/usr/include/aseba/switches/http/http.h is in aseba 1.6.0-3.1~build1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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Aseba - an event-based framework for distributed robot control
Copyright (C) 2007--2016:
Stephane Magnenat <stephane at magnenat dot net>
(http://stephane.magnenat.net)
and other contributors, see authors.txt for details
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published
by the Free Software Foundation, version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef ASEBA_HTTP
#define ASEBA_HTTP
#include <stdint.h>
#include <list>
#include <queue>
#include <dashel/dashel.h>
#include "../../common/msg/msg.h"
#include "../../common/msg/NodesManager.h"
#include "../../compiler/compiler.h"
#ifdef ZEROCONF_SUPPORT
#include "../../common/zeroconf/zeroconf-dashelhub.h"
#endif // ZEROCONF_SUPPORT
#if defined(_WIN32) && defined(__MINGW32__)
/* This is a workaround for MinGW32, see libxml/xmlexports.h */
#define IN_LIBXML
#endif
#include <libxml/parser.h>
#include <libxml/tree.h>
#include <libxml/xpath.h>
#include <libxml/xpathInternals.h>
namespace Aseba
{
/**
\defgroup http Software router of messages on TCP and HTTP-over-TCP.
*/
/*@{*/
class HttpRequest;
//! HTTP interface for aseba network
class HttpInterface: public Dashel::Hub, public Aseba::NodesManager
{
public:
typedef std::vector<std::string> strings;
typedef std::list<HttpRequest*> ResponseQueue;
typedef std::set<HttpRequest*> ResponseSet;
typedef std::pair<unsigned,unsigned> VariableAddress;
typedef std::map<uint16_t, uint16_t> NodeIdSubstitution;
typedef std::map<std::string, Aseba::VariablesMap> NodeNameVariablesMap;
typedef std::map<unsigned, Aseba::VariablesMap> NodeIdVariablesMap;
typedef std::map<VariableAddress, ResponseSet> VariableResponseSetMap;
typedef std::map<Dashel::Stream*, ResponseQueue> StreamResponseQueueMap;
typedef std::map<Dashel::Stream*, HttpRequest> StreamRequestMap;
typedef std::map<HttpRequest*, std::set<std::string> > StreamEventSubscriptionMap;
typedef std::map<Dashel::Stream*, std::set<unsigned> > StreamNodeIdMap;
typedef std::set<Dashel::Stream*> StreamSet;
typedef std::map<Dashel::Stream*, NodeIdSubstitution> StreamNodeIdSubstitutionMap;
typedef std::map<unsigned, Aseba::CommonDefinitions> NodeIdCommonDefinitionsMap;
typedef std::map<unsigned, std::wstring> NodeIdProgramMap;
protected:
std::map<std::string, Dashel::Stream*> streamInitParameters;
std::map<std::string, unsigned> targetsToNodeId;
StreamNodeIdMap asebaStreams;
Dashel::Stream* inHttpStream;
Dashel::Stream* inAsebaStream;
std::string inHttpPort;
std::string inAsebaPort;
StreamNodeIdSubstitutionMap targetToNodeIdSubstitutions;
NodeIdSubstitution nodeToAeslIdSubstitutions;
StreamNodeIdSubstitutionMap localIdWishes;
StreamNodeIdSubstitutionMap aeslIdWishes;
StreamResponseQueueMap pendingResponses;
VariableResponseSetMap pendingVariables;
StreamEventSubscriptionMap eventSubscriptions;
StreamRequestMap httpRequests;
StreamSet streamsToShutdown;
std::set<unsigned> nodeDescriptionsReceived;
std::set<unsigned> nodeProgramsSent;
NodeIdProgramMap nodeProgram;
// debug variables
bool verbose;
int iterations;
bool do_dump;
// Extract definitions from AESL files
NodeIdCommonDefinitionsMap commonDefinitions;
NodeIdVariablesMap allVariables;
//variable cache
std::map<std::pair<unsigned,unsigned>, std::vector<short> > variable_cache;
#ifdef ZEROCONF_SUPPORT
DashelhubZeroconf zeroconf;
#endif // ZEROCONF_SUPPORT
public:
//default values needed for unit testing
HttpInterface(const strings& targets = std::vector<std::string>(), const std::string& http_port="3000", const std::string& aseba_port="33332", const int iterations=-1, bool dump=false, bool verbose=false);
//virtual void run();
virtual void broadcastGetDescription();
virtual void evNodes(HttpRequest* req, strings& args);
virtual void evVariableOrEvent(HttpRequest* req, strings& args);
virtual void evSubscribe(HttpRequest* req, strings& args);
virtual void evOptions(HttpRequest* req, strings& args);
