From 51badb8cda767be81ee9ad68fb14ff77f5ecbba4 Mon Sep 17 00:00:00 2001 From: Valentin Platzgummer Date: Fri, 3 Jul 2020 11:18:13 +0200 Subject: [PATCH] Working on ros_bridge, code not working in this state. --- qgroundcontrol.pro | 6 +- .../Simple-WebSocket-Server/.clang-format | 9 + .../Simple-WebSocket-Server/.gitignore | 22 + .../Simple-WebSocket-Server/.gitlab-ci.yml | 36 + .../Simple-WebSocket-Server/CMakeLists.txt | 73 + .../Simple-WebSocket-Server/LICENSE | 21 + .../Simple-WebSocket-Server/README.md | 56 + .../asio_compatibility.hpp | 71 + .../Simple-WebSocket-Server/client_ws.hpp | 757 ++++ .../Simple-WebSocket-Server/client_wss.hpp | 143 + .../Simple-WebSocket-Server/crypto.hpp | 227 ++ .../javascript_client_example.html | 22 + .../Simple-WebSocket-Server/mutex.hpp | 106 + .../Simple-WebSocket-Server/server_ws.hpp | 827 ++++ .../Simple-WebSocket-Server/server_wss.hpp | 79 + .../Simple-WebSocket-Server/status_code.hpp | 176 + .../tests/CMakeLists.txt | 18 + 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src/comm/ros_bridge/src/messages.cpp diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index 5088e2384..c2976b64f 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -367,6 +367,7 @@ INCLUDEPATH += \ src/ViewWidgets \ src/Audio \ src/comm \ + src/comm/ros_bridge \ src/input \ src/lib/qmapcontrol \ src/uas \ @@ -463,6 +464,8 @@ HEADERS += \ src/Wima/testplanimetrycalculus.h \ src/Settings/WimaSettings.h \ src/QmlControls/QmlObjectVectorModel.h \ + src/comm/ros_bridge/include/jsongenerator.h \ + src/comm/ros_bridge/include/messages.h \ src/comm/utilities.h SOURCES += \ src/Snake/clipper/clipper.cpp \ @@ -500,7 +503,8 @@ SOURCES += \ src/Wima/TestPolygonCalculus.cpp \ src/Wima/testplanimetrycalculus.cpp \ src/Settings/WimaSettings.cc \ - src/QmlControls/QmlObjectVectorModel.cc + src/QmlControls/QmlObjectVectorModel.cc \ + src/comm/ros_bridge/src/messages.cpp # # Unit Test specific configuration goes here (requires full debug build with all plugins) diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/.clang-format b/src/comm/ros_bridge/Simple-WebSocket-Server/.clang-format new file mode 100644 index 000000000..50f942330 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/.clang-format @@ -0,0 +1,9 @@ +IndentWidth: 2 +AccessModifierOffset: -2 +UseTab: Never +ColumnLimit: 0 +MaxEmptyLinesToKeep: 2 +SpaceBeforeParens: Never +BreakBeforeBraces: Custom +BraceWrapping: {BeforeElse: true, BeforeCatch: true} +NamespaceIndentation: All diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/.gitignore b/src/comm/ros_bridge/Simple-WebSocket-Server/.gitignore new file mode 100644 index 000000000..75fe02790 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/.gitignore @@ -0,0 +1,22 @@ +# https://github.com/github/gitignore/blob/master/CMake.gitignore +CMakeCache.txt +CMakeFiles +CMakeScripts +Makefile +cmake_install.cmake +install_manifest.txt +*.cmake +#Additions to https://github.com/github/gitignore/blob/master/CMake.gitignore +Testing +compile_commands.json +.usages_clang + +*.crt +*.key + +# executables +ws_examples +wss_examples +crypto_test +io_test +parse_test diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/.gitlab-ci.yml b/src/comm/ros_bridge/Simple-WebSocket-Server/.gitlab-ci.yml new file mode 100644 index 000000000..e9e8b82bd --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/.gitlab-ci.yml @@ -0,0 +1,36 @@ +before_script: + - mkdir build && cd build + - export CXXFLAGS=-Werror + - export CTEST_OUTPUT_ON_FAILURE=1 + +.script: &compile_and_test + script: + - cmake -DCMAKE_BUILD_TYPE=Release .. && make && make test + - rm -r * + - cmake -DCMAKE_BUILD_TYPE=Release -DUSE_STANDALONE_ASIO=ON .. && make && make test + +arch: + image: "registry.gitlab.com/eidheim/docker-images:arch" + <<: *compile_and_test + +buster: + image: "registry.gitlab.com/eidheim/docker-images:buster" + <<: *compile_and_test + +jessie: + image: "registry.gitlab.com/eidheim/docker-images:jessie" + <<: *compile_and_test + +stretch: + image: "registry.gitlab.com/eidheim/docker-images:stretch" + <<: *compile_and_test + +thread-safety-analysis: + image: "registry.gitlab.com/eidheim/docker-images:arch" + script: + - CXX=clang++ cmake .. && make + +static-analysis: + image: "registry.gitlab.com/eidheim/docker-images:arch" + script: + - scan-build cmake .. && scan-build --status-bugs make diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/CMakeLists.txt b/src/comm/ros_bridge/Simple-WebSocket-Server/CMakeLists.txt new file mode 100644 index 000000000..b87af3db2 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/CMakeLists.txt @@ -0,0 +1,73 @@ +cmake_minimum_required (VERSION 3.0) + +project (Simple-WebSocket-Server) + +option(USE_STANDALONE_ASIO "set ON to use standalone Asio instead of Boost.Asio" OFF) +option(BUILD_TESTING "set ON to build library tests" OFF) + +if(NOT MSVC) + add_compile_options(-std=c++11 -Wall -Wextra -Wsign-conversion) + if (CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wthread-safety) + endif() +else() + add_compile_options(/W1) +endif() + +add_library(simple-websocket-server INTERFACE) + +target_include_directories(simple-websocket-server INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}) + +find_package(Threads REQUIRED) +target_link_libraries(simple-websocket-server INTERFACE ${CMAKE_THREAD_LIBS_INIT}) + +# TODO 2020 when Debian Jessie LTS ends: +# Remove Boost system, thread, regex components; use Boost:: aliases; remove Boost target_include_directories +if(USE_STANDALONE_ASIO) + target_compile_definitions(simple-websocket-server INTERFACE USE_STANDALONE_ASIO) + find_path(ASIO_PATH asio.hpp) + if(NOT ASIO_PATH) + message(FATAL_ERROR "Standalone Asio not found") + else() + target_include_directories(simple-websocket-server INTERFACE ${ASIO_PATH}) + endif() +else() + find_package(Boost 1.54.0 COMPONENTS system thread coroutine context REQUIRED) + target_link_libraries(simple-websocket-server INTERFACE ${Boost_LIBRARIES}) + target_include_directories(simple-websocket-server INTERFACE ${Boost_INCLUDE_DIR}) + if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.9) + target_compile_definitions(simple-websocket-server INTERFACE USE_BOOST_REGEX) + find_package(Boost 1.54.0 COMPONENTS regex REQUIRED) + target_link_libraries(simple-websocket-server INTERFACE ${Boost_LIBRARIES}) + target_include_directories(simple-websocket-server INTERFACE ${Boost_INCLUDE_DIR}) + endif() +endif() +if(WIN32) + target_link_libraries(simple-websocket-server INTERFACE ws2_32 wsock32) +endif() + +if(APPLE) + set(OPENSSL_ROOT_DIR "/usr/local/opt/openssl") +endif() +find_package(OpenSSL REQUIRED) +target_link_libraries(simple-websocket-server INTERFACE ${OPENSSL_LIBRARIES}) +target_include_directories(simple-websocket-server INTERFACE ${OPENSSL_INCLUDE_DIR}) + +# If Simple-WebSocket-Server is not a sub-project: +if("${CMAKE_SOURCE_DIR}" STREQUAL "${CMAKE_CURRENT_SOURCE_DIR}") + add_executable(ws_examples ws_examples.cpp) + target_link_libraries(ws_examples simple-websocket-server) + if(OPENSSL_FOUND) + add_executable(wss_examples wss_examples.cpp) + target_link_libraries(wss_examples simple-websocket-server) + endif() + + set(BUILD_TESTING ON) + + install(FILES asio_compatibility.hpp server_ws.hpp client_ws.hpp server_wss.hpp client_wss.hpp crypto.hpp utility.hpp status_code.hpp mutex.hpp DESTINATION include/simple-websocket-server) +endif() + +if(BUILD_TESTING) + enable_testing() + add_subdirectory(tests) +endif() diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/LICENSE b/src/comm/ros_bridge/Simple-WebSocket-Server/LICENSE new file mode 100644 index 000000000..3a9d48db7 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/LICENSE @@ -0,0 +1,21 @@ +The MIT License (MIT) + +Copyright (c) 2014-2019 Ole Christian Eidheim + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/README.md b/src/comm/ros_bridge/Simple-WebSocket-Server/README.md new file mode 100644 index 000000000..729156391 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/README.md @@ -0,0 +1,56 @@ +Simple-WebSocket-Server +================= + +A very simple, fast, multithreaded, platform independent WebSocket (WS) and WebSocket Secure (WSS) server and client library implemented using C++11, Asio (both Boost.Asio and standalone Asio can be used) and OpenSSL. Created to be an easy way to make WebSocket endpoints in C++. + +See https://gitlab.com/eidheim/Simple-Web-Server for an easy way to make REST resources available from C++ applications. Also, feel free to check out the new C++ IDE supporting C++11/14/17: https://gitlab.com/cppit/jucipp. + +### Features + +* RFC 6455 mostly supported: text/binary frames, fragmented messages, ping-pong, connection close with status and reason. +* Asynchronous message handling +* Thread pool if needed +* Platform independent +* WebSocket Secure support +* Timeouts, if any of SocketServer::timeout_request and SocketServer::timeout_idle are >0 (default: SocketServer::timeout_request=5 seconds, and SocketServer::timeout_idle=0 seconds; no timeout on idle connections) +* Simple way to add WebSocket endpoints using regex for path, and anonymous functions +* An easy to use WebSocket and WebSocket Secure client library +* C++ bindings to the following OpenSSL methods: Base64, MD5, SHA1, SHA256 and SHA512 (found in crypto.hpp) + +### Usage + +See [ws_examples.cpp](ws_examples.cpp) or [wss_examples.cpp](wss_examples.cpp) for example usage. + +### Dependencies + +* Boost.Asio or standalone Asio +* OpenSSL libraries + +### Compile + +Compile with a C++11 supported compiler: + +```sh +mkdir build +cd build +cmake .. +make +cd .. +``` + +#### Run server and client examples + +### WS + +```sh +./build/ws_examples +``` + +### WSS + +Before running the WSS-examples, an RSA private key (server.key) and an SSL certificate (server.crt) must be created. + +Then: +``` +./build/wss_examples +``` diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/asio_compatibility.hpp b/src/comm/ros_bridge/Simple-WebSocket-Server/asio_compatibility.hpp new file mode 100644 index 000000000..2a29e5cef --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/asio_compatibility.hpp @@ -0,0 +1,71 @@ +#ifndef SIMPLE_WEB_ASIO_COMPATIBILITY_HPP +#define SIMPLE_WEB_ASIO_COMPATIBILITY_HPP + +#include + +#ifdef USE_STANDALONE_ASIO +#include +#include +namespace SimpleWeb { + namespace error = asio::error; + using error_code = std::error_code; + using errc = std::errc; + using system_error = std::system_error; + namespace make_error_code = std; +} // namespace SimpleWeb +#else +#include +#include +namespace SimpleWeb { + namespace asio = boost::asio; + namespace error = asio::error; + using error_code = boost::system::error_code; + namespace errc = boost::system::errc; + using system_error = boost::system::system_error; + namespace make_error_code = boost::system::errc; +} // namespace SimpleWeb +#endif + +namespace SimpleWeb { +#if(USE_STANDALONE_ASIO && ASIO_VERSION >= 101300) || BOOST_ASIO_VERSION >= 101300 + using io_context = asio::io_context; + using resolver_results = asio::ip::tcp::resolver::results_type; + using async_connect_endpoint = asio::ip::tcp::endpoint; + + inline void restart(io_context &context) noexcept { + context.restart(); + } + inline asio::ip::address make_address(const std::string &str) noexcept { + return asio::ip::make_address(str); + } + template + asio::executor get_socket_executor(socket_type &socket) { + return socket.get_executor(); + } + template + void async_resolve(asio::ip::tcp::resolver &resolver, const std::pair &host_port, handler_type &&handler) { + resolver.async_resolve(host_port.first, host_port.second, std::forward(handler)); + } +#else + using io_context = asio::io_service; + using resolver_results = asio::ip::tcp::resolver::iterator; + using async_connect_endpoint = asio::ip::tcp::resolver::iterator; + + inline void restart(io_context &context) noexcept { + context.reset(); + } + inline asio::ip::address make_address(const std::string &str) noexcept { + return asio::ip::address::from_string(str); + } + template + io_context &get_socket_executor(socket_type &socket) { + return socket.get_io_service(); + } + template + void async_resolve(asio::ip::tcp::resolver &resolver, const std::pair &host_port, handler_type &&handler) { + resolver.async_resolve(asio::ip::tcp::resolver::query(host_port.first, host_port.second), std::forward(handler)); + } +#endif +} // namespace SimpleWeb + +#endif /* SIMPLE_WEB_ASIO_COMPATIBILITY_HPP */ diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/client_ws.hpp b/src/comm/ros_bridge/Simple-WebSocket-Server/client_ws.hpp new file mode 100644 index 000000000..6457a8734 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/client_ws.hpp @@ -0,0 +1,757 @@ +#ifndef SIMPLE_WEB_CLIENT_WS_HPP +#define SIMPLE_WEB_CLIENT_WS_HPP + +#include "asio_compatibility.hpp" +#include "crypto.hpp" +#include "mutex.hpp" +#include "utility.hpp" +#include +#include +#include +#include +#include +#include + +namespace SimpleWeb { + template + class SocketClient; + + template + class SocketClientBase { + public: + class InMessage : public std::istream { + friend class SocketClientBase; + friend class SocketClient; + friend class Connection; + + public: + unsigned char fin_rsv_opcode; + std::size_t size() noexcept { + return length; + } + + /// Convenience function to return std::string. The stream buffer is consumed. + std::string string() noexcept { + try { + std::string str; + auto size = streambuf.size(); + str.resize(size); + read(&str[0], static_cast(size)); + return str; + } + catch(...) { + return std::string(); + } + } + + private: + InMessage() noexcept : std::istream(&streambuf), length(0) {} + InMessage(unsigned char fin_rsv_opcode, std::size_t length) noexcept : std::istream(&streambuf), fin_rsv_opcode(fin_rsv_opcode), length(length) {} + std::size_t length; + asio::streambuf streambuf; + }; + + /// The buffer is consumed during send operations. + class OutMessage : public std::iostream { + friend class SocketClientBase; + + asio::streambuf streambuf; + + public: + OutMessage() noexcept : std::iostream(&streambuf) {} + OutMessage(std::size_t capacity) noexcept : std::iostream(&streambuf) { + streambuf.prepare(capacity); + } + + /// Returns the size of the buffer + std::size_t size() const noexcept { + return streambuf.size(); + } + }; + + class Connection : public std::enable_shared_from_this { + friend class SocketClientBase; + friend class SocketClient; + + public: + std::string http_version, status_code; + CaseInsensitiveMultimap header; + + asio::ip::tcp::endpoint remote_endpoint; + + std::string remote_endpoint_address() noexcept { + try { + return remote_endpoint.address().to_string(); + } + catch(...) { + return std::string(); + } + } + + unsigned short remote_endpoint_port() noexcept { + return remote_endpoint.port(); + } + + private: + template + Connection(std::shared_ptr handler_runner_, long timeout_idle, Args &&... args) noexcept + : handler_runner(std::move(handler_runner_)), socket(new socket_type(std::forward(args)...)), timeout_idle(timeout_idle), closed(false) {} + + std::shared_ptr handler_runner; + + std::unique_ptr socket; // Socket must be unique_ptr since asio::ssl::stream is not movable + + std::shared_ptr in_message; + std::shared_ptr fragmented_in_message; + + long timeout_idle; + Mutex timer_mutex; + std::unique_ptr timer GUARDED_BY(timer_mutex); + + void close() noexcept { + error_code ec; + socket->lowest_layer().shutdown(asio::ip::tcp::socket::shutdown_both, ec); + socket->lowest_layer().cancel(ec); + } + + void set_timeout(long seconds = -1) noexcept { + bool use_timeout_idle = false; + if(seconds == -1) { + use_timeout_idle = true; + seconds = timeout_idle; + } + + LockGuard lock(timer_mutex); + + if(seconds == 0) { + timer = nullptr; + return; + } + + timer = std::unique_ptr(new asio::steady_timer(get_socket_executor(*socket), std::chrono::seconds(seconds))); + std::weak_ptr connection_weak(this->shared_from_this()); // To avoid keeping Connection instance alive longer than needed + timer->async_wait([connection_weak, use_timeout_idle](const error_code &ec) { + if(!ec) { + if(auto connection = connection_weak.lock()) { + if(use_timeout_idle) + connection->send_close(1000, "idle timeout"); // 1000=normal closure + else + connection->close(); + } + } + }); + } + + void cancel_timeout() noexcept { + LockGuard lock(timer_mutex); + if(timer) { + try { + timer->cancel(); + } + catch(...) { + } + } + } + + class OutData { + public: + OutData(std::shared_ptr out_message_, std::function &&callback_) noexcept + : out_message(std::move(out_message_)), callback(std::move(callback_)) {} + std::shared_ptr out_message; + std::function callback; + }; + + Mutex send_queue_mutex; + std::list send_queue GUARDED_BY(send_queue_mutex); + + void send_from_queue() REQUIRES(send_queue_mutex) { + auto self = this->shared_from_this(); + asio::async_write(*self->socket, send_queue.begin()->out_message->streambuf, [self](const error_code &ec, std::size_t /*bytes_transferred*/) { + auto lock = self->handler_runner->continue_lock(); + if(!lock) + return; + { + LockGuard lock(self->send_queue_mutex); + if(!ec) { + auto it = self->send_queue.begin(); + auto callback = std::move(it->callback); + self->send_queue.erase(it); + if(self->send_queue.size() > 0) + self->send_from_queue(); + + lock.unlock(); + if(callback) + callback(ec); + } + else { + // All handlers in the queue is called with ec: + std::vector> callbacks; + for(auto &out_data : self->send_queue) { + if(out_data.callback) + callbacks.emplace_back(std::move(out_data.callback)); + } + self->send_queue.clear(); + + lock.unlock(); + for(auto &callback : callbacks) + callback(ec); + } + } + }); + } + + std::atomic closed; + + void read_remote_endpoint() noexcept { + try { + remote_endpoint = socket->lowest_layer().remote_endpoint(); + } + catch(const std::exception &e) { + std::cerr << e.what() << std::endl; + } + } + + public: + /// fin_rsv_opcode: 129=one fragment, text, 130=one fragment, binary, 136=close connection. + /// See http://tools.ietf.org/html/rfc6455#section-5.2 for more information. + void send(const std::shared_ptr &out_message, const std::function &callback = nullptr, unsigned char fin_rsv_opcode = 129) { + cancel_timeout(); + set_timeout(); + + // Create mask + std::array mask; + std::uniform_int_distribution dist(0, 255); + std::random_device rd; + for(std::size_t c = 0; c < 4; c++) + mask[c] = static_cast(dist(rd)); + + std::size_t length = out_message->size(); + + std::size_t max_additional_bytes = 14; // ws protocol adds at most 14 bytes + auto out_header_and_message = std::make_shared(length + max_additional_bytes); + + out_header_and_message->put(static_cast(fin_rsv_opcode)); + // Masked (first length byte>=128) + if(length >= 126) { + std::size_t num_bytes; + if(length > 0xffff) { + num_bytes = 8; + out_header_and_message->put(static_cast(127 + 128)); + } + else { + num_bytes = 2; + out_header_and_message->put(static_cast(126 + 128)); + } + + for(std::size_t c = num_bytes - 1; c != static_cast(-1); c--) + out_header_and_message->put((static_cast(length) >> (8 * c)) % 256); + } + else + out_header_and_message->put(static_cast(length + 128)); + + for(std::size_t c = 0; c < 4; c++) + out_header_and_message->put(static_cast(mask[c])); + + for(std::size_t c = 0; c < length; c++) + out_header_and_message->put(out_message->get() ^ mask[c % 4]); + + LockGuard lock(send_queue_mutex); + send_queue.emplace_back(out_header_and_message, callback); + if(send_queue.size() == 1) + send_from_queue(); + } + + /// Convenience function for sending a string. + /// fin_rsv_opcode: 129=one fragment, text, 130=one fragment, binary, 136=close connection. + /// See http://tools.ietf.org/html/rfc6455#section-5.2 for more information. + void send(string_view out_message_str, const std::function &callback = nullptr, unsigned char fin_rsv_opcode = 129) { + auto out_message = std::make_shared(); + out_message->write(out_message_str.data(), static_cast(out_message_str.size())); + send(out_message, callback, fin_rsv_opcode); + } + + void send_close(int status, const std::string &reason = "", const std::function &callback = nullptr) { + // Send close only once (in case close is initiated by client) + if(closed) + return; + closed = true; + + auto out_message = std::make_shared(); + + out_message->put(status >> 8); + out_message->put(status % 256); + + *out_message << reason; + + // fin_rsv_opcode=136: message close + send(out_message, callback, 136); + } + }; + + class Config { + friend class SocketClientBase; + + private: + Config() noexcept {} + + public: + /// Timeout on request handling. Defaults to no timeout. + long timeout_request = 0; + /// Idle timeout. Defaults to no timeout. + long timeout_idle = 0; + /// Maximum size of incoming messages. Defaults to architecture maximum. + /// Exceeding this limit will result in a message_size error code and the connection will be closed. + std::size_t max_message_size = std::numeric_limits::max(); + /// Additional header fields to send when performing WebSocket upgrade. + /// Use this variable to for instance set Sec-WebSocket-Protocol. + CaseInsensitiveMultimap header; + /// Set proxy server (server:port) + std::string proxy_server; + }; + /// Set before calling start(). + Config config; + + std::function)> on_open; + std::function, std::shared_ptr)> on_message; + std::function, int, const std::string &)> on_close; + std::function, const error_code &)> on_error; + std::function)> on_ping; + std::function)> on_pong; + + void start() { + if(!io_service) { + io_service = std::make_shared(); + internal_io_service = true; + } + + if(io_service->stopped()) + restart(*io_service); + + connect(); + + if(internal_io_service) + io_service->run(); + } + + void stop() noexcept { + { + LockGuard lock(connection_mutex); + if(connection) + connection->close(); + } + + if(internal_io_service) + io_service->stop(); + } + + virtual ~SocketClientBase() noexcept { + handler_runner->stop(); + stop(); + } + + /// If you have your own io_context, store its pointer here before running start(). + std::shared_ptr io_service; + + protected: + bool internal_io_service = false; + + std::string host; + unsigned short port; + unsigned short default_port; + std::string path; + + Mutex connection_mutex; + std::shared_ptr connection GUARDED_BY(connection_mutex); + + std::shared_ptr handler_runner; + + SocketClientBase(const std::string &host_port_path, unsigned short default_port) noexcept : default_port(default_port), handler_runner(new ScopeRunner()) { + auto host_port_end = host_port_path.find('/'); + auto host_port = parse_host_port(host_port_path.substr(0, host_port_end), default_port); + host = std::move(host_port.first); + port = host_port.second; + + if(host_port_end != std::string::npos) + path = host_port_path.substr(host_port_end); + else + path = "/"; + } + + std::pair parse_host_port(const std::string &host_port, unsigned short default_port) const noexcept { + std::pair parsed_host_port; + std::size_t host_end = host_port.find(':'); + if(host_end == std::string::npos) { + parsed_host_port.first = host_port; + parsed_host_port.second = default_port; + } + else { + parsed_host_port.first = host_port.substr(0, host_end); + parsed_host_port.second = static_cast(stoul(host_port.substr(host_end + 1))); + } + return parsed_host_port; + } + + virtual void connect() = 0; + + void upgrade(const std::shared_ptr &connection) { + connection->read_remote_endpoint(); + + auto corrected_path = path; + if(!config.proxy_server.empty() && std::is_same::value) + corrected_path = "http://" + host + ':' + std::to_string(port) + corrected_path; + + auto write_buffer = std::make_shared(); + std::ostream ostream(write_buffer.get()); + ostream << "GET " << corrected_path << " HTTP/1.1\r\n"; + ostream << "Host: " << host; + if(port != default_port) + ostream << ':' << std::to_string(port); + ostream << "\r\n"; + ostream << "Upgrade: websocket\r\n"; + ostream << "Connection: Upgrade\r\n"; + + // Make random 16-byte nonce + std::string nonce; + nonce.reserve(16); + std::uniform_int_distribution dist(0, 255); + std::random_device rd; + for(std::size_t c = 0; c < 16; c++) + nonce += static_cast(dist(rd)); + + auto nonce_base64 = std::make_shared(Crypto::Base64::encode(nonce)); + ostream << "Sec-WebSocket-Key: " << *nonce_base64 << "\r\n"; + ostream << "Sec-WebSocket-Version: 13\r\n"; + for(auto &header_field : config.header) + ostream << header_field.first << ": " << header_field.second << "\r\n"; + ostream << "\r\n"; + + connection->in_message = std::shared_ptr(new InMessage()); + + connection->set_timeout(config.timeout_request); + asio::async_write(*connection->socket, *write_buffer, [this, connection, write_buffer, nonce_base64](const error_code &ec, std::size_t /*bytes_transferred*/) { + connection->cancel_timeout(); + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + connection->set_timeout(this->config.timeout_request); + asio::async_read_until(*connection->socket, connection->in_message->streambuf, "\r\n\r\n", [this, connection, nonce_base64](const error_code &ec, std::size_t bytes_transferred) { + connection->cancel_timeout(); + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + // connection->in_message->streambuf.size() is not necessarily the same as bytes_transferred, from Boost-docs: + // "After a successful async_read_until operation, the streambuf may contain additional data beyond the delimiter" + // The chosen solution is to extract lines from the stream directly when parsing the header. What is left of the + // streambuf (maybe some bytes of a message) is appended to in the next async_read-function + std::size_t num_additional_bytes = connection->in_message->streambuf.size() - bytes_transferred; + + if(!ResponseMessage::parse(*connection->in_message, connection->http_version, connection->status_code, connection->header)) { + this->connection_error(connection, make_error_code::make_error_code(errc::protocol_error)); + return; + } + if(connection->status_code.compare(0, 4, "101 ") != 0) { + this->connection_error(connection, make_error_code::make_error_code(errc::permission_denied)); + return; + } + auto header_it = connection->header.find("Sec-WebSocket-Accept"); + static auto ws_magic_string = "258EAFA5-E914-47DA-95CA-C5AB0DC85B11"; + if(header_it != connection->header.end() && + Crypto::Base64::decode(header_it->second) == Crypto::sha1(*nonce_base64 + ws_magic_string)) { + this->connection_open(connection); + read_message(connection, num_additional_bytes); + } + else + this->connection_error(connection, make_error_code::make_error_code(errc::protocol_error)); + } + else + this->connection_error(connection, ec); + }); + } + else + this->connection_error(connection, ec); + }); + } + + void read_message(const std::shared_ptr &connection, std::size_t num_additional_bytes) { + asio::async_read(*connection->socket, connection->in_message->streambuf, asio::transfer_exactly(num_additional_bytes > 2 ? 