OpenAI example client ported to SMACC (#557)

* initial commit for openAI example

* Replaced get with post, added key fetch logic

* Added ability to modify the body of an http request for the http client

* Added functionality to encode and send image data to ChatGPT

* Added APIs to add headers to an outgoing HTTP request

* HTTP requests can now deal with CDNs

* Expanded example openAI node to submit a more sophisticated request with
an image

* Using env variable for test iamge location

* Fixed commit errors

* Renamed instantiation of HTTP request CB to something more specific to OpenAI

smacc2_client_library/http_client/include/http_client/cl_http_client.hpp

@@ -87,7 +87,10 @@ class ClHttp : public smacc2::ISmaccClient
 
   void onInitialize() override;
 
-  void makeRequest(const kHttpRequestMethod http_method, const std::string & path = "/");
+  void makeRequest(
+    const kHttpRequestMethod http_method, const std::string & path = "/",
+    const std::string & body = "",
+    const std::unordered_map<std::string, std::string> & headers = {});
 
 private:
   const int HTTP_VERSION = 11;

smacc2_client_library/http_client/include/http_client/http_session.hpp

@@ -60,13 +60,15 @@ class http_session : public std::enable_shared_from_this<http_session>, public h
     boost::asio::ip::tcp::resolver::results_type::endpoint_type) override;
   void on_write(boost::beast::error_code ec, std::size_t bytes_transferred) override;
   void on_read(boost::beast::error_code ec, std::size_t bytes_transferred) override;
+  void setBody(const std::string & body) override;
+  void setHeaders(const std::unordered_map<std::string, std::string> & headers) override {}
 
   std::function<void(const TResponse &)> onResponse;
 
   boost::asio::ip::tcp::resolver resolver_;
   boost::beast::tcp_stream stream_;
   boost::beast::flat_buffer buffer_;  // (Must persist between reads)
-  boost::beast::http::request<boost::beast::http::empty_body> req_;
-  boost::beast::http::response<boost::beast::http::string_body> res_;
+  boost::beast::http::request<boost::beast::http::string_body> req_;
+  TResponse res_;
 };
 }  // namespace cl_http

smacc2_client_library/http_client/include/http_client/http_session_base.hpp

@@ -44,6 +44,8 @@ class http_session_base
     const boost::beast::http::verb http_method, const int & version) = 0;
 
   virtual std::string getPort() = 0;
+  virtual void setBody(const std::string & body) = 0;
+  virtual void setHeaders(const std::unordered_map<std::string, std::string> & headers) = 0;
 
 protected:
   virtual void on_resolve(

smacc2_client_library/http_client/include/http_client/ssl_http_session.hpp

@@ -30,6 +30,7 @@ Author: Jacobus Lock
 #include <http_client/http_session_base.hpp>
 #include <iostream>
 #include <string>
+#include <unordered_map>
 
 namespace cl_http
 {
@@ -65,14 +66,17 @@ class ssl_http_session : public std::enable_shared_from_this<ssl_http_session>,
   void on_write(boost::beast::error_code ec, std::size_t bytes_transferred) override;
   void on_read(boost::beast::error_code ec, std::size_t bytes_transferred) override;
   void on_shutdown(boost::beast::error_code ec) override;
+  void setBody(const std::string & body) override;
+  void setHeaders(const std::unordered_map<std::string, std::string> & headers) override;
+  void appendToHeader(const std::string & key, const std::string & val);
 
   std::function<void(const TResponse &)> onResponse;
 
   boost::asio::ip::tcp::resolver resolver_;
   // boost::beast::tcp_stream stream_;
   boost::beast::ssl_stream<boost::beast::tcp_stream> stream_;
   boost::beast::flat_buffer buffer_;  // (Must persist between reads)
-  boost::beast::http::request<boost::beast::http::empty_body> req_;
-  boost::beast::http::response<boost::beast::http::string_body> res_;
+  boost::beast::http::request<boost::beast::http::string_body> req_;
+  TResponse res_;
 };
 }  // namespace cl_http

