Prepared everything for FE-Design demo

9 files changed, 256 insertions, 73 deletions

diff --git a/src/uscxml/plugins/datamodel/ecmascript/v8/V8DataModel.cpp b/src/uscxml/plugins/datamodel/ecmascript/v8/V8DataModel.cpp
index dfa8585..d791b9e 100644
--- a/src/uscxml/plugins/datamodel/ecmascript/v8/V8DataModel.cpp
+++ b/src/uscxml/plugins/datamodel/ecmascript/v8/V8DataModel.cpp
@@ -320,6 +320,10 @@ v8::Handle<v8::Value> V8DataModel::evalAsValue(const std::string& expr) {
 			exceptionEvent.data.compound["filename"] = Data(filename, Data::VERBATIM);
 
 			std::string sourceLine(*v8::String::AsciiValue(message->GetSourceLine()));
+      size_t startpos = sourceLine.find_first_not_of(" \t");
+      if(std::string::npos != startpos) // removoe leading white space
+        sourceLine = sourceLine.substr(startpos);
+
 			exceptionEvent.data.compound["sourceline"] = Data(sourceLine, Data::VERBATIM);
 
 			std::stringstream ssLineNumber;
diff --git a/src/uscxml/plugins/element/postpone/PostponeElement.cpp b/src/uscxml/plugins/element/postpone/PostponeElement.cpp
index 644cb1d..5dc1c60 100644
--- a/src/uscxml/plugins/element/postpone/PostponeElement.cpp
+++ b/src/uscxml/plugins/element/postpone/PostponeElement.cpp
@@ -41,11 +41,22 @@ void PostponeElement::enterElement(const Arabica::DOM::Node<std::string>& node)
 	}
 
 	// when will we refire the event?
-	if (!HAS_ATTR(node, "until")) {
-		LOG(ERROR) << "Postpone element requires until attribute ";
+  std::string until;
+  try {
+    if (HAS_ATTR(node, "untilexpr")) {
+      until = _interpreter->getDataModel().evalAsString(ATTR(node, "untilexpr"));
+    } else if (HAS_ATTR(node, "until")) {
+      until = ATTR(node, "until");
+    }
+	} catch (Event e) {
+		LOG(ERROR) << "Syntax error in postpone element untilexpr:" << std::endl << e << std::endl;
+    return;
+	}
+
+	if (until.length() == 0) {
+		LOG(ERROR) << "Postpone element requires until or untilexpr attribute ";
 		return;
 	}
-	std::string until = ATTR(node, "until");
 