0 : 2 - num_additional_bytes), [this, connection](const error_code &ec, std::size_t bytes_transferred) { + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + if(bytes_transferred == 0 && connection->in_message->streambuf.size() == 0) { // TODO: This might happen on server at least, might also happen here + this->read_message(connection, 0); + return; + } + std::size_t num_additional_bytes = connection->in_message->streambuf.size() - bytes_transferred; + + std::array first_bytes; + connection->in_message->read(reinterpret_cast(&first_bytes[0]), 2); + + connection->in_message->fin_rsv_opcode = first_bytes[0]; + + // Close connection if masked message from server (protocol error) + if(first_bytes[1] >= 128) { + const std::string reason("message from server masked"); + connection->send_close(1002, reason); + this->connection_close(connection, 1002, reason); + return; + } + + std::size_t length = (first_bytes[1] & 127); + + if(length == 126) { + // 2 next bytes is the size of content + asio::async_read(*connection->socket, connection->in_message->streambuf, asio::transfer_exactly(num_additional_bytes > 2 ? 0 : 2 - num_additional_bytes), [this, connection](const error_code &ec, std::size_t bytes_transferred) { + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + std::size_t num_additional_bytes = connection->in_message->streambuf.size() - bytes_transferred; + + std::array length_bytes; + connection->in_message->read(reinterpret_cast(&length_bytes[0]), 2); + + std::size_t length = 0; + std::size_t num_bytes = 2; + for(std::size_t c = 0; c < num_bytes; c++) + length += static_cast(length_bytes[c]) << (8 * (num_bytes - 1 - c)); + + connection->in_message->length = length; + this->read_message_content(connection, num_additional_bytes); + } + else + this->connection_error(connection, ec); + }); + } + else if(length == 127) { + // 8 next bytes is the size of content + asio::async_read(*connection->socket, connection->in_message->streambuf, asio::transfer_exactly(num_additional_bytes > 8 ? 0 : 8 - num_additional_bytes), [this, connection](const error_code &ec, std::size_t bytes_transferred) { + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + std::size_t num_additional_bytes = connection->in_message->streambuf.size() - bytes_transferred; + + std::array length_bytes; + connection->in_message->read(reinterpret_cast(&length_bytes[0]), 8); + + std::size_t length = 0; + std::size_t num_bytes = 8; + for(std::size_t c = 0; c < num_bytes; c++) + length += static_cast(length_bytes[c]) << (8 * (num_bytes - 1 - c)); + + connection->in_message->length = length; + this->read_message_content(connection, num_additional_bytes); + } + else + this->connection_error(connection, ec); + }); + } + else { + connection->in_message->length = length; + this->read_message_content(connection, num_additional_bytes); + } + } + else + this->connection_error(connection, ec); + }); + } + + void read_message_content(const std::shared_ptr &connection, std::size_t num_additional_bytes) { + if(connection->in_message->length + (connection->fragmented_in_message ? connection->fragmented_in_message->length : 0) > config.max_message_size) { + connection_error(connection, make_error_code::make_error_code(errc::message_size)); + const int status = 1009; + const std::string reason = "message too big"; + connection->send_close(status, reason); + connection_close(connection, status, reason); + return; + } + asio::async_read(*connection->socket, connection->in_message->streambuf, asio::transfer_exactly(num_additional_bytes > connection->in_message->length ? 0 : connection->in_message->length - num_additional_bytes), [this, connection](const error_code &ec, std::size_t bytes_transferred) { + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + std::size_t num_additional_bytes = connection->in_message->streambuf.size() - bytes_transferred; + std::shared_ptr next_in_message; + if(num_additional_bytes > 0) { // Extract bytes that are not extra bytes in buffer (only happen when several messages are sent in upgrade response) + next_in_message = connection->in_message; + connection->in_message = std::shared_ptr(new InMessage(next_in_message->fin_rsv_opcode, next_in_message->length)); + std::ostream ostream(&connection->in_message->streambuf); + for(std::size_t c = 0; c < next_in_message->length; ++c) + ostream.put(next_in_message->get()); + } + else + next_in_message = std::shared_ptr(new InMessage()); + + // If connection close + if((connection->in_message->fin_rsv_opcode & 0x0f) == 8) { + connection->cancel_timeout(); + connection->set_timeout(); + + int status = 0; + if(connection->in_message->length >= 2) { + unsigned char byte1 = connection->in_message->get(); + unsigned char byte2 = connection->in_message->get(); + status = (static_cast(byte1) << 8) + byte2; + } + + auto reason = connection->in_message->string(); + connection->send_close(status, reason); + this->connection_close(connection, status, reason); + } + // If ping + else if((connection->in_message->fin_rsv_opcode & 0x0f) == 9) { + connection->cancel_timeout(); + connection->set_timeout(); + + // Send pong + auto out_message = std::make_shared(); + *out_message << connection->in_message->string(); + connection->send(out_message, nullptr, connection->in_message->fin_rsv_opcode + 1); + + if(this->on_ping) + this->on_ping(connection); + + // Next message + connection->in_message = next_in_message; + this->read_message(connection, num_additional_bytes); + } + // If pong + else if((connection->in_message->fin_rsv_opcode & 0x0f) == 10) { + connection->cancel_timeout(); + connection->set_timeout(); + + if(this->on_pong) + this->on_pong(connection); + + // Next message + connection->in_message = next_in_message; + this->read_message(connection, num_additional_bytes); + } + // If fragmented message and not final fragment + else if((connection->in_message->fin_rsv_opcode & 0x80) == 0) { + if(!connection->fragmented_in_message) { + connection->fragmented_in_message = connection->in_message; + connection->fragmented_in_message->fin_rsv_opcode |= 0x80; + } + else { + connection->fragmented_in_message->length += connection->in_message->length; + std::ostream ostream(&connection->fragmented_in_message->streambuf); + ostream << connection->in_message->rdbuf(); + } + + // Next message + connection->in_message = next_in_message; + this->read_message(connection, num_additional_bytes); + } + else { + connection->cancel_timeout(); + connection->set_timeout(); + + if(this->on_message) { + if(connection->fragmented_in_message) { + connection->fragmented_in_message->length += connection->in_message->length; + std::ostream ostream(&connection->fragmented_in_message->streambuf); + ostream << connection->in_message->rdbuf(); + + this->on_message(connection, connection->fragmented_in_message); + } + else + this->on_message(connection, connection->in_message); + } + + // Next message + connection->in_message = next_in_message; + // Only reset fragmented_message for non-control frames (control frames can be in between a fragmented message) + connection->fragmented_in_message = nullptr; + this->read_message(connection, num_additional_bytes); + } + } + else + this->connection_error(connection, ec); + }); + } + + void connection_open(const std::shared_ptr &connection) const { + connection->cancel_timeout(); + connection->set_timeout(); + + if(on_open) + on_open(connection); + } + + void connection_close(const std::shared_ptr &connection, int status, const std::string &reason) const { + connection->cancel_timeout(); + connection->set_timeout(); + + if(on_close) + on_close(connection, status, reason); + } + + void connection_error(const std::shared_ptr &connection, const error_code &ec) const { + connection->cancel_timeout(); + connection->set_timeout(); + + if(on_error) + on_error(connection, ec); + } + }; + + template + class SocketClient : public SocketClientBase {}; + + using WS = asio::ip::tcp::socket; + + template <> + class SocketClient : public SocketClientBase { + public: + SocketClient(const std::string &server_port_path) noexcept : SocketClientBase::SocketClientBase(server_port_path, 80){}; + + protected: + void connect() override { + LockGuard lock(connection_mutex); + auto connection = this->connection = std::shared_ptr(new Connection(handler_runner, config.timeout_idle, *io_service)); + lock.unlock(); + + std::pair host_port; + if(config.proxy_server.empty()) + host_port = {host, std::to_string(port)}; + else { + auto proxy_host_port = parse_host_port(config.proxy_server, 8080); + host_port = {proxy_host_port.first, std::to_string(proxy_host_port.second)}; + } + + auto resolver = std::make_shared(*io_service); + connection->set_timeout(config.timeout_request); + async_resolve(*resolver, host_port, [this, connection, resolver](const error_code &ec, resolver_results results) { + connection->cancel_timeout(); + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + connection->set_timeout(this->config.timeout_request); + asio::async_connect(*connection->socket, results, [this, connection, resolver](const error_code &ec, async_connect_endpoint /*endpoint*/) { + connection->cancel_timeout(); + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + asio::ip::tcp::no_delay option(true); + connection->socket->set_option(option); + + this->upgrade(connection); + } + else + this->connection_error(connection, ec); + }); + } + else + this->connection_error(connection, ec); + }); + } + }; +} // namespace SimpleWeb + +#endif /* SIMPLE_WEB_CLIENT_WS_HPP */ diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/client_wss.hpp b/src/comm/ros_bridge/Simple-WebSocket-Server/client_wss.hpp new file mode 100644 index 000000000..914afb8d7 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/client_wss.hpp @@ -0,0 +1,143 @@ +#ifndef SIMPLE_WEB_CLIENT_WSS_HPP +#define SIMPLE_WEB_CLIENT_WSS_HPP + +#include "client_ws.hpp" + +#ifdef USE_STANDALONE_ASIO +#include +#else +#include +#endif + +namespace SimpleWeb { + using WSS = asio::ssl::stream; + + template <> + class SocketClient : public SocketClientBase { + public: + SocketClient(const std::string &server_port_path, bool verify_certificate = true, + const std::string &cert_file = std::string(), const std::string &private_key_file = std::string(), + const std::string &verify_file = std::string()) + : SocketClientBase::SocketClientBase(server_port_path, 443), context(asio::ssl::context::tlsv12) { + if(cert_file.size() > 0 && private_key_file.size() > 0) { + context.use_certificate_chain_file(cert_file); + context.use_private_key_file(private_key_file, asio::ssl::context::pem); + } + + if(verify_certificate) + context.set_verify_callback(asio::ssl::rfc2818_verification(host)); + + if(verify_file.size() > 0) + context.load_verify_file(verify_file); + else + context.set_default_verify_paths(); + + if(verify_file.size() > 0 || verify_certificate) + context.set_verify_mode(asio::ssl::verify_peer); + else + context.set_verify_mode(asio::ssl::verify_none); + }; + + protected: + asio::ssl::context context; + + void connect() override { + LockGuard connection_lock(connection_mutex); + auto connection = this->connection = std::shared_ptr(new Connection(handler_runner, config.timeout_idle, *io_service, context)); + connection_lock.unlock(); + + std::pair host_port; + if(config.proxy_server.empty()) + host_port = {host, std::to_string(port)}; + else { + auto proxy_host_port = parse_host_port(config.proxy_server, 8080); + host_port = {proxy_host_port.first, std::to_string(proxy_host_port.second)}; + } + + auto resolver = std::make_shared(*io_service); + connection->set_timeout(config.timeout_request); + async_resolve(*resolver, host_port, [this, connection, resolver](const error_code &ec, resolver_results results) { + connection->cancel_timeout(); + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + connection->set_timeout(this->config.timeout_request); + asio::async_connect(connection->socket->lowest_layer(), results, [this, connection, resolver](const error_code &ec, async_connect_endpoint /*endpoint*/) { + connection->cancel_timeout(); + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + asio::ip::tcp::no_delay option(true); + error_code ec; + connection->socket->lowest_layer().set_option(option, ec); + + if(!this->config.proxy_server.empty()) { + auto write_buffer = std::make_shared(); + std::ostream write_stream(write_buffer.get()); + auto host_port = this->host + ':' + std::to_string(this->port); + write_stream << "CONNECT " + host_port + " HTTP/1.1\r\n" + << "Host: " << host_port << "\r\n\r\n"; + connection->set_timeout(this->config.timeout_request); + asio::async_write(connection->socket->next_layer(), *write_buffer, [this, connection, write_buffer](const error_code &ec, std::size_t /*bytes_transferred*/) { + connection->cancel_timeout(); + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + connection->set_timeout(this->config.timeout_request); + asio::async_read_until(connection->socket->next_layer(), connection->in_message->streambuf, "\r\n\r\n", [this, connection](const error_code &ec, std::size_t /*bytes_transferred*/) { + connection->cancel_timeout(); + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + if(!ResponseMessage::parse(*connection->in_message, connection->http_version, connection->status_code, connection->header)) + this->connection_error(connection, make_error_code::make_error_code(errc::protocol_error)); + else { + if(connection->status_code.compare(0, 3, "200") != 0) + this->connection_error(connection, make_error_code::make_error_code(errc::permission_denied)); + else + this->handshake(connection); + } + } + else + this->connection_error(connection, ec); + }); + } + else + this->connection_error(connection, ec); + }); + } + else + this->handshake(connection); + } + else + this->connection_error(connection, ec); + }); + } + else + this->connection_error(connection, ec); + }); + } + + void handshake(const std::shared_ptr &connection) { + SSL_set_tlsext_host_name(connection->socket->native_handle(), this->host.c_str()); + + connection->set_timeout(this->config.timeout_request); + connection->socket->async_handshake(asio::ssl::stream_base::client, [this, connection](const error_code &ec) { + connection->cancel_timeout(); + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) + upgrade(connection); + else + this->connection_error(connection, ec); + }); + } + }; +} // namespace SimpleWeb + +#endif /* SIMPLE_WEB_CLIENT_WSS_HPP */ diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/crypto.hpp b/src/comm/ros_bridge/Simple-WebSocket-Server/crypto.hpp new file mode 100644 index 000000000..981f21423 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/crypto.hpp @@ -0,0 +1,227 @@ +#ifndef SIMPLE_WEB_CRYPTO_HPP +#define SIMPLE_WEB_CRYPTO_HPP + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace SimpleWeb { +// TODO 2017: remove workaround for MSVS 2012 +#if _MSC_VER == 1700 // MSVS 2012 has no definition for round() + inline double round(double x) noexcept { // Custom definition of round() for positive numbers + return floor(x + 0.5); + } +#endif + + class Crypto { + const static std::size_t buffer_size = 131072; + + public: + class Base64 { + public: + static std::string encode(const std::string &ascii) noexcept { + std::string base64; + + BIO *bio, *b64; + BUF_MEM *bptr = BUF_MEM_new(); + + b64 = BIO_new(BIO_f_base64()); + BIO_set_flags(b64, BIO_FLAGS_BASE64_NO_NL); + bio = BIO_new(BIO_s_mem()); + BIO_push(b64, bio); + BIO_set_mem_buf(b64, bptr, BIO_CLOSE); + + // Write directly to base64-buffer to avoid copy + auto base64_length = static_cast(round(4 * ceil(static_cast(ascii.size()) / 3.0))); + base64.resize(base64_length); + bptr->length = 0; + bptr->max = base64_length + 1; + bptr->data = &base64[0]; + + if(BIO_write(b64, &ascii[0], static_cast(ascii.size())) <= 0 || BIO_flush(b64) <= 0) + base64.clear(); + + // To keep &base64[0] through BIO_free_all(b64) + bptr->length = 0; + bptr->max = 0; + bptr->data = nullptr; + + BIO_free_all(b64); + + return base64; + } + + static std::string decode(const std::string &base64) noexcept { + std::string ascii; + + // Resize ascii, however, the size is a up to two bytes too large. + ascii.resize((6 * base64.size()) / 8); + BIO *b64, *bio; + + b64 = BIO_new(BIO_f_base64()); + BIO_set_flags(b64, BIO_FLAGS_BASE64_NO_NL); +// TODO: Remove in 2020 +#if(defined(OPENSSL_VERSION_NUMBER) && OPENSSL_VERSION_NUMBER <= 0x1000115fL) || (defined(LIBRESSL_VERSION_NUMBER) && LIBRESSL_VERSION_NUMBER < 0x2080000fL) + bio = BIO_new_mem_buf((char *)&base64[0], static_cast(base64.size())); +#else + bio = BIO_new_mem_buf(&base64[0], static_cast(base64.size())); +#endif + bio = BIO_push(b64, bio); + + auto decoded_length = BIO_read(bio, &ascii[0], static_cast(ascii.size())); + if(decoded_length > 0) + ascii.resize(static_cast(decoded_length)); + else + ascii.clear(); + + BIO_free_all(b64); + + return ascii; + } + }; + + /// Return hex string from bytes in input string. + static std::string to_hex_string(const std::string &input) noexcept { + std::stringstream hex_stream; + hex_stream << std::hex << std::internal << std::setfill('0'); + for(auto &byte : input) + hex_stream << std::setw(2) << static_cast(static_cast(byte)); + return hex_stream.str(); + } + + static std::string md5(const std::string &input, std::size_t iterations = 1) noexcept { + std::string hash; + + hash.resize(128 / 8); + MD5(reinterpret_cast(&input[0]), input.size(), reinterpret_cast(&hash[0])); + + for(std::size_t c = 1; c < iterations; ++c) + MD5(reinterpret_cast(&hash[0]), hash.size(), reinterpret_cast(&hash[0])); + + return hash; + } + + static std::string md5(std::istream &stream, std::size_t iterations = 1) noexcept { + MD5_CTX context; + MD5_Init(&context); + std::streamsize read_length; + std::vector buffer(buffer_size); + while((read_length = stream.read(&buffer[0], buffer_size).gcount()) > 0) + MD5_Update(&context, buffer.data(), static_cast(read_length)); + std::string hash; + hash.resize(128 / 8); + MD5_Final(reinterpret_cast(&hash[0]), &context); + + for(std::size_t c = 1; c < iterations; ++c) + MD5(reinterpret_cast(&hash[0]), hash.size(), reinterpret_cast(&hash[0])); + + return hash; + } + + static std::string sha1(const std::string &input, std::size_t iterations = 1) noexcept { + std::string hash; + + hash.resize(160 / 8); + SHA1(reinterpret_cast(&input[0]), input.size(), reinterpret_cast(&hash[0])); + + for(std::size_t c = 1; c < iterations; ++c) + SHA1(reinterpret_cast(&hash[0]), hash.size(), reinterpret_cast(&hash[0])); + + return hash; + } + + static std::string sha1(std::istream &stream, std::size_t iterations = 1) noexcept { + SHA_CTX context; + SHA1_Init(&context); + std::streamsize read_length; + std::vector buffer(buffer_size); + while((read_length = stream.read(&buffer[0], buffer_size).gcount()) > 0) + SHA1_Update(&context, buffer.data(), static_cast(read_length)); + std::string hash; + hash.resize(160 / 8); + SHA1_Final(reinterpret_cast(&hash[0]), &context); + + for(std::size_t c = 1; c < iterations; ++c) + SHA1(reinterpret_cast(&hash[0]), hash.size(), reinterpret_cast(&hash[0])); + + return hash; + } + + static std::string sha256(const std::string &input, std::size_t iterations = 1) noexcept { + std::string hash; + + hash.resize(256 / 8); + SHA256(reinterpret_cast(&input[0]), input.size(), reinterpret_cast(&hash[0])); + + for(std::size_t c = 1; c < iterations; ++c) + SHA256(reinterpret_cast(&hash[0]), hash.size(), reinterpret_cast(&hash[0])); + + return hash; + } + + static std::string sha256(std::istream &stream, std::size_t iterations = 1) noexcept { + SHA256_CTX context; + SHA256_Init(&context); + std::streamsize read_length; + std::vector buffer(buffer_size); + while((read_length = stream.read(&buffer[0], buffer_size).gcount()) > 0) + SHA256_Update(&context, buffer.data(), static_cast(read_length)); + std::string hash; + hash.resize(256 / 8); + SHA256_Final(reinterpret_cast(&hash[0]), &context); + + for(std::size_t c = 1; c < iterations; ++c) + SHA256(reinterpret_cast(&hash[0]), hash.size(), reinterpret_cast(&hash[0])); + + return hash; + } + + static std::string sha512(const std::string &input, std::size_t iterations = 1) noexcept { + std::string hash; + + hash.resize(512 / 8); + SHA512(reinterpret_cast(&input[0]), input.size(), reinterpret_cast(&hash[0])); + + for(std::size_t c = 1; c < iterations; ++c) + SHA512(reinterpret_cast(&hash[0]), hash.size(), reinterpret_cast(&hash[0])); + + return hash; + } + + static std::string sha512(std::istream &stream, std::size_t iterations = 1) noexcept { + SHA512_CTX context; + SHA512_Init(&context); + std::streamsize read_length; + std::vector buffer(buffer_size); + while((read_length = stream.read(&buffer[0], buffer_size).gcount()) > 0) + SHA512_Update(&context, buffer.data(), static_cast(read_length)); + std::string hash; + hash.resize(512 / 8); + SHA512_Final(reinterpret_cast(&hash[0]), &context); + + for(std::size_t c = 1; c < iterations; ++c) + SHA512(reinterpret_cast(&hash[0]), hash.size(), reinterpret_cast(&hash[0])); + + return hash; + } + + /// key_size is number of bytes of the returned key. + static std::string pbkdf2(const std::string &password, const std::string &salt, int iterations, int key_size) noexcept { + std::string key; + key.resize(static_cast(key_size)); + PKCS5_PBKDF2_HMAC_SHA1(password.c_str(), password.size(), + reinterpret_cast(salt.c_str()), salt.size(), iterations, + key_size, reinterpret_cast(&key[0])); + return key; + } + }; +} // namespace SimpleWeb +#endif /* SIMPLE_WEB_CRYPTO_HPP */ diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/javascript_client_example.html b/src/comm/ros_bridge/Simple-WebSocket-Server/javascript_client_example.html new file mode 100644 index 000000000..ac644c1c1 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/javascript_client_example.html @@ -0,0 +1,22 @@ + + + + +WebSocket Test + + + + + diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/mutex.hpp b/src/comm/ros_bridge/Simple-WebSocket-Server/mutex.hpp new file mode 100644 index 000000000..755c20cc6 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/mutex.hpp @@ -0,0 +1,106 @@ +// Based on https://clang.llvm.org/docs/ThreadSafetyAnalysis.html +#ifndef SIMPLE_WEB_MUTEX_HPP +#define SIMPLE_WEB_MUTEX_HPP + +#include + +// Enable thread safety attributes only with clang. +#if defined(__clang__) && (!defined(SWIG)) +#define THREAD_ANNOTATION_ATTRIBUTE__(x) __attribute__((x)) +#else +#define THREAD_ANNOTATION_ATTRIBUTE__(x) // no-op +#endif + +#define CAPABILITY(x) \ + THREAD_ANNOTATION_ATTRIBUTE__(capability(x)) + +#define SCOPED_CAPABILITY \ + THREAD_ANNOTATION_ATTRIBUTE__(scoped_lockable) + +#define GUARDED_BY(x) \ + THREAD_ANNOTATION_ATTRIBUTE__(guarded_by(x)) + +#define PT_GUARDED_BY(x) \ + THREAD_ANNOTATION_ATTRIBUTE__(pt_guarded_by(x)) + +#define ACQUIRED_BEFORE(...) \ + THREAD_ANNOTATION_ATTRIBUTE__(acquired_before(__VA_ARGS__)) + +#define ACQUIRED_AFTER(...) \ + THREAD_ANNOTATION_ATTRIBUTE__(acquired_after(__VA_ARGS__)) + +#define REQUIRES(...) \ + THREAD_ANNOTATION_ATTRIBUTE__(requires_capability(__VA_ARGS__)) + +#define REQUIRES_SHARED(...) \ + THREAD_ANNOTATION_ATTRIBUTE__(requires_shared_capability(__VA_ARGS__)) + +#define ACQUIRE(...) \ + THREAD_ANNOTATION_ATTRIBUTE__(acquire_capability(__VA_ARGS__)) + +#define ACQUIRE_SHARED(...) \ + THREAD_ANNOTATION_ATTRIBUTE__(acquire_shared_capability(__VA_ARGS__)) + +#define RELEASE(...) \ + THREAD_ANNOTATION_ATTRIBUTE__(release_capability(__VA_ARGS__)) + +#define RELEASE_SHARED(...) \ + THREAD_ANNOTATION_ATTRIBUTE__(release_shared_capability(__VA_ARGS__)) + +#define TRY_ACQUIRE(...) \ + THREAD_ANNOTATION_ATTRIBUTE__(try_acquire_capability(__VA_ARGS__)) + +#define TRY_ACQUIRE_SHARED(...) \ + THREAD_ANNOTATION_ATTRIBUTE__(try_acquire_shared_capability(__VA_ARGS__)) + +#define EXCLUDES(...) \ + THREAD_ANNOTATION_ATTRIBUTE__(locks_excluded(__VA_ARGS__)) + +#define ASSERT_CAPABILITY(x) \ + THREAD_ANNOTATION_ATTRIBUTE__(assert_capability(x)) + +#define ASSERT_SHARED_CAPABILITY(x) \ + THREAD_ANNOTATION_ATTRIBUTE__(assert_shared_capability(x)) + +#define RETURN_CAPABILITY(x) \ + THREAD_ANNOTATION_ATTRIBUTE__(lock_returned(x)) + +#define NO_THREAD_SAFETY_ANALYSIS \ + THREAD_ANNOTATION_ATTRIBUTE__(no_thread_safety_analysis) + +namespace SimpleWeb { + /// Defines an annotated interface for mutexes. + class CAPABILITY("mutex") Mutex { + std::mutex mutex; + + public: + void lock() ACQUIRE() { + mutex.lock(); + } + + void unlock() RELEASE() { + mutex.unlock(); + } + }; + + class SCOPED_CAPABILITY LockGuard { + Mutex &mutex; + bool locked = true; + + public: + LockGuard(Mutex &mutex_) ACQUIRE(mutex_) : mutex(mutex_) { + mutex.lock(); + } + void unlock() RELEASE() { + mutex.unlock(); + locked = false; + } + ~LockGuard() RELEASE() { + if(locked) + mutex.unlock(); + } + }; + +} // namespace SimpleWeb + +#endif // SIMPLE_WEB_MUTEX_HPP diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/server_ws.hpp b/src/comm/ros_bridge/Simple-WebSocket-Server/server_ws.hpp new file mode 100644 index 000000000..1216933ae --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/server_ws.hpp @@ -0,0 +1,827 @@ +#ifndef SIMPLE_WEB_SERVER_WS_HPP +#define SIMPLE_WEB_SERVER_WS_HPP + +#include "asio_compatibility.hpp" +#include "crypto.hpp" +#include "mutex.hpp" +#include "utility.hpp" +#include +#include +#include +#include +#include +#include +#include +#include + +// Late 2017 TODO: remove the following checks and always use std::regex +#ifdef USE_BOOST_REGEX +#include +namespace SimpleWeb { + namespace regex = boost; +} +#else +#include +namespace SimpleWeb { + namespace regex = std; +} +#endif + +namespace SimpleWeb { + template + class SocketServer; + + template + class SocketServerBase { + public: + class InMessage : public std::istream { + friend class SocketServerBase; + + public: + unsigned char fin_rsv_opcode; + std::size_t size() noexcept { + return length; + } + + /// Convenience function to return std::string. The stream buffer is consumed. + std::string string() noexcept { + try { + std::string str; + auto size = streambuf.size(); + str.resize(size); + read(&str[0], static_cast(size)); + return str; + } + catch(...) { + return std::string(); + } + } + + private: + InMessage() noexcept : std::istream(&streambuf), length(0) {} + InMessage(unsigned char fin_rsv_opcode, std::size_t length) noexcept : std::istream(&streambuf), fin_rsv_opcode(fin_rsv_opcode), length(length) {} + std::size_t length; + asio::streambuf streambuf; + }; + + /// The buffer is not consumed during send operations. + /// Do not alter while sending. + class OutMessage : public std::ostream { + friend class SocketServerBase; + + asio::streambuf streambuf; + + public: + OutMessage() noexcept : std::ostream(&streambuf) {} + OutMessage(std::size_t capacity) noexcept : std::ostream(&streambuf) { + streambuf.prepare(capacity); + } + + /// Returns the size of the buffer + std::size_t size() const noexcept { + return streambuf.size(); + } + }; + + class Connection : public std::enable_shared_from_this { + friend class SocketServerBase; + friend class SocketServer; + + public: + Connection(std::unique_ptr &&socket_) noexcept : socket(std::move(socket_)), timeout_idle(0), closed(false) {} + + std::string method, path, query_string, http_version; + + CaseInsensitiveMultimap header; + + regex::smatch path_match; + + std::string remote_endpoint_address() noexcept { + try { + return socket->lowest_layer().remote_endpoint().address().to_string(); + } + catch(...) { + } + return std::string(); + } + + unsigned short remote_endpoint_port() noexcept { + try { + return socket->lowest_layer().remote_endpoint().port(); + } + catch(...) { + } + return 0; + } + + private: + template + Connection(std::shared_ptr handler_runner_, long timeout_idle, Args &&... args) noexcept + : handler_runner(std::move(handler_runner_)), socket(new socket_type(std::forward(args)...)), timeout_idle(timeout_idle), closed(false) {} + + std::shared_ptr handler_runner; + + std::unique_ptr socket; // Socket must be unique_ptr since asio::ssl::stream is not movable + + asio::streambuf read_buffer; + std::shared_ptr fragmented_in_message; + + long timeout_idle; + + Mutex timer_mutex; + std::unique_ptr timer GUARDED_BY(timer_mutex); + + void close() noexcept { + error_code ec; + socket->lowest_layer().shutdown(asio::ip::tcp::socket::shutdown_both, ec); + socket->lowest_layer().cancel(ec); + } + + void set_timeout(long seconds = -1) noexcept { + bool use_timeout_idle = false; + if(seconds == -1) { + use_timeout_idle = true; + seconds = timeout_idle; + } + + LockGuard lock(timer_mutex); + + if(seconds == 0) { + timer = nullptr; + return; + } + + timer = std::unique_ptr(new asio::steady_timer(get_socket_executor(*socket), std::chrono::seconds(seconds))); + std::weak_ptr connection_weak(this->shared_from_this()); // To avoid keeping Connection instance alive longer than needed + timer->async_wait([connection_weak, use_timeout_idle](const error_code &ec) { + if(!ec) { + if(auto connection = connection_weak.lock()) { + if(use_timeout_idle) + connection->send_close(1000, "idle timeout"); // 1000=normal closure + else + connection->close(); + } + } + }); + } + + void cancel_timeout() noexcept { + LockGuard lock(timer_mutex); + if(timer) { + try { + timer->cancel(); + } + catch(...) { + } + } + } + + class OutData { + public: + OutData(std::shared_ptr out_header_, std::shared_ptr out_message_, + std::function &&callback_) noexcept + : out_header(std::move(out_header_)), out_message(std::move(out_message_)), callback(std::move(callback_)) {} + std::shared_ptr out_header; + std::shared_ptr out_message; + std::function callback; + }; + + Mutex send_queue_mutex; + std::list send_queue GUARDED_BY(send_queue_mutex); + + /// send_queue_mutex must be locked here + void send_from_queue() REQUIRES(send_queue_mutex) { + std::array buffers{send_queue.begin()->out_header->streambuf.data(), send_queue.begin()->out_message->streambuf.data()}; + auto self = this->shared_from_this(); + asio::async_write(*socket, buffers, [self](const error_code &ec, std::size_t /*bytes_transferred*/) { + auto lock = self->handler_runner->continue_lock(); + if(!lock) + return; + { + LockGuard lock(self->send_queue_mutex); + if(!ec) { + auto it = self->send_queue.begin(); + auto callback = std::move(it->callback); + self->send_queue.erase(it); + if(self->send_queue.size() > 0) + self->send_from_queue(); + + lock.unlock(); + if(callback) + callback(ec); + } + else { + // All handlers in the queue is called with ec: + std::vector> callbacks; + for(auto &out_data : self->send_queue) { + if(out_data.callback) + callbacks.emplace_back(std::move(out_data.callback)); + } + self->send_queue.clear(); + + lock.unlock(); + for(auto &callback : callbacks) + callback(ec); + } + } + }); + } + + std::atomic closed; + + public: + /// fin_rsv_opcode: 129=one fragment, text, 130=one fragment, binary, 136=close connection. + /// See http://tools.ietf.org/html/rfc6455#section-5.2 for more information. + void send(const std::shared_ptr &out_message, const std::function &callback = nullptr, unsigned char fin_rsv_opcode = 129) { + cancel_timeout(); + set_timeout(); + + std::size_t length = out_message->size(); + + auto out_header = std::make_shared(10); // Header is at most 10 bytes + + out_header->put(static_cast(fin_rsv_opcode)); + // Unmasked (first length byte<128) + if(length >= 126) { + std::size_t num_bytes; + if(length > 0xffff) { + num_bytes = 8; + out_header->put(127); + } + else { + num_bytes = 2; + out_header->put(126); + } + + for(std::size_t c = num_bytes - 1; c != static_cast(-1); c--) + out_header->put((static_cast(length) >> (8 * c)) % 256); + } + else + out_header->put(static_cast(length)); + + LockGuard lock(send_queue_mutex); + send_queue.emplace_back(out_header, out_message, callback); + if(send_queue.size() == 1) + send_from_queue(); + } + + /// Convenience function for sending a string. + /// fin_rsv_opcode: 129=one fragment, text, 130=one fragment, binary, 136=close connection. + /// See http://tools.ietf.org/html/rfc6455#section-5.2 for more information. + void send(string_view out_message_str, const std::function &callback = nullptr, unsigned char fin_rsv_opcode = 129) { + auto out_message = std::make_shared(); + out_message->write(out_message_str.data(), static_cast(out_message_str.size())); + send(out_message, callback, fin_rsv_opcode); + } + + void send_close(int status, const std::string &reason = "", const std::function &callback = nullptr) { + // Send close only once (in case close is initiated by server) + if(closed) + return; + closed = true; + + auto send_stream = std::make_shared(); + + send_stream->put(status >> 8); + send_stream->put(status % 256); + + *send_stream << reason; + + // fin_rsv_opcode=136: message close + send(send_stream, callback, 136); + } + }; + + class Endpoint { + friend class SocketServerBase; + + private: + Mutex connections_mutex; + std::unordered_set> connections GUARDED_BY(connections_mutex); + + public: + std::function, CaseInsensitiveMultimap &)> on_handshake; + std::function)> on_open; + std::function, std::shared_ptr)> on_message; + std::function, int, const std::string &)> on_close; + std::function, const error_code &)> on_error; + std::function)> on_ping; + std::function)> on_pong; + + std::unordered_set> get_connections() noexcept { + LockGuard lock(connections_mutex); + auto copy = connections; + return copy; + } + }; + + class Config { + friend class SocketServerBase; + + private: + Config(unsigned short port) noexcept : port(port) {} + + public: + /// Port number to use. Defaults to 80 for HTTP and 443 for HTTPS. Set to 0 get an assigned port. + unsigned short port; + /// If io_service is not set, number of threads that the server will use when start() is called. + /// Defaults to 1 thread. + std::size_t thread_pool_size = 1; + /// Timeout on request handling. Defaults to 5 seconds. + long timeout_request = 5; + /// Idle timeout. Defaults to no timeout. + long timeout_idle = 0; + /// Maximum size of incoming messages. Defaults to architecture maximum. + /// Exceeding this limit will result in a message_size error code and the connection will be closed. + std::size_t max_message_size = std::numeric_limits::max(); + /// Additional header fields to send when performing WebSocket handshake. + CaseInsensitiveMultimap header; + /// IPv4 address in dotted decimal form or IPv6 address in hexadecimal notation. + /// If empty, the address will be any address. + std::string address; + /// Set to false to avoid binding the socket to an address that is already in use. Defaults to true. + bool reuse_address = true; + }; + /// Set before calling start(). + Config config; + + private: + class regex_orderable : public regex::regex { + public: + std::string str; + + regex_orderable(const char *regex_cstr) : regex::regex(regex_cstr), str(regex_cstr) {} + regex_orderable(const std::string ®ex_str) : regex::regex(regex_str), str(regex_str) {} + bool operator<(const regex_orderable &rhs) const noexcept { + return str < rhs.str; + } + }; + + public: + /// Warning: do not add or remove endpoints after start() is called + std::map endpoint; + + /// If you know the server port in advance, use start() instead. + /// Returns assigned port. If io_service is not set, an internal io_service is created instead. + /// Call before accept_and_run(). + unsigned short bind() { + asio::ip::tcp::endpoint endpoint; + if(config.address.size() > 0) + endpoint = asio::ip::tcp::endpoint(make_address(config.address), config.port); + else + endpoint = asio::ip::tcp::endpoint(asio::ip::tcp::v6(), config.port); + + if(!io_service) { + io_service = std::make_shared(); + internal_io_service = true; + } + + if(!acceptor) + acceptor = std::unique_ptr(new asio::ip::tcp::acceptor(*io_service)); + acceptor->open(endpoint.protocol()); + acceptor->set_option(asio::socket_base::reuse_address(config.reuse_address)); + acceptor->bind(endpoint); + + after_bind(); + + return acceptor->local_endpoint().port(); + } + + /// If you know the server port in advance, use start() instead. + /// Accept requests, and if io_service was not set before calling bind(), run the internal io_service instead. + /// Call after bind(). + void accept_and_run() { + acceptor->listen(); + accept(); + + if(internal_io_service) { + if(io_service->stopped()) + restart(*io_service); + + // If thread_pool_size>1, start m_io_service.run() in (thread_pool_size-1) threads for thread-pooling + threads.clear(); + for(std::size_t c = 1; c < config.thread_pool_size; c++) { + threads.emplace_back([this]() { + this->io_service->run(); + }); + } + + // Main thread + if(config.thread_pool_size > 0) + io_service->run(); + + // Wait for the rest of the threads, if any, to finish as well + for(auto &t : threads) + t.join(); + } + } + + /// Start the server by calling bind() and accept_and_run() + void start() { + bind(); + accept_and_run(); + } + + /// Stop accepting new connections, and close current connections + void stop() noexcept { + if(acceptor) { + error_code ec; + acceptor->close(ec); + + for(auto &pair : endpoint) { + LockGuard lock(pair.second.connections_mutex); + for(auto &connection : pair.second.connections) + connection->close(); + pair.second.connections.clear(); + } + + if(internal_io_service) + io_service->stop(); + } + } + + /// Stop accepting new connections + void stop_accept() noexcept { + if(acceptor) { + error_code ec; + acceptor->close(ec); + } + } + + virtual ~SocketServerBase() noexcept {} + + std::unordered_set> get_connections() noexcept { + std::unordered_set> all_connections; + for(auto &e : endpoint) { + LockGuard lock(e.second.connections_mutex); + all_connections.insert(e.second.connections.begin(), e.second.connections.end()); + } + return all_connections; + } + + /** + * Upgrades a request, from for instance Simple-Web-Server, to a WebSocket connection. + * The parameters are moved to the Connection object. + * See also Server::on_upgrade in the Simple-Web-Server project. + * The socket's io_service is used, thus running start() is not needed. + * + * Example use: + * server.on_upgrade=[&socket_server] (auto socket, auto request) { + * auto connection=std::make_shared::Connection>(std::move(socket)); + * connection->method=std::move(request->method); + * connection->path=std::move(request->path); + * connection->query_string=std::move(request->query_string); + * connection->http_version=std::move(request->http_version); + * connection->header=std::move(request->header); + * socket_server.upgrade(connection); + * } + */ + void upgrade(const std::shared_ptr &connection) { + connection->handler_runner = handler_runner; + connection->timeout_idle = config.timeout_idle; + write_handshake(connection); + } + + /// If you have your own io_context, store its pointer here before running start(). + std::shared_ptr io_service; + + protected: + bool internal_io_service = false; + + std::unique_ptr acceptor; + std::vector threads; + + std::shared_ptr handler_runner; + + SocketServerBase(unsigned short port) noexcept : config(port), handler_runner(new ScopeRunner()) {} + + virtual void after_bind() {} + virtual void accept() = 0; + + void read_handshake(const std::shared_ptr &connection) { + connection->set_timeout(config.timeout_request); + asio::async_read_until(*connection->socket, connection->read_buffer, "\r\n\r\n", [this, connection](const error_code &ec, std::size_t /*bytes_transferred*/) { + connection->cancel_timeout(); + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + std::istream stream(&connection->read_buffer); + if(RequestMessage::parse(stream, connection->method, connection->path, connection->query_string, connection->http_version, connection->header)) + write_handshake(connection); + } + }); + } + + void write_handshake(const std::shared_ptr &connection) { + for(auto ®ex_endpoint : endpoint) { + regex::smatch path_match; + if(regex::regex_match(connection->path, path_match, regex_endpoint.first)) { + auto write_buffer = std::make_shared(); + std::ostream handshake(write_buffer.get()); + + StatusCode status_code = StatusCode::information_switching_protocols; + auto key_it = connection->header.find("Sec-WebSocket-Key"); + if(key_it == connection->header.end()) + status_code = StatusCode::client_error_upgrade_required; + else { + CaseInsensitiveMultimap response_header = config.header; + response_header.emplace("Upgrade", "websocket"); + response_header.emplace("Connection", "Upgrade"); + static auto ws_magic_string = "258EAFA5-E914-47DA-95CA-C5AB0DC85B11"; + auto sha1 = Crypto::sha1(key_it->second + ws_magic_string); + response_header.emplace("Sec-WebSocket-Accept", Crypto::Base64::encode(sha1)); + + if(regex_endpoint.second.on_handshake) + status_code = regex_endpoint.second.on_handshake(connection, response_header); + + if(status_code == StatusCode::information_switching_protocols) { + handshake << "HTTP/1.1 101 Web Socket Protocol Handshake\r\n"; + for(auto &header_field : response_header) + handshake << header_field.first << ": " << header_field.second << "\r\n"; + handshake << "\r\n"; + } + } + if(status_code != StatusCode::information_switching_protocols) + handshake << "HTTP/1.1 " + SimpleWeb::status_code(status_code) + "\r\n\r\n"; + + connection->path_match = std::move(path_match); + connection->set_timeout(config.timeout_request); + asio::async_write(*connection->socket, *write_buffer, [this, connection, write_buffer, ®ex_endpoint, status_code](const error_code &ec, std::size_t /*bytes_transferred*/) { + connection->cancel_timeout(); + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(status_code != StatusCode::information_switching_protocols) + return; + if(!ec) { + connection_open(connection, regex_endpoint.second); + read_message(connection, regex_endpoint.second); + } + else + connection_error(connection, regex_endpoint.second, ec); + }); + return; + } + } + } + + void read_message(const std::shared_ptr &connection, Endpoint &endpoint) const { + asio::async_read(*connection->socket, connection->read_buffer, asio::transfer_exactly(2), [this, connection, &endpoint](const error_code &ec, std::size_t bytes_transferred) { + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + if(bytes_transferred == 0) { // TODO: why does this happen sometimes? + read_message(connection, endpoint); + return; + } + std::istream stream(&connection->read_buffer); + + std::array first_bytes; + stream.read((char *)&first_bytes[0], 2); + + unsigned char fin_rsv_opcode = first_bytes[0]; + + // Close connection if unmasked message from client (protocol error) + if(first_bytes[1] < 128) { + const std::string reason("message from client not masked"); + connection->send_close(1002, reason); + connection_close(connection, endpoint, 1002, reason); + return; + } + + std::size_t length = (first_bytes[1] & 127); + + if(length == 126) { + // 2 next bytes is the size of content + asio::async_read(*connection->socket, connection->read_buffer, asio::transfer_exactly(2), [this, connection, &endpoint, fin_rsv_opcode](const error_code &ec, std::size_t /*bytes_transferred*/) { + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + std::istream stream(&connection->read_buffer); + + std::array length_bytes; + stream.read((char *)&length_bytes[0], 2); + + std::size_t length = 0; + std::size_t num_bytes = 2; + for(std::size_t c = 0; c < num_bytes; c++) + length += static_cast(length_bytes[c]) << (8 * (num_bytes - 1 - c)); + + read_message_content(connection, length, endpoint, fin_rsv_opcode); + } + else + connection_error(connection, endpoint, ec); + }); + } + else if(length == 127) { + // 8 next bytes is the size of content + asio::async_read(*connection->socket, connection->read_buffer, asio::transfer_exactly(8), [this, connection, &endpoint, fin_rsv_opcode](const error_code &ec, std::size_t /*bytes_transferred*/) { + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + std::istream stream(&connection->read_buffer); + + std::array length_bytes; + stream.read((char *)&length_bytes[0], 8); + + std::size_t length = 0; + std::size_t num_bytes = 8; + for(std::size_t c = 0; c < num_bytes; c++) + length += static_cast(length_bytes[c]) << (8 * (num_bytes - 1 - c)); + + read_message_content(connection, length, endpoint, fin_rsv_opcode); + } + else + connection_error(connection, endpoint, ec); + }); + } + else + read_message_content(connection, length, endpoint, fin_rsv_opcode); + } + else + connection_error(connection, endpoint, ec); + }); + } + + void read_message_content(const std::shared_ptr &connection, std::size_t length, Endpoint &endpoint, unsigned char fin_rsv_opcode) const { + if(length + (connection->fragmented_in_message ? connection->fragmented_in_message->length : 0) > config.max_message_size) { + connection_error(connection, endpoint, make_error_code::make_error_code(errc::message_size)); + const int status = 1009; + const std::string reason = "message too big"; + connection->send_close(status, reason); + connection_close(connection, endpoint, status, reason); + return; + } + asio::async_read(*connection->socket, connection->read_buffer, asio::transfer_exactly(4 + length), [this, connection, length, &endpoint, fin_rsv_opcode](const error_code &ec, std::size_t /*bytes_transferred*/) { + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + if(!ec) { + std::istream istream(&connection->read_buffer); + + // Read mask + std::array mask; + istream.read((char *)&mask[0], 4); + + std::shared_ptr in_message; + + // If fragmented message + if((fin_rsv_opcode & 0x80) == 0 || (fin_rsv_opcode & 0x0f) == 0) { + if(!connection->fragmented_in_message) { + connection->fragmented_in_message = std::shared_ptr(new InMessage(fin_rsv_opcode, length)); + connection->fragmented_in_message->fin_rsv_opcode |= 0x80; + } + else + connection->fragmented_in_message->length += length; + in_message = connection->fragmented_in_message; + } + else + in_message = std::shared_ptr(new InMessage(fin_rsv_opcode, length)); + std::ostream ostream(&in_message->streambuf); + for(std::size_t c = 0; c < length; c++) + ostream.put(istream.get() ^ mask[c % 4]); + + // If connection close + if((fin_rsv_opcode & 0x0f) == 8) { + connection->cancel_timeout(); + connection->set_timeout(); + + int status = 0; + if(length >= 2) { + unsigned char byte1 = in_message->get(); + unsigned char byte2 = in_message->get(); + status = (static_cast(byte1) << 8) + byte2; + } + + auto reason = in_message->string(); + connection->send_close(status, reason); + this->connection_close(connection, endpoint, status, reason); + } + // If ping + else if((fin_rsv_opcode & 0x0f) == 9) { + connection->cancel_timeout(); + connection->set_timeout(); + + // Send pong + auto out_message = std::make_shared(); + *out_message << in_message->string(); + connection->send(out_message, nullptr, fin_rsv_opcode + 1); + + if(endpoint.on_ping) + endpoint.on_ping(connection); + + // Next message + this->read_message(connection, endpoint); + } + // If pong + else if((fin_rsv_opcode & 0x0f) == 10) { + connection->cancel_timeout(); + connection->set_timeout(); + + if(endpoint.on_pong) + endpoint.on_pong(connection); + + // Next message + this->read_message(connection, endpoint); + } + // If fragmented message and not final fragment + else if((fin_rsv_opcode & 0x80) == 0) { + // Next message + this->read_message(connection, endpoint); + } + else { + connection->cancel_timeout(); + connection->set_timeout(); + + if(endpoint.on_message) + endpoint.on_message(connection, in_message); + + // Next message + // Only reset fragmented_in_message for non-control frames (control frames can be in between a fragmented message) + connection->fragmented_in_message = nullptr; + this->read_message(connection, endpoint); + } + } + else + this->connection_error(connection, endpoint, ec); + }); + } + + void connection_open(const std::shared_ptr &connection, Endpoint &endpoint) const { + connection->cancel_timeout(); + connection->set_timeout(); + + { + LockGuard lock(endpoint.connections_mutex); + endpoint.connections.insert(connection); + } + + if(endpoint.on_open) + endpoint.on_open(connection); + } + + void connection_close(const std::shared_ptr &connection, Endpoint &endpoint, int status, const std::string &reason) const { + connection->cancel_timeout(); + connection->set_timeout(); + + { + LockGuard lock(endpoint.connections_mutex); + endpoint.connections.erase(connection); + } + + if(endpoint.on_close) + endpoint.on_close(connection, status, reason); + } + + void connection_error(const std::shared_ptr &connection, Endpoint &endpoint, const error_code &ec) const { + connection->cancel_timeout(); + connection->set_timeout(); + + { + LockGuard lock(endpoint.connections_mutex); + endpoint.connections.erase(connection); + } + + if(endpoint.on_error) + endpoint.on_error(connection, ec); + } + }; + + template + class SocketServer : public SocketServerBase {}; + + using WS = asio::ip::tcp::socket; + + template <> + class SocketServer : public SocketServerBase { + public: + SocketServer() noexcept : SocketServerBase(80) {} + + protected: + void accept() override { + std::shared_ptr connection(new Connection(handler_runner, config.timeout_idle, *io_service)); + + acceptor->async_accept(*connection->socket, [this, connection](const error_code &ec) { + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + // Immediately start accepting a new connection (if io_service hasn't been stopped) + if(ec != error::operation_aborted) + accept(); + + if(!ec) { + asio::ip::tcp::no_delay option(true); + connection->socket->set_option(option); + + read_handshake(connection); + } + }); + } + }; +} // namespace SimpleWeb + +#endif /* SIMPLE_WEB_SERVER_WS_HPP */ diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/server_wss.hpp b/src/comm/ros_bridge/Simple-WebSocket-Server/server_wss.hpp new file mode 100644 index 000000000..534e845f5 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/server_wss.hpp @@ -0,0 +1,79 @@ +#ifndef SIMPLE_WEB_SERVER_WSS_HPP +#define SIMPLE_WEB_SERVER_WSS_HPP + +#include "server_ws.hpp" +#include +#include + +#ifdef USE_STANDALONE_ASIO +#include +#else +#include +#endif + + +namespace SimpleWeb { + using WSS = asio::ssl::stream; + + template <> + class SocketServer : public SocketServerBase { + bool set_session_id_context = false; + + public: + SocketServer(const std::string &cert_file, const std::string &private_key_file, const std::string &verify_file = std::string()) + : SocketServerBase(443), context(asio::ssl::context::tlsv12) { + context.use_certificate_chain_file(cert_file); + context.use_private_key_file(private_key_file, asio::ssl::context::pem); + + if(verify_file.size() > 0) { + context.load_verify_file(verify_file); + context.set_verify_mode(asio::ssl::verify_peer | asio::ssl::verify_fail_if_no_peer_cert | + asio::ssl::verify_client_once); + set_session_id_context = true; + } + } + + protected: + asio::ssl::context context; + + void after_bind() override { + if(set_session_id_context) { + // Creating session_id_context from address:port but reversed due to small SSL_MAX_SSL_SESSION_ID_LENGTH + auto session_id_context = std::to_string(acceptor->local_endpoint().port()) + ':'; + session_id_context.append(config.address.rbegin(), config.address.rend()); + SSL_CTX_set_session_id_context(context.native_handle(), reinterpret_cast(session_id_context.data()), + std::min(session_id_context.size(), SSL_MAX_SSL_SESSION_ID_LENGTH)); + } + } + + void accept() override { + std::shared_ptr connection(new Connection(handler_runner, config.timeout_idle, *io_service, context)); + + acceptor->async_accept(connection->socket->lowest_layer(), [this, connection](const error_code &ec) { + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + // Immediately start accepting a new connection (if io_service hasn't been stopped) + if(ec != error::operation_aborted) + accept(); + + if(!ec) { + asio::ip::tcp::no_delay option(true); + connection->socket->lowest_layer().set_option(option); + + connection->set_timeout(config.timeout_request); + connection->socket->async_handshake(asio::ssl::stream_base::server, [this, connection](const error_code &ec) { + auto lock = connection->handler_runner->continue_lock(); + if(!lock) + return; + connection->cancel_timeout(); + if(!ec) + read_handshake(connection); + }); + } + }); + } + }; +} // namespace SimpleWeb + +#endif /* SIMPLE_WEB_SERVER_WSS_HPP */ diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/status_code.hpp b/src/comm/ros_bridge/Simple-WebSocket-Server/status_code.hpp new file mode 100644 index 000000000..9f9ecc561 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/status_code.hpp @@ -0,0 +1,176 @@ +#ifndef SIMPLE_WEB_STATUS_CODE_HPP +#define SIMPLE_WEB_STATUS_CODE_HPP + +#include +#include +#include +#include +#include + +namespace SimpleWeb { + enum class StatusCode { + unknown = 0, + information_continue = 100, + information_switching_protocols, + information_processing, + success_ok = 200, + success_created, + success_accepted, + success_non_authoritative_information, + success_no_content, + success_reset_content, + success_partial_content, + success_multi_status, + success_already_reported, + success_im_used = 226, + redirection_multiple_choices = 300, + redirection_moved_permanently, + redirection_found, + redirection_see_other, + redirection_not_modified, + redirection_use_proxy, + redirection_switch_proxy, + redirection_temporary_redirect, + redirection_permanent_redirect, + client_error_bad_request = 400, + client_error_unauthorized, + client_error_payment_required, + client_error_forbidden, + client_error_not_found, + client_error_method_not_allowed, + client_error_not_acceptable, + client_error_proxy_authentication_required, + client_error_request_timeout, + client_error_conflict, + client_error_gone, + client_error_length_required, + client_error_precondition_failed, + client_error_payload_too_large, + client_error_uri_too_long, + client_error_unsupported_media_type, + client_error_range_not_satisfiable, + client_error_expectation_failed, + client_error_im_a_teapot, + client_error_misdirection_required = 421, + client_error_unprocessable_entity, + client_error_locked, + client_error_failed_dependency, + client_error_upgrade_required = 426, + client_error_precondition_required = 428, + client_error_too_many_requests, + client_error_request_header_fields_too_large = 431, + client_error_unavailable_for_legal_reasons = 451, + server_error_internal_server_error = 500, + server_error_not_implemented, + server_error_bad_gateway, + server_error_service_unavailable, + server_error_gateway_timeout, + server_error_http_version_not_supported, + server_error_variant_also_negotiates, + server_error_insufficient_storage, + server_error_loop_detected, + server_error_not_extended = 510, + server_error_network_authentication_required + }; + + inline const std::map &status_code_strings() { + static const std::map status_code_strings = { + {StatusCode::unknown, ""}, + {StatusCode::information_continue, "100 Continue"}, + {StatusCode::information_switching_protocols, "101 Switching Protocols"}, + {StatusCode::information_processing, "102 Processing"}, + {StatusCode::success_ok, "200 OK"}, + {StatusCode::success_created, "201 Created"}, + {StatusCode::success_accepted, "202 Accepted"}, + {StatusCode::success_non_authoritative_information, "203 Non-Authoritative Information"}, + {StatusCode::success_no_content, "204 No Content"}, + {StatusCode::success_reset_content, "205 Reset Content"}, + {StatusCode::success_partial_content, "206 Partial Content"}, + {StatusCode::success_multi_status, "207 Multi-Status"}, + {StatusCode::success_already_reported, "208 