[feature] added a simple http server and client for state report.

algorithms/src/SystemManagement/json_request_response_lib/CMakeLists.txt

@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(json_request_response_lib)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+#add_compile_options(-std=c++11 -O0)
+add_compile_options(-std=c++17 -O3)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+#set(CMAKE_BUILD_TYPE DEBUG)
+set(CMAKE_BUILD_TYPE RELEASE)
+#find_package(OpenCV 3.4.5 REQUIRED)
+find_package(Glog REQUIRED)
+find_package(catkin REQUIRED COMPONENTS
+  gaas_msgs
+  cv_bridge
+  geometry_msgs
+  image_transport
+  roscpp
+  rosbag
+  sensor_msgs
+  nav_msgs
+  tf
+  tf2
+  tf2_ros
+  visualization_msgs
+)
+catkin_package()
+include_directories(
+        ${catkin_INCLUDE_DIRS}
+)
+
+set(REQUIRED_LIBS
+        ${GLOG_LIBRARY}
+        ${catkin_LIBRARIES}
+        glog
+)
+add_executable(test_json_client src/test_json_client.cpp)
+target_link_libraries(test_json_client ${REQUIRED_LIBS})
+
+add_executable(test_json_server src/test_json_server.cpp)
+target_link_libraries(test_json_server ${REQUIRED_LIBS})
+
+
+
+

algorithms/src/SystemManagement/json_request_response_lib/package.xml

@@ -0,0 +1,92 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>json_request_response_lib</name>
+  <version>0.0.0</version>
+  <description>The json_request_response_lib package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">LaurentWang</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/vision_lidar_fusion</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>rosbag</depend>
+  <depend>gaas_msgs</depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>tf2</build_depend>
+  <build_depend>tf2_ros</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_export_depend>cv_bridge</build_export_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>image_transport</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>nav_msgs</build_export_depend>
+  <build_export_depend>tf</build_export_depend>
+  <build_export_depend>tf2</build_export_depend>
+  <build_export_depend>tf2_ros</build_export_depend>
+  <build_export_depend>visualization_msgs</build_export_depend>
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>nav_msgs</exec_depend>
+  <exec_depend>image_transport</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>tf</exec_depend>
+  <exec_depend>tf2</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>visualization_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
+

algorithms/src/SystemManagement/json_request_response_lib/src/test_json_client.cpp

@@ -0,0 +1,26 @@
+#include "third_party/cpp-httplib/httplib.h"
+
+
+using std::cout;
+using std::endl;
+
+
+int do_request()
+{
+    httplib::Client cli("localhost", 8080);
+    if (auto res = cli.Get("/hi"))
+    {
+        cout << res->status << endl;
+        cout << res->get_header_value("Content-Type") << endl;
+        cout << res->body << endl;
+    } else {
+        cout << "error code: " << res.error() << endl;
+    }
+    return 0;
+}
+
+int main(int argc,char** argv)
+{
+    do_request();
+    return 0;
+}

algorithms/src/SystemManagement/json_request_response_lib/src/test_json_server.cpp

@@ -0,0 +1,24 @@
+#include "third_party/cpp-httplib/httplib.h"
+using std::cout;
+using std::endl;
+
+int start_server()
+{
+    httplib::Server svr;
+
+    svr.set_logger([](const auto& req, const auto& res) {
+        cout<<"request:"<<req.body<<";"<<endl<<endl<<"Response:"<<res.body<<endl<<endl;
+    });
+
+    svr.Get("/hi", [](const httplib::Request& req, httplib::Response& res) {
+        res.set_content("Hello World!", "text/plain");
+    });
+    svr.listen("localhost", 8080);
+    return 0;
+}
+
+int main(int argc,char** argv)
+{
+    start_server();
+    return 0;
+}

algorithms/src/SystemManagement/json_request_response_lib/src/third_party/cpp-httplib/LICENSE

@@ -0,0 +1,22 @@
+The MIT License (MIT)
+
+Copyright (c) 2017 yhirose
+
+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.
+