Updates to RESTBridge

atos/modules/RESTBridge/src/restbridge.cpp

@@ -4,62 +4,63 @@ using namespace ROSChannels;
 using namespace std::chrono_literals;
 using namespace std::placeholders;
 
-RESTBridge::RESTBridge()
-    : Module(moduleName),
-      customCommandActionMsgSub(
-          *this, std::bind(&RESTBridge::onCustomCommandAction, this, _1)) {
-  curl_global_init(CURL_GLOBAL_ALL);
-  curl_handle = curl_easy_init();
+RESTBridge::RESTBridge() :
+  Module(moduleName),
+  customCommandActionMsgSub(*this, std::bind(&RESTBridge::onCustomCommandAction, this, _1)) {
+	curl_global_init(CURL_GLOBAL_ALL);
+	curl_handle = curl_easy_init();
 }
 
 RESTBridge::~RESTBridge() {
-  curl_easy_cleanup(curl_handle);
-  curl_global_cleanup();
+	curl_easy_cleanup(curl_handle);
+	curl_global_cleanup();
 }
 
-void RESTBridge::onCustomCommandAction(
-    const atos_interfaces::msg::CustomCommandAction::SharedPtr msg) {
-  if (msg->type == atos_interfaces::msg::CustomCommandAction::POST_JSON) {
-    RCLCPP_INFO(get_logger(), "Received POST_JSON command: %s",
-                msg->content.c_str());
-    json jsonData = parseJsonData(msg->content);
-    POST(jsonData["endpoint"].get<std::string>(), jsonData["data"]);
-  }
+void RESTBridge::onCustomCommandAction(const atos_interfaces::msg::CustomCommandAction::SharedPtr msg) {
+	if (msg->type == atos_interfaces::msg::CustomCommandAction::POST) {
+		RCLCPP_INFO(get_logger(), "Received POST command: %s", msg->content.c_str());
+		json jsonData = parseJsonData(msg->content);
+		POST(jsonData["endpoint"].get<std::string>(), jsonData["data"]);
+	}
 }
 
-json RESTBridge::parseJsonData(std::string &msg) {
-  // Parse the message and return the REST API message
-  std::replace(msg.begin(), msg.end(), '\'',
-               '\"'); // Replace single quotes with double quotes to be able to
-                      // parse the message
-  json j = json::parse(msg);
-  return j;
+json RESTBridge::parseJsonData(std::string& msg) {
+	// Parse the message and return the REST API message
+	std::replace(msg.begin(),
+				 msg.end(),
+				 '\'',
+				 '\"'); // Replace single quotes with double quotes to be able to
+						// parse the message
+	json j = json::parse(msg);
+	return j;
 }
 
-void RESTBridge::POST(const std::string &endpoint, const json &data) {
-  // Send A POST request to the specified endpoint with the specified data, Use
-  // hardcoded headers for now
-  CURLcode res;
+void RESTBridge::POST(const std::string& endpoint, const json& data) {
+	// Send A POST request to the specified endpoint with the specified data, Use
+	// hardcoded headers for now
+	CURLcode res;
 
-  if (curl_handle) {
-    std::string json_str = data.dump();       // Store the JSON string
-    const char *json_data = json_str.c_str(); // Get the C-string pointer
-    curl_easy_setopt(curl_handle, CURLOPT_URL, endpoint.c_str());
-    curl_easy_setopt(curl_handle, CURLOPT_POSTFIELDS, json_data);
+	if (curl_handle) {
+		std::string json_str  = data.dump();	  // Store the JSON string
+		const char* json_data = json_str.c_str(); // Get the C-string pointer
+		curl_easy_setopt(curl_handle, CURLOPT_URL, endpoint.c_str());
+		curl_easy_setopt(curl_handle, CURLOPT_POSTFIELDS, json_data);
 