Already Reported"}, + {StatusCode::success_im_used, "226 IM Used"}, + {StatusCode::redirection_multiple_choices, "300 Multiple Choices"}, + {StatusCode::redirection_moved_permanently, "301 Moved Permanently"}, + {StatusCode::redirection_found, "302 Found"}, + {StatusCode::redirection_see_other, "303 See Other"}, + {StatusCode::redirection_not_modified, "304 Not Modified"}, + {StatusCode::redirection_use_proxy, "305 Use Proxy"}, + {StatusCode::redirection_switch_proxy, "306 Switch Proxy"}, + {StatusCode::redirection_temporary_redirect, "307 Temporary Redirect"}, + {StatusCode::redirection_permanent_redirect, "308 Permanent Redirect"}, + {StatusCode::client_error_bad_request, "400 Bad Request"}, + {StatusCode::client_error_unauthorized, "401 Unauthorized"}, + {StatusCode::client_error_payment_required, "402 Payment Required"}, + {StatusCode::client_error_forbidden, "403 Forbidden"}, + {StatusCode::client_error_not_found, "404 Not Found"}, + {StatusCode::client_error_method_not_allowed, "405 Method Not Allowed"}, + {StatusCode::client_error_not_acceptable, "406 Not Acceptable"}, + {StatusCode::client_error_proxy_authentication_required, "407 Proxy Authentication Required"}, + {StatusCode::client_error_request_timeout, "408 Request Timeout"}, + {StatusCode::client_error_conflict, "409 Conflict"}, + {StatusCode::client_error_gone, "410 Gone"}, + {StatusCode::client_error_length_required, "411 Length Required"}, + {StatusCode::client_error_precondition_failed, "412 Precondition Failed"}, + {StatusCode::client_error_payload_too_large, "413 Payload Too Large"}, + {StatusCode::client_error_uri_too_long, "414 URI Too Long"}, + {StatusCode::client_error_unsupported_media_type, "415 Unsupported Media Type"}, + {StatusCode::client_error_range_not_satisfiable, "416 Range Not Satisfiable"}, + {StatusCode::client_error_expectation_failed, "417 Expectation Failed"}, + {StatusCode::client_error_im_a_teapot, "418 I'm a teapot"}, + {StatusCode::client_error_misdirection_required, "421 Misdirected Request"}, + {StatusCode::client_error_unprocessable_entity, "422 Unprocessable Entity"}, + {StatusCode::client_error_locked, "423 Locked"}, + {StatusCode::client_error_failed_dependency, "424 Failed Dependency"}, + {StatusCode::client_error_upgrade_required, "426 Upgrade Required"}, + {StatusCode::client_error_precondition_required, "428 Precondition Required"}, + {StatusCode::client_error_too_many_requests, "429 Too Many Requests"}, + {StatusCode::client_error_request_header_fields_too_large, "431 Request Header Fields Too Large"}, + {StatusCode::client_error_unavailable_for_legal_reasons, "451 Unavailable For Legal Reasons"}, + {StatusCode::server_error_internal_server_error, "500 Internal Server Error"}, + {StatusCode::server_error_not_implemented, "501 Not Implemented"}, + {StatusCode::server_error_bad_gateway, "502 Bad Gateway"}, + {StatusCode::server_error_service_unavailable, "503 Service Unavailable"}, + {StatusCode::server_error_gateway_timeout, "504 Gateway Timeout"}, + {StatusCode::server_error_http_version_not_supported, "505 HTTP Version Not Supported"}, + {StatusCode::server_error_variant_also_negotiates, "506 Variant Also Negotiates"}, + {StatusCode::server_error_insufficient_storage, "507 Insufficient Storage"}, + {StatusCode::server_error_loop_detected, "508 Loop Detected"}, + {StatusCode::server_error_not_extended, "510 Not Extended"}, + {StatusCode::server_error_network_authentication_required, "511 Network Authentication Required"}}; + return status_code_strings; + } + + inline StatusCode status_code(const std::string &status_code_string) noexcept { + if(status_code_string.size() < 3) + return StatusCode::unknown; + + auto number = status_code_string.substr(0, 3); + if(number[0] < '0' || number[0] > '9' || number[1] < '0' || number[1] > '9' || number[2] < '0' || number[2] > '9') + return StatusCode::unknown; + + class StringToStatusCode : public std::unordered_map { + public: + StringToStatusCode() { + for(auto &status_code : status_code_strings()) + emplace(status_code.second.substr(0, 3), status_code.first); + } + }; + static StringToStatusCode string_to_status_code; + + auto pos = string_to_status_code.find(number); + if(pos == string_to_status_code.end()) + return static_cast(atoi(number.c_str())); + return pos->second; + } + + inline const std::string &status_code(StatusCode status_code_enum) noexcept { + auto pos = status_code_strings().find(status_code_enum); + if(pos == status_code_strings().end()) { + static std::string empty_string; + return empty_string; + } + return pos->second; + } +} // namespace SimpleWeb + +#endif // SIMPLE_WEB_STATUS_CODE_HPP diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/tests/CMakeLists.txt b/src/comm/ros_bridge/Simple-WebSocket-Server/tests/CMakeLists.txt new file mode 100644 index 000000000..f5b152639 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/tests/CMakeLists.txt @@ -0,0 +1,18 @@ +if(NOT MSVC) + add_compile_options(-fno-access-control) + if (CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wno-thread-safety) + endif() + + add_executable(parse_test parse_test.cpp) + target_link_libraries(parse_test simple-websocket-server) + add_test(parse_test parse_test) +endif() + +add_executable(crypto_test crypto_test.cpp) +target_link_libraries(crypto_test simple-websocket-server) +add_test(crypto_test crypto_test) + +add_executable(io_test io_test.cpp) +target_link_libraries(io_test simple-websocket-server) +add_test(io_test io_test) diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/tests/assert.hpp b/src/comm/ros_bridge/Simple-WebSocket-Server/tests/assert.hpp new file mode 100644 index 000000000..7d55ec7b5 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/tests/assert.hpp @@ -0,0 +1,9 @@ +#ifndef SIMPLE_WEB_ASSERT_HPP +#define SIMPLE_WEB_ASSERT_HPP + +#include +#include + +#define ASSERT(e) ((void)((e) ? ((void)0) : ((void)(std::cerr << "Assertion failed: (" << #e << "), function " << __func__ << ", file " << __FILE__ << ", line " << __LINE__ << ".\n"), std::abort()))) + +#endif /* SIMPLE_WEB_ASSERT_HPP */ diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/tests/crypto_test.cpp b/src/comm/ros_bridge/Simple-WebSocket-Server/tests/crypto_test.cpp new file mode 100644 index 000000000..9775a68cd --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/tests/crypto_test.cpp @@ -0,0 +1,73 @@ +#include "assert.hpp" +#include "crypto.hpp" +#include + +using namespace std; +using namespace SimpleWeb; + +const vector> base64_string_tests = { + {"", ""}, + {"f", "Zg=="}, + {"fo", "Zm8="}, + {"foo", "Zm9v"}, + {"foob", "Zm9vYg=="}, + {"fooba", "Zm9vYmE="}, + {"foobar", "Zm9vYmFy"}, + {"The itsy bitsy spider climbed up the waterspout.\r\nDown came the rain\r\nand washed the spider out.\r\nOut came the sun\r\nand dried up all the rain\r\nand the itsy bitsy spider climbed up the spout again.", + "VGhlIGl0c3kgYml0c3kgc3BpZGVyIGNsaW1iZWQgdXAgdGhlIHdhdGVyc3BvdXQuDQpEb3duIGNhbWUgdGhlIHJhaW4NCmFuZCB3YXNoZWQgdGhlIHNwaWRlciBvdXQuDQpPdXQgY2FtZSB0aGUgc3VuDQphbmQgZHJpZWQgdXAgYWxsIHRoZSByYWluDQphbmQgdGhlIGl0c3kgYml0c3kgc3BpZGVyIGNsaW1iZWQgdXAgdGhlIHNwb3V0IGFnYWluLg=="}}; + +const vector> md5_string_tests = { + {"", "d41d8cd98f00b204e9800998ecf8427e"}, + {"The quick brown fox jumps over the lazy dog", "9e107d9d372bb6826bd81d3542a419d6"}}; + +const vector> sha1_string_tests = { + {"", "da39a3ee5e6b4b0d3255bfef95601890afd80709"}, + {"The quick brown fox jumps over the lazy dog", "2fd4e1c67a2d28fced849ee1bb76e7391b93eb12"}}; + +const vector> sha256_string_tests = { + {"", "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855"}, + {"The quick brown fox jumps over the lazy dog", "d7a8fbb307d7809469ca9abcb0082e4f8d5651e46d3cdb762d02d0bf37c9e592"}}; + +const vector> sha512_string_tests = { + {"", "cf83e1357eefb8bdf1542850d66d8007d620e4050b5715dc83f4a921d36ce9ce47d0d13c5d85f2b0ff8318d2877eec2f63b931bd47417a81a538327af927da3e"}, + {"The quick brown fox jumps over the lazy dog", "07e547d9586f6a73f73fbac0435ed76951218fb7d0c8d788a309d785436bbb642e93a252a954f23912547d1e8a3b5ed6e1bfd7097821233fa0538f3db854fee6"}}; + +int main() { + for(auto &string_test : base64_string_tests) { + ASSERT(Crypto::Base64::encode(string_test.first) == string_test.second); + ASSERT(Crypto::Base64::decode(string_test.second) == string_test.first); + } + + for(auto &string_test : md5_string_tests) { + ASSERT(Crypto::to_hex_string(Crypto::md5(string_test.first)) == string_test.second); + stringstream ss(string_test.first); + ASSERT(Crypto::to_hex_string(Crypto::md5(ss)) == string_test.second); + } + + for(auto &string_test : sha1_string_tests) { + ASSERT(Crypto::to_hex_string(Crypto::sha1(string_test.first)) == string_test.second); + stringstream ss(string_test.first); + ASSERT(Crypto::to_hex_string(Crypto::sha1(ss)) == string_test.second); + } + + for(auto &string_test : sha256_string_tests) { + ASSERT(Crypto::to_hex_string(Crypto::sha256(string_test.first)) == string_test.second); + stringstream ss(string_test.first); + ASSERT(Crypto::to_hex_string(Crypto::sha256(ss)) == string_test.second); + } + + for(auto &string_test : sha512_string_tests) { + ASSERT(Crypto::to_hex_string(Crypto::sha512(string_test.first)) == string_test.second); + stringstream ss(string_test.first); + ASSERT(Crypto::to_hex_string(Crypto::sha512(ss)) == string_test.second); + } + + //Testing iterations + ASSERT(Crypto::to_hex_string(Crypto::sha1("Test", 1)) == "640ab2bae07bedc4c163f679a746f7ab7fb5d1fa"); + ASSERT(Crypto::to_hex_string(Crypto::sha1("Test", 2)) == "af31c6cbdecd88726d0a9b3798c71ef41f1624d5"); + stringstream ss("Test"); + ASSERT(Crypto::to_hex_string(Crypto::sha1(ss, 2)) == "af31c6cbdecd88726d0a9b3798c71ef41f1624d5"); + + ASSERT(Crypto::to_hex_string(Crypto::pbkdf2("Password", "Salt", 4096, 128 / 8)) == "f66df50f8aaa11e4d9721e1312ff2e66"); + ASSERT(Crypto::to_hex_string(Crypto::pbkdf2("Password", "Salt", 8192, 512 / 8)) == "a941ccbc34d1ee8ebbd1d34824a419c3dc4eac9cbc7c36ae6c7ca8725e2b618a6ad22241e787af937b0960cf85aa8ea3a258f243e05d3cc9b08af5dd93be046c"); +} diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/tests/io_test.cpp b/src/comm/ros_bridge/Simple-WebSocket-Server/tests/io_test.cpp new file mode 100644 index 000000000..2b00b902c --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/tests/io_test.cpp @@ -0,0 +1,289 @@ +#include "assert.hpp" +#include "client_ws.hpp" +#include "server_ws.hpp" + +using namespace std; + +typedef SimpleWeb::SocketServer WsServer; +typedef SimpleWeb::SocketClient WsClient; + +int main() { + WsServer server; + server.config.port = 8080; + server.config.thread_pool_size = 4; + + auto &echo = server.endpoint["^/echo/?$"]; + + atomic server_callback_count(0); + + echo.on_message = [&server_callback_count](shared_ptr connection, shared_ptr in_message) { + auto in_message_str = in_message->string(); + ASSERT(in_message_str == "Hello"); + + ++server_callback_count; + connection->send(in_message_str, [](const SimpleWeb::error_code &ec) { + if(ec) { + cerr << ec.message() << endl; + ASSERT(false); + } + }); + }; + + echo.on_open = [&server_callback_count](shared_ptr connection) { + ++server_callback_count; + ASSERT(!connection->remote_endpoint_address().empty()); + ASSERT(connection->remote_endpoint_port() > 0); + }; + + echo.on_close = [&server_callback_count](shared_ptr /*connection*/, int /*status*/, const string & /*reason*/) { + ++server_callback_count; + }; + + echo.on_error = [](shared_ptr /*connection*/, const SimpleWeb::error_code &ec) { + cerr << ec.message() << endl; + ASSERT(false); + }; + + auto &echo_thrice = server.endpoint["^/echo_thrice/?$"]; + echo_thrice.on_message = [](shared_ptr connection, shared_ptr in_message) { + auto out_message = make_shared(); + *out_message << in_message->string(); + + connection->send(out_message, [connection, out_message](const SimpleWeb::error_code &ec) { + if(!ec) + connection->send(out_message); + }); + connection->send(out_message); + }; + + auto &fragmented_message = server.endpoint["^/fragmented_message/?$"]; + fragmented_message.on_message = [&server_callback_count](shared_ptr connection, shared_ptr in_message) { + ++server_callback_count; + ASSERT(in_message->string() == "fragmented message"); + + connection->send("fragmented", nullptr, 1); + connection->send(" ", nullptr, 0); + connection->send("message", nullptr, 128); + }; + + thread server_thread([&server]() { + server.start(); + }); + + this_thread::sleep_for(chrono::seconds(1)); + + // test stop + server.stop(); + server_thread.join(); + + server_thread = thread([&server]() { + server.start(); + }); + + this_thread::sleep_for(chrono::seconds(1)); + + for(size_t i = 0; i < 400; ++i) { + WsClient client("localhost:8080/echo"); + + atomic client_callback_count(0); + atomic closed(false); + + client.on_message = [&](shared_ptr connection, shared_ptr in_message) { + ASSERT(in_message->string() == "Hello"); + + ++client_callback_count; + + ASSERT(!closed); + + connection->send_close(1000); + }; + + client.on_open = [&](shared_ptr connection) { + ++client_callback_count; + + ASSERT(!closed); + + connection->send("Hello"); + }; + + client.on_close = [&](shared_ptr /*connection*/, int /*status*/, const string & /*reason*/) { + ++client_callback_count; + ASSERT(!closed); + closed = true; + }; + + client.on_error = [](shared_ptr /*connection*/, const SimpleWeb::error_code &ec) { + cerr << ec.message() << endl; + ASSERT(false); + }; + + thread client_thread([&client]() { + client.start(); + }); + + while(!closed) + this_thread::sleep_for(chrono::milliseconds(5)); + + client.stop(); + client_thread.join(); + + ASSERT(client_callback_count == 3); + } + ASSERT(server_callback_count == 1200); + + for(size_t i = 0; i < 400; ++i) { + WsClient client("localhost:8080/echo_thrice"); + + atomic client_callback_count(0); + atomic closed(false); + + client.on_message = [&](shared_ptr connection, shared_ptr in_message) { + ASSERT(in_message->string() == "Hello"); + + ++client_callback_count; + + ASSERT(!closed); + + if(client_callback_count == 4) + connection->send_close(1000); + }; + + client.on_open = [&](shared_ptr connection) { + ++client_callback_count; + + ASSERT(!closed); + + connection->send("Hello"); + }; + + client.on_close = [&](shared_ptr /*connection*/, int /*status*/, const string & /*reason*/) { + ++client_callback_count; + ASSERT(!closed); + closed = true; + }; + + client.on_error = [](shared_ptr /*connection*/, const SimpleWeb::error_code &ec) { + cerr << ec.message() << endl; + ASSERT(false); + }; + + thread client_thread([&client]() { + client.start(); + }); + + while(!closed) + this_thread::sleep_for(chrono::milliseconds(5)); + + client.stop(); + client_thread.join(); + + ASSERT(client_callback_count == 5); + } + + { + WsClient client("localhost:8080/echo"); + + server_callback_count = 0; + atomic client_callback_count(0); + atomic closed(false); + + client.on_message = [&](shared_ptr connection, shared_ptr in_message) { + ASSERT(in_message->string() == "Hello"); + + ++client_callback_count; + + ASSERT(!closed); + + if(client_callback_count == 201) + connection->send_close(1000); + }; + + client.on_open = [&](shared_ptr connection) { + ++client_callback_count; + + ASSERT(!closed); + + for(size_t i = 0; i < 200; ++i) { + auto send_stream = make_shared(); + *send_stream << "Hello"; + connection->send(send_stream); + } + }; + + client.on_close = [&](shared_ptr /*connection*/, int /*status*/, const string & /*reason*/) { + ++client_callback_count; + ASSERT(!closed); + closed = true; + }; + + client.on_error = [](shared_ptr /*connection*/, const SimpleWeb::error_code &ec) { + cerr << ec.message() << endl; + ASSERT(false); + }; + + thread client_thread([&client]() { + client.start(); + }); + + while(!closed) + this_thread::sleep_for(chrono::milliseconds(5)); + + client.stop(); + client_thread.join(); + + ASSERT(client_callback_count == 202); + ASSERT(server_callback_count == 202); + } + + { + WsClient client("localhost:8080/fragmented_message"); + + server_callback_count = 0; + atomic client_callback_count(0); + atomic closed(false); + + client.on_message = [&](shared_ptr connection, shared_ptr in_message) { + ASSERT(in_message->string() == "fragmented message"); + + ++client_callback_count; + + connection->send_close(1000); + }; + + client.on_open = [&](shared_ptr connection) { + ++client_callback_count; + + ASSERT(!closed); + + connection->send("fragmented", nullptr, 1); + connection->send(" ", nullptr, 0); + connection->send("message", nullptr, 128); + }; + + client.on_close = [&](shared_ptr /*connection*/, int /*status*/, const string & /*reason*/) { + ASSERT(!closed); + closed = true; + }; + + client.on_error = [](shared_ptr /*connection*/, const SimpleWeb::error_code &ec) { + cerr << ec.message() << endl; + ASSERT(false); + }; + + thread client_thread([&client]() { + client.start(); + }); + + while(!closed) + this_thread::sleep_for(chrono::milliseconds(5)); + + client.stop(); + client_thread.join(); + + ASSERT(client_callback_count == 2); + ASSERT(server_callback_count == 1); + } + + server.stop(); + server_thread.join(); +} diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/tests/parse_test.cpp b/src/comm/ros_bridge/Simple-WebSocket-Server/tests/parse_test.cpp new file mode 100644 index 000000000..3345cdf31 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/tests/parse_test.cpp @@ -0,0 +1,153 @@ +#include "assert.hpp" +#include "client_ws.hpp" +#include "server_ws.hpp" +#include + +using namespace std; +using namespace SimpleWeb; + +class SocketServerTest : public SocketServerBase { +public: + SocketServerTest() : SocketServerBase::SocketServerBase(8080) {} + + void accept() {} + + void parse_request_test() { + std::shared_ptr connection(new Connection(handler_runner, 0, *io_service)); + + ostream ss(&connection->read_buffer); + ss << "GET /test/ HTTP/1.1\r\n"; + ss << "TestHeader: test\r\n"; + ss << "TestHeader2:test2\r\n"; + ss << "TestHeader3:test3a\r\n"; + ss << "TestHeader3:test3b\r\n"; + ss << "\r\n"; + + std::istream stream(&connection->read_buffer); + ASSERT(RequestMessage::parse(stream, connection->method, connection->path, connection->query_string, connection->http_version, connection->header)); + + ASSERT(connection->method == "GET"); + ASSERT(connection->path == "/test/"); + ASSERT(connection->http_version == "1.1"); + + ASSERT(connection->header.size() == 4); + auto header_it = connection->header.find("TestHeader"); + ASSERT(header_it != connection->header.end() && header_it->second == "test"); + header_it = connection->header.find("TestHeader2"); + ASSERT(header_it != connection->header.end() && header_it->second == "test2"); + + header_it = connection->header.find("testheader"); + ASSERT(header_it != connection->header.end() && header_it->second == "test"); + header_it = connection->header.find("testheader2"); + ASSERT(header_it != connection->header.end() && header_it->second == "test2"); + + auto range = connection->header.equal_range("testheader3"); + auto first = range.first; + auto second = first; + ++second; + ASSERT(range.first != connection->header.end() && range.second != connection->header.end() && + ((first->second == "test3a" && second->second == "test3b") || + (first->second == "test3b" && second->second == "test3a"))); + } +}; + +class SocketClientTest : public SocketClientBase { +public: + SocketClientTest(const std::string &server_port_path) : SocketClientBase::SocketClientBase(server_port_path, 80) {} + + void connect() {} + + void constructor_parse_test1() { + ASSERT(path == "/test"); + ASSERT(host == "test.org"); + ASSERT(port == 8080); + } + + void constructor_parse_test2() { + ASSERT(path == "/test"); + ASSERT(host == "test.org"); + ASSERT(port == 80); + } + + void constructor_parse_test3() { + ASSERT(path == "/"); + ASSERT(host == "test.org"); + ASSERT(port == 80); + } + + void constructor_parse_test4() { + ASSERT(path == "/"); + ASSERT(host == "test.org"); + ASSERT(port == 8080); + } + + void parse_response_header_test() { + auto connection = std::shared_ptr(new Connection(handler_runner, config.timeout_idle, *io_service)); + connection->in_message = std::shared_ptr(new InMessage()); + + ostream stream(&connection->in_message->streambuf); + stream << "HTTP/1.1 200 OK\r\n"; + stream << "TestHeader: test\r\n"; + stream << "TestHeader2:test2\r\n"; + stream << "TestHeader3:test3a\r\n"; + stream << "TestHeader3:test3b\r\n"; + stream << "\r\n"; + + ASSERT(ResponseMessage::parse(*connection->in_message, connection->http_version, connection->status_code, connection->header)); + + ASSERT(connection->header.size() == 4); + auto header_it = connection->header.find("TestHeader"); + ASSERT(header_it != connection->header.end() && header_it->second == "test"); + header_it = connection->header.find("TestHeader2"); + ASSERT(header_it != connection->header.end() && header_it->second == "test2"); + + header_it = connection->header.find("testheader"); + ASSERT(header_it != connection->header.end() && header_it->second == "test"); + header_it = connection->header.find("testheader2"); + ASSERT(header_it != connection->header.end() && header_it->second == "test2"); + + auto range = connection->header.equal_range("testheader3"); + auto first = range.first; + auto second = first; + ++second; + ASSERT(range.first != connection->header.end() && range.second != connection->header.end() && + ((first->second == "test3a" && second->second == "test3b") || + (first->second == "test3b" && second->second == "test3a"))); + + connection.reset(); + } +}; + +int main() { + ASSERT(case_insensitive_equal("Test", "tesT")); + ASSERT(case_insensitive_equal("tesT", "test")); + ASSERT(!case_insensitive_equal("test", "tseT")); + CaseInsensitiveEqual equal; + ASSERT(equal("Test", "tesT")); + ASSERT(equal("tesT", "test")); + ASSERT(!equal("test", "tset")); + CaseInsensitiveHash hash; + ASSERT(hash("Test") == hash("tesT")); + ASSERT(hash("tesT") == hash("test")); + ASSERT(hash("test") != hash("tset")); + + SocketServerTest serverTest; + serverTest.io_service = std::make_shared(); + + serverTest.parse_request_test(); + + SocketClientTest clientTest("test.org:8080/test"); + clientTest.constructor_parse_test1(); + + SocketClientTest clientTest2("test.org/test"); + clientTest2.constructor_parse_test2(); + + SocketClientTest clientTest3("test.org"); + clientTest3.constructor_parse_test3(); + + SocketClientTest clientTest4("test.org:8080"); + clientTest4.io_service = std::make_shared(); + clientTest4.constructor_parse_test4(); + + clientTest4.parse_response_header_test(); +} diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/utility.hpp b/src/comm/ros_bridge/Simple-WebSocket-Server/utility.hpp new file mode 100644 index 000000000..98808226a --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/utility.hpp @@ -0,0 +1,363 @@ +#ifndef SIMPLE_WEB_UTILITY_HPP +#define SIMPLE_WEB_UTILITY_HPP + +#include "status_code.hpp" +#include +#include +#include +#include +#include +#include + +#if __cplusplus > 201402L || _MSVC_LANG > 201402L +#include +namespace SimpleWeb { + using string_view = std::string_view; +} +#elif !defined(USE_STANDALONE_ASIO) +#include +namespace SimpleWeb { + using string_view = boost::string_ref; +} +#else +namespace SimpleWeb { + using string_view = const std::string &; +} +#endif + +namespace SimpleWeb { + inline bool case_insensitive_equal(const std::string &str1, const std::string &str2) noexcept { + return str1.size() == str2.size() && + std::equal(str1.begin(), str1.end(), str2.begin(), [](char a, char b) { + return tolower(a) == tolower(b); + }); + } + class CaseInsensitiveEqual { + public: + bool operator()(const std::string &str1, const std::string &str2) const noexcept { + return case_insensitive_equal(str1, str2); + } + }; + // Based on https://stackoverflow.com/questions/2590677/how-do-i-combine-hash-values-in-c0x/2595226#2595226 + class CaseInsensitiveHash { + public: + std::size_t operator()(const std::string &str) const noexcept { + std::size_t h = 0; + std::hash hash; + for(auto c : str) + h ^= hash(tolower(c)) + 0x9e3779b9 + (h << 6) + (h >> 2); + return h; + } + }; + + using CaseInsensitiveMultimap = std::unordered_multimap; + + /// Percent encoding and decoding + class Percent { + public: + /// Returns percent-encoded string + static std::string encode(const std::string &value) noexcept { + static auto hex_chars = "0123456789ABCDEF"; + + std::string result; + result.reserve(value.size()); // Minimum size of result + + for(auto &chr : value) { + if(!((chr >= '0' && chr <= '9') || (chr >= 'A' && chr <= 'Z') || (chr >= 'a' && chr <= 'z') || chr == '-' || chr == '.' || chr == '_' || chr == '~')) + result += std::string("%") + hex_chars[static_cast(chr) >> 4] + hex_chars[static_cast(chr) & 15]; + else + result += chr; + } + + return result; + } + + /// Returns percent-decoded string + static std::string decode(const std::string &value) noexcept { + std::string result; + result.reserve(value.size() / 3 + (value.size() % 3)); // Minimum size of result + + for(std::size_t i = 0; i < value.size(); ++i) { + auto &chr = value[i]; + if(chr == '%' && i + 2 < value.size()) { + auto hex = value.substr(i + 1, 2); + auto decoded_chr = static_cast(std::strtol(hex.c_str(), nullptr, 16)); + result += decoded_chr; + i += 2; + } + else if(chr == '+') + result += ' '; + else + result += chr; + } + + return result; + } + }; + + /// Query string creation and parsing + class QueryString { + public: + /// Returns query string created from given field names and values + static std::string create(const CaseInsensitiveMultimap &fields) noexcept { + std::string result; + + bool first = true; + for(auto &field : fields) { + result += (!first ? "&" : "") + field.first + '=' + Percent::encode(field.second); + first = false; + } + + return result; + } + + /// Returns query keys with percent-decoded values. + static CaseInsensitiveMultimap parse(const std::string &query_string) noexcept { + CaseInsensitiveMultimap result; + + if(query_string.empty()) + return result; + + std::size_t name_pos = 0; + auto name_end_pos = std::string::npos; + auto value_pos = std::string::npos; + for(std::size_t c = 0; c < query_string.size(); ++c) { + if(query_string[c] == '&') { + auto name = query_string.substr(name_pos, (name_end_pos == std::string::npos ? c : name_end_pos) - name_pos); + if(!name.empty()) { + auto value = value_pos == std::string::npos ? std::string() : query_string.substr(value_pos, c - value_pos); + result.emplace(std::move(name), Percent::decode(value)); + } + name_pos = c + 1; + name_end_pos = std::string::npos; + value_pos = std::string::npos; + } + else if(query_string[c] == '=') { + name_end_pos = c; + value_pos = c + 1; + } + } + if(name_pos < query_string.size()) { + auto name = query_string.substr(name_pos, name_end_pos - name_pos); + if(!name.empty()) { + auto value = value_pos >= query_string.size() ? std::string() : query_string.substr(value_pos); + result.emplace(std::move(name), Percent::decode(value)); + } + } + + return result; + } + }; + + class HttpHeader { + public: + /// Parse header fields + static CaseInsensitiveMultimap parse(std::istream &stream) noexcept { + CaseInsensitiveMultimap result; + std::string line; + std::size_t param_end; + while(getline(stream, line) && (param_end = line.find(':')) != std::string::npos) { + std::size_t value_start = param_end + 1; + while(value_start + 1 < line.size() && line[value_start] == ' ') + ++value_start; + if(value_start < line.size()) + result.emplace(line.substr(0, param_end), line.substr(value_start, line.size() - value_start - (line.back() == '\r' ? 