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Hi @alexge233, @klpanagi!

1. Path_planning example of rapp-api ends with error:

asio error: End of file

full client log concerning path_planning service:

POST /hop/path_planning_plan_path_2d HTTP/1.1
Host: 155.207.19.229:9001
User-Agent: rapp_api/cpp/0.6.0
Connection: close
Accept: */*
Accept-Token: rapp_token
Content-Length: 476
Content-Type: multipart/form-data; boundary=bnEqpWAK5fONDmfE

--bnEqpWAK5fONDmfE
Content-Disposition: form-data; name="json"

{"map_name":"empty","robot_type":"NAO","algorithm":"dijkstra","":{"header":{"seq":"0","frameid":"frame_x","stamp":{"sec":"0","nsec":"10"}},"pose":{"position":{"x":"1","y":"1","z":"0"},"orientation":{"x":"1","y":"2","z":"2","w":"3"}}},"":{"header":{"seq":"1","frameid":"frame_x","stamp":{"sec":"0","nsec":"10"}},"pose":{"position":{"x":"2","y":"2","z":"0"},"orientation":{"x":"5","y":"6","z":"6","w":"7"}}}}

asio error: End of file

2. I found a bug in the request also. Client requested:
   start orientation: 1 2 3 4
   goal orientation 5 6 7 8

, but the log above shows:

start orientation: 1 2 2 3
goal orientation 5 6 6 7.

3. There is wrong upload_map HOP service name in here. Following commit resolves this bug: ( 7a333d4 ).

@dudekw Same as with header this should probably be renamed to coordinate or cartesian.
Also, why is it a struct?

Please see latest cpp code before renaming it, and I will solve conflicts.

• C++
• JS
• Python

@athallas will post the specifications when they have been finalized.

Current plan_path_2d cloud API implementation is copy-paste of a speech API method. Proper plan_path_2d method implementation is required to the incoming release. Could you help me with the issue?

Must add keywords or else error is returned.

Update the table in README.md on documentation branch for js and cpp API implementations.

• Merge C++ work
• Merge JS work (if needed)
• Update README.md file with the implementations
• @klpanagi Add important links in README.md such as:
• https://github.com/rapp-project/rapp-api/blob/master/python/README.md
• https://github.com/rapp-project/rapp-api/blob/master/python/RappCloud/README.md
• https://github.com/rapp-project/rapp-api/blob/master/python/RappCloud/CloudMsgs/README.md

• C++
• JS
• Python

Must wait for @maciek-slon to fully integrate the node.

Current rapp::object::time deserialisation from JSON ignores seconds and only uses nanoseconds.

class asio_timer is commented in all code, uncomment and test.

After applying the merge that I mention in the tittle, I tried to build the API along with the tests:
cmake .. -DBUILD_TESTS=ON
make

