Revision: 7412
http://playerstage.svn.sourceforge.net/playerstage/?rev=7412&view=rev
Author: gerkey
Date: 2009-03-10 02:04:52 +0000 (Tue, 10 Mar 2009)
Log Message:
-----------
first cut at websim
Added Paths:
-----------
code/websim/CMakeLists.txt
code/websim/src/
code/websim/src/websim.cc
code/websim/src/websim.h
Added: code/websim/CMakeLists.txt
===================================================================
--- code/websim/CMakeLists.txt (rev 0)
+++ code/websim/CMakeLists.txt 2009-03-10 02:04:52 UTC (rev 7412)
@@ -0,0 +1,13 @@
+project(WebSim)
+
+cmake_minimum_required( VERSION 2.4 FATAL_ERROR )
+
+include_directories(${PROJECT_SOURCE_DIR})
+add_library(websim SHARED src/websim.cc)
+add_library(websim-static STATIC src/websim.cc)
+# Set output name to be the same as shared lib (may not work on Windows)
+set_target_properties(websim-static PROPERTIES OUTPUT_NAME websim)
+# Prevent deletion of existing lib of same name
+set_target_properties(websim-static PROPERTIES CLEAN_DIRECT_OUTPUT 1)
+
+target_link_libraries(websim event)
Added: code/websim/src/websim.cc
===================================================================
--- code/websim/src/websim.cc (rev 0)
+++ code/websim/src/websim.cc 2009-03-10 02:04:52 UTC (rev 7412)
@@ -0,0 +1,109 @@
+/*
+ * WebSim - Library for web-enabling and federating simulators.
+ * Copyright (C) 2009
+ * Richard Vaughan, Brian Gerkey, and Nate Koenig
+ *
+ * This library 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; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library 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 library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+/* Desc: HTTP portal to libgazebo
+ * Author: Brian Gerkey
+ * Date: 9 March 2009
+ * SVN: $Id: gazebo.h 7398 2009-03-09 07:21:49Z natepak $
+ */
+
+#include "websim.h"
+
+#include <assert.h>
+#include <stdlib.h>
+
+WebSim::WebSim(const std::string& _fedfile,
+ const std::string& _host,
+ int _port) :
+ fedfile(_fedfile), host(_host), port(_port)
+{
+ // Set up the HTTP server
+ // Not sure whether it's safe to do this more that once in one process
+ event_init();
+
+ printf("[websim] Starting HTTP server listening on %s:%d...",
+ this->host.c_str(), this->port);
+ fflush(stdout);
+ this->eh = evhttp_start(this->host.c_str(), this->port);
+ assert(eh);
+ evhttp_set_gencb(eh, &WebSim::EventCallback, (void*)this);
+ puts("Done.");
+
+ puts("[websim] Ready");
+}
+
+
+WebSim::~WebSim()
+{
+ // No event_fini() to call...
+}
+
+void
+WebSim::Update()
+{
+ event_dispatch();
+}
+
+void
+WebSim::StringSplit(const std::string &s,
+ std::vector<std::string> &t,
+ const std::string &d)
+{
+ t.clear();
+ size_t start = 0, end;
+ while ((end = s.find_first_of(d, start)) != std::string::npos)
+ {
+ t.push_back(s.substr(start, end-start));
+ start = end + 1;
+ }
+ t.push_back(s.substr(start));
+}
+
+// Strange that libevent doesn't provide a way to free the evkeyvalq
+// structure.
+void
+WebSim::DeleteKeyVal(struct evkeyvalq* query_args)
+{
+ struct evkeyval* kv;
+ TAILQ_FOREACH(kv, query_args, next)
+ {
+ free(kv->key);
+ free(kv->value);
+ TAILQ_REMOVE(query_args, kv, next);
+ }
+}
+
+bool
+WebSim::GetValue(std::string& value,
+ struct evkeyvalq* query_args,
+ const std::string& key)
+{
+ struct evkeyval* kv;
+ TAILQ_FOREACH(kv, query_args, next)
+ {
+ if(key == kv->key)
+ {
+ value = std::string(kv->value);
+ return true;
+ }
+ }
+ return false;
+}
Added: code/websim/src/websim.h
===================================================================
--- code/websim/src/websim.h (rev 0)
+++ code/websim/src/websim.h 2009-03-10 02:04:52 UTC (rev 7412)
@@ -0,0 +1,86 @@
+/*
+ * WebSim - Library for web-enabling and federating simulators.
+ * Copyright (C) 2009
+ * Richard Vaughan, Brian Gerkey, and Nate Koenig
+ *
+ * This library 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; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library 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 library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+/* Desc: HTTP portal to libgazebo
+ * Author: Brian Gerkey
+ * Date: 9 March 2009
+ * SVN: $Id: gazebo.h 7398 2009-03-09 07:21:49Z natepak $
+ */
+
+#include <string>
+#include <vector>
+#include <map>
+
+// These headers must be included prior to the libevent headers
+#include <sys/types.h>
+#include <sys/queue.h>
+
+// libevent
+#include <event.h>
+#include <evhttp.h>
+
+class WebSim
+{
+ public:
+ WebSim(const std::string& _fedfile,
+ const std::string& _host,
+ int _port); // TODO: 3 callbacks
+ ~WebSim();
+
+ void Update();
+
+ private:
+ std::string fedfile;
+ std::string host;
+ int port;
+
+ struct evhttp* eh;
+
+ // Static, so that it can be passed as a callback to libevent
+ static void EventCallback(evhttp_request* req, void* arg);
+
+ void StringSplit(const std::string &s,
+ std::vector<std::string> &t,
+ const std::string &d);
+ bool GetValue(std::string& value,
+ struct evkeyvalq* query_args,
+ const std::string& key);
+ bool HandleURI(const std::string& model,
+ const std::string& prop,
+ const std::string& action,
+ struct evkeyvalq* kv,
+ std::string& response);
+ bool HandleSimRequest(const std::string& prop,
+ const std::string& action,
+ struct evkeyvalq* kv,
+ std::string& response);
+ bool HandleModelRequest(const std::string& model,
+ const std::string& prop,
+ const std::string& action,
+ struct evkeyvalq* kv,
+ std::string& response);
+ bool ParseURI(std::string& model,
+ std::string& prop,
+ std::string& action,
+ std::string uri,
+ std::string& response);
+ void DeleteKeyVal(struct evkeyvalq* query_args);
+};
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