1 : 0))); + } + return result; + } + + class FieldValue { + public: + class SemicolonSeparatedAttributes { + public: + /// Parse Set-Cookie or Content-Disposition header field value. Attribute values are percent-decoded. + static CaseInsensitiveMultimap parse(const std::string &str) { + CaseInsensitiveMultimap result; + + std::size_t name_start_pos = std::string::npos; + std::size_t name_end_pos = std::string::npos; + std::size_t value_start_pos = std::string::npos; + for(std::size_t c = 0; c < str.size(); ++c) { + if(name_start_pos == std::string::npos) { + if(str[c] != ' ' && str[c] != ';') + name_start_pos = c; + } + else { + if(name_end_pos == std::string::npos) { + if(str[c] == ';') { + result.emplace(str.substr(name_start_pos, c - name_start_pos), std::string()); + name_start_pos = std::string::npos; + } + else if(str[c] == '=') + name_end_pos = c; + } + else { + if(value_start_pos == std::string::npos) { + if(str[c] == '"' && c + 1 < str.size()) + value_start_pos = c + 1; + else + value_start_pos = c; + } + else if(str[c] == '"' || str[c] == ';') { + result.emplace(str.substr(name_start_pos, name_end_pos - name_start_pos), Percent::decode(str.substr(value_start_pos, c - value_start_pos))); + name_start_pos = std::string::npos; + name_end_pos = std::string::npos; + value_start_pos = std::string::npos; + } + } + } + } + if(name_start_pos != std::string::npos) { + if(name_end_pos == std::string::npos) + result.emplace(str.substr(name_start_pos), std::string()); + else if(value_start_pos != std::string::npos) { + if(str.back() == '"') + result.emplace(str.substr(name_start_pos, name_end_pos - name_start_pos), Percent::decode(str.substr(value_start_pos, str.size() - 1))); + else + result.emplace(str.substr(name_start_pos, name_end_pos - name_start_pos), Percent::decode(str.substr(value_start_pos))); + } + } + + return result; + } + }; + }; + }; // namespace SimpleWeb + + class RequestMessage { + public: + /// Parse request line and header fields + static bool parse(std::istream &stream, std::string &method, std::string &path, std::string &query_string, std::string &version, CaseInsensitiveMultimap &header) noexcept { + std::string line; + std::size_t method_end; + if(getline(stream, line) && (method_end = line.find(' ')) != std::string::npos) { + method = line.substr(0, method_end); + + std::size_t query_start = std::string::npos; + std::size_t path_and_query_string_end = std::string::npos; + for(std::size_t i = method_end + 1; i < line.size(); ++i) { + if(line[i] == '?' && (i + 1) < line.size()) + query_start = i + 1; + else if(line[i] == ' ') { + path_and_query_string_end = i; + break; + } + } + if(path_and_query_string_end != std::string::npos) { + if(query_start != std::string::npos) { + path = line.substr(method_end + 1, query_start - method_end - 2); + query_string = line.substr(query_start, path_and_query_string_end - query_start); + } + else + path = line.substr(method_end + 1, path_and_query_string_end - method_end - 1); + + std::size_t protocol_end; + if((protocol_end = line.find('/', path_and_query_string_end + 1)) != std::string::npos) { + if(line.compare(path_and_query_string_end + 1, protocol_end - path_and_query_string_end - 1, "HTTP") != 0) + return false; + version = line.substr(protocol_end + 1, line.size() - protocol_end - 2); + } + else + return false; + + header = HttpHeader::parse(stream); + } + else + return false; + } + else + return false; + return true; + } + }; + + class ResponseMessage { + public: + /// Parse status line and header fields + static bool parse(std::istream &stream, std::string &version, std::string &status_code, CaseInsensitiveMultimap &header) noexcept { + std::string line; + std::size_t version_end; + if(getline(stream, line) && (version_end = line.find(' ')) != std::string::npos) { + if(5 < line.size()) + version = line.substr(5, version_end - 5); + else + return false; + if((version_end + 1) < line.size()) + status_code = line.substr(version_end + 1, line.size() - (version_end + 1) - (line.back() == '\r' ? 1 : 0)); + else + return false; + + header = HttpHeader::parse(stream); + } + else + return false; + return true; + } + }; +} // namespace SimpleWeb + +#ifdef __SSE2__ +#include +namespace SimpleWeb { + inline void spin_loop_pause() noexcept { _mm_pause(); } +} // namespace SimpleWeb +// TODO: need verification that the following checks are correct: +#elif defined(_MSC_VER) && _MSC_VER >= 1800 && (defined(_M_X64) || defined(_M_IX86)) +#include +namespace SimpleWeb { + inline void spin_loop_pause() noexcept { _mm_pause(); } +} // namespace SimpleWeb +#else +namespace SimpleWeb { + inline void spin_loop_pause() noexcept {} +} // namespace SimpleWeb +#endif + +namespace SimpleWeb { + /// Makes it possible to for instance cancel Asio handlers without stopping asio::io_service + class ScopeRunner { + /// Scope count that is set to -1 if scopes are to be canceled + std::atomic count; + + public: + class SharedLock { + friend class ScopeRunner; + std::atomic &count; + SharedLock(std::atomic &count) noexcept : count(count) {} + SharedLock &operator=(const SharedLock &) = delete; + SharedLock(const SharedLock &) = delete; + + public: + ~SharedLock() noexcept { + count.fetch_sub(1); + } + }; + + ScopeRunner() noexcept : count(0) {} + + /// Returns nullptr if scope should be exited, or a shared lock otherwise + std::unique_ptr continue_lock() noexcept { + long expected = count; + while(expected >= 0 && !count.compare_exchange_weak(expected, expected + 1)) + spin_loop_pause(); + + if(expected < 0) + return nullptr; + else + return std::unique_ptr(new SharedLock(count)); + } + + /// Blocks until all shared locks are released, then prevents future shared locks + void stop() noexcept { + long expected = 0; + while(!count.compare_exchange_weak(expected, -1)) { + if(expected < 0) + return; + expected = 0; + spin_loop_pause(); + } + } + }; +} // namespace SimpleWeb + +#endif // SIMPLE_WEB_UTILITY_HPP diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/ws_examples.cpp b/src/comm/ros_bridge/Simple-WebSocket-Server/ws_examples.cpp new file mode 100644 index 000000000..b85804868 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/ws_examples.cpp @@ -0,0 +1,145 @@ +#include "client_ws.hpp" +#include "server_ws.hpp" + +using namespace std; + +using WsServer = SimpleWeb::SocketServer; +using WsClient = SimpleWeb::SocketClient; + +int main() { + // WebSocket (WS)-server at port 8080 using 1 thread + WsServer server; + server.config.port = 8080; + + // Example 1: echo WebSocket endpoint + // Added debug messages for example use of the callbacks + // Test with the following JavaScript: + // var ws=new WebSocket("ws://localhost:8080/echo"); + // ws.onmessage=function(evt){console.log(evt.data);}; + // ws.send("test"); + auto &echo = server.endpoint["^/echo/?$"]; + + echo.on_message = [](shared_ptr connection, shared_ptr in_message) { + auto out_message = in_message->string(); + + cout << "Server: Message received: \"" << out_message << "\" from " << connection.get() << endl; + + cout << "Server: Sending message \"" << out_message << "\" to " << connection.get() << endl; + + // connection->send is an asynchronous function + connection->send(out_message, [](const SimpleWeb::error_code &ec) { + if(ec) { + cout << "Server: Error sending message. " << + // See http://www.boost.org/doc/libs/1_55_0/doc/html/boost_asio/reference.html, Error Codes for error code meanings + "Error: " << ec << ", error message: " << ec.message() << endl; + } + }); + + // Alternatively use streams: + // auto out_message = make_shared(); + // *out_message << in_message->string(); + // connection->send(out_message); + }; + + echo.on_open = [](shared_ptr connection) { + cout << "Server: Opened connection " << connection.get() << endl; + }; + + // See RFC 6455 7.4.1. for status codes + echo.on_close = [](shared_ptr connection, int status, const string & /*reason*/) { + cout << "Server: Closed connection " << connection.get() << " with status code " << status << endl; + }; + + // Can modify handshake response headers here if needed + echo.on_handshake = [](shared_ptr /*connection*/, SimpleWeb::CaseInsensitiveMultimap & /*response_header*/) { + return SimpleWeb::StatusCode::information_switching_protocols; // Upgrade to websocket + }; + + // See http://www.boost.org/doc/libs/1_55_0/doc/html/boost_asio/reference.html, Error Codes for error code meanings + echo.on_error = [](shared_ptr connection, const SimpleWeb::error_code &ec) { + cout << "Server: Error in connection " << connection.get() << ". " + << "Error: " << ec << ", error message: " << ec.message() << endl; + }; + + // Example 2: Echo thrice + // Demonstrating queuing of messages by sending a received message three times back to the client. + // Concurrent send operations are automatically queued by the library. + // Test with the following JavaScript: + // var ws=new WebSocket("ws://localhost:8080/echo_thrice"); + // ws.onmessage=function(evt){console.log(evt.data);}; + // ws.send("test"); + auto &echo_thrice = server.endpoint["^/echo_thrice/?$"]; + echo_thrice.on_message = [](shared_ptr connection, shared_ptr in_message) { + auto out_message = make_shared(in_message->string()); + + connection->send(*out_message, [connection, out_message](const SimpleWeb::error_code &ec) { + if(!ec) + connection->send(*out_message); // Sent after the first send operation is finished + }); + connection->send(*out_message); // Most likely queued. Sent after the first send operation is finished. + }; + + // Example 3: Echo to all WebSocket endpoints + // Sending received messages to all connected clients + // Test with the following JavaScript on more than one browser windows: + // var ws=new WebSocket("ws://localhost:8080/echo_all"); + // ws.onmessage=function(evt){console.log(evt.data);}; + // ws.send("test"); + auto &echo_all = server.endpoint["^/echo_all/?$"]; + echo_all.on_message = [&server](shared_ptr /*connection*/, shared_ptr in_message) { + auto out_message = in_message->string(); + + // echo_all.get_connections() can also be used to solely receive connections on this endpoint + for(auto &a_connection : server.get_connections()) + a_connection->send(out_message); + }; + + thread server_thread([&server]() { + // Start WS-server + server.start(); + }); + + // Wait for server to start so that the client can connect + this_thread::sleep_for(chrono::seconds(1)); + + // Example 4: Client communication with server + // Possible output: + // Server: Opened connection 0x7fcf21600380 + // Client: Opened connection + // Client: Sending message: "Hello" + // Server: Message received: "Hello" from 0x7fcf21600380 + // Server: Sending message "Hello" to 0x7fcf21600380 + // Client: Message received: "Hello" + // Client: Sending close connection + // Server: Closed connection 0x7fcf21600380 with status code 1000 + // Client: Closed connection with status code 1000 + WsClient client("localhost:8080/echo"); + client.on_message = [](shared_ptr connection, shared_ptr in_message) { + cout << "Client: Message received: \"" << in_message->string() << "\"" << endl; + + cout << "Client: Sending close connection" << endl; + connection->send_close(1000); + }; + + client.on_open = [](shared_ptr connection) { + cout << "Client: Opened connection" << endl; + + string out_message("Hello"); + cout << "Client: Sending message: \"" << out_message << "\"" << endl; + + connection->send(out_message); + }; + + client.on_close = [](shared_ptr /*connection*/, int status, const string & /*reason*/) { + cout << "Client: Closed connection with status code " << status << endl; + }; + + // See http://www.boost.org/doc/libs/1_55_0/doc/html/boost_asio/reference.html, Error Codes for error code meanings + client.on_error = [](shared_ptr /*connection*/, const SimpleWeb::error_code &ec) { + cout << "Client: Error: " << ec << ", error message: " << ec.message() << endl; + }; + + client.start(); + + server_thread.join(); +} diff --git a/src/comm/ros_bridge/Simple-WebSocket-Server/wss_examples.cpp b/src/comm/ros_bridge/Simple-WebSocket-Server/wss_examples.cpp new file mode 100644 index 000000000..28995c9f2 --- /dev/null +++ b/src/comm/ros_bridge/Simple-WebSocket-Server/wss_examples.cpp @@ -0,0 +1,146 @@ +#include "client_wss.hpp" +#include "server_wss.hpp" + +using namespace std; + +using WssServer = SimpleWeb::SocketServer; +using WssClient = SimpleWeb::SocketClient; + +int main() { + // WebSocket Secure (WSS)-server at port 8080 using 1 thread + WssServer server("server.crt", "server.key"); + server.config.port = 8080; + + // Example 1: echo WebSocket Secure endpoint + // Added debug messages for example use of the callbacks + // Test with the following JavaScript: + // var wss=new WebSocket("wss://localhost:8080/echo"); + // wss.onmessage=function(evt){console.log(evt.data);}; + // wss.send("test"); + auto &echo = server.endpoint["^/echo/?$"]; + + echo.on_message = [](shared_ptr connection, shared_ptr in_message) { + auto out_message = in_message->string(); + + cout << "Server: Message received: \"" << out_message << "\" from " << connection.get() << endl; + + cout << "Server: Sending message \"" << out_message << "\" to " << connection.get() << endl; + + // connection->send is an asynchronous function + connection->send(out_message, [](const SimpleWeb::error_code &ec) { + if(ec) { + cout << "Server: Error sending message. " << + // See http://www.boost.org/doc/libs/1_55_0/doc/html/boost_asio/reference.html, Error Codes for error code meanings + "Error: " << ec << ", error message: " << ec.message() << endl; + } + }); + + // Alternatively use streams: + // auto out_message = make_shared(); + // *out_message << in_message->string(); + // connection->send(out_message); + }; + + echo.on_open = [](shared_ptr connection) { + cout << "Server: Opened connection " << connection.get() << endl; + }; + + // See RFC 6455 7.4.1. for status codes + echo.on_close = [](shared_ptr connection, int status, const string & /*reason*/) { + cout << "Server: Closed connection " << connection.get() << " with status code " << status << endl; + }; + + // Can modify handshake response header here if needed + echo.on_handshake = [](shared_ptr /*connection*/, SimpleWeb::CaseInsensitiveMultimap & /*response_header*/) { + return SimpleWeb::StatusCode::information_switching_protocols; // Upgrade to websocket + }; + + // See http://www.boost.org/doc/libs/1_55_0/doc/html/boost_asio/reference.html, Error Codes for error code meanings + echo.on_error = [](shared_ptr connection, const SimpleWeb::error_code &ec) { + cout << "Server: Error in connection " << connection.get() << ". " + << "Error: " << ec << ", error message: " << ec.message() << endl; + }; + + // Example 2: Echo thrice + // Demonstrating queuing of messages by sending a received message three times back to the client. + // Concurrent send operations are automatically queued by the library. + // Test with the following JavaScript: + // var wss=new WebSocket("wss://localhost:8080/echo_thrice"); + // wss.onmessage=function(evt){console.log(evt.data);}; + // wss.send("test"); + auto &echo_thrice = server.endpoint["^/echo_thrice/?$"]; + echo_thrice.on_message = [](shared_ptr connection, shared_ptr in_message) { + auto out_message = make_shared(in_message->string()); + + connection->send(*out_message, [connection, out_message](const SimpleWeb::error_code &ec) { + if(!ec) + connection->send(*out_message); // Sent after the first send operation is finished + }); + connection->send(*out_message); // Most likely queued. Sent after the first send operation is finished. + }; + + // Example 3: Echo to all WebSocket Secure endpoints + // Sending received messages to all connected clients + // Test with the following JavaScript on more than one browser windows: + // var wss=new WebSocket("wss://localhost:8080/echo_all"); + // wss.onmessage=function(evt){console.log(evt.data);}; + // wss.send("test"); + auto &echo_all = server.endpoint["^/echo_all/?$"]; + echo_all.on_message = [&server](shared_ptr /*connection*/, shared_ptr in_message) { + auto out_message = in_message->string(); + + // echo_all.get_connections() can also be used to solely receive connections on this endpoint + for(auto &a_connection : server.get_connections()) + a_connection->send(out_message); + }; + + thread server_thread([&server]() { + // Start WSS-server + server.start(); + }); + + // Wait for server to start so that the client can connect + this_thread::sleep_for(chrono::seconds(1)); + + // Example 4: Client communication with server + // Second Client() parameter set to false: no certificate verification + // Possible output: + // Server: Opened connection 0x7fcf21600380 + // Client: Opened connection + // Client: Sending message: "Hello" + // Server: Message received: "Hello" from 0x7fcf21600380 + // Server: Sending message "Hello" to 0x7fcf21600380 + // Client: Message received: "Hello" + // Client: Sending close connection + // Server: Closed connection 0x7fcf21600380 with status code 1000 + // Client: Closed connection with status code 1000 + WssClient client("localhost:8080/echo", false); + client.on_message = [](shared_ptr connection, shared_ptr in_message) { + cout << "Client: Message received: \"" << in_message->string() << "\"" << endl; + + cout << "Client: Sending close connection" << endl; + connection->send_close(1000); + }; + + client.on_open = [](shared_ptr connection) { + cout << "Client: Opened connection" << endl; + + string out_message("Hello"); + cout << "Client: Sending message: \"" << out_message << "\"" << endl; + + connection->send(out_message); + }; + + client.on_close = [](shared_ptr /*connection*/, int status, const string & /*reason*/) { + cout << "Client: Closed connection with status code " << status << endl; + }; + + // See http://www.boost.org/doc/libs/1_55_0/doc/html/boost_asio/reference.html, Error Codes for error code meanings + client.on_error = [](shared_ptr /*connection*/, const SimpleWeb::error_code &ec) { + cout << "Client: Error: " << ec << ", error message: " << ec.message() << endl; + }; + + client.start(); + + server_thread.join(); +} diff --git a/src/comm/ros_bridge/include/jsongenerator.h b/src/comm/ros_bridge/include/jsongenerator.h new file mode 100644 index 000000000..55cc35950 --- /dev/null +++ b/src/comm/ros_bridge/include/jsongenerator.h @@ -0,0 +1,16 @@ +#ifndef JSONGENERATOR_H +#define JSONGENERATOR_H + +#include "rapidjson/include/rapidjson/document.h" + +namespace ros_bridge { + +template +class JsonGenerator { + +}; + +} +#endif // JSONGENERATOR_H diff --git a/src/comm/ros_bridge/include/messages.h b/src/comm/ros_bridge/include/messages.h new file mode 100644 index 000000000..279386c85 --- /dev/null +++ b/src/comm/ros_bridge/include/messages.h @@ -0,0 +1,155 @@ +#ifndef MESSAGES_H +#define MESSAGES_H + +#include +#include +#include + +namespace ros_bridge { + + //! @brief C++ representation of ros::Time + class Time{ + public: + Time(); + Time(uint32_t secs, uint32_t nsecs); + + uint32_t getSecs() const; + uint32_t getNSecs() const; + + void setSecs (uint32_t secs); + void setNSecs (uint32_t nsecs); + + private: + uint32_t _secs; + uint32_t _nsecs; + }; + + //! @brief C++ representation of std_msgs/Header + class Header{ + public: + Header(); + Header(uint32_t seq, const Time &stamp, const std::string &frame_id); + + uint32_t getSeq() const; + const Time &getStamp() const; + const std::string &getFrameId() const; + + void setSeq (uint32_t seq); + void setStamp (const Time & stamp); + void setFrameId (const std::string &frame_id); + + private: + uint32_t _seq; + Time _stamp; + std::string _frame_id; + }; + + //! @brief C++ representation of geometry_msgs/Point32 + class Point32{ + public: + Point32(); + Point32(_Float32 x, _Float32 y, _Float32 z); + + template + void set(_Float32 component) + { + static_assert (i < 3, "Index out of bonds."); + _components[i] = component; + } + + template + _Float32 get(void) const + { + static_assert (i < 3, "Index out of bonds."); + return _components[i]; + } + + private: + std::array<_Float32, 3> _components; + }; + + //! @brief C++ representation of geometry_msgs/Polygon + template + class Polygon{ + public: + Polygon(){} + Polygon(const std::vector &points) : _points(points) {} + Polygon(const Polygon &poly) : _points(poly.get()) {} + + const std::vector &get() const + { + return _points; + } + + void set(std::vector &points) + { + _points = points; + } + + void clear() + { + _points.clear(); + } + + PointType &at(unsigned int i) + { + return _points.at(i); + } + + void push_back(const Point32 &p) + { + _points.push_back(p); + } + + void pop_back() + { + _points.pop_back(); + } + + private: + std::vector _points; + }; + + //! @brief C++ representation of geometry_msgs/PolygonStamped + template > + class PolygonStamped : public PolygonType{ + public: + PolygonStamped(); + PolygonStamped(const Header &header, const PolygonType &polygon) : + _header(header) + , PolygonType(polygon) {} + + private: + Header _header; + }; + + //! @brief C++ representation of jsk_recognition_msgs/PolygonArray + template , class HeaderType = Header, template class ContainerType = std::vector > + class PolygonArray{ + public: + PolygonArray() + : PolygonArray(HeaderType() + , ContainerType() + , ContainerType() + , ContainerType<_Float32>()) + {} + + PolygonArray(const HeaderType &header, + const ContainerType &polygons, + const ContainerType &labels, + const ContainerType<_Float32> &likelihood) + : _header(header) + , _polygons(polygons) + , _labels(labels) + , _likelihood(likelihood) + {} + + private: + HeaderType _header; + ContainerType _polygons; + ContainerType _labels; + ContainerType<_Float32> _likelihood; + }; +} + +#endif // MESSAGES_H diff --git a/src/comm/ros_bridge/rapidjson/.gitattributes b/src/comm/ros_bridge/rapidjson/.gitattributes new file mode 100644 index 000000000..6f598bb7f --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/.gitattributes @@ -0,0 +1,22 @@ +# Set the default behavior, in case people don't have core.autocrlf set. +* text=auto + +# Explicitly declare text files you want to always be normalized and converted +# to native line endings on checkout. +*.cpp text +*.h text +*.txt text +*.md text +*.cmake text +*.svg text +*.dot text +*.yml text +*.in text +*.sh text +*.autopkg text +Dockerfile text + +# Denote all files that are truly binary and should not be modified. +*.png binary +*.jpg binary +*.json binary \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/.gitignore b/src/comm/ros_bridge/rapidjson/.gitignore new file mode 100644 index 000000000..1d3073f7e --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/.gitignore @@ -0,0 +1,28 @@ +/bin/* +!/bin/data +!/bin/encodings +!/bin/jsonchecker +!/bin/types +/build +/doc/html +/doc/doxygen_*.db +*.a + +# Temporary files created during CMake build +CMakeCache.txt +CMakeFiles +cmake_install.cmake +CTestTestfile.cmake +Makefile +RapidJSON*.cmake +RapidJSON.pc +Testing +/googletest +install_manifest.txt +Doxyfile +Doxyfile.zh-cn +DartConfiguration.tcl +*.nupkg + +# Files created by OS +*.DS_Store diff --git a/src/comm/ros_bridge/rapidjson/.gitmodules b/src/comm/ros_bridge/rapidjson/.gitmodules new file mode 100644 index 000000000..5e41f7c97 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/.gitmodules @@ -0,0 +1,3 @@ +[submodule "thirdparty/gtest"] + path = thirdparty/gtest + url = https://github.com/google/googletest.git diff --git a/src/comm/ros_bridge/rapidjson/.travis.yml b/src/comm/ros_bridge/rapidjson/.travis.yml new file mode 100644 index 000000000..df821a709 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/.travis.yml @@ -0,0 +1,99 @@ +sudo: required +dist: trusty +group: edge + +language: cpp +cache: + - ccache + +env: + global: + - USE_CCACHE=1 + - CCACHE_SLOPPINESS=pch_defines,time_macros + - CCACHE_COMPRESS=1 + - CCACHE_MAXSIZE=100M + - ARCH_FLAGS_x86='-m32' # #266: don't use SSE on 32-bit + - ARCH_FLAGS_x86_64='-msse4.2' # use SSE4.2 on 64-bit + - GITHUB_REPO='Tencent/rapidjson' + - secure: "HrsaCb+N66EG1HR+LWH1u51SjaJyRwJEDzqJGYMB7LJ/bfqb9mWKF1fLvZGk46W5t7TVaXRDD5KHFx9DPWvKn4gRUVkwTHEy262ah5ORh8M6n/6VVVajeV/AYt2C0sswdkDBDO4Xq+xy5gdw3G8s1A4Inbm73pUh+6vx+7ltBbk=" + +before_install: + - sudo apt-add-repository -y ppa:ubuntu-toolchain-r/test + - sudo apt-get update -qq + - sudo apt-get install -y cmake valgrind g++-multilib libc6-dbg:i386 + +matrix: + include: + # gcc + - env: CONF=release ARCH=x86 CXX11=ON + compiler: gcc + - env: CONF=release ARCH=x86_64 CXX11=ON + compiler: gcc + - env: CONF=debug ARCH=x86 CXX11=OFF + compiler: gcc + - env: CONF=debug ARCH=x86_64 CXX11=OFF + compiler: gcc + # clang + - env: CONF=debug ARCH=x86 CXX11=ON CCACHE_CPP2=yes + compiler: clang + - env: CONF=debug ARCH=x86_64 CXX11=ON CCACHE_CPP2=yes + compiler: clang + - env: CONF=debug ARCH=x86 CXX11=OFF CCACHE_CPP2=yes + compiler: clang + - env: CONF=debug ARCH=x86_64 CXX11=OFF CCACHE_CPP2=yes + compiler: clang + - env: CONF=release ARCH=x86 CXX11=ON CCACHE_CPP2=yes + compiler: clang + - env: CONF=release ARCH=x86_64 CXX11=ON CCACHE_CPP2=yes + compiler: clang + # coverage report + - env: CONF=debug ARCH=x86 CXX11=ON GCOV_FLAGS='--coverage' + compiler: gcc + cache: + - ccache + - pip + after_success: + - pip install --user cpp-coveralls + - coveralls -r .. --gcov-options '\-lp' -e thirdparty -e example -e test -e build/CMakeFiles -e include/rapidjson/msinttypes -e include/rapidjson/internal/meta.h -e include/rapidjson/error/en.h + - env: CONF=debug ARCH=x86_64 GCOV_FLAGS='--coverage' + compiler: gcc + cache: + - ccache + - pip + after_success: + - pip install --user cpp-coveralls + - coveralls -r .. --gcov-options '\-lp' -e thirdparty -e example -e test -e build/CMakeFiles -e include/rapidjson/msinttypes -e include/rapidjson/internal/meta.h -e include/rapidjson/error/en.h + - script: # Documentation task + - cd build + - cmake .. -DRAPIDJSON_HAS_STDSTRING=ON -DCMAKE_VERBOSE_MAKEFILE=ON + - make travis_doc + cache: false + addons: + apt: + packages: + - doxygen + +before_script: + - ccache -s + # hack to avoid Valgrind bug (https://bugs.kde.org/show_bug.cgi?id=326469), + # exposed by merging PR#163 (using -march=native) + # TODO: Since this bug is already fixed. Remove this when valgrind can be upgraded. + - sed -i "s/-march=native//" CMakeLists.txt + - mkdir build + +script: + - if [ "$CXX" = "clang++" ]; then export CXXFLAGS="-stdlib=libc++ ${CXXFLAGS}"; fi + - > + eval "ARCH_FLAGS=\${ARCH_FLAGS_${ARCH}}" ; + (cd build && cmake + -DRAPIDJSON_HAS_STDSTRING=ON + -DRAPIDJSON_BUILD_CXX11=$CXX11 + -DCMAKE_VERBOSE_MAKEFILE=ON + -DCMAKE_BUILD_TYPE=$CONF + -DCMAKE_CXX_FLAGS="$ARCH_FLAGS $GCOV_FLAGS" + -DCMAKE_EXE_LINKER_FLAGS=$GCOV_FLAGS + ..) + - cd build + - make tests -j 2 + - make examples -j 2 + - ctest -j 2 -V `[ "$CONF" = "release" ] || echo "-E perftest"` diff --git a/src/comm/ros_bridge/rapidjson/CHANGELOG.md b/src/comm/ros_bridge/rapidjson/CHANGELOG.md new file mode 100644 index 000000000..1c580bd14 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/CHANGELOG.md @@ -0,0 +1,158 @@ +# Change Log +All notable changes to this project will be documented in this file. +This project adheres to [Semantic Versioning](http://semver.org/). + +## [Unreleased] + +## 1.1.0 - 2016-08-25 + +### Added +* Add GenericDocument ctor overload to specify JSON type (#369) +* Add FAQ (#372, #373, #374, #376) +* Add forward declaration header `fwd.h` +* Add @PlatformIO Library Registry manifest file (#400) +* Implement assignment operator for BigInteger (#404) +* Add