smacc2_client_library/http_client/src/http_client/cl_http_client.cpp

@@ -27,7 +27,7 @@ ClHttp::ClHttp(const std::string & server_name, const int & timeout)
   timeout_{timeout},
   server_{server_name},
   worker_guard_{boost::asio::make_work_guard(io_context_.get_executor())},
-  ssl_context_{boost::asio::ssl::context::tlsv12_client}
+  ssl_context_{boost::asio::ssl::context::tlsv13_client}
 {
   ssl_context_.set_default_verify_paths();
   ssl_context_.set_verify_mode(boost::asio::ssl::verify_peer);
@@ -48,7 +48,9 @@ void ClHttp::onInitialize()
   }
 }
 
-void ClHttp::makeRequest(const kHttpRequestMethod http_method, const std::string & path)
+void ClHttp::makeRequest(
+  const kHttpRequestMethod http_method, const std::string & path, const std::string & body,
+  const std::unordered_map<std::string, std::string> & headers)
 {
   auto path_used = path;
   if (path[0] != '/')
@@ -63,20 +65,23 @@ void ClHttp::makeRequest(const kHttpRequestMethod http_method, const std::string
   RCLCPP_INFO(this->getLogger(), "Path %s", path_used.c_str());
   RCLCPP_INFO(this->getLogger(), "Port %s", server_.getPort().c_str());
 
+  std::shared_ptr<http_session_base> http_session_ptr;
+
   if (server_.isSSL())
   {
-    std::make_shared<ssl_http_session>(
-      boost::asio::make_strand(io_context_), ssl_context_, callbackHandler)
-      ->run(
-        server_.getServerName(), path_used, static_cast<boost::beast::http::verb>(http_method),
-        HTTP_VERSION);
+    http_session_ptr = std::make_shared<ssl_http_session>(
+      boost::asio::make_strand(io_context_), ssl_context_, callbackHandler);
   }
   else
   {
-    std::make_shared<http_session>(boost::asio::make_strand(io_context_), callbackHandler)
-      ->run(
-        server_.getServerName(), path_used, static_cast<boost::beast::http::verb>(http_method),
-        HTTP_VERSION);
+    http_session_ptr =
+      std::make_shared<http_session>(boost::asio::make_strand(io_context_), callbackHandler);
   }
+
+  http_session_ptr->setBody(body);
+  http_session_ptr->setHeaders(headers);
+  http_session_ptr->run(
+    server_.getServerName(), path_used, static_cast<boost::beast::http::verb>(http_method),
+    HTTP_VERSION);
 }
 }  // namespace cl_http

smacc2_client_library/http_client/src/http_client/http_session.cpp

@@ -30,6 +30,8 @@ http_session::http_session(
 {
 }
 
+void http_session::setBody(const std::string & body) { req_.body() = body; }
+
 void http_session::run(
   const std::string & host, const std::string & target, const boost::beast::http::verb http_method,
   const int & version)

smacc2_client_library/http_client/src/http_client/ssl_http_session.cpp

@@ -31,6 +31,21 @@ ssl_http_session::ssl_http_session(
 {
 }
 
+void ssl_http_session::setBody(const std::string & body) { req_.body() = body; }
+
+void ssl_http_session::setHeaders(const std::unordered_map<std::string, std::string> & headers)
+{
+  for (const auto & [key, val] : headers)
+  {
+    this->appendToHeader(key, val);
+  }
+}
+
+void ssl_http_session::appendToHeader(const std::string & key, const std::string & val)
+{
+  req_.set(key, val);
+}
+
 void ssl_http_session::run(
   const std::string & host, const std::string & target, const boost::beast::http::verb http_method,
   const int & version)
@@ -42,6 +57,14 @@ void ssl_http_session::run(
   req_.set(boost::beast::http::field::host, host);
   req_.set(boost::beast::http::field::user_agent, BOOST_BEAST_VERSION_STRING);
 
