  // Start the asynchronous operation
+  void run(const std::string &host, const std::string &port,
+           const std::string &target, const int &version) {
+    // Set up an HTTP GET request message
+    req_.version(version);
+    req_.method(boost::beast::http::verb::get);
+    req_.target(target);
+    req_.set(boost::beast::http::field::host, host);
+    req_.set(boost::beast::http::field::user_agent, BOOST_BEAST_VERSION_STRING);
+
+    // Look up the domain name
+    resolver_.async_resolve(host.c_str(), port.c_str(),
+                            boost::beast::bind_front_handler(
+                                &session::on_resolve, shared_from_this()));
+  }
+
+  void on_resolve(boost::beast::error_code ec,
+                  boost::asio::ip::tcp::resolver::results_type results) {
+    if (ec) return fail(ec, "resolve");
+
+    // Set a timeout on the operation
+    stream_.expires_after(std::chrono::seconds(30));
+
+    // Make the connection on the IP address we get from a lookup
+    stream_.async_connect(results,
+                          boost::beast::bind_front_handler(&session::on_connect,
+                                                           shared_from_this()));
+  }
+
+ private:
+  void fail(boost::beast::error_code ec, char const *what) {
+    std::cerr << what << ": " << ec.message() << "\n";
+    res_.result(boost::beast::http::status::bad_request);
+    res_.reason() = ec.message();
+    onResponse(res_);
+  }
+
+  void on_connect(boost::beast::error_code ec,
+                  boost::asio::ip::tcp::resolver::results_type::endpoint_type) {
+    if (ec) return fail(ec, "connect");
+
+    // Set a timeout on the operation
+    stream_.expires_after(std::chrono::seconds(30));
+
+    // Send the HTTP request to the remote host
+    boost::beast::http::async_write(
+        stream_, req_,
+        boost::beast::bind_front_handler(&session::on_write,
+                                         shared_from_this()));
+  }
+
+  void on_write(boost::beast::error_code ec, std::size_t bytes_transferred) {
+    boost::ignore_unused(bytes_transferred);
+
+    if (ec) return fail(ec, "write");
+
+    // Receive the HTTP response
+    boost::beast::http::async_read(stream_, buffer_, res_,
+                                   boost::beast::bind_front_handler(
+                                       &session::on_read, shared_from_this()));
+  }
+
+  void on_read(boost::beast::error_code ec, std::size_t bytes_transferred) {
+    boost::ignore_unused(bytes_transferred);
+
+    if (ec) return fail(ec, "read");
+
+    // Gracefully close the socket
+    stream_.socket().shutdown(boost::asio::ip::tcp::socket::shutdown_both, ec);
+
+    // not_connected happens sometimes so don't bother reporting it.
+    if (ec && ec != boost::beast::errc::not_connected)
+      return fail(ec, "shutdown");
+
+    // If we get here then the connection is closed gracefully
+    onResponse(res_);
+  }
+
+  std::function<void(const boost::beast::http::response<
+                     boost::beast::http::string_body> &response)>
+      onResponse;
+};
+
+class SmaccHttpClient : public smacc::ISmaccClient {
+ public:
+  boost::optional<std::string> serverName;
+  boost::optional<int> timeout;
+
+  SmaccHttpClient()
+      : worker_guard_{boost::asio::make_work_guard(io_context_)},
+        initialized_{false} {}
+
+  SmaccHttpClient(const std::string &serverName, const int &timeout)
+      : worker_guard_{boost::asio::make_work_guard(io_context_)},
+        initialized_{false} {
+    this->serverName = serverName;
+    this->timeout = timeout;
+  }
+
+  ~SmaccHttpClient() {
+    worker_guard_.reset();
+    tcp_connection_runner_.join();
+  }
+
+  template <typename T>
+  boost::signals2::connection onResponseReceived(
+      void (T::*callback)(const boost::beast::http::response<
+                          boost::beast::http::string_body> &),
+      T *object) {
+    return this->getStateMachine()->createSignalConnection(onResponseReceived_,
+                                                           callback, object);
+  }
+
+  template <typename TOrthogonal, typename TSourceObject>
+  void onOrthogonalAllocation() {}
+
+  virtual void initialize() {
+    if (!initialized_) {
+      if (!timeout) timeout = 2000;  // 2s timeout default
+      if (!serverName) {
+        ROS_ERROR("Server URL not set, skipping initialisation");
+      } else {
+        ROS_INFO_STREAM("[" << this->getName()
+                            << "] Initialising HTTP client for " << serverName);
+        tcp_connection_runner_ = std::thread{[&]() { io_context_.run(); }};
+        initialized_ = true;
+      }
+    }
+  }
+
+  void makeRequest(const std::string &path) {
+    std::make_shared<session>(io_context_, runSignal)
+        ->run(serverName.get(), "80", path, 11);
+  }
+
+ private:
+  smacc::SmaccSignal<void(
+      const boost::beast::http::response<boost::beast::http::string_body> &)>
+      onResponseReceived_;
+
+  boost::asio::io_context io_context_;
+  boost::asio::executor_work_guard<decltype(io_context_)::executor_type>
+      worker_guard_;
+  std::thread tcp_connection_runner_;
+
+  bool initialized_;
+
+  std::function<void(const boost::beast::http::response<
+                     boost::beast::http::string_body> &response)>
+      runSignal{[&](const boost::beast::http::response<
+                    boost::beast::http::string_body> &response) {
+        onResponseReceived_(response);
+      }};
+};
+}  // namespace client_bases
+}  // namespace smacc