comments support (#443) +* Adding coapp definition (#460) +* documenttest.cpp: EXPECT_THROW when checking empty allocator (470) +* GenericDocument: add implicit conversion to ParseResult (#480) +* Use with C++ linkage on Windows ARM (#485) +* Detect little endian for Microsoft ARM targets +* Check Nan/Inf when writing a double (#510) +* Add JSON Schema Implementation (#522) +* Add iostream wrapper (#530) +* Add Jsonx example for converting JSON into JSONx (a XML format) (#531) +* Add optional unresolvedTokenIndex parameter to Pointer::Get() (#532) +* Add encoding validation option for Writer/PrettyWriter (#534) +* Add Writer::SetMaxDecimalPlaces() (#536) +* Support {0, } and {0, m} in Regex (#539) +* Add Value::Get/SetFloat(), Value::IsLossLessFloat/Double() (#540) +* Add stream position check to reader unit tests (#541) +* Add Templated accessors and range-based for (#542) +* Add (Pretty)Writer::RawValue() (#543) +* Add Document::Parse(std::string), Document::Parse(const char*, size_t length) and related APIs. (#553) +* Add move constructor for GenericSchemaDocument (#554) +* Add VS2010 and VS2015 to AppVeyor CI (#555) +* Add parse-by-parts example (#556, #562) +* Support parse number as string (#564, #589) +* Add kFormatSingleLineArray for PrettyWriter (#577) +* Added optional support for trailing commas (#584) +* Added filterkey and filterkeydom examples (#615) +* Added npm docs (#639) +* Allow options for writing and parsing NaN/Infinity (#641) +* Add std::string overload to PrettyWriter::Key() when RAPIDJSON_HAS_STDSTRING is defined (#698) + +### Fixed +* Fix gcc/clang/vc warnings (#350, #394, #397, #444, #447, #473, #515, #582, #589, #595, #667) +* Fix documentation (#482, #511, #550, #557, #614, #635, #660) +* Fix emscripten alignment issue (#535) +* Fix missing allocator to uses of AddMember in document (#365) +* CMake will no longer complain that the minimum CMake version is not specified (#501) +* Make it usable with old VC8 (VS2005) (#383) +* Prohibit C++11 move from Document to Value (#391) +* Try to fix incorrect 64-bit alignment (#419) +* Check return of fwrite to avoid warn_unused_result build failures (#421) +* Fix UB in GenericDocument::ParseStream (#426) +* Keep Document value unchanged on parse error (#439) +* Add missing return statement (#450) +* Fix Document::Parse(const Ch*) for transcoding (#478) +* encodings.h: fix typo in preprocessor condition (#495) +* Custom Microsoft headers are necessary only for Visual Studio 2012 and lower (#559) +* Fix memory leak for invalid regex (26e69ffde95ba4773ab06db6457b78f308716f4b) +* Fix a bug in schema minimum/maximum keywords for 64-bit integer (e7149d665941068ccf8c565e77495521331cf390) +* Fix a crash bug in regex (#605) +* Fix schema "required" keyword cannot handle duplicated keys (#609) +* Fix cmake CMP0054 warning (#612) +* Added missing include guards in istreamwrapper.h and ostreamwrapper.h (#634) +* Fix undefined behaviour (#646) +* Fix buffer overrun using PutN (#673) +* Fix rapidjson::value::Get() may returns wrong data (#681) +* Add Flush() for all value types (#689) +* Handle malloc() fail in PoolAllocator (#691) +* Fix builds on x32 platform. #703 + +### Changed +* Clarify problematic JSON license (#392) +* Move Travis to container based infrastructure (#504, #558) +* Make whitespace array more compact (#513) +* Optimize Writer::WriteString() with SIMD (#544) +* x86-64 48-bit pointer optimization for GenericValue (#546) +* Define RAPIDJSON_HAS_CXX11_RVALUE_REFS directly in clang (#617) +* Make GenericSchemaDocument constructor explicit (#674) +* Optimize FindMember when use std::string (#690) + +## [1.0.2] - 2015-05-14 + +### Added +* Add Value::XXXMember(...) overloads for std::string (#335) + +### Fixed +* Include rapidjson.h for all internal/error headers. +* Parsing some numbers incorrectly in full-precision mode (`kFullPrecisionParseFlag`) (#342) +* Fix some numbers parsed incorrectly (#336) +* Fix alignment of 64bit platforms (#328) +* Fix MemoryPoolAllocator::Clear() to clear user-buffer (0691502573f1afd3341073dd24b12c3db20fbde4) + +### Changed +* CMakeLists for include as a thirdparty in projects (#334, #337) +* Change Document::ParseStream() to use stack allocator for Reader (ffbe38614732af8e0b3abdc8b50071f386a4a685) + +## [1.0.1] - 2015-04-25 + +### Added +* Changelog following [Keep a CHANGELOG](https://github.com/olivierlacan/keep-a-changelog) suggestions. + +### Fixed +* Parsing of some numbers (e.g. "1e-00011111111111") causing assertion (#314). +* Visual C++ 32-bit compilation error in `diyfp.h` (#317). + +## [1.0.0] - 2015-04-22 + +### Added +* 100% [Coverall](https://coveralls.io/r/Tencent/rapidjson?branch=master) coverage. +* Version macros (#311) + +### Fixed +* A bug in trimming long number sequence (4824f12efbf01af72b8cb6fc96fae7b097b73015). +* Double quote in unicode escape (#288). +* Negative zero roundtrip (double only) (#289). +* Standardize behavior of `memcpy()` and `malloc()` (0c5c1538dcfc7f160e5a4aa208ddf092c787be5a, #305, 0e8bbe5e3ef375e7f052f556878be0bd79e9062d). + +### Removed +* Remove an invalid `Document::ParseInsitu()` API (e7f1c6dd08b522cfcf9aed58a333bd9a0c0ccbeb). + +## 1.0-beta - 2015-04-8 + +### Added +* RFC 7159 (#101) +* Optional Iterative Parser (#76) +* Deep-copy values (#20) +* Error code and message (#27) +* ASCII Encoding (#70) +* `kParseStopWhenDoneFlag` (#83) +* `kParseFullPrecisionFlag` (881c91d696f06b7f302af6d04ec14dd08db66ceb) +* Add `Key()` to handler concept (#134) +* C++11 compatibility and support (#128) +* Optimized number-to-string and vice versa conversions (#137, #80) +* Short-String Optimization (#131) +* Local stream optimization by traits (#32) +* Travis & Appveyor Continuous Integration, with Valgrind verification (#24, #242) +* Redo all documentation (English, Simplified Chinese) + +### Changed +* Copyright ownership transferred to THL A29 Limited (a Tencent company). +* Migrating from Premake to CMAKE (#192) +* Resolve all warning reports + +### Removed +* Remove other JSON libraries for performance comparison (#180) + +## 0.11 - 2012-11-16 + +## 0.1 - 2011-11-18 + +[Unreleased]: https://github.com/Tencent/rapidjson/compare/v1.1.0...HEAD +[1.1.0]: https://github.com/Tencent/rapidjson/compare/v1.0.2...v1.1.0 +[1.0.2]: https://github.com/Tencent/rapidjson/compare/v1.0.1...v1.0.2 +[1.0.1]: https://github.com/Tencent/rapidjson/compare/v1.0.0...v1.0.1 +[1.0.0]: https://github.com/Tencent/rapidjson/compare/v1.0-beta...v1.0.0 diff --git a/src/comm/ros_bridge/rapidjson/CMakeLists.txt b/src/comm/ros_bridge/rapidjson/CMakeLists.txt new file mode 100644 index 000000000..0275672e0 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/CMakeLists.txt @@ -0,0 +1,221 @@ +CMAKE_MINIMUM_REQUIRED(VERSION 2.8) +if(POLICY CMP0025) + # detect Apple's Clang + cmake_policy(SET CMP0025 NEW) +endif() +if(POLICY CMP0054) + cmake_policy(SET CMP0054 NEW) +endif() + +SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules) + +PROJECT(RapidJSON CXX) + +set(LIB_MAJOR_VERSION "1") +set(LIB_MINOR_VERSION "1") +set(LIB_PATCH_VERSION "0") +set(LIB_VERSION_STRING "${LIB_MAJOR_VERSION}.${LIB_MINOR_VERSION}.${LIB_PATCH_VERSION}") + +# compile in release with debug info mode by default +if(NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Choose the type of build, options are: Debug Release RelWithDebInfo MinSizeRel." FORCE) +endif() + +# Build all binaries in a separate directory +SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin) + +option(RAPIDJSON_BUILD_DOC "Build rapidjson documentation." ON) +option(RAPIDJSON_BUILD_EXAMPLES "Build rapidjson examples." ON) +option(RAPIDJSON_BUILD_TESTS "Build rapidjson perftests and unittests." ON) +option(RAPIDJSON_BUILD_THIRDPARTY_GTEST + "Use gtest installation in `thirdparty/gtest` by default if available" OFF) + +option(RAPIDJSON_BUILD_CXX11 "Build rapidjson with C++11 (gcc/clang)" ON) +if(RAPIDJSON_BUILD_CXX11) + set(CMAKE_CXX_STANDARD 11) + set(CMAKE_CXX_STANDARD_REQUIRED TRUE) +endif() + +option(RAPIDJSON_BUILD_ASAN "Build rapidjson with address sanitizer (gcc/clang)" OFF) +option(RAPIDJSON_BUILD_UBSAN "Build rapidjson with undefined behavior sanitizer (gcc/clang)" OFF) + +option(RAPIDJSON_ENABLE_INSTRUMENTATION_OPT "Build rapidjson with -march or -mcpu options" ON) + +option(RAPIDJSON_HAS_STDSTRING "" OFF) +if(RAPIDJSON_HAS_STDSTRING) + add_definitions(-DRAPIDJSON_HAS_STDSTRING) +endif() + +find_program(CCACHE_FOUND ccache) +if(CCACHE_FOUND) + set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache) + set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache) + if (CMAKE_CXX_COMPILER_ID MATCHES "Clang") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Qunused-arguments -fcolor-diagnostics") + endif() +endif(CCACHE_FOUND) + +if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU") + if(RAPIDJSON_ENABLE_INSTRUMENTATION_OPT AND NOT CMAKE_CROSSCOMPILING) + if(CMAKE_SYSTEM_PROCESSOR STREQUAL "powerpc" OR CMAKE_SYSTEM_PROCESSOR STREQUAL "ppc64" OR CMAKE_SYSTEM_PROCESSOR STREQUAL "ppc64le") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mcpu=native") + else() + #FIXME: x86 is -march=native, but doesn't mean every arch is this option. To keep original project's compatibility, I leave this except POWER. + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native") + endif() + endif() + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Werror") + set(EXTRA_CXX_FLAGS -Weffc++ -Wswitch-default -Wfloat-equal -Wconversion -Wsign-conversion) + if (RAPIDJSON_BUILD_CXX11 AND CMAKE_VERSION VERSION_LESS 3.1) + if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "4.7.0") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") + else() + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") + endif() + endif() + if (RAPIDJSON_BUILD_ASAN) + if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "4.8.0") + message(FATAL_ERROR "GCC < 4.8 doesn't support the address sanitizer") + else() + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=address") + endif() + endif() + if (RAPIDJSON_BUILD_UBSAN) + if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "4.9.0") + message(FATAL_ERROR "GCC < 4.9 doesn't support the undefined behavior sanitizer") + else() + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=undefined") + endif() + endif() +elseif (CMAKE_CXX_COMPILER_ID MATCHES "Clang") + if(NOT CMAKE_CROSSCOMPILING) + if(CMAKE_SYSTEM_PROCESSOR STREQUAL "powerpc" OR CMAKE_SYSTEM_PROCESSOR STREQUAL "ppc64" OR CMAKE_SYSTEM_PROCESSOR STREQUAL "ppc64le") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mcpu=native") + else() + #FIXME: x86 is -march=native, but doesn't mean every arch is this option. To keep original project's compatibility, I leave this except POWER. + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native") + endif() + endif() + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Werror -Wno-missing-field-initializers") + set(EXTRA_CXX_FLAGS -Weffc++ -Wswitch-default -Wfloat-equal -Wconversion -Wimplicit-fallthrough) + if (RAPIDJSON_BUILD_CXX11 AND CMAKE_VERSION VERSION_LESS 3.1) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") + endif() + if (RAPIDJSON_BUILD_ASAN) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=address") + endif() + if (RAPIDJSON_BUILD_UBSAN) + if (CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=undefined-trap -fsanitize-undefined-trap-on-error") + else() + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=undefined") + endif() + endif() +elseif (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC") + add_definitions(-D_CRT_SECURE_NO_WARNINGS=1) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc") +elseif (CMAKE_CXX_COMPILER_ID MATCHES "XL") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -qarch=auto") +endif() + +#add extra search paths for libraries and includes +SET(INCLUDE_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/include" CACHE PATH "The directory the headers are installed in") +SET(LIB_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/lib" CACHE STRING "Directory where lib will install") +SET(DOC_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/share/doc/${PROJECT_NAME}" CACHE PATH "Path to the documentation") + +IF(UNIX OR CYGWIN) + SET(_CMAKE_INSTALL_DIR "${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME}") +ELSEIF(WIN32) + SET(_CMAKE_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/cmake") +ENDIF() +SET(CMAKE_INSTALL_DIR "${_CMAKE_INSTALL_DIR}" CACHE PATH "The directory cmake files are installed in") + +include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include) + +if(RAPIDJSON_BUILD_DOC) + add_subdirectory(doc) +endif() + +add_custom_target(travis_doc) +add_custom_command(TARGET travis_doc + COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/travis-doxygen.sh) + +if(RAPIDJSON_BUILD_EXAMPLES) + add_subdirectory(example) +endif() + +if(RAPIDJSON_BUILD_TESTS) + if(MSVC11) + # required for VS2012 due to missing support for variadic templates + add_definitions(-D_VARIADIC_MAX=10) + endif(MSVC11) + add_subdirectory(test) + include(CTest) +endif() + +# pkg-config +IF (UNIX OR CYGWIN) + CONFIGURE_FILE (${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.pc.in + ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc + @ONLY) + INSTALL (FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc + DESTINATION "${LIB_INSTALL_DIR}/pkgconfig" + COMPONENT pkgconfig) +ENDIF() + +install(FILES readme.md + DESTINATION "${DOC_INSTALL_DIR}" + COMPONENT doc) + +install(DIRECTORY include/rapidjson + DESTINATION "${INCLUDE_INSTALL_DIR}" + COMPONENT dev) + +install(DIRECTORY example/ + DESTINATION "${DOC_INSTALL_DIR}/examples" + COMPONENT examples + # Following patterns are for excluding the intermediate/object files + # from an install of in-source CMake build. + PATTERN "CMakeFiles" EXCLUDE + PATTERN "Makefile" EXCLUDE + PATTERN "cmake_install.cmake" EXCLUDE) + +# Provide config and version files to be used by other applications +# =============================== + +################################################################################ +# Export package for use from the build tree +EXPORT( PACKAGE ${PROJECT_NAME} ) + +# Create the RapidJSONConfig.cmake file for other cmake projects. +# ... for the build tree +SET( CONFIG_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}) +SET( CONFIG_DIR ${CMAKE_CURRENT_BINARY_DIR}) +SET( ${PROJECT_NAME}_INCLUDE_DIR "\${${PROJECT_NAME}_SOURCE_DIR}/include" ) + +CONFIGURE_FILE( ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}Config.cmake.in + ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake @ONLY ) +CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}ConfigVersion.cmake.in + ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake @ONLY) + +# ... for the install tree +SET( CMAKECONFIG_INSTALL_DIR ${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME} ) +FILE( RELATIVE_PATH REL_INCLUDE_DIR + "${CMAKECONFIG_INSTALL_DIR}" + "${CMAKE_INSTALL_PREFIX}/include" ) + +SET( ${PROJECT_NAME}_INCLUDE_DIR "\${${PROJECT_NAME}_CMAKE_DIR}/${REL_INCLUDE_DIR}" ) +SET( CONFIG_SOURCE_DIR ) +SET( CONFIG_DIR ) +CONFIGURE_FILE( ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}Config.cmake.in + ${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/${PROJECT_NAME}Config.cmake @ONLY ) + +INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/${PROJECT_NAME}Config.cmake" + DESTINATION ${CMAKECONFIG_INSTALL_DIR} ) + +# Install files +INSTALL(FILES + ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake + ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake + DESTINATION "${CMAKE_INSTALL_DIR}" + COMPONENT dev) diff --git a/src/comm/ros_bridge/rapidjson/CMakeModules/FindGTestSrc.cmake b/src/comm/ros_bridge/rapidjson/CMakeModules/FindGTestSrc.cmake new file mode 100644 index 000000000..f3cb8c990 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/CMakeModules/FindGTestSrc.cmake @@ -0,0 +1,30 @@ + +SET(GTEST_SEARCH_PATH + "${GTEST_SOURCE_DIR}" + "${CMAKE_CURRENT_LIST_DIR}/../thirdparty/gtest/googletest") + +IF(UNIX) + IF(RAPIDJSON_BUILD_THIRDPARTY_GTEST) + LIST(APPEND GTEST_SEARCH_PATH "/usr/src/gtest") + ELSE() + LIST(INSERT GTEST_SEARCH_PATH 1 "/usr/src/gtest") + ENDIF() +ENDIF() + +FIND_PATH(GTEST_SOURCE_DIR + NAMES CMakeLists.txt src/gtest_main.cc + PATHS ${GTEST_SEARCH_PATH}) + + +# Debian installs gtest include directory in /usr/include, thus need to look +# for include directory separately from source directory. +FIND_PATH(GTEST_INCLUDE_DIR + NAMES gtest/gtest.h + PATH_SUFFIXES include + HINTS ${GTEST_SOURCE_DIR} + PATHS ${GTEST_SEARCH_PATH}) + +INCLUDE(FindPackageHandleStandardArgs) +find_package_handle_standard_args(GTestSrc DEFAULT_MSG + GTEST_SOURCE_DIR + GTEST_INCLUDE_DIR) diff --git a/src/comm/ros_bridge/rapidjson/RapidJSON.pc.in b/src/comm/ros_bridge/rapidjson/RapidJSON.pc.in new file mode 100644 index 000000000..6afb079f8 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/RapidJSON.pc.in @@ -0,0 +1,7 @@ +includedir=@INCLUDE_INSTALL_DIR@ + +Name: @PROJECT_NAME@ +Description: A fast JSON parser/generator for C++ with both SAX/DOM style API +Version: @LIB_VERSION_STRING@ +URL: https://github.com/Tencent/rapidjson +Cflags: -I${includedir} diff --git a/src/comm/ros_bridge/rapidjson/RapidJSONConfig.cmake.in b/src/comm/ros_bridge/rapidjson/RapidJSONConfig.cmake.in new file mode 100644 index 000000000..e3c65a541 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/RapidJSONConfig.cmake.in @@ -0,0 +1,15 @@ +################################################################################ +# RapidJSON source dir +set( RapidJSON_SOURCE_DIR "@CONFIG_SOURCE_DIR@") + +################################################################################ +# RapidJSON build dir +set( RapidJSON_DIR "@CONFIG_DIR@") + +################################################################################ +# Compute paths +get_filename_component(RapidJSON_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) + +set( RapidJSON_INCLUDE_DIR "@RapidJSON_INCLUDE_DIR@" ) +set( RapidJSON_INCLUDE_DIRS "@RapidJSON_INCLUDE_DIR@" ) +message(STATUS "RapidJSON found. Headers: ${RapidJSON_INCLUDE_DIRS}") diff --git a/src/comm/ros_bridge/rapidjson/RapidJSONConfigVersion.cmake.in b/src/comm/ros_bridge/rapidjson/RapidJSONConfigVersion.cmake.in new file mode 100644 index 000000000..25741fc09 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/RapidJSONConfigVersion.cmake.in @@ -0,0 +1,10 @@ +SET(PACKAGE_VERSION "@LIB_VERSION_STRING@") + +IF (PACKAGE_FIND_VERSION VERSION_EQUAL PACKAGE_VERSION) + SET(PACKAGE_VERSION_EXACT "true") +ENDIF (PACKAGE_FIND_VERSION VERSION_EQUAL PACKAGE_VERSION) +IF (NOT PACKAGE_FIND_VERSION VERSION_GREATER PACKAGE_VERSION) + SET(PACKAGE_VERSION_COMPATIBLE "true") +ELSE (NOT PACKAGE_FIND_VERSION VERSION_GREATER PACKAGE_VERSION) + SET(PACKAGE_VERSION_UNSUITABLE "true") +ENDIF (NOT PACKAGE_FIND_VERSION VERSION_GREATER PACKAGE_VERSION) diff --git a/src/comm/ros_bridge/rapidjson/appveyor.yml b/src/comm/ros_bridge/rapidjson/appveyor.yml new file mode 100644 index 000000000..376dc1976 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/appveyor.yml @@ -0,0 +1,54 @@ +version: 1.1.0.{build} + +configuration: +- Debug +- Release + +environment: + matrix: + # - VS_VERSION: 9 2008 + # VS_PLATFORM: win32 + # - VS_VERSION: 9 2008 + # VS_PLATFORM: x64 + - APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2013 + VS_VERSION: 10 2010 + VS_PLATFORM: win32 + - APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2013 + VS_VERSION: 10 2010 + VS_PLATFORM: x64 + - APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2013 + VS_VERSION: 11 2012 + VS_PLATFORM: win32 + - APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2013 + VS_VERSION: 11 2012 + VS_PLATFORM: x64 + - APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2013 + VS_VERSION: 12 2013 + VS_PLATFORM: win32 + - APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2013 + VS_VERSION: 12 2013 + VS_PLATFORM: x64 + - APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2015 + VS_VERSION: 14 2015 + VS_PLATFORM: win32 + - APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2015 + VS_VERSION: 14 2015 + VS_PLATFORM: x64 + - APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2017 + VS_VERSION: 15 2017 + VS_PLATFORM: win32 + - APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2017 + VS_VERSION: 15 2017 + VS_PLATFORM: x64 + +before_build: +- git submodule update --init --recursive +- cmake -H. -BBuild/VS -G "Visual Studio %VS_VERSION%" -DCMAKE_GENERATOR_PLATFORM=%VS_PLATFORM% -DCMAKE_VERBOSE_MAKEFILE=ON -DBUILD_SHARED_LIBS=true -Wno-dev + +build: + project: Build\VS\RapidJSON.sln + parallel: true + verbosity: minimal + +test_script: +- cd Build\VS && if %CONFIGURATION%==Debug (ctest --verbose -E perftest --build-config %CONFIGURATION%) else (ctest --verbose --build-config %CONFIGURATION%) diff --git a/src/comm/ros_bridge/rapidjson/bin/data/abcde.txt b/src/comm/ros_bridge/rapidjson/bin/data/abcde.txt new file mode 100644 index 000000000..6a8165460 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/data/abcde.txt @@ -0,0 +1 @@ +abcde \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/data/glossary.json b/src/comm/ros_bridge/rapidjson/bin/data/glossary.json new file mode 100644 index 000000000..d6e6ca150 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/data/glossary.json @@ -0,0 +1,22 @@ +{ + "glossary": { + "title": "example glossary", + "GlossDiv": { + "title": "S", + "GlossList": { + "GlossEntry": { + "ID": "SGML", + "SortAs": "SGML", + "GlossTerm": "Standard Generalized Markup Language", + "Acronym": "SGML", + "Abbrev": "ISO 8879:1986", + "GlossDef": { + "para": "A meta-markup language, used to create markup languages such as DocBook.", + "GlossSeeAlso": ["GML", "XML"] + }, + "GlossSee": "markup" + } + } + } + } +} \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/data/menu.json b/src/comm/ros_bridge/rapidjson/bin/data/menu.json new file mode 100644 index 000000000..539c3af20 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/data/menu.json @@ -0,0 +1,27 @@ +{"menu": { + "header": "SVG Viewer", + "items": [ + {"id": "Open"}, + {"id": "OpenNew", "label": "Open New"}, + null, + {"id": "ZoomIn", "label": "Zoom In"}, + {"id": "ZoomOut", "label": "Zoom Out"}, + {"id": "OriginalView", "label": "Original View"}, + null, + {"id": "Quality"}, + {"id": "Pause"}, + {"id": "Mute"}, + null, + {"id": "Find", "label": "Find..."}, + {"id": "FindAgain", "label": "Find Again"}, + {"id": "Copy"}, + {"id": "CopyAgain", "label": "Copy Again"}, + {"id": "CopySVG", "label": "Copy SVG"}, + {"id": "ViewSVG", "label": "View SVG"}, + {"id": "ViewSource", "label": "View Source"}, + {"id": "SaveAs", "label": "Save As"}, + null, + {"id": "Help"}, + {"id": "About", "label": "About Adobe CVG Viewer..."} + ] +}} \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/data/readme.txt b/src/comm/ros_bridge/rapidjson/bin/data/readme.txt new file mode 100644 index 000000000..c53bfb8b7 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/data/readme.txt @@ -0,0 +1 @@ +sample.json is obtained 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a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail1.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail1.json new file mode 100644 index 000000000..6216b865f --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail1.json @@ -0,0 +1 @@ +"A JSON payload should be an object or array, not a string." \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail10.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail10.json new file mode 100644 index 000000000..5d8c0047b --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail10.json @@ -0,0 +1 @@ +{"Extra value after close": true} "misplaced quoted value" \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail11.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail11.json new file mode 100644 index 000000000..76eb95b45 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail11.json @@ -0,0 +1 @@ +{"Illegal expression": 1 + 2} \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail12.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail12.json new file mode 100644 index 000000000..77580a452 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail12.json @@ -0,0 +1 @@ +{"Illegal invocation": alert()} \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail13.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail13.json new file mode 100644 index 000000000..379406b59 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail13.json @@ -0,0 +1 @@ +{"Numbers cannot have leading zeroes": 013} \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail14.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail14.json new file mode 100644 index 000000000..0ed366b38 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail14.json @@ -0,0 +1 @@ +{"Numbers cannot be hex": 0x14} \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail15.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail15.json new file mode 100644 index 000000000..fc8376b60 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail15.json @@ -0,0 +1 @@ +["Illegal backslash escape: \x15"] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail16.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail16.json new file mode 100644 index 000000000..3fe21d4b5 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail16.json @@ -0,0 +1 @@ +[\naked] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail17.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail17.json new file mode 100644 index 000000000..62b9214ae --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail17.json @@ -0,0 +1 @@ +["Illegal backslash escape: \017"] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail18.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail18.json new file mode 100644 index 000000000..edac92716 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail18.json @@ -0,0 +1 @@ +[[[[[[[[[[[[[[[[[[[["Too deep"]]]]]]]]]]]]]]]]]]]] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail19.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail19.json new file mode 100644 index 000000000..3b9c46fa9 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail19.json @@ -0,0 +1 @@ +{"Missing colon" null} \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail2.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail2.json new file mode 100644 index 000000000..6b7c11e5a --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail2.json @@ -0,0 +1 @@ +["Unclosed array" \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail20.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail20.json new file mode 100644 index 000000000..27c1af3e7 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail20.json @@ -0,0 +1 @@ +{"Double colon":: null} \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail21.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail21.json new file mode 100644 index 000000000..62474573b --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail21.json @@ -0,0 +1 @@ +{"Comma instead of colon", null} \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail22.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail22.json new file mode 100644 index 000000000..a7752581b --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail22.json @@ -0,0 +1 @@ +["Colon instead of comma": false] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail23.