Moved HTTP client into the client_libraries folder and made separate …

…compilation units. Modified examples to use this new client

smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp

@@ -332,8 +332,8 @@ class SmaccActionClientBase : public ISmaccActionClient
         << getName()
         << "] Action request "
         // << rclcpp_action::to_string(this->goalHandle_->get_goal_id()) <<". Goal sent to " << this->action_endpoint_
-        << "\": " << std::endl
-        << goal);
+        << "\": " << std::endl);
+        // << goal);
 
     // if (client_->isServerConnected())
     // {

smacc2_client_library/http_client/CMakeLists.txt

@@ -0,0 +1,41 @@
+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
+  ${smacc2_INCLUDE_DIRS}
+)
+
+file(GLOB_RECURSE SRC_FILES src *.cpp)
+
+add_library(${PROJECT_NAME}
+  ${SRC_FILES}
+)
+
+target_link_libraries(${PROJECT_NAME} ${smacc2_LIBRARIES})
+ament_target_dependencies(${PROJECT_NAME} smacc2)
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+
+install(
+  DIRECTORY include/
+  DESTINATION include)
+
+install(TARGETS
+  ${PROJECT_NAME}
+  DESTINATION lib/)
+
+ament_package()

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/version.hpp>
+
+#include <smacc2/smacc_client.hpp>
+#include <smacc2/smacc.hpp>
+
+#include <iostream>
+#include <memory>
+#include <optional>
+#include <string>
+#include <thread>
+#include <unordered_map>
+
+namespace cl_http {
+class ClHttp : public smacc2::ISmaccClient {
+  class http_session : public std::enable_shared_from_this<http_session> {
+   public:
+    using TResponse =
+        const boost::beast::http::response<boost::beast::http::string_body> &;
+
+    // Objects are constructed with a strand to
+    // ensure that handlers do not execute concurrently.
+    http_session(boost::asio::io_context &ioc,
+                 const std::function<void(TResponse)> response);
+
+    // Start the asynchronous operation
+    void run(const std::string &host, const std::string &target,
+             const std::string &port,
+             const boost::beast::http::verb http_method, const int &version);
+
+    void on_resolve(boost::beast::error_code ec,
+                    boost::asio::ip::tcp::resolver::results_type results);
+
+   private:
+    void fail(boost::beast::error_code ec, char const *what);
+    void on_connect(
+        boost::beast::error_code ec,
+        boost::asio::ip::tcp::resolver::results_type::endpoint_type);
+    void on_write(boost::beast::error_code ec, std::size_t bytes_transferred);
+    void on_read(boost::beast::error_code ec, std::size_t bytes_transferred);
+
+    std::function<void(const boost::beast::http::response<
+                       boost::beast::http::string_body> &response)>
+        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_;
+  };
+
+ public:
+  enum class kHttpRequestMethod {
+    GET = static_cast<int>(boost::beast::http::verb::get),
+    POST = static_cast<int>(boost::beast::http::verb::post),
+  };
+
+  template <typename T>
+  boost::signals2::connection onResponseReceived(
+      void (T::*callback)(const std::string &), T *object) {
+    return this->getStateMachine()->createSignalConnection(onResponseReceived_,
+                                                           callback, object);
+  }
+
+  explicit ClHttp(const std::string &server, const int &timeout = 1500);
+
+  virtual ~ClHttp();
+
+  void configure();
+  void makeRequest(const kHttpRequestMethod http_method,
+                   const std::string &path = "/");
+
+ private:
+  const int HTTP_VERSION = 11;
+
+  bool initialized_;
+  bool is_ssl_;
+  int timeout_;
+  std::string server_name_;
+
+  boost::asio::io_context io_context_;
+  boost::asio::executor_work_guard<decltype(io_context_)::executor_type>
+      worker_guard_;
+  std::thread tcp_connection_runner_;
+
+  std::function<void(http_session::TResponse)> callbackHandler;
+
+  smacc2::SmaccSignal<void(const std::string &)> onResponseReceived_;
+};
+}  // namespace cl_http

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>