#include <rest_base.hpp>

Inheritance diagram for fp_perception::RestBase:

Collaboration diagram for fp_perception::RestBase:

Public Member Functions
	RestBase ()
	Constructor.

virtual	~RestBase ()
	Destructor.

virtual void	initialize_rest_base (const rclcpp::Node::SharedPtr &node, std::string plugin_name="RestBase", std::string api_key_name="")
	Initialize the REST base class.

virtual fp_perception::RESTResponse	call (const fp_perception::RESTRequest &req)
	Request data from the REST API.

virtual fp_perception::RESTResponse	call_audio (const fp_perception::RESTRequest &req)
	Request audio data from the REST API.

virtual fp_perception::RESTResponse	call_tts (const fp_perception::RESTRequest &req)

Public Member Functions inherited from fp_perception::DriverBase
virtual	~DriverBase ()=default

virtual void	initialize (const rclcpp::Node::SharedPtr &node)
	Initialize the driver.

virtual void	deinitialize ()=0
	Deinitialize the driver.

virtual std::string	getName () const
	Get the name of the driver.

virtual void	test ()
	Test the driver.

void	check_directory (std::string folder_name)
	Check if the test directory exists, create it if not.

const std::filesystem::path	check_file (const std::string &file_name)

Protected Member Functions
void	apply_timeouts (CURL *curl)

void	record_rest_result (bool success, long http_code, const std::string &error)

virtual nlohmann::json	toJson (const fp_perception::RESTRequest &request)=0
	Convert a prompt request to a JSON object.

virtual fp_perception::RESTResponse	fromJson (const nlohmann::json &object)=0
	Convert a JSON object to a fp_perception response.

Protected Member Functions inherited from fp_perception::DriverBase
void	initialize_base (const rclcpp::Node::SharedPtr &node)
	Initializer base driver in place of constructor due to plugin semantics.

bool	diagnostics_enabled () const

void	enable_diagnostics (const std::string &hardware_id, const std::string &task_name, std::function< void(diagnostic_updater::DiagnosticStatusWrapper &)> task, std::chrono::milliseconds period=std::chrono::seconds(1))

void	disable_diagnostics ()

Static Protected Member Functions
static std::string	build_http_error_message (long http_code, const std::string &response_data)

static size_t	write_callback (void contents, size_t size, size_t nmemb, std::string userp)

Protected Attributes
std::string	plugin_name_

std::string	uri_

std::string	method_

bool	ssl_verify_

std::string	auth_type_

std::string	api_key_

long	timeout_sec_ { 60 }

long	connect_timeout_sec_ { 10 }

std::atomic< uint64_t >	rest_request_count_ { 0 }

std::atomic< uint64_t >	rest_failure_count_ { 0 }

std::atomic< bool >	last_rest_success_ { true }

std::atomic< long >	last_rest_http_code_ { 0 }

std::mutex	rest_status_mutex_

std::string	last_rest_error_

Protected Attributes inherited from fp_perception::DriverBase
rclcpp::Node::SharedPtr	node_
	ROS node for the driver.

std::string	name_
	Name of the driver.

std::mutex	buffer_mutex_
	Mutex to protect access to the driver data.

std::condition_variable	buffer_cv_
	Condition variable to notify when new data is available.

std::atomic< bool >	is_running_ { false }
	Flag to indicate if the driver thread is running.

bool	diagnostics_enabled_ { false }
	Flag to enable standard ROS diagnostics publishing.

std::unique_ptr< diagnostic_updater::Updater >	diagnostics_updater_

rclcpp::TimerBase::SharedPtr	diagnostics_timer_

Detailed Description

RestBase.

This class implements a base class for RESTful fp_perception plugins. It provides a common interface for sending requests and receiving responses.

Constructor & Destructor Documentation

◆ RestBase()

fp_perception::RestBase::RestBase ( )

inline

Constructor.

Initializes the RestBase with default values.

◆ ~RestBase()

virtual fp_perception::RestBase::~RestBase ( )

inlinevirtual

Destructor.

Cleans up resources used by the RestBase.

Member Function Documentation

◆ apply_timeouts()

void fp_perception::RestBase::apply_timeouts ( CURL * curl )

inlineprotected

◆ build_http_error_message()

static std::string fp_perception::RestBase::build_http_error_message	(	long	http_code,
		const std::string &	response_data
	)

inlinestaticprotected

◆ call()

virtual fp_perception::RESTResponse fp_perception::RestBase::call ( const fp_perception::RESTRequest & req )

inlinevirtual

Request data from the REST API.

This method sends a RESTRequest to the REST API and returns the response.

Parameters

req	The REST request containing the prompt and options.

Returns: A RESTResponse containing the response data.

Exceptions

fp_perception_exception if there is an error during the request.

