Http client (#522)

* Ported http work over from smacc1 * Added example showasing http requests * Fixed some typos in the HTTP example * Made provision for HTTP GET/POST in the HTTP client * Moved HTTP client into the client_libraries folder and made separate compilation units. Modified examples to use this new client * Update smacc_action_client_base.hpp Pretty sure this change was made accidently. * Update smacc_action_client_base.hpp Messed up first commit * Update http_client.cpp Added License to file to clean up format error * Update http_client.cpp Found better Copyright & License for CI Format error. * Update cb_http_request.hpp Another little format error * Update sm_atomic_http.py Somehow a bracket became a cNode * - Fixed errors with HTTP requests not triggering, - Fixed response callback not triggering correctly and causing a crash - Fixed example not transitioning back to state 1 after a response has been received * Ported http work over from smacc1 * Added example showasing http requests * Fixed some typos in the HTTP example * Made provision for HTTP GET/POST in the HTTP client * Moved HTTP client into the client_libraries folder and made separate compilation units. Modified examples to use this new client * Update http_client.cpp Added License to file to clean up format error * Update http_client.cpp Found better Copyright & License for CI Format error. * Update cb_http_request.hpp Another little format error * Update sm_atomic_http.py Somehow a bracket became a cNode * - Fixed errors with HTTP requests not triggering, - Fixed response callback not triggering correctly and causing a crash - Fixed example not transitioning back to state 1 after a response has been received * Added helper class to handle server name related interactions * Added SSL implementation, need to make provision for SSL and non-SSLD requests * Added SLL certs * Split the HTTp session class into own compile unit * Added HTTP session base class and implemented the SSL version. The client can decide between which session to initialise at runtime depending on the server set * Implemented non-ssl HTTP session for clients * Removing hard-coded ssl certs and using the default OpenSSL certs for verification * Run through formatter * Fix bad merge * Remove noisy changelog * Undo change that introduced and error * Added missing copyrights * Revert change to precommit config * Fixing copyright, formatting * Fixed whitespace blocking precommit * Revert change to precommit config --------- Co-authored-by: brettpac <[email protected]>
robosoft-ai · Jun 28, 2024 · 682e73c · 682e73c
1 parent 4c0b961
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diff --git a/smacc2_client_library/http_client/CMakeLists.txt b/smacc2_client_library/http_client/CMakeLists.txt
@@ -0,0 +1,50 @@
+cmake_minimum_required(VERSION 3.5)
+project(http_client)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(smacc2 REQUIRED)
+
+include_directories(
+  include
+  ${smacc2_INCLUDE_DIRS}
+)
+
+file(GLOB_RECURSE SRC_FILES src *.cpp)
+
+add_library(http_session
+  src/http_client/ssl_http_session.cpp
+  src/http_client/http_session.cpp
+)
+
+add_library(${PROJECT_NAME}
+  src/http_client/http_client.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  http_session
+  ${smacc2_LIBRARIES}
+)
+ament_target_dependencies(${PROJECT_NAME} smacc2)
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME} http_session)
+
+install(
+  DIRECTORY include/
+  DESTINATION include)
+
+install(TARGETS
+  ${PROJECT_NAME}
+  http_session
+  DESTINATION lib/)
+
+ament_package()
diff --git a/smacc2_client_library/http_client/include/http_client/http_client.hpp b/smacc2_client_library/http_client/include/http_client/http_client.hpp
@@ -0,0 +1,116 @@
