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Józef Daniecki
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Tracker Service v0.4.0: scene config dynamic loading
T_EDITOR="true" git rebase --continue t status
1 parent 2005584 commit 8f5b1f7

32 files changed

Lines changed: 2537 additions & 142 deletions

‎controller/src/robot_vision/src/rv/tracking/ObjectMatching.cpp‎

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@@ -11,8 +11,6 @@
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#include "rv/apollo/secure_matrix.hpp"
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#include "rv/tracking/Classification.hpp"
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#include <iostream>
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namespace rv {
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namespace tracking {
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‎controller/src/robot_vision/src/rv/tracking/TrackManager.cpp‎

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#include "rv/Utils.hpp"
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#include "rv/tracking/TrackManager.hpp"
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#include <iostream>
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#include <omp.h>
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namespace rv {
@@ -354,10 +353,6 @@ void TrackManager::updateTrackerConfig(int camera_frame_rate)
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mConfig.mMaxNumberOfUnreliableFrames = std::ceil(camera_frame_rate*mConfig.mMaxUnreliableTime);
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mConfig.mNonMeasurementFramesDynamic = std::ceil(camera_frame_rate*mConfig.mNonMeasurementTimeDynamic);
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mConfig.mNonMeasurementFramesStatic = std::ceil(camera_frame_rate*mConfig.mNonMeasurementTimeStatic);
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std::cout << "Updated parameters for reference camera frame rate = " << camera_frame_rate << "fps" << std::endl;
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std::cout << "max_unreliable_frames = " << mConfig.mMaxNumberOfUnreliableFrames << std::endl;
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std::cout << "non_measurement_frames_dynamic = " << mConfig.mNonMeasurementFramesDynamic << std::endl;
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std::cout << "non_measurement_frames_static = " << mConfig.mNonMeasurementFramesStatic << std::endl;
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}
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} // namespace tracking

‎sample_data/docker-compose-dl-streamer-example.yml‎

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@@ -26,6 +26,8 @@ secrets:
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file: ${SECRETSDIR}/django
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controller.auth:
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environment: CONTROLLER_AUTH
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controller-auth-file:
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file: manager/secrets/controller.auth
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browser.auth:
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file: ${SECRETSDIR}/browser.auth
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calibration.auth:
@@ -458,13 +460,19 @@ services:
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depends_on:
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broker:
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condition: service_started
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web:
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condition: service_healthy
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environment:
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- TRACKER_LOG_LEVEL=info
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- TRACKER_MQTT_HOST=broker.scenescape.intel.com
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- TRACKER_MQTT_PORT=1883
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- TRACKER_MQTT_INSECURE=false
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- TRACKER_MQTT_TLS_CA_CERT=/run/secrets/certs/scenescape-ca.pem
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- TRACKER_MQTT_TLS_VERIFY_SERVER=true
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- TRACKER_MANAGER_URL=https://web.scenescape.intel.com
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- TRACKER_MANAGER_AUTH_PATH=/run/secrets/controller.auth
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- TRACKER_MANAGER_CA_CERT_PATH=/run/secrets/certs/scenescape-ca.pem
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- TRACKER_SCENES_SOURCE=api
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# Override host proxy settings - Paho MQTT dont respect no_proxy var, so as a WA
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# tracker code detects empty vars and unsets them (see mqtt_client.cpp clearEmptyProxyVars)
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- http_proxy=
@@ -474,6 +482,8 @@ services:
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secrets:
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- source: root-cert
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target: certs/scenescape-ca.pem
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- source: controller-auth-file
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target: /run/secrets/controller.auth
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read_only: true
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cap_drop:
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- ALL

