Merge pull request #18 from jontje/cookie_check_and_basic_authentication

Added check for cookie update and support for HTTP Basic authentication
ros-industrial · Sep 6, 2018 · 104f6a7 · 104f6a7
2 parents 9dde173 + 1a35522
commit 104f6a7
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Showing 8 changed files with 219 additions and 47 deletions.
diff --git a/include/abb_librws/rws_client.h b/include/abb_librws/rws_client.h
@@ -272,21 +272,67 @@ class RWSClient : public POCOClient
      */
     std::vector<SubscriptionResource> resources_;
   };
+
+  /**
+   * \brief A constructor.
+   *
+   * \param ip_address specifying the robot controller's IP address.
+   */
+  RWSClient(const std::string ip_address)
+  :
+  POCOClient(ip_address,
+             SystemConstants::General::DEFAULT_PORT_NUMBER,
+             SystemConstants::General::DEFAULT_USERNAME,
+             SystemConstants::General::DEFAULT_PASSWORD)
+  {}
+
+  /**
+   * \brief A constructor.
+   *
+   * \param ip_address specifying the robot controller's IP address.
+   * \param username for the username to the RWS authentication process.
+   * \param password for the password to the RWS authentication process.
+   */
+  RWSClient(const std::string ip_address, const std::string username, const std::string password)
+  :
+  POCOClient(ip_address,
+             SystemConstants::General::DEFAULT_PORT_NUMBER,
+             username,
+             password)
+  {}
+
+  /**
+   * \brief A constructor.
+   *
+   * \param ip_address specifying the robot controller's IP address.
+   * \param port for the port used by the RWS server.
+   */
+  RWSClient(const std::string ip_address, const unsigned short port)
+  :
+  POCOClient(ip_address,
+             port,
+             SystemConstants::General::DEFAULT_USERNAME,
+             SystemConstants::General::DEFAULT_PASSWORD)
+  {}
 
   /**
    * \brief A constructor.
    *
-   * \param ip_address for the remote server's IP address.
-   * \param port for the remote server's port.
-   * \param user for the remote server's authentication (assumed to be Digest).
-   * \param password for the remote server's authentication (assumed to be Digest).
+   * \param ip_address specifying the robot controller's IP address.
+   * \param port for the port used by the RWS server.
+   * \param username for the username to the RWS authentication process.
+   * \param password for the password to the RWS authentication process.
    */
   RWSClient(const std::string ip_address,
-            const Poco::UInt16 port = 80,
-            const std::string user = SystemConstants::General::DEFAULT_USERNAME,
-            const std::string password = SystemConstants::General::DEFAULT_PASSWORD)
+            const unsigned short port,
+            const std::string username,
+            const std::string password)
   :
-  POCOClient(ip_address, port, user, password) {}
+  POCOClient(ip_address,
+             port,
+             username,
+             password)
+  {}
 
   /**
    * \brief A destructor.

diff --git a/include/abb_librws/rws_common.h b/include/abb_librws/rws_common.h
@@ -163,11 +163,16 @@ struct SystemConstants
      */
     static const std::string EXTERNAL_LOCATION;
 
+    /**
+     * \brief Default port number for RWS communication.
+     */
+    static const unsigned short DEFAULT_PORT_NUMBER;
+
     /**
      * \brief Default password (for unconfigured robot controller systems).
      */
     static const std::string DEFAULT_PASSWORD;
-    
+
     /**
      * \brief Default username (for unconfigured robot controller systems).
      */

diff --git a/include/abb_librws/rws_interface.h b/include/abb_librws/rws_interface.h
@@ -305,10 +305,63 @@ class RWSInterface
    * \brief A constructor.
    *
    * \param ip_address specifying the robot controller's IP address.
-   * \param port specifying the robot controller's RWS server's port number.
    */
-  RWSInterface(const std::string ip_address, const unsigned short port = 80);
+  RWSInterface(const std::string ip_address)
+  :
+  rws_client_(ip_address,
+              SystemConstants::General::DEFAULT_PORT_NUMBER,
+              SystemConstants::General::DEFAULT_USERNAME,
+              SystemConstants::General::DEFAULT_PASSWORD)
+  {}
 
+  /**
+   * \brief A constructor.
+   *
+   * \param ip_address specifying the robot controller's IP address.
+   * \param username for the username to the RWS authentication process.
+   * \param password for the password to the RWS authentication process.
+   */
+  RWSInterface(const std::string ip_address, const std::string username, const std::string password)
+  :
+  rws_client_(ip_address,
+              SystemConstants::General::DEFAULT_PORT_NUMBER,
+              username,
+              password)
+  {}
+
+  /**
+   * \brief A constructor.
+   *
+   * \param ip_address specifying the robot controller's IP address.
+   * \param port for the port used by the RWS server.
+   */
+  RWSInterface(const std::string ip_address, const unsigned short port)
+  :
+  rws_client_(ip_address,
+              port,
+              SystemConstants::General::DEFAULT_USERNAME,
+              SystemConstants::General::DEFAULT_PASSWORD)
+  {}
+
+  /**
+   * \brief A constructor.
+   *
+   * \param ip_address specifying the robot controller's IP address.
+   * \param port for the port used by the RWS server.
+   * \param username for the username to the RWS authentication process.
+   * \param password for the password to the RWS authentication process.
+   */
+  RWSInterface(const std::string ip_address,
+               const unsigned short port,
+               const std::string username,
+               const std::string password)
+  :
+  rws_client_(ip_address,
+              port,
+              username,
+              password)
+  {}
+
   /**
    * \brief A method for collecting runtime information of the robot controller.
    *

diff --git a/include/abb_librws/rws_poco_client.h b/include/abb_librws/rws_poco_client.h
@@ -39,6 +39,7 @@
 