Make failed with the following output:
Scanning dependencies of target lrapp [ 9%] Building CXX object CMakeFiles/lrapp.dir/includes/config/config.cpp.o [ 36%] Building CXX object CMakeFiles/lrapp.dir/includes/cloud/asio/asio_http/asio_http.cpp.o [ 18%] Building CXX object CMakeFiles/lrapp.dir/includes/cloud/asio/asio_handler/asio_handler.cpp.o [ 27%] Building CXX object CMakeFiles/lrapp.dir/includes/cloud/asio/asio_https/asio_https.cpp.o [ 36%] Built target lrapp Scanning dependencies of target rapp.0.6 [ 45%] Linking CXX shared library librapp.0.6.so [ 45%] Built target rapp.0.6 Scanning dependencies of target serialise_test Scanning dependencies of target service_test Scanning dependencies of target object_test [ 54%] Building CXX object CMakeFiles/service_test.dir/tests/service_test.cpp.o [ 63%] Building CXX object CMakeFiles/object_test.dir/tests/object_test.cpp.o [ 72%] Building CXX object CMakeFiles/serialise_test.dir/tests/serialise.cpp.o In file included from /home/leizer/rapp-api/cpp/includes/objects.hpp:13:0, from /home/leizer/rapp-api/cpp/tests/serialise.cpp:5: /home/leizer/rapp-api/cpp/includes/objects/pose_stamped/pose_stamped.hpp:21:27: error: ‘msg_metadata’ in namespace ‘rapp::object’ does not name a type const rapp::object::msg_metadata header, ^ /home/leizer/rapp-api/cpp/includes/objects/pose_stamped/pose_stamped.hpp:50:16: error: ‘msg_metadata’ in namespace ‘rapp::object’ does not name a type rapp::object::msg_metadata header; ^ /home/leizer/rapp-api/cpp/includes/objects/pose_stamped/pose_stamped.hpp: In constructor ‘rapp::object::pose_stamped::pose_stamped(int, rapp::object::pose)’: /home/leizer/rapp-api/cpp/includes/objects/pose_stamped/pose_stamped.hpp:24:7: error: class ‘rapp::object::pose_stamped’ does not have any field named ‘header’ : header(header), pose(pose) ^ /home/leizer/rapp-api/cpp/includes/objects/pose_stamped/pose_stamped.hpp: In member function ‘bool rapp::object::pose_stamped::operator==(const rapp::object::pose_stamped&) const’: /home/leizer/rapp-api/cpp/includes/objects/pose_stamped/pose_stamped.hpp:36:17: error: ‘const struct rapp::object::pose_stamped’ has no member named ‘header’ return (this->header == rhs.header) && ^ /home/leizer/rapp-api/cpp/includes/objects/pose_stamped/pose_stamped.hpp:36:31: error: ‘const struct rapp::object::pose_stamped’ has no member named ‘header’ return (this->header == rhs.header) && ^ /home/leizer/rapp-api/cpp/includes/objects/pose_stamped/pose_stamped.hpp: In member function ‘boost::property_tree::ptree rapp::object::pose_stamped::treefy() const’: /home/leizer/rapp-api/cpp/includes/objects/pose_stamped/pose_stamped.hpp:44:34: error: ‘header’ was not declared in this scope tree.add_child("header", header.treefy()); ^ /home/leizer/rapp-api/cpp/tests/serialise.cpp: In function ‘int main(int, char**)’: /home/leizer/rapp-api/cpp/tests/serialise.cpp:32:45: error: no matching function for call to ‘rapp::object::pose_stamped::pose_stamped(rapp::object::pose_metadata&, rapp::object::pose&)’ rapp::object::pose_stamped ps(meta, pose); ^ In file included from /home/leizer/rapp-api/cpp/includes/objects.hpp:13:0, from /home/leizer/rapp-api/cpp/tests/serialise.cpp:5: /home/leizer/rapp-api/cpp/includes/objects/pose_stamped/pose_stamped.hpp:31:5: note: candidate: constexpr rapp::object::pose_stamped::pose_stamped(const rapp::object::pose_stamped&) pose_stamped(const rapp::object::pose_stamped &) = default; ^ /home/leizer/rapp-api/cpp/includes/objects/pose_stamped/pose_stamped.hpp:31:5: note: candidate expects 1 argument, 2 provided /home/leizer/rapp-api/cpp/includes/objects/pose_stamped/pose_stamped.hpp:28:5: note: candidate: constexpr rapp::object::pose_stamped::pose_stamped() pose_stamped() = default; ^ /home/leizer/rapp-api/cpp/includes/objects/pose_stamped/pose_stamped.hpp:28:5: note: candidate expects 0 arguments, 2 provided /home/leizer/rapp-api/cpp/includes/objects/pose_stamped/pose_stamped.hpp:20:2: note: candidate: rapp::object::pose_stamped::pose_stamped(int, rapp::object::pose) pose_stamped( ^ /home/leizer/rapp-api/cpp/includes/objects/pose_stamped/pose_stamped.hpp:20:2: note: no known conversion for argument 1 from ‘rapp::object::pose_metadata’ to ‘int’ [ 81%] Linking CXX executable object_test [ 81%] Built target object_test CMakeFiles/serialise_test.dir/build.make:62: recipe for target 'CMakeFiles/serialise_test.dir/tests/serialise.cpp.o' failed make[2]: *** [CMakeFiles/serialise_test.dir/tests/serialise.cpp.o] Error 1 CMakeFiles/Makefile2:141: recipe for target 'CMakeFiles/serialise_test.dir/all' failed make[1]: *** [CMakeFiles/serialise_test.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [ 90%] Linking CXX executable service_test [ 90%] Built target service_test Makefile:138: recipe for target 'all' failed make: *** [all] Error 2

The sample is:

from RappCloud.CloudMsgs import OntologySubclasses
from RappCloud import RappPlatformService

svc = RappPlatformService()
msg = OntologySubclasses()
# Ontology subclasses of Oven query
msg.ontology_class = 'Oven'
msg.recursive = False

response = svc.call(msg)

But the respective ROS service gets no input (ontology_class=""). If transformed to the one below it works:

from RappCloud.CloudMsgs import OntologySubclasses
from RappCloud import RappPlatformService

mesg= OntologySubclasses(ontology_class='Oven', recursive=False)
svc = RappPlatformService(msg=mesg)

response = svc.call()

@klpanagi
Authentication (in C++) is hardcoded into qr_detection in cpp/includes/cloud/qrDetector/qrDetector.hpp.

If we need token-based authentication, it must be implemented across the API/Lanugages,
else this can be removed.

This has nothing to do with SSL/TLS https sockets which should be implemented in the next version.