‎tracker/CMakeLists.txt‎

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@@ -43,6 +43,13 @@ find_package(CLI11 REQUIRED)
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find_package(httplib REQUIRED)
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find_package(RapidJSON REQUIRED)
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find_package(PahoMqttCpp REQUIRED)
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find_package(OpenSSL REQUIRED)
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#####################################################################
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# System-provided packages
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#####################################################################
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find_package(OpenMP REQUIRED)
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#####################################################################
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# System-provided packages
@@ -76,6 +83,8 @@ set(PROJECT_SOURCE_LIST
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${CMAKE_CURRENT_SOURCE_DIR}/src/cli.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/config_loader.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/scene_loader.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/api_scene_loader.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/manager_rest_client.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/coordinate_transformer.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/healthcheck_server.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/healthcheck_command.cpp
@@ -122,6 +131,8 @@ target_link_libraries(${PROJECT_NAME}
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httplib::httplib
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rapidjson
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PahoMqttCpp::paho-mqttpp3-static
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OpenSSL::SSL
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OpenSSL::Crypto
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)
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#####################################################################

‎tracker/Makefile‎

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@@ -75,7 +75,7 @@ format-python:
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echo "autopep8 not found. Install: pip install autopep8"; \
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exit 1; \
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fi
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@cd test/service && autopep8 --in-place --indent-size=2 --max-line-length=120 *.py
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@cd test/service && autopep8 --in-place --indent-size=2 --max-line-length=120 *.py mocks/*.py
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@echo "✓ Python files formatted"
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install-hooks:
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echo "autopep8 not found. Install: pip install autopep8"; \
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exit 1; \
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fi
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@cd test/service && autopep8 --diff --exit-code --indent-size=2 --max-line-length=120 *.py && echo "✓ Python lint passed"
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@cd test/service && autopep8 --diff --exit-code --indent-size=2 --max-line-length=120 *.py mocks/*.py && echo "✓ Python lint passed"
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lint-trivy:
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@echo "Running Trivy security scan..."

‎tracker/conanfile.txt‎

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@@ -17,7 +17,7 @@ CMakeDeps
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CMakeToolchain
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[options]
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cpp-httplib/*:with_openssl=False
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cpp-httplib/*:with_openssl=True
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opencv/*:shared=True
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opencv/*:tracking=True
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opencv/*:video=True

‎tracker/config/tracker.json‎

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@@ -13,6 +13,10 @@
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"healthcheck": {
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"port": 8080
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}
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},
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"manager": {
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"url": "https://web.scenescape.intel.com",
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"auth_path": "/run/secrets/controller.auth"
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}
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},
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"observability": {
@@ -29,7 +33,6 @@
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"non_measurement_time_static_s": 1.6
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},
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"scenes": {
32-
"source": "file",
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"file_path": "scenes.json"
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"source": "api"
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}
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}

‎tracker/inc/config_loader.hpp‎

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#pragma once
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6-
#include "scene_loader.hpp"
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#include "scenes_config.hpp"
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#include <filesystem>
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#include <optional>
@@ -47,12 +47,22 @@ struct TrackerConfig {
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bool schema_validation = true;
4848
};
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50+
/**
51+
* @brief Manager REST API connection settings.
52+
*/
53+
struct ManagerConfig {
54+
std::string url; ///< Manager API base URL
55+
std::string auth_path; ///< Path to JSON auth file {user, password}
56+
std::optional<std::string> ca_cert_path; ///< CA cert for HTTPS verification
57+
};
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5059
/**
5160
* @brief External service connections.
5261
*/
5362
struct InfrastructureConfig {
5463
MqttConfig mqtt;
5564
TrackerConfig tracker;
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std::optional<ManagerConfig> manager; ///< Required when scenes.source='api'
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};
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/**
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134144
"/tracking/non_measurement_time_dynamic_s";
135145
constexpr char TRACKING_NON_MEASUREMENT_TIME_STATIC_S[] = "/tracking/non_measurement_time_static_s";
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147+
// Manager
148+
constexpr char INFRASTRUCTURE_MANAGER[] = "/infrastructure/manager";
149+
constexpr char INFRASTRUCTURE_MANAGER_URL[] = "/infrastructure/manager/url";
150+
constexpr char INFRASTRUCTURE_MANAGER_AUTH_PATH[] = "/infrastructure/manager/auth_path";
151+
constexpr char INFRASTRUCTURE_MANAGER_CA_CERT_PATH[] = "/infrastructure/manager/ca_cert_path";
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137153
// Scenes
138154
constexpr char SCENES_SOURCE[] = "/scenes/source";
139155
constexpr char SCENES_FILE_PATH[] = "/scenes/file_path";