 #include "Poco/Mutex.h"
 #include "Poco/Net/HTTPClientSession.h"
+#include "Poco/Net/HTTPCredentials.h"
 #include "Poco/Net/HTTPResponse.h"
 #include "Poco/Net/WebSocket.h"
 #include "Poco/SharedPtr.h"
@@ -246,16 +247,16 @@ class POCOClient
    *
    * \param ip_address for the remote server's IP address.
    * \param port for the remote server's port.
-   * \param user for the remote server's authentication (assumed to be Digest).
-   * \param password for the remote server's authentication (assumed to be Digest).
+   * \param username for the username to the remote server's authentication process.
+   * \param password for the password to the remote server's authentication process.
    */
   POCOClient(const std::string ip_address,
              const Poco::UInt16 port,
-             const std::string user,
+             const std::string username,
              const std::string password)
   :
   client_session_(ip_address, port),
-  digest_credentials_(user, password)
+  http_credentials_(username, password)
   {
     client_session_.setKeepAlive(true);
     client_session_.setTimeout(Poco::Timespan(DEFAULT_TIMEOUT));
@@ -424,10 +425,10 @@ class POCOClient
   Poco::Mutex websocket_mutex_;
 
   /**
-   * \brief Digest authentication credentials.
+   * \brief HTTP credentials for the remote server's access authentication process.
    */
-  Poco::Net::HTTPDigestCredentials digest_credentials_;
-  
+  Poco::Net::HTTPCredentials http_credentials_;
+
   /**
    * \brief A container for cookies received from a server.
    */

diff --git a/include/abb_librws/rws_simple_state_machine_interface.h b/include/abb_librws/rws_simple_state_machine_interface.h
@@ -411,15 +411,64 @@ class RWSSimpleStateMachineInterface : public RWSInterface
   /**
    * \brief A constructor.
    *
-   * \param ip_address for the remote server's IP address.
-   * \param port for the remote server's port.
+   * \param ip_address specifying the robot controller's IP address.
    */
-  RWSSimpleStateMachineInterface(const std::string ip_address, const unsigned short port = 80)
+  RWSSimpleStateMachineInterface(const std::string ip_address)
   :
-  RWSInterface(ip_address, port)
-  {
-  }
+  RWSInterface(ip_address,
+               SystemConstants::General::DEFAULT_PORT_NUMBER,
+               SystemConstants::General::DEFAULT_USERNAME,
+               SystemConstants::General::DEFAULT_PASSWORD)
+  {}
 
+  /**
+   * \brief A constructor.
+   *
+   * \param ip_address specifying the robot controller's IP address.
+   * \param username for the username to the RWS authentication process.
+   * \param password for the password to the RWS authentication process.
+   */
+  RWSSimpleStateMachineInterface(const std::string ip_address, const std::string username, const std::string password)
+  :
+  RWSInterface(ip_address,
+               SystemConstants::General::DEFAULT_PORT_NUMBER,
+               username,
+               password)
+  {}
+
+  /**
+   * \brief A constructor.
+   *
+   * \param ip_address specifying the robot controller's IP address.
+   * \param port for the port used by the RWS server.
+   */
+  RWSSimpleStateMachineInterface(const std::string ip_address, const unsigned short port)
+  :
+  RWSInterface(ip_address,
+               port,
+               SystemConstants::General::DEFAULT_USERNAME,
+               SystemConstants::General::DEFAULT_PASSWORD)
+  {}
+
+  /**
+   * \brief A constructor.
+   *
+   * \param ip_address specifying the robot controller's IP address.
+   * \param port for the port used by the RWS server.
+   * \param username for the username to the RWS authentication process.
+   * \param password for the password to the RWS authentication process.
+   */
+  RWSSimpleStateMachineInterface(const std::string ip_address,
+                                 const unsigned short port,
+                                 const std::string username,
+                                 const std::string password)
+  :
+  RWSInterface(ip_address,
+               port,
+               username,
+               password)
+  {}
+
   /**
    * \brief A method for retrieving the current jointtarget values of the robot.
    *

diff --git a/src/rws_common.cpp b/src/rws_common.cpp
@@ -165,18 +165,19 @@ const std::string SystemConstants::ContollerStates::CONTROLLER_MOTOR_OFF      =
 const std::string SystemConstants::ContollerStates::PANEL_OPERATION_MODE_AUTO = "AUTO";
 const std::string SystemConstants::ContollerStates::RAPID_EXECUTION_RUNNING   = "running";
 