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail23.json new file mode 100644 index 000000000..494add1ca --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail23.json @@ -0,0 +1 @@ +["Bad value", truth] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail24.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail24.json new file mode 100644 index 000000000..caff239bf --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail24.json @@ -0,0 +1 @@ +['single quote'] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail25.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail25.json new file mode 100644 index 000000000..8b7ad23e0 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail25.json @@ -0,0 +1 @@ +[" tab character in string "] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail26.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail26.json new file mode 100644 index 000000000..845d26a6a --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail26.json @@ -0,0 +1 @@ +["tab\ character\ in\ string\ "] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail27.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail27.json new file mode 100644 index 000000000..6b01a2ca4 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail27.json @@ -0,0 +1,2 @@ +["line +break"] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail28.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail28.json new file mode 100644 index 000000000..621a0101c --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail28.json @@ -0,0 +1,2 @@ +["line\ +break"] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail29.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail29.json new file mode 100644 index 000000000..47ec421bb --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail29.json @@ -0,0 +1 @@ +[0e] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail3.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail3.json new file mode 100644 index 000000000..168c81eb7 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail3.json @@ -0,0 +1 @@ +{unquoted_key: "keys must be quoted"} \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail30.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail30.json new file mode 100644 index 000000000..8ab0bc4b8 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail30.json @@ -0,0 +1 @@ +[0e+] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail31.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail31.json new file mode 100644 index 000000000..1cce602b5 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail31.json @@ -0,0 +1 @@ +[0e+-1] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail32.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail32.json new file mode 100644 index 000000000..45cba7396 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail32.json @@ -0,0 +1 @@ +{"Comma instead if closing brace": true, \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail33.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail33.json new file mode 100644 index 000000000..ca5eb19dc --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail33.json @@ -0,0 +1 @@ +["mismatch"} \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail4.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail4.json new file mode 100644 index 000000000..9de168bf3 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail4.json @@ -0,0 +1 @@ +["extra comma",] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail5.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail5.json new file mode 100644 index 000000000..ddf3ce3d2 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail5.json @@ -0,0 +1 @@ +["double extra comma",,] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail6.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail6.json new file mode 100644 index 000000000..ed91580e1 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail6.json @@ -0,0 +1 @@ +[ , "<-- missing value"] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail7.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail7.json new file mode 100644 index 000000000..8a96af3e4 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail7.json @@ -0,0 +1 @@ +["Comma after the close"], \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail8.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail8.json new file mode 100644 index 000000000..b28479c6e --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail8.json @@ -0,0 +1 @@ +["Extra close"]] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail9.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail9.json new file mode 100644 index 000000000..5815574f3 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/fail9.json @@ -0,0 +1 @@ +{"Extra comma": true,} \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/pass1.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/pass1.json new file mode 100644 index 000000000..70e268543 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/pass1.json @@ -0,0 +1,58 @@ +[ + "JSON Test Pattern pass1", + {"object with 1 member":["array with 1 element"]}, + {}, + [], + -42, + true, + false, + null, + { + "integer": 1234567890, + "real": -9876.543210, + "e": 0.123456789e-12, + "E": 1.234567890E+34, + "": 23456789012E66, + "zero": 0, + "one": 1, + "space": " ", + "quote": "\"", + "backslash": "\\", + "controls": "\b\f\n\r\t", + "slash": "/ & \/", + "alpha": "abcdefghijklmnopqrstuvwyz", + "ALPHA": "ABCDEFGHIJKLMNOPQRSTUVWYZ", + "digit": "0123456789", + "0123456789": "digit", + "special": "`1~!@#$%^&*()_+-={':[,]}|;.?", + "hex": "\u0123\u4567\u89AB\uCDEF\uabcd\uef4A", + "true": true, + "false": false, + "null": null, + "array":[ ], + "object":{ }, + "address": "50 St. James Street", + "url": "http://www.JSON.org/", + "comment": "// /* */": " ", + " s p a c e d " :[1,2 , 3 + +, + +4 , 5 , 6 ,7 ],"compact":[1,2,3,4,5,6,7], + "jsontext": "{\"object with 1 member\":[\"array with 1 element\"]}", + "quotes": "" \u0022 %22 0x22 034 "", + "\/\\\"\uCAFE\uBABE\uAB98\uFCDE\ubcda\uef4A\b\f\n\r\t`1~!@#$%^&*()_+-=[]{}|;:',./<>?" +: "A key can be any string" + }, + 0.5 ,98.6 +, +99.44 +, + +1066, +1e1, +0.1e1, +1e-1, +1e00,2e+00,2e-00 +,"rosebud"] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/pass2.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/pass2.json new file mode 100644 index 000000000..d3c63c7ad --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/pass2.json @@ -0,0 +1 @@ +[[[[[[[[[[[[[[[[[[["Not too deep"]]]]]]]]]]]]]]]]]]] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/pass3.json b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/pass3.json new file mode 100644 index 000000000..4528d51f1 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/pass3.json @@ -0,0 +1,6 @@ +{ + "JSON Test Pattern pass3": { + "The outermost value": "must be an object or array.", + "In this test": "It is an object." + } +} diff --git a/src/comm/ros_bridge/rapidjson/bin/jsonchecker/readme.txt b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/readme.txt new file mode 100644 index 000000000..321d89d99 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/jsonchecker/readme.txt @@ -0,0 +1,3 @@ +Test suite from http://json.org/JSON_checker/. + +If the JSON_checker is working correctly, it must accept all of the pass*.json files and reject all of the fail*.json files. diff --git a/src/comm/ros_bridge/rapidjson/bin/types/booleans.json b/src/comm/ros_bridge/rapidjson/bin/types/booleans.json new file mode 100644 index 000000000..2dcbb5fe8 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/types/booleans.json @@ -0,0 +1,102 @@ +[ + true, + true, + false, + false, + true, + true, + true, + false, + false, + true, + false, + false, + true, + false, + false, + false, + true, + false, + false, + true, + true, + false, + true, + true, + true, + false, + false, + false, + true, + false, + true, + false, + false, + true, + true, + true, + true, + true, + true, + false, + false, + true, + false, + false, + false, + true, + true, + false, + true, + true, + false, + true, + false, + true, + true, + true, + false, + false, + false, + true, + false, + false, + false, + true, + true, + false, + true, + true, + true, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + true, + true, + false, + false, + false, + true, + false, + false, + false, + true, + true, + true, + false, + false, + true, + false +] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/types/floats.json b/src/comm/ros_bridge/rapidjson/bin/types/floats.json new file mode 100644 index 000000000..12b94a11d --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/types/floats.json @@ -0,0 +1,102 @@ +[ + 135.747111636, + 123.377054008, + 140.527504552, + -72.299143906, + -23.851678949, + 73.586193519, + -158.299382442, + 177.477876032, + 32.268518982, + -139.560009969, + 115.203105183, + -106.025823607, + 167.224138231, + 103.378383732, + -97.498486285, + 18.184723416, + 69.137075711, + 33.849002681, + -120.185228215, + -20.841408615, + -172.659492727, + -2.691464061, + 22.426164066, + -98.416909437, + -31.603082708, + -85.072296561, + 108.620987395, + -43.127078238, + -126.473562057, + -158.595489097, + -57.890678254, + -13.254016573, + -85.024504709, + 171.663552644, + -146.495558248, + -10.606748276, + -118.786969354, + 153.352057804, + -45.215545083, + 37.038725288, + 106.344071897, + -64.607402031, + 85.148030911, + 28.897784566, + 39.51082061, + 20.450382102, + -113.174943618, + 71.60785784, + -168.202648062, + -157.338200017, + 10.879588527, + -114.261694831, + -5.622927072, + -173.330830616, + -29.47002003, + -39.829034201, + 50.031545162, + 82.815735508, + -119.188760828, + -48.455928081, + 163.964263034, + 46.30378861, + -26.248889762, + -47.354615322, + 155.388677633, + -166.710356904, + 42.987233558, + 144.275297374, + 37.394383186, + -122.550388725, + 177.469945914, + 101.104677413, + 109.429869885, + -104.919625624, + 147.522756541, + -81.294703727, + 122.744731363, + 81.803603684, + 26.321556167, + 147.045441354, + 147.256895816, + -174.211095908, + 52.518769316, + -78.58250334, + -173.356685435, + -107.728209264, + -69.982325771, + -113.776095893, + -35.785267074, + -105.748545976, + -30.206523864, + -76.185311723, + -126.400112781, + -26.864958639, + 56.840053629, + 93.781553535, + -116.002949803, + -46.617140948, + 176.846840093, + -144.24821335 +] diff --git a/src/comm/ros_bridge/rapidjson/bin/types/guids.json b/src/comm/ros_bridge/rapidjson/bin/types/guids.json new file mode 100644 index 000000000..9d7f5dbc8 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/types/guids.json @@ -0,0 +1,102 @@ +[ + "d35bf0d4-8d8f-4e17-a5c3-ad9bfd675266", + "db402774-eeb6-463b-9986-c458c44d8b5a", + "2a2e4101-b5f2-40b8-8750-e03f01661e60", + "76787cfa-f4eb-4d62-aaad-e1d588d00ad5", + "fd73894b-b500-4a7c-888c-06b5bd9cec65", + "cce1862a-cf31-4ef2-9e23-f1d23b4e6163", + "00a98bb0-2b6e-4368-8512-71c21aa87db7", + "ab9a8d69-cec7-4550-bd35-3ed678e22782", + "f18b48e1-5114-4fbe-9652-579e8d66950e", + "4efe3baa-7ac5-4d6a-a839-6b9cfe825764", + "b4aec119-5b0a-434c-b388-109816c482a5", + "e0ef0cbb-127a-4a28-9831-5741b4295275", + "d50286a5-cb7b-4c9e-be99-f214439bae8c", + "a981094c-f1ac-42ed-a9fa-86404c7210ff", + "2a34ee57-5815-4829-b77b-eeebaa8fe340", + "a0530d44-48f8-4eff-b9ea-8810c4308351", + "c6f91509-83e1-4ea1-9680-e667fbfd56ee", + "cab11402-dcdd-4454-b190-6da124947395", + "283d159c-2b18-4856-b4c7-5059252eaa15", + "146157c6-72a8-4051-9991-cb6ea6743d81", + "aef6f269-7306-4bd2-83f7-6d5605b5dc9a", + "37fe6027-d638-4017-80a9-e7b0567b278e", + 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b/src/comm/ros_bridge/rapidjson/bin/types/mixed.json @@ -0,0 +1,592 @@ +[ + { + "favoriteFruit": "banana", + "greeting": "Hello, Kim! You have 10 unread messages.", + "friends": [ + { + "name": "Higgins Rodriquez", + "id": 0 + }, + { + "name": "James Floyd", + "id": 1 + }, + { + "name": "Gay Stewart", + "id": 2 + } + ], + "range": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9 + ], + "tags": [ + "pariatur", + "ad", + "eiusmod", + "sit", + "et", + "velit", + "culpa" + ], + "longitude": -57.919246, + "latitude": -36.022812, + "registered": "Friday, March 21, 2014 9:13 PM", + "about": "Laborum nulla aliquip ullamco proident excepteur est officia ipsum. Eiusmod exercitation minim ex do labore reprehenderit aliqua minim qui excepteur reprehenderit cupidatat. Sint enim exercitation duis id consequat nisi enim magna. Commodo aliqua id ipsum sit magna enim. Veniam officia in labore fugiat veniam ea laboris ex veniam duis.\r\n", + "address": "323 Pulaski Street, Ronco, North Carolina, 7701", + "phone": "+1 (919) 438-2678", + "email": "kim.griffith@cipromox.biz", + "company": "CIPROMOX", + "name": { + "last": "Griffith", + "first": "Kim" + }, + "eyeColor": "green", + "age": 26, + "picture": "http://placehold.it/32x32", + "balance": "$1,283.55", + "isActive": false, + "guid": "10ab0392-c5e2-48a3-9473-aa725bad892d", + "index": 0, + "_id": "551b91198238a0bcf9a41133" + }, + { + "favoriteFruit": "banana", + "greeting": "Hello, Skinner! 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Labore eu aliquip id duis eiusmod veniam.\r\n", + "address": "347 Autumn Avenue, Fidelis, Puerto Rico, 543", + "phone": "+1 (889) 457-2319", + "email": "skinner.maddox@moltonic.co.uk", + "company": "MOLTONIC", + "name": { + "last": "Maddox", + "first": "Skinner" + }, + "eyeColor": "green", + "age": 22, + "picture": "http://placehold.it/32x32", + "balance": "$3,553.10", + "isActive": false, + "guid": "cfbc2fb6-2641-4388-b06d-ec0212cfac1e", + "index": 1, + "_id": "551b91197e0abe92d6642700" + }, + { + "favoriteFruit": "strawberry", + "greeting": "Hello, Reynolds! 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Ex eu voluptate minim deserunt fugiat minim est occaecat ad Lorem nisi.\r\n", + "address": "480 Eagle Street, Fostoria, Oklahoma, 2614", + "phone": "+1 (983) 439-3000", + "email": "neva.barker@pushcart.us", + "company": "PUSHCART", + "name": { + "last": "Barker", + "first": "Neva" + }, + "eyeColor": "brown", + "age": 36, + "picture": "http://placehold.it/32x32", + "balance": "$3,182.24", + "isActive": true, + "guid": "52489849-78e1-4b27-8b86-e3e5ab2b7dc8", + "index": 3, + "_id": "551b9119a13061c083c878d5" + }, + { + "favoriteFruit": "banana", + "greeting": "Hello, Rodgers! 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Ipsum fugiat anim deserunt Lorem aliquip nisi consequat eu minim in ex duis.\r\n", + "address": "989 Varanda Place, Duryea, Palau, 3972", + "phone": "+1 (968) 578-2974", + "email": "rodgers.conner@frenex.net", + "company": "FRENEX", + "name": { + "last": "Conner", + "first": "Rodgers" + }, + "eyeColor": "blue", + "age": 23, + "picture": "http://placehold.it/32x32", + "balance": "$1,665.17", + "isActive": true, + "guid": "ed3b2374-5afe-4fca-9325-8a7bbc9f81a0", + "index": 4, + "_id": "551b91197bcedb1b56a241ce" + }, + { + "favoriteFruit": "strawberry", + "greeting": "Hello, Mari! 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Lorem ullamco labore proident ipsum id pariatur fugiat consectetur anim cupidatat qui proident non ipsum.\r\n", + "address": "563 Hendrickson Street, Westwood, South Dakota, 4959", + "phone": "+1 (980) 434-3976", + "email": "mari.fleming@beadzza.org", + "company": "BEADZZA", + "name": { + "last": "Fleming", + "first": "Mari" + }, + "eyeColor": "blue", + "age": 21, + "picture": "http://placehold.it/32x32", + "balance": "$1,948.04", + "isActive": true, + "guid": "6bd02166-3b1f-4ed8-84c9-ed96cbf12abc", + "index": 5, + "_id": "551b9119b359ff6d24846f77" + }, + { + "favoriteFruit": "strawberry", + "greeting": "Hello, Maxine! 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Deserunt ipsum et deserunt non nisi.\r\n", + "address": "252 Boulevard Court, Brenton, Tennessee, 9444", + "phone": "+1 (950) 466-3377", + "email": "maxine.moreno@zentia.tv", + "company": "ZENTIA", + "name": { + "last": "Moreno", + "first": "Maxine" + }, + "eyeColor": "brown", + "age": 24, + "picture": "http://placehold.it/32x32", + "balance": "$1,200.24", + "isActive": false, + "guid": "ce307a37-ca1f-43f5-b637-dca2605712be", + "index": 6, + "_id": "551b91195a6164b2e35f6dc8" + }, + { + "favoriteFruit": "strawberry", + "greeting": "Hello, Helga! 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Et eiusmod sunt fugiat elit mollit ad excepteur anim nisi laboris eiusmod aliquip aliquip.\r\n", + "address": "981 Bush Street, Beaulieu, Vermont, 3775", + "phone": "+1 (956) 506-3807", + "email": "helga.burch@synkgen.name", + "company": "SYNKGEN", + "name": { + "last": "Burch", + "first": "Helga" + }, + "eyeColor": "blue", + "age": 22, + "picture": "http://placehold.it/32x32", + "balance": "$3,827.89", + "isActive": false, + "guid": "ff5dfea0-1052-4ef2-8b66-4dc1aad0a4fb", + "index": 7, + "_id": "551b911946be8358ae40e90e" + }, + { + "favoriteFruit": "banana", + "greeting": "Hello, Shaw! 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Cillum pariatur occaecat in officia do commodo nisi cillum tempor minim. Ad dolor ut et aliquip fugiat eu officia cupidatat occaecat consectetur eiusmod veniam enim officia.\r\n", + "Adipisicing cillum laborum nisi irure. Cillum dolor proident duis nulla qui mollit dolore reprehenderit mollit. Irure nulla dolor ipsum irure nulla quis laboris do.\r\n", + "Est adipisicing consectetur incididunt in. Occaecat ea magna ex consequat irure sit laborum cillum officia magna sunt do exercitation aliquip. Laboris id aute in dolore reprehenderit voluptate non deserunt laborum.\r\n", + "Consectetur eu aute est est occaecat adipisicing sint enim dolor eu. Tempor amet id non mollit eu consectetur cillum duis. Eu labore velit nulla ipsum commodo consequat aliquip. Cupidatat commodo dolore mollit enim sit excepteur nisi duis laboris deserunt esse.\r\n", + "Incididunt ullamco est fugiat enim fugiat. Do sit mollit anim ad excepteur eu laboris exercitation officia labore nulla ut. Voluptate non voluptate cillum sit et voluptate anim duis velit consequat aliquip dolor. Elit et et esse laboris consectetur officia eiusmod aliquip nisi est. Qui labore dolore ad dolor.\r\n", + "Anim adipisicing est irure proident sit officia ullamco voluptate sunt consectetur duis mollit excepteur veniam. Nostrud ut duis aute exercitation officia et quis elit commodo elit tempor aute aliquip enim. Est officia non cillum consequat voluptate ipsum sit voluptate nulla id.\r\n", + "Ipsum enim consectetur aliquip nulla commodo ut ex aliqua elit duis do. Officia et sunt aliqua dolor minim voluptate veniam esse elit enim. Adipisicing reprehenderit duis ex magna non in fugiat sunt ipsum nostrud fugiat aliquip. Labore voluptate id officia voluptate eu. Magna do nostrud excepteur sunt aliqua adipisicing qui.\r\n", + "Est occaecat non non cupidatat laborum qui. Veniam sit est voluptate labore sit irure consectetur fugiat. Anim enim enim fugiat exercitation anim ad proident esse in aliqua. Laboris ut aute culpa ullamco.\r\n", + "Sit et aliquip cupidatat deserunt eiusmod sint aliquip occaecat nostrud aliqua elit commodo ut magna. Amet sit est deserunt id duis in officia pariatur cupidatat ex. Mollit duis est consequat nulla aute velit ipsum sit consectetur pariatur ut non ex ipsum. Tempor esse velit pariatur reprehenderit et nostrud commodo laborum mollit labore.\r\n", + "Aliquip irure quis esse aliquip. Ex non deserunt culpa aliqua ad anim occaecat ad. Lorem consectetur mollit eu consectetur est non nisi non ipsum. Qui veniam ullamco officia est ut excepteur. Nulla elit dolore cupidatat aliqua enim Lorem elit consequat eiusmod non aliqua eu in. Pariatur in culpa labore sint ipsum consectetur occaecat ad ex ipsum laboris aliquip officia. Non officia eiusmod nisi officia id id laboris deserunt sunt enim magna mollit sit.\r\n", + "Mollit velit laboris laborum nulla aliquip consequat Lorem non incididunt irure. Eu voluptate sint do consectetur tempor sit Lorem in. Laborum eiusmod nisi Lorem ipsum dolore do aute laborum occaecat aute sunt. Sit laborum in ea do ipsum officia irure cillum irure nisi laboris. Ad anim deserunt excepteur ea veniam eiusmod culpa velit veniam. Commodo incididunt ea Lorem eu enim esse nisi incididunt mollit.\r\n", + "Velit proident sunt aute dolore reprehenderit culpa. Pariatur reprehenderit commodo ad ea voluptate anim nulla ipsum eu irure fugiat aliqua et. Adipisicing incididunt anim excepteur voluptate minim qui culpa. Sunt veniam enim reprehenderit magna magna. Sit ad amet deserunt ut aute dolore ad minim.\r\n", + "Esse ullamco sunt mollit mollit. Eu enim dolore laboris cupidatat. Cupidatat adipisicing non aute exercitation fugiat. Non ut cillum labore fugiat aliquip ex duis quis consectetur ut nisi Lorem amet qui. Proident veniam amet qui reprehenderit duis qui. Nisi culpa sit occaecat ullamco occaecat laborum fugiat ut. Non duis deserunt culpa duis.\r\n", + "Id ipsum eiusmod laboris non est ipsum deserunt labore duis reprehenderit deserunt. Sint tempor fugiat eiusmod nostrud in ut laborum esse in nostrud sit deserunt nostrud reprehenderit. Cupidatat aliqua qui anim consequat eu quis consequat consequat elit ipsum pariatur. Cupidatat in dolore velit quis. Exercitation cillum ullamco ex consectetur commodo tempor incididunt exercitation labore ad dolore. Minim incididunt consequat adipisicing esse eu eu voluptate.\r\n", + "Anim sint eiusmod nisi anim do deserunt voluptate ut cillum eiusmod esse ex reprehenderit laborum. Dolore nulla excepteur duis excepteur. Magna nisi nostrud duis non commodo velit esse ipsum Lorem incididunt. Nulla enim consequat ad aliqua. Incididunt irure culpa nostrud ea aute ex sit non ad esse.\r\n", + "Ullamco nostrud cupidatat adipisicing anim fugiat mollit eu. Et ut eu in nulla consequat. Sunt do pariatur culpa non est.\r\n", + "Pariatur incididunt reprehenderit non qui excepteur cillum exercitation nisi occaecat ad. Lorem aliquip laborum commodo reprehenderit sint. Laboris qui ut veniam magna quis et et ullamco voluptate. Tempor reprehenderit deserunt consequat nisi. Esse duis sint in tempor. Amet aute cupidatat in sint et.\r\n", + "Est officia nisi dolore consequat irure et excepteur. Sit qui elit tempor magna qui cillum anim amet proident exercitation proident. Eu cupidatat laborum consectetur duis ullamco irure nulla. Adipisicing culpa non reprehenderit anim aute.\r\n", + "Eu est laborum culpa velit dolore non sunt. Tempor magna veniam ea sit non qui Lorem qui exercitation aliqua aliqua et excepteur eiusmod. Culpa aute anim proident culpa adipisicing duis tempor elit aliquip elit nulla laboris esse dolore. Sit adipisicing non dolor eiusmod occaecat cupidatat.\r\n", + "Culpa velit eu esse sunt. Laborum irure aliqua reprehenderit velit ipsum fugiat officia dolor ut aute officia deserunt. Ipsum sit quis fugiat nostrud aliqua cupidatat ex pariatur et. Cillum proident est irure nisi dolor aliqua deserunt esse occaecat velit dolor.\r\n", + "Exercitation nulla officia sit eiusmod cillum eu incididunt officia exercitation qui Lorem deserunt. Voluptate Lorem minim commodo laborum esse in duis excepteur do duis aliquip nisi voluptate consectetur. Amet tempor officia enim ex esse minim reprehenderit.\r\n", + "Laboris sint deserunt ad aute incididunt. Anim officia sunt elit qui laborum labore commodo irure non. Mollit adipisicing ullamco do aute nulla eu laborum et quis sint aute adipisicing amet. Aliqua officia irure nostrud duis ex.\r\n", + "Eiusmod ipsum aliqua reprehenderit esse est non aute id veniam eiusmod. Elit consequat ad sit tempor elit eu incididunt quis irure ad. Eu incididunt veniam consequat Lorem nostrud cillum officia ea consequat ad cillum. Non nisi irure cupidatat incididunt pariatur incididunt. Duis velit officia ad cillum qui. Aliquip consequat sint aute nisi cillum. Officia commodo nisi incididunt laborum nisi voluptate aliquip Lorem cupidatat anim consequat sit laboris.\r\n", + "Veniam cupidatat et incididunt mollit do ex voluptate veniam nostrud labore esse. Eiusmod irure sint fugiat esse. Aute irure consectetur ut mollit nulla sint esse. Lorem ut quis ex proident nostrud mollit nostrud ea duis duis in magna anim consectetur.\r\n", + "Irure culpa esse qui do dolor fugiat veniam ad. Elit commodo aute elit magna incididunt tempor pariatur velit irure pariatur cillum et ea ad. Ad consequat ea et ad minim ut sunt qui commodo voluptate. Laboris est aliquip anim reprehenderit eu officia et exercitation. Occaecat laboris cupidatat Lorem ullamco in nostrud commodo ipsum in quis esse ex.\r\n", + "Incididunt officia quis voluptate eiusmod esse nisi ipsum quis commodo. 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Occaecat proident et mollit magna consequat irure esse. Dolor do enim esse nisi ad.\r\n", + "Pariatur est anim cillum minim elit magna adipisicing quis tempor proident nisi laboris incididunt cupidatat. Nulla est adipisicing sit adipisicing id nostrud amet qui consequat eiusmod tempor voluptate ad. Adipisicing non magna sit occaecat magna mollit ad ex nulla velit ea pariatur. Irure labore ad ea exercitation ex cillum.\r\n", + "Lorem fugiat eu eu cillum nulla tempor sint. Lorem id officia nulla velit labore ut duis ad tempor non. Excepteur quis aute adipisicing nisi nisi consectetur aliquip enim Lorem id ullamco cillum sint voluptate. Qui aliquip incididunt tempor aliqua voluptate labore reprehenderit. Veniam eiusmod elit occaecat voluptate tempor culpa consectetur ea ut exercitation eiusmod exercitation qui.\r\n", + "Aliqua esse pariatur nulla veniam velit ea. Aliquip consectetur tempor ex magna sit aliquip exercitation veniam. Dolor ullamco minim commodo pariatur. Et amet reprehenderit dolore proident elit tempor eiusmod eu incididunt enim ullamco. Adipisicing id officia incididunt esse dolor sunt cupidatat do deserunt mollit do non. Magna ut officia fugiat adipisicing quis ea cillum laborum dolore ad nostrud magna minim est. Dolor voluptate officia proident enim ea deserunt eu voluptate dolore proident laborum officia ea.\r\n", + "Culpa aute consequat esse fugiat cupidatat minim voluptate voluptate eiusmod irure anim elit. Do eiusmod culpa laboris consequat incididunt minim nostrud eiusmod commodo velit ea ullamco proident. Culpa pariatur magna ut mollit nisi. Ea officia do magna deserunt minim nisi tempor ea deserunt veniam cillum exercitation esse.\r\n", + "Anim ullamco nostrud commodo Lorem. Do sunt laborum exercitation proident proident magna. Lorem officia laborum laborum dolor sunt duis commodo Lorem. Officia aute adipisicing ea cupidatat ea dolore. Aliquip adipisicing pariatur consectetur aliqua sit amet officia reprehenderit laborum culpa. Occaecat Lorem eu nisi do Lorem occaecat enim eiusmod laboris id quis. Ad mollit adipisicing sunt adipisicing esse.\r\n", + "Laborum quis sit adipisicing cupidatat. Veniam Lorem eiusmod esse esse sint nisi labore elit et. Deserunt aliqua mollit ut commodo aliqua non incididunt ipsum reprehenderit consectetur. Eiusmod nulla minim laboris Lorem ea Lorem aute tempor pariatur in sit. Incididunt culpa ut do irure amet irure cupidatat est anim anim culpa occaecat. Est velit consectetur eiusmod veniam reprehenderit officia sunt occaecat eiusmod ut sunt occaecat amet.\r\n", + "Elit minim aute fugiat nulla ex quis. Labore fugiat sint nostrud amet quis culpa excepteur in. Consectetur exercitation cupidatat laborum sit. Aute nisi eu aliqua est deserunt eiusmod commodo dolor id. Mollit laborum esse sint ipsum voluptate reprehenderit velit et. Veniam aliquip enim in veniam Lorem voluptate quis deserunt consequat qui commodo ut excepteur aute.