‎tracker/inc/env_vars.hpp‎

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@@ -58,6 +58,17 @@ constexpr const char* NON_MEASUREMENT_TIME_DYNAMIC_S = "TRACKER_NON_MEASUREMENT_
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/// seconds, >= 0 - RobotVision tracker parameter
5959
constexpr const char* NON_MEASUREMENT_TIME_STATIC_S = "TRACKER_NON_MEASUREMENT_TIME_STATIC_S";
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61+
// Manager API overrides
62+
63+
/// Manager API base URL
64+
constexpr const char* MANAGER_URL = "TRACKER_MANAGER_URL";
65+
66+
/// Path to JSON auth file {user, password}
67+
constexpr const char* MANAGER_AUTH_PATH = "TRACKER_MANAGER_AUTH_PATH";
68+
69+
/// Path to CA certificate for HTTPS verification
70+
constexpr const char* MANAGER_CA_CERT_PATH = "TRACKER_MANAGER_CA_CERT_PATH";
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// Scenes overrides
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/// "file"|"api"

‎tracker/inc/manager_rest_client.hpp‎

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// SPDX-FileCopyrightText: 2026 Intel Corporation
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// SPDX-License-Identifier: Apache-2.0
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4+
#pragma once
5+
6+
#include <chrono>
7+
#include <optional>
8+
#include <string>
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10+
namespace tracker {
11+
12+
/**
13+
* @brief Abstract interface for Manager REST API operations.
14+
*
15+
* Enables dependency injection and mock-based testing of components
16+
* that depend on the Manager API (e.g., ApiSceneLoader).
17+
*/
18+
class IManagerRestClient {
19+
public:
20+
virtual ~IManagerRestClient() = default;
21+
22+
/**
23+
* @brief Authenticate with the Manager API.
24+
*
25+
* @param username API username
26+
* @param password API password
27+
* @throws std::runtime_error on connection failure, HTTP error, or auth rejection
28+
*/
29+
virtual void authenticate(const std::string& username, const std::string& password) = 0;
30+
31+
/**
32+
* @brief Fetch all scenes from the Manager API.
33+
*
34+
* @return Raw JSON response body string
35+
* @throws std::runtime_error if not authenticated, connection fails, or HTTP error
36+
*/
37+
virtual std::string fetchScenes() = 0;
38+
};
39+
40+
/**
41+
* @brief HTTP client for Manager REST API.
42+
*
43+
* Handles authentication and scene fetching from the SceneScape Manager.
44+
* Supports HTTPS with CA certificate verification.
45+
*/
46+
class ManagerRestClient : public IManagerRestClient {
47+
public:
48+
/**
49+
* @brief Construct a Manager REST API client.
50+
*
51+
* @param url Manager API base URL (e.g., "https://web.scenescape.intel.com")
52+
* @param ca_cert_path Optional CA certificate path for HTTPS verification
53+
* @param connect_timeout TCP connect timeout (default: 10s)
54+
* @param read_timeout HTTP read timeout (default: 30s)
55+
*/
56+
ManagerRestClient(std::string url, std::optional<std::string> ca_cert_path = std::nullopt,
57+
std::chrono::milliseconds connect_timeout = std::chrono::seconds(10),
58+
std::chrono::milliseconds read_timeout = std::chrono::seconds(30));
59+
60+
void authenticate(const std::string& username, const std::string& password) override;
61+
std::string fetchScenes() override;
62+
63+
private:
64+
std::string url_;
65+
std::optional<std::string> ca_cert_path_;
66+
std::string token_;
67+
std::chrono::milliseconds connect_timeout_;
68+
std::chrono::milliseconds read_timeout_;
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};
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} // namespace tracker

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