+// Copyright 2023 RobosoftAI Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*****************************************************************************************************************
+ *
+ * 	 Authors: Jaycee Lock
+ *
+ ******************************************************************************************************************/
+
+#pragma once
+
+#include <boost/asio/executor_work_guard.hpp>
+#include <boost/asio/strand.hpp>
+#include <boost/beast/core.hpp>
+#include <boost/beast/http.hpp>
+#include <boost/beast/ssl.hpp>
+#include <boost/beast/version.hpp>
+#include <http_client/http_session.hpp>
+#include <http_client/ssl_http_session.hpp>
+#include <iostream>
+#include <memory>
+#include <optional>
+#include <smacc2/smacc.hpp>
+#include <smacc2/smacc_client.hpp>
+#include <string>
+#include <thread>
+#include <unordered_map>
+
+namespace cl_http
+{
+class ClHttp : public smacc2::ISmaccClient
+{
+  class Server
+  {
+  public:
+    explicit Server(const std::string & server_name) : server_name_{server_name}, ssl_{true}
+    {
+      if (!server_name_.substr(0, 7).compare("http://"))
+      {
+        ssl_ = false;
+        server_name_.erase(0, 7);
+      }
+      else if (!server_name_.substr(0, 8).compare("https://"))
+      {
+        server_name_.erase(0, 8);
+        ssl_ = true;
+      }
+    }
+
+    bool isSSL() const { return ssl_; }
+
+    std::string getPort() const { return ssl_ ? "443" : "80"; }
+
+    std::string getServerName() const { return server_name_; }
+
+  private:
+    std::string server_name_;
+    bool ssl_;
+  };
+
+public:
+  enum class kHttpRequestMethod
+  {
+    GET = static_cast<int>(boost::beast::http::verb::get),
+    POST = static_cast<int>(boost::beast::http::verb::post),
+    PUT = static_cast<int>(boost::beast::http::verb::put),
+  };
+
+  using TResponse = http_session_base::TResponse;
+
+  template <typename T>
+  boost::signals2::connection onResponseReceived(void (T::*callback)(const TResponse &), T * object)
+  {
+    return this->getStateMachine()->createSignalConnection(onResponseReceived_, callback, object);
+  }
+
+  explicit ClHttp(const std::string & server, const int & timeout = 1500);
+
+  virtual ~ClHttp();
+
+  void onInitialize() override;
+
+  void makeRequest(const kHttpRequestMethod http_method, const std::string & path = "/");
+
+private:
+  const int HTTP_VERSION = 11;
+
+  bool initialized_;
+  bool is_ssl_;
+  int timeout_;
+
+  Server server_;
+
+  boost::asio::io_context io_context_;
+  boost::asio::executor_work_guard<decltype(io_context_)::executor_type> worker_guard_;
+  std::thread tcp_connection_runner_;
+
+  boost::asio::ssl::context ssl_context_;
+
+  smacc2::SmaccSignal<void(const TResponse &)> onResponseReceived_;
+
+  std::function<void(TResponse)> callbackHandler = [&](const TResponse & res)
+  { onResponseReceived_(res); };
+};
+}  // namespace cl_http
diff --git a/smacc2_client_library/http_client/include/http_client/http_session.hpp b/smacc2_client_library/http_client/include/http_client/http_session.hpp
@@ -0,0 +1,72 @@
+// Copyright 2021 RobosoftAI Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*****************************************************************************************************************
+*
+
+Author: Jacobus Lock
+
+******************************************************************************************************************/
+
+#pragma once
+
+#include <boost/asio/executor_work_guard.hpp>
+#include <boost/asio/strand.hpp>
+#include <boost/beast/core.hpp>
+#include <boost/beast/http.hpp>
+#include <boost/beast/version.hpp>
+#include <http_client/http_session_base.hpp>
+#include <iostream>
+#include <string>
+
+namespace cl_http
+{
+class http_session : public std::enable_shared_from_this<http_session>, public http_session_base
+{
+public:
+  // Objects are constructed with a strand to
+  // ensure that handlers do not execute concurrently.