\r\n", + "Dolore deserunt veniam aute nisi labore sunt et voluptate irure nisi anim ea. Magna nisi quis anim mollit nisi est dolor do ex aliquip elit aliquip ipsum minim. Dolore est officia nostrud eiusmod ex laborum ea amet est. Officia culpa non est et tempor consectetur exercitation tempor eiusmod enim. Ea tempor laboris qui amet ex nisi culpa dolore consectetur incididunt sunt sunt. Lorem aliquip incididunt magna do et ullamco ex elit aliqua eiusmod qui. Commodo amet dolor sint incididunt ex veniam non Lorem fugiat.\r\n", + "Officia culpa enim voluptate dolore commodo. Minim commodo aliqua minim ex sint excepteur cupidatat adipisicing eu irure. Anim magna deserunt anim Lorem non.\r\n", + "Cupidatat aliquip nulla excepteur sunt cupidatat cupidatat laborum cupidatat exercitation. Laboris minim ex cupidatat culpa elit. 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Sit anim dolore cillum ad do minim culpa sit est ad.\r\n", + "Cupidatat dolor nostrud Lorem sint consequat quis. Quis labore sint incididunt officia tempor. Fugiat nostrud in elit reprehenderit dolor. Nisi sit enim officia minim est adipisicing nulla aute labore nulla nostrud cupidatat est. Deserunt dolore qui irure Lorem esse voluptate velit qui nostrud.\r\n", + "Fugiat Lorem amet nulla nisi qui amet laboris enim cillum. Dolore occaecat exercitation id labore velit do commodo ut cupidatat laborum velit fugiat mollit. Ut et aliqua pariatur occaecat. Lorem occaecat dolore quis esse enim cupidatat exercitation ut tempor sit laboris fugiat adipisicing. Est tempor ex irure consectetur ipsum magna labore. Lorem non quis qui minim nisi magna amet aliquip ex cillum fugiat tempor.\r\n", + "Aliquip eiusmod laborum ipsum deserunt velit esse do magna excepteur consectetur exercitation sit. Minim ullamco reprehenderit commodo nostrud exercitation id irure ex qui ullamco sit esse laboris. 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Amet proident laborum commodo magna ipsum quis.\r\n", + "Ipsum consectetur consectetur excepteur tempor eiusmod ea fugiat aute velit magna in officia sunt. Sit ut sunt dolore cupidatat dolor adipisicing. Veniam nisi adipisicing esse reprehenderit amet aliqua voluptate ex commodo occaecat est voluptate mollit sunt. Pariatur aliqua qui qui in dolor. Fugiat reprehenderit sit nostrud do sint esse. Tempor sit irure adipisicing ea pariatur duis est sit est incididunt laboris quis do. Et voluptate anim minim aliquip excepteur consequat nisi anim pariatur aliquip ut ipsum dolor magna.\r\n", + "Cillum sit labore excepteur magna id aliqua exercitation consequat laborum Lorem id pariatur nostrud. Lorem qui est labore sint cupidatat sint excepteur nulla in eu aliqua et. Adipisicing velit do enim occaecat laboris quis excepteur ipsum dolor occaecat Lorem dolore id exercitation.\r\n", + "Incididunt in laborum reprehenderit eiusmod irure ex. Elit duis consequat minim magna. Esse consectetur aliquip cillum excepteur excepteur fugiat. Sint tempor consequat minim reprehenderit consectetur adipisicing dolor id Lorem elit non. Occaecat esse quis mollit ea et sint aute fugiat qui tempor. Adipisicing tempor duis non dolore irure elit deserunt qui do.\r\n", + "Labore fugiat eiusmod sint laborum sit duis occaecat. Magna in laborum non cillum excepteur nostrud sit proident pariatur voluptate voluptate adipisicing exercitation occaecat. Ad non dolor aute ex sint do do minim exercitation veniam laborum irure magna ea. Magna do non quis sit consequat Lorem aliquip.\r\n", + "Velit anim do laborum laboris laborum Lorem. Sunt do Lorem amet ipsum est sint velit sit do voluptate mollit veniam enim. Commodo do deserunt in pariatur ut elit sint elit deserunt ea. Ad dolor anim consequat aliquip ut mollit nostrud tempor sunt mollit elit. Reprehenderit laboris labore excepteur occaecat veniam adipisicing cupidatat esse. Ad enim aliquip ea minim excepteur magna. Sint velit veniam pariatur qui dolor est adipisicing ex laboris.\r\n", + "Ea cupidatat ex nulla in sunt est sit dolor enim ad. Eu tempor consequat cupidatat consequat ex incididunt sint culpa. Est Lorem Lorem non cupidatat sunt ut aliqua non nostrud do ullamco. Reprehenderit ad ad nulla nostrud do nulla in. Ipsum adipisicing commodo mollit ipsum exercitation. Aliqua ea anim anim est elit. Ea incididunt consequat minim ad sunt eu cillum.\r\n", + "Tempor quis excepteur eiusmod cupidatat ipsum occaecat id et occaecat. Eiusmod magna aliquip excepteur id amet elit. Ullamco dolore amet anim dolor enim ea magna magna elit. Occaecat magna pariatur in deserunt consectetur officia aliquip ullamco ex aute anim. Minim laborum eu sit elit officia esse do irure pariatur tempor et reprehenderit ullamco labore.\r\n", + "Sit tempor eu minim dolore velit pariatur magna duis reprehenderit ea nulla in. Amet est do consectetur commodo do adipisicing adipisicing in amet. Cillum id ut commodo do pariatur duis aliqua nisi sint ad irure officia reprehenderit. Mollit labore id enim fugiat ullamco irure mollit cupidatat. Quis nisi amet labore eu dolor occaecat commodo aliqua laboris deserunt excepteur deserunt officia. Aliqua non ut sit ad. Laborum veniam ad velit minim dolore ea id magna dolor qui in.\r\n", + "Dolore nostrud ipsum aliqua pariatur id reprehenderit enim ad eiusmod qui. Deserunt anim commodo pariatur excepteur velit eu irure nulla ex labore ipsum aliqua minim aute. Id consequat amet tempor aliquip ex elit adipisicing est do. Eu enim Lorem consectetur minim id irure nulla culpa. Consectetur do consequat aute tempor anim. Qui ad non elit dolor est adipisicing nisi amet cillum sunt quis anim laboris incididunt. Incididunt proident adipisicing labore Lorem.\r\n", + "Et reprehenderit ea officia veniam. Aliquip ullamco consequat elit nisi magna mollit id elit. Amet amet sint velit labore ad nisi. Consectetur tempor id dolor aliqua esse deserunt amet. Qui laborum enim proident voluptate aute eu aute aute sit sit incididunt eu. Sunt ullamco nisi nostrud labore commodo non consectetur quis do duis minim irure. Tempor sint dolor sint aliquip dolore nostrud fugiat.\r\n", + "Aute ullamco quis nisi ut excepteur nostrud duis elit. Veniam ex ad incididunt veniam voluptate. Commodo dolore ullamco sit sint adipisicing proident amet aute duis deserunt.\r\n", + "Labore velit eu cillum nisi. Laboris do cupidatat et non duis cillum. Ullamco dolor tempor cupidatat voluptate laborum ullamco ea duis.\r\n", + "Deserunt consequat aliqua duis aliquip nostrud nostrud dolore nisi. Culpa do sint laborum consectetur ipsum quis laborum laborum pariatur eiusmod. Consectetur laboris ad ad ut quis. Ullamco laboris qui velit id laborum voluptate qui aute nostrud aliquip ea.\r\n", + "Ad cillum anim ex est consectetur mollit id in. Non enim aliquip consequat qui deserunt commodo cillum ad laborum fugiat. Dolor deserunt amet laborum tempor adipisicing voluptate dolor pariatur dolor cillum. Eu mollit ex sunt officia veniam qui est sunt proident. Non aliqua qui elit eu cupidatat ex enim ex proident. Lorem sit minim ullamco officia cupidatat duis minim. Exercitation laborum deserunt voluptate culpa tempor quis nulla id pariatur.\r\n", + "Nostrud quis consectetur ut aliqua excepteur elit consectetur occaecat. Occaecat voluptate Lorem pariatur consequat ullamco fugiat minim. Anim voluptate eu eu cillum tempor dolore aliquip aliqua. Fugiat incididunt ut tempor amet minim. Voluptate nostrud minim pariatur non excepteur ullamco.\r\n", + "Dolore nulla velit officia exercitation irure laboris incididunt anim in laborum in fugiat ut proident. Fugiat aute id consequat fugiat officia ut. Labore sint amet proident amet sint nisi laboris amet id ullamco culpa quis consequat proident. Magna do fugiat veniam dolore elit irure minim. Esse ullamco excepteur labore tempor labore fugiat dolore nisi cupidatat irure dolor pariatur. Magna excepteur laboris nisi eiusmod sit pariatur mollit.\r\n", + "In enim aliquip officia ea ad exercitation cillum culpa occaecat dolore Lorem. Irure cillum commodo adipisicing sunt pariatur ea duis fugiat exercitation laboris culpa ullamco aute. Ut voluptate exercitation qui dolor. Irure et duis elit consequat deserunt proident.\r\n", + "Officia ea Lorem sunt culpa id et tempor excepteur enim deserunt proident. Dolore aliquip dolor laboris cillum proident velit. Et culpa occaecat exercitation cupidatat irure sint adipisicing excepteur pariatur incididunt ad occaecat. Qui proident ipsum cillum minim. Quis ut culpa irure aliqua minim fugiat. In voluptate cupidatat fugiat est laborum dolor esse in pariatur voluptate.\r\n", + "Voluptate enim ipsum officia aute ea adipisicing nisi ut ex do aliquip amet. Reprehenderit enim voluptate tempor ex adipisicing culpa. Culpa occaecat voluptate dolor mollit ipsum exercitation labore et tempor sit ea consectetur aliqua. Elit elit sit minim ea ea commodo do tempor cupidatat irure dolore. Occaecat esse adipisicing anim eiusmod commodo fugiat mollit amet. Incididunt tempor tempor qui occaecat cupidatat in.\r\n", + "Ut qui anim velit enim aliquip do ut nulla labore. Mollit ut commodo ut eiusmod consectetur laboris aliqua qui voluptate culpa fugiat incididunt elit. Lorem ullamco esse elit elit. Labore amet incididunt ea nulla aliquip eiusmod. Sit nulla est voluptate officia ipsum aute aute cillum tempor deserunt. Laboris commodo eiusmod labore sunt aute excepteur ea consectetur reprehenderit veniam nisi. Culpa nisi sint sunt sint tempor laboris dolore cupidatat.\r\n", + "Duis cillum qui nisi duis amet velit ad cillum ut elit aute sint ad. Amet laboris pariatur excepteur ipsum Lorem aliqua veniam Lorem quis mollit cupidatat aliqua exercitation. Pariatur ex ullamco sit commodo cillum eiusmod ut proident elit cillum. Commodo ut ipsum excepteur occaecat sint elit consequat ex dolor adipisicing consectetur id ut ad. Velit sit eiusmod est esse tempor incididunt consectetur eiusmod duis commodo veniam.\r\n", + "Ut sunt qui officia anim laboris exercitation Lorem quis laborum do eiusmod officia. Enim consectetur occaecat fugiat cillum cillum. Dolore dolore nostrud in commodo fugiat mollit consequat occaecat non et et elit ullamco. Sit voluptate minim ut est culpa velit nulla fugiat reprehenderit eu aliquip adipisicing labore. Sit minim minim do dolor dolor. Lorem Lorem labore exercitation magna veniam eiusmod do.\r\n", + "Fugiat dolor adipisicing quis aliquip aute dolore. Qui proident anim elit veniam ex aliquip eiusmod ipsum sunt pariatur est. Non fugiat duis do est officia adipisicing.\r\n", + "Nulla deserunt do laboris cupidatat veniam do consectetur ipsum elit veniam in mollit eu. Ea in consequat cupidatat laboris sint fugiat irure. In commodo esse reprehenderit deserunt minim velit ullamco enim eu cupidatat tempor ex. Ullamco in non id culpa amet occaecat culpa nostrud id. Non occaecat culpa magna incididunt.\r\n", + "Enim laboris ex mollit reprehenderit eiusmod exercitation magna. Exercitation Lorem ex mollit non non culpa labore enim. Adipisicing labore dolore incididunt do amet aliquip excepteur ad et nostrud officia aute veniam voluptate. Fugiat enim eiusmod Lorem esse. Minim ullamco commodo consequat ex commodo aliqua eu nulla eu. Veniam non enim nulla ut Lorem nostrud minim sint duis.\r\n", + "Enim duis consectetur in ullamco cillum veniam nulla amet. Exercitation nisi sunt sunt duis in culpa nisi magna ex id ipsum laboris reprehenderit qui. Officia pariatur qui ex fugiat veniam et sunt sit nostrud. Veniam ullamco tempor fugiat minim Lorem proident velit in eiusmod elit. Enim minim excepteur aute aliquip ex magna commodo dolore qui et labore. Proident eu aliquip cillum dolor. Nostrud ipsum ut irure consequat fugiat nulla proident occaecat laborum.\r\n", + "Amet duis eiusmod sunt adipisicing esse ex nostrud consectetur voluptate cillum. Ipsum occaecat sit et anim velit irure ea incididunt cupidatat ullamco in nisi quis. Esse officia ipsum commodo qui quis qui do. Commodo aliquip amet aute sit sit ut cupidatat elit nostrud.\r\n", + "Laboris laboris sit mollit cillum nulla deserunt commodo culpa est commodo anim id anim sit. Officia id consectetur velit incididunt est dolor sunt ipsum magna aliqua consectetur. Eiusmod pariatur minim deserunt cupidatat veniam Lorem aliquip sunt proident eu Lorem sit dolor fugiat. Proident qui ut ex in incididunt nulla nulla dolor ex laboris ea ad.\r\n", + "Ex incididunt enim labore nulla cupidatat elit. Quis ut incididunt incididunt non irure commodo do mollit cillum anim excepteur. Qui consequat laborum dolore elit tempor aute ut nulla pariatur eu ullamco veniam. Nisi non velit labore in commodo excepteur culpa nulla tempor cillum. Ipsum qui sit sint reprehenderit ut labore incididunt dolor aliquip sunt. Reprehenderit occaecat tempor nisi laborum.\r\n", + "Lorem officia ullamco eu occaecat in magna eiusmod consectetur nisi aliqua mollit esse. Ullamco ex aute nostrud pariatur do enim cillum sint do fugiat nostrud culpa tempor. Do aliquip excepteur nostrud culpa eu pariatur eiusmod cillum excepteur do. Est sunt non quis cillum voluptate ex.\r\n", + "Deserunt consectetur tempor irure mollit qui tempor et. Labore enim eu irure laboris in. Nisi in tempor ex occaecat amet cupidatat laboris occaecat amet minim ut magna incididunt id. Consequat cillum laborum commodo mollit. Et magna culpa sunt dolore consequat laboris et sit. Deserunt qui voluptate excepteur dolor. Eu qui amet est proident.\r\n", + "Eu elit minim eiusmod occaecat eu nostrud dolor qui ut elit. Sunt dolore proident ea eu do eiusmod fugiat incididunt pariatur duis amet Lorem nisi ut. Adipisicing quis veniam cupidatat Lorem sint culpa sunt veniam sint. Excepteur eu exercitation est magna pariatur veniam dolore qui fugiat labore proident eiusmod cillum. Commodo reprehenderit elit proident duis sint magna.\r\n", + "Ut aliquip pariatur deserunt nostrud commodo ad proident est exercitation. Sit minim do ea enim sint officia nisi incididunt laborum. Ex amet duis commodo fugiat. Ut aute tempor deserunt irure occaecat aliquip voluptate cillum aute elit qui nostrud.\r\n", + "Irure et quis consectetur sit est do sunt aliquip eu. Cupidatat pariatur consequat dolore consectetur. Adipisicing magna velit mollit occaecat do id. Nisi pariatur cupidatat cillum incididunt excepteur consectetur excepteur do laborum deserunt irure pariatur cillum.\r\n", + "Adipisicing esse incididunt cillum est irure consequat irure ad aute voluptate. Incididunt do occaecat nostrud do ipsum pariatur Lorem qui laboris et pariatur. Est exercitation dolor culpa ad velit ut et.\r\n", + "Sit eiusmod id enim ad ex dolor pariatur do. Ullamco occaecat quis dolor minim non elit labore amet est. Commodo velit eu nulla eiusmod ullamco. Incididunt anim pariatur aute eiusmod veniam tempor enim officia elit id. Elit Lorem est commodo dolore nostrud. Labore et consectetur do exercitation veniam laboris incididunt aliqua proident dolore ea officia cupidatat. Velit laboris aliquip deserunt labore commodo.\r\n", + "Proident nostrud labore eu nostrud. Excepteur ut in velit labore ea proident labore ea sint cillum. Incididunt ipsum consectetur officia irure sit pariatur veniam id velit officia mollit. Adipisicing magna voluptate velit excepteur enim consectetur incididunt voluptate tempor occaecat fugiat velit excepteur labore. Do do incididunt qui nisi voluptate enim. Laboris aute sit voluptate cillum pariatur minim excepteur ullamco mollit deserunt.\r\n", + "Excepteur laborum adipisicing nisi elit fugiat tempor. Elit laboris qui enim labore duis. Proident tempor in consectetur proident excepteur do ex laboris sit.\r\n", + "Dolore do ea incididunt do duis dolore eu labore nisi cupidatat voluptate amet incididunt minim. Nulla pariatur mollit cupidatat adipisicing nulla et. Dolor aliquip in ex magna excepteur. Nulla consequat minim consequat ullamco dolor laboris ullamco eu reprehenderit duis nostrud pariatur.\r\n", + "Id nisi labore duis qui. Incididunt laboris tempor aute do sit. Occaecat excepteur est mollit ea in mollit ullamco est amet reprehenderit.\r\n", + "Aute labore ipsum velit non voluptate eiusmod et reprehenderit cupidatat occaecat. Lorem tempor tempor consectetur exercitation qui nostrud sunt cillum quis ut non dolore. Reprehenderit consequat reprehenderit laborum qui pariatur anim et officia est cupidatat enim velit velit.\r\n", + "Commodo ex et fugiat cupidatat non adipisicing commodo. Minim ad dolore fugiat mollit cupidatat aliqua sunt dolor sit. Labore esse labore velit aute enim. Nulla duis incididunt est aliquip consectetur elit qui incididunt minim minim labore amet sit cillum.\r\n" +] \ No newline at end of file diff --git a/src/comm/ros_bridge/rapidjson/bin/types/readme.txt b/src/comm/ros_bridge/rapidjson/bin/types/readme.txt new file mode 100644 index 000000000..da1dae675 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/bin/types/readme.txt @@ -0,0 +1 @@ +Test data obtained from https://github.com/xpol/lua-rapidjson/tree/master/performance diff --git a/src/comm/ros_bridge/rapidjson/contrib/natvis/LICENSE b/src/comm/ros_bridge/rapidjson/contrib/natvis/LICENSE new file mode 100644 index 000000000..f57da96cf --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/contrib/natvis/LICENSE @@ -0,0 +1,45 @@ +The MIT License (MIT) + +Copyright (c) 2017 Bart Muzzin + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + +Derived from: + +The MIT License (MIT) + +Copyright (c) 2015 mojmir svoboda + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/src/comm/ros_bridge/rapidjson/contrib/natvis/README.md b/src/comm/ros_bridge/rapidjson/contrib/natvis/README.md new file mode 100644 index 000000000..9685c7f7c --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/contrib/natvis/README.md @@ -0,0 +1,7 @@ +# rapidjson.natvis + +This file can be used as a [Visual Studio Visualizer](https://docs.microsoft.com/en-gb/visualstudio/debugger/create-custom-views-of-native-objects) to aid in visualizing rapidjson structures within the Visual Studio debugger. Natvis visualizers are supported in Visual Studio 2012 and later. To install, copy the file into this directory: + +`%USERPROFILE%\Documents\Visual Studio 2012\Visualizers` + +Each version of Visual Studio has a similar directory, it must be copied into each directory to be used with that particular version. In Visual Studio 2015 and later, this can be done without restarting Visual Studio (a new debugging session must be started). diff --git a/src/comm/ros_bridge/rapidjson/contrib/natvis/rapidjson.natvis b/src/comm/ros_bridge/rapidjson/contrib/natvis/rapidjson.natvis new file mode 100644 index 000000000..a804b7bf6 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/contrib/natvis/rapidjson.natvis @@ -0,0 +1,38 @@ + + + + + null + true + false + {data_.ss.str} + {(const char*)((size_t)data_.s.str & 0x0000FFFFFFFFFFFF)} + {data_.n.i.i} + {data_.n.u.u} + {data_.n.i64} + {data_.n.u64} + {data_.n.d} + Object members={data_.o.size} + Array members={data_.a.size} + + data_.o.size + data_.o.capacity + + data_.o.size + + (rapidjson::GenericMember<$T1,$T2>*)(((size_t)data_.o.members) & 0x0000FFFFFFFFFFFF) + + + data_.a.size + data_.a.capacity + + data_.a.size + + (rapidjson::GenericValue<$T1,$T2>*)(((size_t)data_.a.elements) & 0x0000FFFFFFFFFFFF) + + + + + + + diff --git a/src/comm/ros_bridge/rapidjson/doc/CMakeLists.txt b/src/comm/ros_bridge/rapidjson/doc/CMakeLists.txt new file mode 100644 index 000000000..c5345ba69 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/doc/CMakeLists.txt @@ -0,0 +1,27 @@ +find_package(Doxygen) + +IF(NOT DOXYGEN_FOUND) + MESSAGE(STATUS "No Doxygen found. Documentation won't be built") +ELSE() + file(GLOB SOURCES ${CMAKE_CURRENT_LIST_DIR}/../include/*) + file(GLOB MARKDOWN_DOC ${CMAKE_CURRENT_LIST_DIR}/../doc/*.md) + list(APPEND MARKDOWN_DOC ${CMAKE_CURRENT_LIST_DIR}/../readme.md) + + CONFIGURE_FILE(Doxyfile.in Doxyfile @ONLY) + CONFIGURE_FILE(Doxyfile.zh-cn.in Doxyfile.zh-cn @ONLY) + + file(GLOB DOXYFILES ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile*) + + add_custom_command(OUTPUT html + COMMAND ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile + COMMAND ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile.zh-cn + COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/html + DEPENDS ${MARKDOWN_DOC} ${SOURCES} ${DOXYFILES} + WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/../ + ) + + add_custom_target(doc ALL DEPENDS html) + install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/html + DESTINATION ${DOC_INSTALL_DIR} + COMPONENT doc) +ENDIF() diff --git a/src/comm/ros_bridge/rapidjson/doc/Doxyfile.in b/src/comm/ros_bridge/rapidjson/doc/Doxyfile.in new file mode 100644 index 000000000..6e79f9371 --- /dev/null +++ b/src/comm/ros_bridge/rapidjson/doc/Doxyfile.in @@ -0,0 +1,2369 @@ +# Doxyfile 1.8.7 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all text +# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv +# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv +# for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = RapidJSON + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. + +PROJECT_NUMBER = + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = "A fast JSON parser/generator for C++ with both SAX/DOM style API" + +# With the PROJECT_LOGO tag one can specify an logo or icon that is included in +# the documentation. The maximum height of the logo should not exceed 55 pixels +# and the maximum width should not exceed 200 pixels. Doxygen will copy the logo +# to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. If +# left blank the current directory will be used. + +OUTPUT_DIRECTORY = @CMAKE_CURRENT_BINARY_DIR@ + +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create 4096 sub- +# directories (in 2 levels) under the output directory of each output format and +# will distribute the generated files over these directories. Enabling this +# option can be useful when feeding doxygen a huge amount of source files, where +# putting all generated files in the same directory would otherwise causes +# performance problems for the file system. +# The default value is: NO. + +CREATE_SUBDIRS = NO + +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII +# characters to appear in the names of generated files. If set to NO, non-ASCII +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode +# U+3044. +# The default value is: NO. + +ALLOW_UNICODE_NAMES = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, +# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), +# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, +# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), +# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, +# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, +# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, +# Ukrainian and Vietnamese. +# The default value is: English. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES doxygen will include brief member +# descriptions after the members that are listed in the file and class +# documentation (similar to Javadoc). Set to NO to disable this. +# The default value is: YES. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. +# The default value is: YES. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. + +ABBREVIATE_BRIEF = "The $name class" \ + "The $name widget" \ + "The $name file" \ + is \ + provides \ + specifies \ + contains \ + represents \ + a \ + an \ + the + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief +# description. +# The default value is: NO. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. + +FULL_PATH_NAMES = YES + +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce a +# new page for each member. If set to NO, the documentation of a member will be +# part of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:\n" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". You can put \n's in the value part of an alias to insert +# newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding "class=itcl::class" +# will allow you to use the command class in the itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, Javascript, +# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran: +# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran: +# Fortran. In the later case the parser tries to guess whether the code is fixed +# or free formatted code, this is the default for Fortran type files), VHDL. For +# instance to make doxygen treat .inc files as Fortran files (default is PHP), +# and .f files as C (default is Fortran), use: inc=Fortran f=C. +# +# Note For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See http://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by by putting a % sign in front of the word +# or globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = YES + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO these classes will be included in the various overviews. This option has +# no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# (class|struct|union) declarations. If set to NO these declarations will be +# included in the documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. +# The default value is: system dependent. + +CASE_SENSE_NAMES = NO + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable ( YES) or disable ( NO) the +# todo list. This list is created by putting \todo commands in the +# documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable ( YES) or disable ( NO) the +# test list. This list is created by putting \test commands in the +# documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable ( YES) or disable ( NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable ( YES) or disable ( NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = $(RAPIDJSON_SECTIONS) + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES the list +# will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = NO + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. Do not use file names with spaces, bibtex cannot handle them. See +# also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error ( stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES, then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO doxygen will only warn about wrong or incomplete parameter +# documentation, but not about the absence of documentation. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. +# Note: If this tag is empty the current directory is searched. + +INPUT = readme.md \ + CHANGELOG.md \ + include/rapidjson/rapidjson.h \ + include/ \ + doc/features.md \ + doc/tutorial.md \ + doc/pointer.md \ + doc/stream.md \ + doc/encoding.md \ + doc/dom.md \ + doc/sax.md \ + doc/schema.md \ + doc/performance.md \ + doc/internals.md \ + doc/faq.md + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: http://www.gnu.org/software/libiconv) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank the +# following patterns are tested:*.c, *.cc, *.cxx, *.cpp, *.c++, *.java, *.ii, +# *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, +# *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, +# *.md, *.mm, *.dox, *.py, *.f90, *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf, +# *.qsf, *.as and *.js. + +FILE_PATTERNS = *.c \ + *.cc \ + *.cxx \ + *.cpp \ + *.h \ + *.hh \ + *.hxx \ + *.hpp \ + *.inc \ + *.md + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = ./include/rapidjson/msinttypes/ + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = internal + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = * + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = ./doc + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# nam