@klpanagi

Is the path_upload_map upload files or simply using string names?
I see a png_file param and a yaml_file param: is the first a PNG file or just the name of it?
Same with yaml file, is it a file or a file name?

A.

I've tried to run example face_detect application from both devel and cpp branch. I have platform compiled today, from the setup scripts, on clean machine. When running python tests, web service shows this output on terminal:

40 ACCEPT: localhost [Mon, 25 Jul 2016 15:26:01 +0200]
40 REQUEST.serv: POST *://anonymous@localhost:9001 /hop/face_detection HTTP/1.1
40 INVOKE.svc (face_detection . #|JsObject [__proto__: JsObject] [extensible: #t] [properties: ()] [cmap: JsConstructMap] [elements: vector]|)

But when running C++ example, output is a little bit different:

41 ACCEPT: localhost [Mon, 25 Jul 2016 15:37:07 +0200]
41 REQUEST.serv: POST *://anonymous@localhost:9001 /hop/face_detection HTTP/1.1
41 INVOKE.svc (face_detection)

Output from the face_detect is:

face detect: /home/rapp/rapp_platform/rapp-platform-catkin-ws/src/rapp-platform/rapp_testing_tools/test_data/face_samples/etsardou_close_angle.jpg
found 0 faces!

And application is not finishing, it hangs instead (must be killed by CTRL+C).

Given test file, when passed directly to ROS service (by rosservice call), produces expected output (one face).

The core of the ServiceController must automatically identify closed persistent connections, from server, and reinitialize them.
RFC-7230

I've just created C++ example for speech_to_text service (see post_builder branch f78efef). Service is called properly on platform side, but on the API side there is a bug with handling long responses, sent in multipile TCP packets. Class asio_service_http treats every packet independently, which results in error:

no double return after header

when second part of data is retrieved. As a result for request to say "test" in english "en", first packet received by asio_service_http is:

Content-Length: 39940
Connection: close
Content-type: application/json; charset=UTF-8
Server: Hop

{"payload":"UklGRsR0AABXQVZFZm10IBAAAAABAAEAgD4AAAB9AAACABAAZGF0YaB0AAD//wAAAAD//wAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAP////8AAAEAAAD/////AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAD//wAAAQAAAAAAAQAAAAAA//8AAAAA/////wAA
AAABAAAAAQD//wAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAD//wAAAAAAAP////8AAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAD//wAAAAAAAAEAAAAAAAAAAAAAAAAAAAAAAAEA//8AAAAAAAAAAAAAAAA

and then next packet comes, obviously without the header (as it is just continuation of previous data):

AAAAAAAAAAAAAAAABAAAA/////wEAAAABAAAAAAAAAAAAAAD//wAAAAD//wEAAAAAAP////8AAAAAAAAAAA
EAAQAAAAAAAAAAAAAAAAD//wAAAAABAP//AQAAAAAAAAAAAAAAAAAAAAAAAAAAAAEAAAAAAAAAAAAAAP//AQAAAAAA//8AAAAAAAAAAAEA
AAD//wAAAAAAAAAAAAABAP//AAAAAAAAAAABAAAAAAAAAAAAAAABAAAAAAD//wAAAAAAAAAA/////wAA/////wAAAAAAAP//AAABAAAAAA
D//wEA//8AAAAAAAAAAP//AAAAAAAAAQAAAAEAAAAAAAAAAQAAAAEAAAD//wAA//8AAAAAAQAAAP//AAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAEAAQAAAAAAAAAAAAAAAAD//wEAAAAAAAAAAAABAAEAAQAAAAAAAAAAAP//AAAAAAAAAAD//wAAAAD//wAAAAD//wAAAQD//w
EAAQA

which triggers before-mentioned exception.

Re-using same objects (via pointers) throws a boost error:

error: Operation canceled

This is because protected members such as content_length_ and others are not reset.
Currently the only solution is to not re-use cloud objects, but to allocate new ones.

FIX:

Manually implement an assignment or copy constructor which resets those fields.

Similar to this one: https://github.com/rapp-project/rapp-api/blob/master/python/RappCloud/README.md

Perform auto attribute check on:

• Request members
• Response members

The Gitter badge in the master branch points to the wrong link: link

Also it seems misplaced, probably due to erroneous merging of the pull request.

Noone will be able to find this:

https://github.com/rapp-project/rapp-api/blob/master/python/RappCloud/CloudMsgs/README.md

@dudekw The implementation of rapp::object::time is dangerous and flawed:

1. it requires bot seconds and nanoseconds (no need, either should suffice)
2. it uses int32_t

I suggest it becomes a wrapper around either std::crhono or boost::posix_time
In the test directory you can see how I instantiate it:
https://github.com/rapp-project/rapp-api/blob/cpp/cpp/tests/serialise.cpp

Furthermore, implicit casting to int32_t is tricky and potentially very dangerous.