◆ call_audio()

virtual fp_perception::RESTResponse fp_perception::RestBase::call_audio ( const fp_perception::RESTRequest & req )

inlinevirtual

Request audio data from the REST API.

This method sends an audio file to the REST API and returns the response.

Parameters

req	The REST request containing the audio file and options.

Returns: A RESTResponse containing the response data.

Exceptions

fp_perception_exception if there is an error during the request.

◆ call_tts()

virtual fp_perception::RESTResponse fp_perception::RestBase::call_tts ( const fp_perception::RESTRequest & req )

inlinevirtual

◆ fromJson()

virtual fp_perception::RESTResponse fp_perception::RestBase::fromJson ( const nlohmann::json & object )

protectedpure virtual

Convert a JSON object to a fp_perception response.

This method converts a JSON object received from the fp_perception plugin into a fp_perception response. It extracts the relevant fields from the JSON object and returns a fp_perception response object.

Parameters

object The JSON object to convert

Returns: A fp_perception response object containing the response data

Implemented in fp_perception::OpenAIImageAnalysisDriver, fp_perception::OpenAISpeechDriver, fp_perception::OpenAIDriver, and fp_perception::SentimentDriver.

◆ initialize_rest_base()

virtual void fp_perception::RestBase::initialize_rest_base	(	const rclcpp::Node::SharedPtr &	node,
		std::string	plugin_name = `"RestBase"`,
		std::string	api_key_name = `""`
	)

inlinevirtual

Initialize the REST base class.

This method initializes the REST base class with parameters from the ROS parameter server.

Parameters

node	rclcpp::Node::SharedPtr ROS node

Exceptions

fp_perception_exception if there is an error during initialization

◆ record_rest_result()

void fp_perception::RestBase::record_rest_result	(	bool	success,
		long	http_code,
		const std::string &	error
	)

inlineprotected

◆ toJson()

virtual nlohmann::json fp_perception::RestBase::toJson ( const fp_perception::RESTRequest & request )

protectedpure virtual

Convert a prompt request to a JSON object.

This method converts the fp_perception request to a JSON object that can be sent to the fp_perception plugin. It includes the prompt text and options for the JSON object.

Parameters

prompt The fp_perception request to convert

Returns: A JSON object representing the prompt request

Implemented in fp_perception::OpenAIImageAnalysisDriver, fp_perception::OpenAISpeechDriver, fp_perception::OpenAIDriver, and fp_perception::SentimentDriver.

◆ write_callback()

static size_t fp_perception::RestBase::write_callback	(	void *	contents,
		size_t	size,
		size_t	nmemb,
		std::string *	userp
	)

inlinestaticprotected

Member Data Documentation

◆ api_key_

std::string fp_perception::RestBase::api_key_

protected

◆ auth_type_

std::string fp_perception::RestBase::auth_type_

protected

◆ connect_timeout_sec_

long fp_perception::RestBase::connect_timeout_sec_ { 10 }

protected

◆ last_rest_error_

std::string fp_perception::RestBase::last_rest_error_

protected

◆ last_rest_http_code_

std::atomic<long> fp_perception::RestBase::last_rest_http_code_ { 0 }

protected

◆ last_rest_success_

std::atomic<bool> fp_perception::RestBase::last_rest_success_ { true }

protected

◆ method_

std::string fp_perception::RestBase::method_

protected

◆ plugin_name_

std::string fp_perception::RestBase::plugin_name_

protected

◆ rest_failure_count_

std::atomic<uint64_t> fp_perception::RestBase::rest_failure_count_ { 0 }

protected

◆ rest_request_count_

std::atomic<uint64_t> fp_perception::RestBase::rest_request_count_ { 0 }

protected

◆ rest_status_mutex_

std::mutex fp_perception::RestBase::rest_status_mutex_

protected

◆ ssl_verify_

bool fp_perception::RestBase::ssl_verify_

protected

◆ timeout_sec_

long fp_perception::RestBase::timeout_sec_ { 60 }

protected

◆ uri_

std::string fp_perception::RestBase::uri_

protected

The documentation for this class was generated from the following file:

fp_perception_base/include/fp_perception_base/rest_base.hpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RestBase()

◆ ~RestBase()

Member Function Documentation

◆ apply_timeouts()

◆ build_http_error_message()

◆ call()

◆ call_audio()

◆ call_tts()

◆ fromJson()

◆ initialize_rest_base()

◆ record_rest_result()

◆ toJson()

◆ write_callback()

Member Data Documentation

◆ api_key_

◆ auth_type_

◆ connect_timeout_sec_

◆ last_rest_error_

◆ last_rest_http_code_

◆ last_rest_success_

◆ method_

◆ plugin_name_

◆ rest_failure_count_

◆ rest_request_count_

◆ rest_status_mutex_

◆ ssl_verify_

◆ timeout_sec_

◆ uri_