smacc_sm_reference_library/sm_atomic_http/CHANGELOG.rst

@@ -0,0 +1,114 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package sm_atomic
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Forthcoming
+-----------
+
+* creating feature smacc_runtime test
+* Merge branch 'master' into melodic-devel
+* adding xterm dependency to examples
+* Final CbTimer Push
+* Merge branch 'master' into melodic-devel
+* fixed Doxygen Client Namespaces
+* refactoring client namespaces names
+* Merge branch 'master' into melodic-devel
+* Merge branch 'master' of https://github.com/reelrbtx/SMACC
+* Update README.md
+* sm_atomic diagrams
+* Update README.md
+* Update README.md
+* Update README.md
+* Merge branch 'master' of https://github.com/reelrbtx/SMACC
+* Improved sm_atomic
+* more formatting & commenting
+* renaming runtimeConfiguration to runtimeConfigure
+* pushing renaming of runtimeConfigure
+* more on smacc behaviors
+* Changed static_configure to configure_orthogonal
+* unpushed code
+* Replaced all smacc::transition's with Transition
+* Merge branch 'master' of https://github.com/reelrbtx/SMACC
+* Update README.md
+* Update README.md
+* Adding sm images
+* Update README.md
+* Update README.md
+* Merge branch 'master' of https://github.com/reelrbtx/SMACC
+* Update README.md
+* adding launch file to sm_atomic
+* Renaming transition
+* sm dance bot and refactoring namings
+* namespaces iteration 3, orthogonal recurrent pattern, more tsts on sm_dance_bot_2
+* more refactoring and renaming examples and namespaces
+* progressing in the API and testing timers and callbacks
+* ros timer client behaviors, refactoring sm_atomic and logic unit hierarchy. other improvements on rosout
+* Update README.md
+* Update README.md
+* Update README.md
+* Update README.md
+* Update README.md
+* Update README.md
+* Create README.md
+* more naming refactoring in move_base_z_client
+* renaming move_base client to ClMoveBaseZ (zorro)
+* renaming orthogonals
+* more on refactoring renaming
+* adding object tagging to clients, specifically action clients
+* renaming consistently SmAtomic
+* testing countdown logic unit more refactoring and analyzing propagating issue
+* Contributors: Brett Aldrich, Pablo Iñigo Blasco, Pabo Iñigo Blasco, Unknown, Víctor Ferrer García, [email protected], brettpac, pablo.inigo.blasco, reelrbtx
+
+* creating feature smacc_runtime test
+* Merge branch 'master' into melodic-devel
+* adding xterm dependency to examples
+* Final CbTimer Push
+* Merge branch 'master' into melodic-devel
+* fixed Doxygen Client Namespaces
+* refactoring client namespaces names
+* Merge branch 'master' into melodic-devel
+* Merge branch 'master' of https://github.com/reelrbtx/SMACC
+* Update README.md
+* sm_atomic diagrams
+* Update README.md
+* Update README.md
+* Update README.md
+* Merge branch 'master' of https://github.com/reelrbtx/SMACC
+* Improved sm_atomic
+* more formatting & commenting
+* renaming runtimeConfiguration to runtimeConfigure
+* pushing renaming of runtimeConfigure
+* more on smacc behaviors
+* Changed static_configure to configure_orthogonal
+* unpushed code
+* Replaced all smacc::transition's with Transition
+* Merge branch 'master' of https://github.com/reelrbtx/SMACC
+* Update README.md
+* Update README.md
+* Adding sm images
+* Update README.md
+* Update README.md
+* Merge branch 'master' of https://github.com/reelrbtx/SMACC
+* Update README.md
+* adding launch file to sm_atomic
+* Renaming transition
+* sm dance bot and refactoring namings
+* namespaces iteration 3, orthogonal recurrent pattern, more tsts on sm_dance_bot_2
+* more refactoring and renaming examples and namespaces
+* progressing in the API and testing timers and callbacks
+* ros timer client behaviors, refactoring sm_atomic and logic unit hierarchy. other improvements on rosout
+* Update README.md
+* Update README.md
+* Update README.md
+* Update README.md
+* Update README.md
+* Update README.md
+* Create README.md
+* more naming refactoring in move_base_z_client
+* renaming move_base client to ClMoveBaseZ (zorro)
+* renaming orthogonals
+* more on refactoring renaming
+* adding object tagging to clients, specifically action clients
+* renaming consistently SmAtomic
+* testing countdown logic unit more refactoring and analyzing propagating issue
+* Contributors: Brett Aldrich, Pablo Iñigo Blasco, Pabo Iñigo Blasco, Unknown, Víctor Ferrer García, [email protected], brettpac, pablo.inigo.blasco, reelrbtx