Hi,

Can we please have a valid data example for the service call plan_path_2d?
We tried using arbitrary values and we didn't get an error but no response either.

@MariaRamos89 has committed d49882f to branch cpp_dev , and tried using the python example which returns nothing.
The example that did work was the default values in the path planning example in branch cpp-wut.

1. If the coordinates are outside the boundaries, shouldn't we get an error?
   Preferably with the actual boundaries of the map?
2. If the pose is illegal, shouldn't we get an error?
3. How do you create those PNG map images, and do they have some kind of metric/distance embedded, or is the yaml descriptor that does that? The yaml does not seem to indicate much about the size of the map

Many thanks,
A.

weather web services have mgs instead of msg

https://github.com/rapp-project/rapp-api/blob/python/python/RappCloud/CloudMsgs/README.md#text-to-speech

The example is unclear. First make the call and then add the path in the request?

• C++
• JS
• Python

• C++
• JS
• Python

Info

• C++
• JS
• Python

Info

https://github.com/rapp-project/rapp-api/blob/devel/python/RappCloud/CloudMsgs/README.md#speech-recognition-google

In response sentences or alternatives?

In branch cpp, CMakeLists.txt has wrong install target for headers. It should be:

# Header install dir
install (DIRECTORY ${INCLUDES}/ DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME} FILES_MATCHING PATTERN "*.hpp" PATTERN "*.ihh")

# Install Global header
install (FILES ${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}) 

When running npm test in js subdirectory, following output is produced (all errors looks similar):

  #ontology_superclasses_of()
{ [Error: socket hang up] code: 'ECONNRESET' }

For this call, web service prints following output:

1 ACCEPT: localhost [Wed, 27 Jul 2016 14:07:29 +0200]
1 ABORT:  &hop-method-error
*** ERROR:request-line-grammar:
Method not implemented -- ���������Xv�);����V�rW�,h�f1W�Yt����9��J���/�+�0�,��'g�(k�$���
����jih9876�2�.�*�&���=5�#��� ���@?>3210�1�-�)�%����</�����
��f
    localhost
                 ����
���������



    1. &pool-scheduler1070, 

API branch: devel
Platform branch: devel

@lpenteri from what I can tell, the JS API does not escape quotes, double or single or other characters that may create problems. Please Fix this.

The face_detection service should have one more parameter: A bool called "fast". If true it provides fast face detection suitable for tracking.

• C++
• JS
• Python

This feature exists in the devel branch of rapp-platform

• C++
• JS
• Python

@akintsakis please post the new service's specifications (if they have been finalized).

@klpanagi could you please migrate the Python tests under the API? AFAIK they are currently under the platform.

Hi @alexge233, @klpanagi !
I tied to run the path_planner example and it failed. We've tested it with our cloud also. Python API call works well.

The map files are not being saved in the cloud.

Client log:

png: /home/wojciech/rapp/rapp-platform/rapp_path_planning/rapp_map_server/maps/empty.png
yaml: /home/wojciech/rapp/rapp-platform/rapp_path_planning/rapp_map_server/maps/empty.yaml
m_name: my_map
upload status: 


pose_goal: 0.2 0.2 0 0 0 0 1 
asio error: End of file

Cloud log:

No map image file received

https://github.com/rapp-project/rapp-api/blob/devel/python/RappCloud/CloudMsgs/README.md#weather-reporter---current-weather

What is metric and why it is Int? @athallas

Request in ROS node:

city: Athens
weather_reporter: ''
metric: 0

Response in ROS node:

{'wind_speed': '0.32', 'temperature': '59.53', 'wind_direction': '', 'visibility': '9.05', 'humidity': '0.88', 'pressure': '1022.65', 'date': '1464173287', 'weather_description': 'Clear', 'wind_temperature': ''}

Response of Python API call:

{'wind_speed': '', 'temperature': '', 'wind_direction': '', 'visibility': '', 'humidity': '', 'pressure': '', 'error': u'', 'date': '', 'weather_description': '', 'wind_temperature': ''}

@dudekw

I propose that rapp::object::header to be renamed to rapp::object::meta or similar.
Header implies TCP/IP and since we have similar usage, it could be confusing.

Furthermore, it is unclear what seq is, and what frameid is.
Please update documentation via Doxygen comments.

Also, is there a reason why all those objects are struct and not class ?

Please see latest cpp code before refactoring, I will solve conflicts based on new name.

RappCloud/ServiceController/Adapters.py", line 35, in
ImportError: No module named packages.urllib3.poolmanager

Consider assigning installation paths using CMAKE_INSTALL_PREFIX argument to cmake to allow modifications through cmake's cli.

Edit
Consider this issue to be critical! It affects setup and installation of the rapp-robot-nao. Check related issue here

There appears to be missing a region entry from the geolocation cloud class.