Merge branch 'humble' of https://github.com/robosoft-ai/SMACC2 into h…

…umble

.github/SMACC2.humble.repos

@@ -1,5 +1 @@
 repositories:
-  ue_msgs:
-    type: git
-    url: https://github.com/rapyuta-robotics/UE_msgs.git
-    version: devel

.github/workflows/ci-format.yml

@@ -17,10 +17,10 @@ jobs:
     steps:
     - uses: actions/checkout@v2
 
-    - name: Install clang-format-12
+    - name: Install clang-format
       run: |
        apt update
-       apt install -y python3-pip clang-format-12 ros-humble-ament-cppcheck
+       apt install -y python3-pip clang-format ros-humble-ament-cppcheck
        git config --global --add safe.directory `pwd`
        pip install pre-commit
     - name: pre-commit

.github/workflows/ci-ros-lint.yaml

@@ -43,66 +43,7 @@ jobs:
           sm_atomic
           sm_atomic_performance_test
           sm_atomic_subscribers_performance_test
-          sm_dance_bot
-          sm_dance_bot_strikes_back
-          sm_ferrari
-          sm_three_some
 
           sr_all_events_go
           sr_conditional
           sr_event_countdown
-
-  #ament_lint_cpplint:
-    #name: ament_${{ matrix.linter }}
-    #runs-on: ubuntu-20.04
-    #strategy:
-      #fail-fast: false
-      #matrix:
-          #linter: [cpplint]
-    #steps:
-    #- uses: actions/checkout@v1
-    #- uses: ros-tooling/[email protected]
-    #- uses: ros-tooling/[email protected]
-      #with:
-        #distribution: galactic
-        #linter: cpplint
-        #arguments: "--filter=-whitespace/newline"
-        #package-name:
-          #smacc2
-
-          #keyboard_client
-
-          #backward_global_planner
-          #backward_local_planner
-          #forward_global_planner
-          #forward_local_planner
-          #nav2z_planners_common
-          #pure_spinning_local_planner
-          #undo_path_global_planner
-          #nav2z_client
-
-          #multirole_sensor_client
-          #ros_publisher_client
-          #ros_timer_client
-
-          #eg_conditional_generator
-          #eg_random_generator
-
-          #smacc2_msgs
-
-          #sm_atomic
-          #sm_atomic_performance_test
-          #sm_atomic_subscribers_performance_test
-          #sm_dance_bot
-          #sm_dance_bot_strikes_back
-          #sm_three_some
-
-          #sr_all_events_go
-          #sr_conditional
-          #sr_event_countdown
-
-          #smacc_client_library
-          #smacc_event_generators
-          #smacc_msgs
-          #smacc_sm_reference_library
-          #smacc_state_reactor_library

.pre-commit-config.yaml

@@ -63,7 +63,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-12
+        entry: clang-format
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']

smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp

@@ -100,6 +100,7 @@ class SmaccActionClientBase : public ISmaccActionClient
 
   std::optional<std::shared_future<typename GoalHandle::SharedPtr>> lastRequest_;
   // typename GoalHandle::SharedPtr goalHandle_;
+  std::optional<std::shared_future<typename CancelResponse::SharedPtr>> lastCancelResponse_;
 
   SmaccActionResultSignal onSucceeded_;
   SmaccActionResultSignal onAborted_;
@@ -217,8 +218,7 @@ class SmaccActionClientBase : public ISmaccActionClient
 
   virtual bool cancelGoal() override
   {
-    auto fut = this->client_->async_cancel_all_goals();
-    fut.wait();
+    lastCancelResponse_ = this->client_->async_cancel_all_goals();
 
     // if (lastRequest_ && lastRequest_->valid())
     // {

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/cl_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()

smacc2_client_library/http_client/include/http_client/cl_http_client.hpp

@@ -0,0 +1,115 @@
+// 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 <smacc2/smacc.hpp>
+#include <smacc2/smacc_client.hpp>
+#include <string>
+#include <thread>
+
+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 = "/",
+    const std::string & body = "",
+    const std::unordered_map<std::string, std::string> & headers = {});
+
+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

smacc2_sm_reference_library/sm_dance_bot_warehouse_4/src/sm_dance_bot_warehouse_4/sm_dance_bot_warehouse_4.cpp → smacc2_client_library/http_client/include/http_client/client_behaviors/cb_http_get_request.hpp

@@ -1,4 +1,4 @@
-// Copyright 2021 RobosoftAI Inc.
+// 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.
@@ -14,14 +14,21 @@
 
 /*****************************************************************************************************************
  *
- * 	 Authors: Pablo Inigo Blasco, Brett Aldrich
+ * 	 Authors: Jaycee Lock
  *
  ******************************************************************************************************************/
 
-#include <sm_dance_bot_warehouse_4/sm_dance_bot_warehouse_4.hpp>
+#pragma once
 
-int main(int argc, char ** argv)
+#include <http_client/cl_http_client.hpp>
+#include <http_client/client_behaviors/cb_http_request.hpp>
+#include <smacc2/smacc.hpp>
+
+namespace cl_http
+{
+class CbHttpGetRequest : public CbHttpRequestBase
 {
-  rclcpp::init(argc, argv);
-  smacc2::run<SmDanceBotWarehouse4>();
-}
+public:
+  CbHttpGetRequest() : CbHttpRequestBase(ClHttp::kHttpRequestMethod::GET) {}
+};
+}  // namespace cl_http

smacc2_sm_reference_library/sm_dancebot_ue/include/sm_dancebot_ue/modestates/ms_dance_bot_run_mode.hpp → smacc2_client_library/http_client/include/http_client/client_behaviors/cb_http_post_request.hpp

@@ -1,4 +1,4 @@
-// Copyright 2021 RobosoftAI Inc.
+// 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.
@@ -14,24 +14,21 @@
 
 /*****************************************************************************************************************
  *
- * 	 Authors: Pablo Inigo Blasco, Brett Aldrich
+ * 	 Authors: Jaycee Lock
  *
  ******************************************************************************************************************/
 
+#pragma once
+
+#include <http_client/cl_http_client.hpp>
+#include <http_client/client_behaviors/cb_http_request.hpp>
 #include <smacc2/smacc.hpp>
-namespace sm_dancebot_ue
+
+namespace cl_http
 {
-// STATE DECLARATION
-class MsDanceBotRunMode : public smacc2::SmaccState<MsDanceBotRunMode, SmDanceBotUE, StAcquireSensors>
+class CbHttpPostRequest : public CbHttpRequestBase
 {
 public:
-  using SmaccState::SmaccState;
-
-  // TRANSITION TABLE
-  typedef mpl::list<
-
-    Transition<EvGlobalError, MsDanceBotRecoveryMode>
-
-    >reactions;
+  CbHttpPostRequest() : CbHttpRequestBase(ClHttp::kHttpRequestMethod::POST) {}
 };
-}  // namespace sm_dancebot_ue
+}  // namespace cl_http