smacc_sm_reference_library/sm_atomic_http/CMakeLists.txt

@@ -0,0 +1,51 @@
+cmake_minimum_required(VERSION 3.11.0)
+project(sm_atomic_http)
+
+## Find catkin macros and libraries
+find_package(catkin REQUIRED smacc ros_timer_client)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package()
+
+###########
+## Build ##
+###########
+set(CMAKE_CXX_STANDARD 14)
+add_compile_options(-std=c++11) #workaround for ubuntu 16.04, to extinguish
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ executable
+add_executable(${PROJECT_NAME}_node src/sm_atomic_http_node.cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+## Mark executables for installation
+install(TARGETS ${PROJECT_NAME}_node
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark other files for installation (e.g. launch and config files, etc.)
+install(FILES
+  launch/sm_atomic.launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+
+install(DIRECTORY
+  config/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
+)

smacc_sm_reference_library/sm_atomic_http/README.md

@@ -0,0 +1,39 @@
+ <h2>State Machine Diagram</h2>
+ <img src="https://github.com/reelrbtx/SMACC/blob/master/smacc_sm_reference_library/sm_atomic/docs/smacc_state_machine_20200207-004740.dot.svg" width="950" align="center" border="10"/>
+
+ <h2>Description</h2> A completely minimal state machine example.<br></br>
+<a href="https://reelrbtx.github.io/SMACC_Documentation/master/html/namespacesm__atomic.html">Doxygen Namespace & Class Reference</a>
+
+ <h2>Build Instructions</h2>
+Before you build, make sure you've installed all the dependencies...
+
+```
+rosdep install --from-paths src --ignore-src -r -y 
+```
+
+Then you build with either catkin build or catkin make...
+
+```
+catkin build
+```
+<h2>Operating Instructions</h2>
+After you build, remember to source the proper devel folder...
+
+```
+source ~/catkin_ws/devel/setup.bash
+```
+
+And then run the launch file...
+
+```
+roslaunch sm_atomic sm_atomic.launch
+```
+
+ <h2>Viewer Instructions</h2>
+If you have the SMACC Viewer installed then type...
+
+```
+rosrun smacc_viewer smacc_viewer_node.py
+``` 
+
+If you don't have the SMACC Viewer installed, click <a href="http://smacc.ninja/smacc-viewer/">here</a> for instructions.