virtual void evLoad(HttpRequest* req, strings& args);
virtual void evReset(HttpRequest* req, strings& args);
virtual void aeslLoadFile(const unsigned nodeId, const std::string& filename);
virtual void aeslLoadMemory(const unsigned nodeId, const char* buffer, const int size);
virtual void updateVariables(const unsigned nodeId);
virtual void scheduleResponse(Dashel::Stream* stream, HttpRequest* req);
virtual void addHeaders(HttpRequest* req, strings& headers);
virtual void finishResponse(HttpRequest* req, unsigned status, std::string result);
virtual void appendResponse(HttpRequest* req, unsigned status, const bool& keep_open, std::string result);
virtual void sendAvailableResponses();
virtual void unscheduleResponse(Dashel::Stream* stream, HttpRequest* req);
virtual void unscheduleAllResponses(Dashel::Stream* stream);
virtual std::set<unsigned> allNodeIds();
virtual unsigned updateNodeId(Dashel::Stream* stream, unsigned targetId);
virtual bool run1s();
protected:
/* // reimplemented from parent classes */
virtual void connectionCreated(Dashel::Stream* stream);
virtual void connectionClosed(Dashel::Stream* stream, bool abnormal);
virtual void incomingData(Dashel::Stream* stream);
virtual void sendMessage(const Message& message);
virtual void nodeDescriptionReceived(unsigned nodeId);
// helpers for standard methods
virtual void incomingDataHTTP(Dashel::Stream* stream);
virtual void incomingDataAseba(Dashel::Stream* stream);
virtual void incomingDataTarget(Dashel::Stream* stream);
virtual void propagateCmdMessage(Message* message);
// specific to http interface
virtual void sendEvent(const unsigned nodeId, const strings& args);
virtual void sendSetVariable(const unsigned nodeId, const strings& args);
virtual std::pair<unsigned,unsigned> sendGetVariables(const unsigned nodeId, const strings& args);
virtual bool getVarPos(const unsigned nodeId, const std::string& variableName, unsigned& pos);
virtual void aeslLoad(const unsigned nodeId, xmlDoc* doc);
virtual void incomingVariables(const Variables *variables);
virtual void incomingUserMsg(const UserMessage *userMsg);
virtual void routeRequest(HttpRequest* req);
// helper functions
//bool getNodeAndVarPos(const std::string& nodeName, const std::string& variableName, unsigned& nodeId, unsigned& pos) const;
// bool getVarPos(const unsigned nodeId, const std::string& variableName, unsigned& pos) const;
bool compileAndSendCode(const unsigned nodeId, const std::wstring& program);
virtual void parse_json_form(const std::string content, strings& values);
std::vector<unsigned> getIdsFromURI(const strings& args);
Dashel::Stream* getStreamFromNodeId(const unsigned nodeId);
void discardStream(Dashel::Stream* stream);
std::string targetFromString(Dashel::Stream* stream) const;
void connectToTargets();
};
class HttpRequest
{
public:
typedef std::vector<std::string> strings;
std::string method;
std::string uri;
std::string protocol_version;
Dashel::Stream* stream;
strings tokens; // parsed URI
std::map<std::string,std::string> headers; // incoming headers
std::string content; // incoming payload
bool ready; // incoming request is ready
unsigned status; // outging status
std::string result; // outgoing payload
strings outheaders;
bool more; // keep connection open for SSE
int sse_todo;
protected:
bool headers_done; // flag for header parsing
bool status_sent; // flag for SSE
bool verbose;
public:
HttpRequest();
virtual ~HttpRequest() {};
virtual bool initialize( Dashel::Stream *stream); //
virtual bool initialize( std::string const& start_line, Dashel::Stream *stream); //
virtual bool initialize( std::string const& method, std::string const& uri, std::string const& _protocol_version, Dashel::Stream *stream);
virtual void incomingData();
virtual void sendResponse();
virtual void sendStatus();
virtual void sendPayload();
};
class InterruptException : public std::exception
{
public:
InterruptException(int s) : S(s) {}
int S;
};
/*@}*/
};
#endif
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