-    struct curl_slist *headers = NULL;
-    headers = curl_slist_append(headers, "Accept: application/json");
-    headers = curl_slist_append(headers, "Content-Type: application/json");
-    headers = curl_slist_append(headers, "charset: utf-8");
-    curl_easy_setopt(curl_handle, CURLOPT_HTTPHEADER, headers);
+		struct curl_slist* headers = NULL;
+		headers					   = curl_slist_append(headers, "Accept: application/json");
+		headers					   = curl_slist_append(headers, "Content-Type: application/json");
+		headers					   = curl_slist_append(headers, "charset: utf-8");
+		curl_easy_setopt(curl_handle, CURLOPT_HTTPHEADER, headers);
 
-    // Perform the request, res will get the return code
-    res = curl_easy_perform(curl_handle);
+		// Perform the request, res will get the return code
+		res = curl_easy_perform(curl_handle);
 
-    // Check for errors
-    if (res != CURLE_OK) {
-      RCLCPP_ERROR(get_logger(), "curl_easy_perform() failed: %s\n",
-                   curl_easy_strerror(res));
-    }
-  }
+		// Check for errors
+		if (res != CURLE_OK) {
+			RCLCPP_ERROR(get_logger(), "curl_easy_perform() failed: %s\n", curl_easy_strerror(res));
+		}
+		curl_slist_free_all(headers);
+	} else {
+		RCLCPP_ERROR(get_logger(), "curl_handle is NULL, cannot send POST request");
+	}
 }

docker-compose-bridge.yml

@@ -27,6 +27,7 @@ services:
       - "443:443"
       - "9090:9090"
       - "8765:8765"
+      - "8000:8000"
     command: bash -c "source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True"
   foxglove-studio:
     image: ghcr.io/foxglove/studio:1.76

docs/Usage/Modules/RESTBridge.md

@@ -0,0 +1,47 @@
+# RESTBridge
+
+## About the module
+RESTBridge is a module that allows you to send HTTP requests to a REST API through ATOS. The module utilize OpenScenario CustomCommandActions to specify the type of request (Currently POST and DELETE are supported) and the content of the request.
+
+## Example OpenScenario
+
+```xml
+<Event name="web_event" priority="parallel" maximumExecutionCount="1">
+                            <Action name="Send web request">
+                                <UserDefinedAction>
+                                    <CustomCommandAction type="POST">{"endpoint": "http://web_server/set_some_value", "data": {"some_key": "some_value"}}</CustomCommandAction>
+                                </UserDefinedAction>
+                            </Action>
+                            <StartTrigger>
+                                <ConditionGroup>
+                                    <Condition name="Send web request" delay="0.0" conditionEdge="none">
+                                        <ByEntityCondition>
+                                            <TriggeringEntities triggeringEntitiesRule="any">
+                                                <EntityRef entityRef="entity_name"/>
+                                            </TriggeringEntities>
+                                            <EntityCondition>
+                                                <ReachPositionCondition tolerance="1.0">
+                                                    <Position>
+                                                        <LanePosition roadId="5" laneId="-1" s="45.0" offset="0.0"/>
+                                                    </Position>
+                                                </ReachPositionCondition>
+                                            </EntityCondition>
+                                        </ByEntityCondition>
+                                    </Condition>
+                                </ConditionGroup>
+                            </StartTrigger>
+                        </Event>
+```
+
+###  CustomCommandAction
+
+type: POST or DELETE
+data field:
+
+```json
+{
+    "endpoint": "http://web_server/set_some_value", # Required. The endpoint to send the request to.
+    "data": {"some_key": "some_value"} # Optional. The data to send in the request.
+}
+```
+

mkdocs.yml

@@ -28,6 +28,7 @@ nav:
       - "Usage/Modules/IntegrationTesting.md"
       - "Usage/Modules/JournalControl.md"
       - "Usage/Modules/MQTTBridge.md"
+      - "Usage/Modules/RESTBridge.md"
       - "Usage/Modules/OSIAdapter.md"
       - "Usage/Modules/ObjectControl.md"
       - "Usage/Modules/PointcloudPublisher.md"