+  // Set an SNI to deal with CDNs
+  if (!SSL_set_tlsext_host_name(stream_.native_handle(), host.c_str()))
+  {
+    boost::system::error_code ec{
+      static_cast<int>(::ERR_get_error()), boost::asio::error::get_ssl_category()};
+    std::cerr << ec.message() << "\n";
+    return;
+  }
   // Look up the domain name
   resolver_.async_resolve(
     host.c_str(), kPort.c_str(),

smacc2_sm_reference_library/sm_atomic_openai/CMakeLists.txt

@@ -0,0 +1,64 @@
+cmake_minimum_required(VERSION 3.5)
+project(sm_atomic_openai)
+
+set(CMAKE_BUILD_TYPE "Debug")
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(smacc2 REQUIRED)
+find_package(ros_timer_client REQUIRED)
+find_package(http_client REQUIRED)
+find_package(Boost COMPONENTS thread REQUIRED)
+find_package(OpenSSL REQUIRED)
+find_package(OpenCV REQUIRED)
+
+include_directories(include
+                    ${smacc2_INCLUDE_DIRS}
+                    ${ros_timer_client_INCLUDE_DIRS}
+                    ${http_client_INCLUDE_DIRS}
+)
+
+add_executable(${PROJECT_NAME}_node
+                src/sm_atomic_openai/sm_atomic_openai_node.cpp)
+
+target_link_libraries(${PROJECT_NAME}_node
+  ${smacc2_LIBRARIES}
+  ${ros_timer_client_LIBRARIES}
+  ${http_client_LIBRARIES}
+  ${Boost_LIBRARIES}
+  ${OpenCV_LIBRARIES}
+  OpenSSL::SSL
+  OpenSSL::Crypto
+)
+
+ament_target_dependencies(${PROJECT_NAME}_node smacc2)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(DIRECTORY
+  config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(TARGETS
+        ${PROJECT_NAME}_node
+        DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

smacc2_sm_reference_library/sm_atomic_openai/README.md

@@ -0,0 +1,48 @@
+ <h2>State Machine Diagram</h2>
+
+ ![sm_atomic_http](docs/SmAtomic_2021-10-18_93942.svg)
+
+ <h2>Description</h2> A completely minimal state machine example.<br></br>
+
+ <h2>Build Instructions</h2>
+
+First, source your chosen ros2 distro.
+```
+source /opt/ros/rolling/setup.bash
+```
+```
+source /opt/ros/humble/setup.bash
+```
+
+Before you build, make sure you've installed all the dependencies...
+
+```
+rosdep install --ignore-src --from-paths src -y -r
+```
+
+Then build with colcon build...
+
+```
+colcon build
+```
+<h2>Operating Instructions</h2>
+After you build, remember to source the proper install folder...
+
+```
+source ~/workspace/humble_ws/install/setup.bash
+```
+
+And then run the launch file...
+
+```
+ros2 launch sm_atomic_http sm_atomic_http.launch
+```
+
+ <h2>Viewer Instructions</h2>
+If you have the SMACC2 Runtime Analyzer installed then type...
+
+```
+ros2 run smacc2_rta smacc2_rta
+```
+
+If you don't have the SMACC2 Runtime Analyzer click <a href="https://robosoft.ai/product-category/smacc2-runtime-analyzer/">here</a>.

smacc2_sm_reference_library/sm_atomic_openai/config/sm_atomic_openai_config.yaml

@@ -0,0 +1,3 @@
+global_parameter_server:
+    ros__parameters:
+        signal_detector_loop_freq: 200

smacc2_sm_reference_library/sm_atomic_openai/config/sm_atomic_openai_test.yaml

@@ -0,0 +1,7 @@
+state_machine_rosparam_ws: /SmAtomicOpenAI
+success_switch:
+   - type: state_reached
+     state_name: "sm_atomic_openai::State2"
+failure_switch:
+   - type: timeout
+     duration: 10.0 # sec