+  http_session(
+    boost::asio::any_io_executor ioc, const std::function<void(const TResponse &)> response);
+
+  virtual ~http_session() {}
+
+  // Start the asynchronous operation
+  void run(
+    const std::string & host, const std::string & target,
+    const boost::beast::http::verb http_method, const int & version) override;
+
+  std::string getPort() override { return kPort; }
+
+private:
+  const std::string kPort = "80";
+
+  void on_resolve(
+    boost::beast::error_code ec, boost::asio::ip::tcp::resolver::results_type results) override;
+  void fail(boost::beast::error_code ec, const char * what) override;
+  void on_connect(
+    boost::beast::error_code ec,
+    boost::asio::ip::tcp::resolver::results_type::endpoint_type) override;
+  void on_write(boost::beast::error_code ec, std::size_t bytes_transferred) override;
+  void on_read(boost::beast::error_code ec, std::size_t bytes_transferred) override;
+
+  std::function<void(const TResponse &)> onResponse;
+
+  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_;
+};
+}  // namespace cl_http
diff --git a/smacc2_client_library/http_client/include/http_client/http_session_base.hpp b/smacc2_client_library/http_client/include/http_client/http_session_base.hpp
@@ -0,0 +1,61 @@
+// Copyright 2021 RobosoftAI Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*****************************************************************************************************************
+*
+
+Author: Jacobus Lock
+
+******************************************************************************************************************/
+
+#pragma once
+
+#include <boost/asio/executor_work_guard.hpp>
+#include <boost/asio/strand.hpp>
+#include <boost/beast/core.hpp>
+#include <boost/beast/http.hpp>
+#include <boost/beast/ssl.hpp>
+#include <boost/beast/version.hpp>
+#include <string>
+
+namespace cl_http
+{
+class http_session_base
+{
+public:
+  virtual ~http_session_base() {}
+
+  using TResponse = boost::beast::http::response<boost::beast::http::string_body>;
+
+  // Start the asynchronous operation
+  virtual void run(
+    const std::string & host, const std::string & target,
+    const boost::beast::http::verb http_method, const int & version) = 0;
+
+  virtual std::string getPort() = 0;
+
+protected:
+  virtual void on_resolve(
+    boost::beast::error_code ec, boost::asio::ip::tcp::resolver::results_type results) = 0;
+  virtual void fail(boost::beast::error_code ec, const char * what) = 0;
+  virtual void on_connect(
+    boost::beast::error_code ec, boost::asio::ip::tcp::resolver::results_type::endpoint_type) = 0;
+  virtual void on_write(boost::beast::error_code ec, std::size_t bytes_transferred) = 0;
+  virtual void on_read(boost::beast::error_code ec, std::size_t bytes_transferred) = 0;
+
+  // Optional, needed for SSL connections
+  virtual void on_handshake(boost::beast::error_code ec) {}
+  virtual void on_shutdown(boost::beast::error_code ec) {}
+};
+}  // namespace cl_http
diff --git a/smacc2_client_library/http_client/include/http_client/ssl_http_session.hpp b/smacc2_client_library/http_client/include/http_client/ssl_http_session.hpp
@@ -0,0 +1,78 @@
+// Copyright 2021 RobosoftAI Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*****************************************************************************************************************
+*
+
+Author: Jacobus Lock
+
+******************************************************************************************************************/
+
+#pragma once
+
+#include <boost/asio/executor_work_guard.hpp>
+#include <boost/asio/strand.hpp>
+#include <boost/beast/core.hpp>
+#include <boost/beast/http.hpp>
+#include <boost/beast/ssl.hpp>
+#include <boost/beast/version.hpp>
+#include <http_client/http_session_base.hpp>
+#include <iostream>
+#include <string>
+
+namespace cl_http
+{
+class ssl_http_session : public std::enable_shared_from_this<ssl_http_session>,
+                         public http_session_base
+{
+public:
+  // Objects are constructed with a strand to
+  // ensure that handlers do not execute concurrently.
+  ssl_http_session(
+    boost::asio::any_io_executor ioc, boost::asio::ssl::context & ssl_context,
+    const std::function<void(const TResponse &)> response);
+
+  virtual ~ssl_http_session() {}
+
+  // Start the asynchronous operation
+  void run(
+    const std::string & host, const std::string & target,
+    const boost::beast::http::verb http_method, const int & version) override;
+
+  std::string getPort() override { return kPort; }
+
+private:
+  const std::string kPort = "443";
+
+  void on_resolve(
+    boost::beast::error_code ec, boost::asio::ip::tcp::resolver::results_type results) override;
+  void fail(boost::beast::error_code ec, const char * what) override;
+  void on_connect(
+    boost::beast::error_code ec,
+    boost::asio::ip::tcp::resolver::results_type::endpoint_type) override;
+  void on_handshake(boost::beast::error_code ec) override;
+  void on_write(boost::beast::error_code ec, std::size_t bytes_transferred) override;
+  void on_read(boost::beast::error_code ec, std::size_t bytes_transferred) override;
+  void on_shutdown(boost::beast::error_code ec) override;
+
+  std::function<void(const TResponse &)> onResponse;
+
+  boost::asio::ip::tcp::resolver resolver_;
+  // boost::beast::tcp_stream stream_;
+  boost::beast::ssl_stream<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_;
+};
+}  // namespace cl_http
diff --git a/smacc2_client_library/http_client/package.xml b/smacc2_client_library/http_client/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>http_client</name>
+  <version>2.3.18</version>
+  <description>The http_client package</description>
+  <maintainer email="[email protected]">Jaycee Lock</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>smacc2</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>