-const std::string SystemConstants::General::EXTERNAL_APPLICATION  = "ExternalApplication";
-const std::string SystemConstants::General::EXTERNAL_LOCATION     = "ExternalLocation";
-const std::string SystemConstants::General::DEFAULT_PASSWORD      = "robotics";
-const std::string SystemConstants::General::DEFAULT_USERNAME      = "Default User";
-const std::string SystemConstants::General::LOCAL                 = "local";
-const std::string SystemConstants::General::MECHANICAL_UNIT_ROB_1 = "ROB_1";
-const std::string SystemConstants::General::MECHANICAL_UNIT_ROB_2 = "ROB_2";
-const std::string SystemConstants::General::MECHANICAL_UNIT_ROB_3 = "ROB_3";
-const std::string SystemConstants::General::MECHANICAL_UNIT_ROB_4 = "ROB_4";
-const std::string SystemConstants::General::MECHANICAL_UNIT_ROB_L = "ROB_L";
-const std::string SystemConstants::General::MECHANICAL_UNIT_ROB_R = "ROB_R";
-const std::string SystemConstants::General::REMOTE                = "remote";
+const std::string SystemConstants::General::EXTERNAL_APPLICATION   = "ExternalApplication";
+const std::string SystemConstants::General::EXTERNAL_LOCATION      = "ExternalLocation";
+const unsigned short SystemConstants::General::DEFAULT_PORT_NUMBER = 80;
+const std::string SystemConstants::General::DEFAULT_PASSWORD       = "robotics";
+const std::string SystemConstants::General::DEFAULT_USERNAME       = "Default User";
+const std::string SystemConstants::General::LOCAL                  = "local";
+const std::string SystemConstants::General::MECHANICAL_UNIT_ROB_1  = "ROB_1";
+const std::string SystemConstants::General::MECHANICAL_UNIT_ROB_2  = "ROB_2";
+const std::string SystemConstants::General::MECHANICAL_UNIT_ROB_3  = "ROB_3";
+const std::string SystemConstants::General::MECHANICAL_UNIT_ROB_4  = "ROB_4";
+const std::string SystemConstants::General::MECHANICAL_UNIT_ROB_L  = "ROB_L";
+const std::string SystemConstants::General::MECHANICAL_UNIT_ROB_R  = "ROB_R";
+const std::string SystemConstants::General::REMOTE                 = "remote";
 
 const std::string SystemConstants::IOSignals::HAND_ACTUAL_POSITION_L   = "hand_ActualPosition_L";
 const std::string SystemConstants::IOSignals::HAND_ACTUAL_POSITION_R   = "hand_ActualPosition_R";

diff --git a/src/rws_interface.cpp b/src/rws_interface.cpp
@@ -57,14 +57,6 @@ typedef SystemConstants::RWS::XMLAttributes XMLAttributes;
  * Primary methods
  */
 
-RWSInterface::RWSInterface(const std::string ip_address, const unsigned short port)
-:
-rws_client_(ip_address, port)
-{
-  collectStaticInfo();
-  collectRuntimeInfo();
-}
-
 RWSInterface::RuntimeInfo RWSInterface::collectRuntimeInfo()
 {
   RuntimeInfo runtime_info;

diff --git a/src/rws_poco_client.cpp b/src/rws_poco_client.cpp
@@ -258,7 +258,30 @@ POCOClient::POCOResult POCOClient::makeHTTPRequest(const std::string method,
   {
     sendAndReceive(result, request, response, content);
 
-    // Check if the request was approved, else add credentials.
+    // Check if the server has sent an update for the cookies.
+    std::vector<HTTPCookie> temp_cookies;
+    response.getCookies(temp_cookies);
+    for (size_t i = 0; i < temp_cookies.size(); ++i)
+    {
+      if (cookies_.find(temp_cookies[i].getName()) != cookies_.end())
+      {
+        cookies_.set(temp_cookies[i].getName(), temp_cookies[i].getValue());
+      }
+      else
+      {
+        cookies_.add(temp_cookies[i].getName(), temp_cookies[i].getValue());
+      }
+    }
+
+    // Check if there was a server error, if so, make another attempt with a clean sheet.
+    if (response.getStatus() >= HTTPResponse::HTTP_INTERNAL_SERVER_ERROR)
+    {
+      client_session_.reset();
+      request.erase(HTTPRequest::COOKIE);
+      sendAndReceive(result, request, response, content);
+    }
+
+    // Check if the request was unauthorized, if so add credentials.
     if (response.getStatus() == HTTPResponse::HTTP_UNAUTHORIZED)
     {
       authenticate(result, request, response, content);
@@ -452,9 +475,11 @@ void POCOClient::authenticate(POCOResult& result,
                               HTTPResponse& response,
                               const std::string request_content)
 {
-  // Remove any old cookies and add credentials.
+  // Remove any old cookies.
   cookies_.clear();
-  digest_credentials_.authenticate(request, response);
+
+  // Authenticate with the provided credentials.
+  http_credentials_.authenticate(request, response);
 
   // Contact the server, and extract and store the received cookies.
   sendAndReceive(result, request, response, request_content);