 	Event currEvent = _interpreter->getCurrentEvent();
 	Resubmitter::postpone(currEvent, until, _interpreter);
@@ -63,13 +74,16 @@ void PostponeElement::Resubmitter::onStableConfiguration(Interpreter* interprete
 	std::list<std::pair<std::string, Event> >::iterator eventIter = _postponedEvents.begin();
 	while(eventIter != _postponedEvents.end()) {
 		try {
+      LOG(INFO) << "Reevaluating: >> " << eventIter->first << " <<";
 			if (interpreter->getDataModel().evalAsBool(eventIter->first)) {
+        LOG(INFO) << "  -> is TRUE";
 				interpreter->receive(eventIter->second, true);
 				_postponedEvents.erase(eventIter);
 				break;
 			}
+      LOG(INFO) << "  -> is FALSE";
 		} catch (Event e) {
-			LOG(ERROR) << "Syntax error in until attribute of postpone element:" << std::endl << e << std::endl;
+			LOG(ERROR) << "Syntax error while evaluating until attribute of postpone element:" << std::endl << e << std::endl;
 			_postponedEvents.erase(eventIter++);
 			continue;
 		}
diff --git a/src/uscxml/plugins/element/response/ResponseElement.cpp b/src/uscxml/plugins/element/response/ResponseElement.cpp
index 7f1a479..62ebf34 100644
--- a/src/uscxml/plugins/element/response/ResponseElement.cpp
+++ b/src/uscxml/plugins/element/response/ResponseElement.cpp
@@ -52,28 +52,103 @@ void ResponseElement::enterElement(const Arabica::DOM::Node<std::string>& node)
 		return;
 	}
 	httpReply.status = strTo<int>(statusStr);;
-
+  
 	// extract the content
 	Arabica::XPath::NodeSet<std::string> contents = Interpreter::filterChildElements(_interpreter->getXMLPrefixForNS(getNamespace()) + "content", node);
 	if (contents.size() > 0) {
-		if (HAS_ATTR(contents[0], "expr")) {
+		if (HAS_ATTR(contents[0], "expr")) { // -- content is evaluated string from datamodel ------
 			if (_interpreter->getDataModel()) {
 				try {
 					std::string contentValue = _interpreter->getDataModel().evalAsString(ATTR(contents[0], "expr"));
 					httpReply.content = contentValue;
 				} catch (Event e) {
 					LOG(ERROR) << "Syntax error with expr in content child of response element:" << std::endl << e << std::endl;
+          return;
 				}
 			} else {
 				LOG(ERROR) << "content element has expr attribute but no datamodel is specified.";
+        return;
+			}
+		} else if (HAS_ATTR(contents[0], "file") || HAS_ATTR(contents[0], "fileexpr")) { // -- content is from file ------
+      URL file;
+			if (HAS_ATTR(contents[0], "fileexpr")) {
+        if (_interpreter->getDataModel()) {
+          try {
+            file = "file://" + _interpreter->getDataModel().evalAsString(ATTR(contents[0], "fileexpr"));
+          } catch (Event e) {
+            LOG(ERROR) << "Syntax error with fileexpr in content child of response element:" << std::endl << e << std::endl;
+            return;
+          }
+				}
+			} else {
+        file = "file://" + ATTR(contents[0], "fileexpr");
 			}
-		} else if (contents[0].hasChildNodes()) {
+      if (file) {
+        httpReply.content = file.getInContent();
+        size_t lastDot;
+        if ((lastDot = file.path().find_last_of(".")) != std::string::npos) {
+          std::string extension = file.path().substr(lastDot + 1);
+          std::string mimeType = HTTPServer::mimeTypeForExtension(extension);
+          if (mimeType.length() > 0) {
+            httpReply.headers["Content-Type"] = mimeType;
+          }
+        }
+      }
+		} else if (contents[0].hasChildNodes()) {  // -- content embedded as child nodes ------
 			httpReply.content = contents[0].getFirstChild().getNodeValue();
 		} else {
 			LOG(ERROR) << "content element does not specify any content.";
+      return;
 		}
 	}
 
+  // process headers
+	Arabica::XPath::NodeSet<std::string> headers = Interpreter::filterChildElements(_interpreter->getXMLPrefixForNS(getNamespace()) + "header", node);
+  for (int i = 0; i < headers.size(); i++) {
+    std::string name;
+    if (HAS_ATTR(headers[i], "name")) {
+      name = ATTR(headers[i], "name");
+    } else if(HAS_ATTR(headers[i], "nameexpr")) {
+      if (_interpreter->getDataModel()) {
+        try {
+          name = _interpreter->getDataModel().evalAsString(ATTR(headers[i], "nameexpr"));
+        } catch (Event e) {
+          LOG(ERROR) << "Syntax error with nameexpr in header child of response element:" << std::endl << e << std::endl;
+          return;
+        }
+      } else {
+				LOG(ERROR) << "header element has nameexpr attribute but no datamodel is specified.";
+        return;
+      }
+    } else {
+      LOG(ERROR) << "header element has no name or nameexpr attribute.";
+      return;
+    }
+
+    std::string value;
+    if (HAS_ATTR(headers[i], "value")) {
+      value = ATTR(headers[i], "value");
+    } else if(HAS_ATTR(headers[i], "expr")) {
+      if (_interpreter->getDataModel()) {
+        try {
+          value = _interpreter->getDataModel().evalAsString(ATTR(headers[i], "expr"));
+        } catch (Event e) {
+          LOG(ERROR) << "Syntax error with expr in header child of response element:" << std::endl << e << std::endl;
+          return;
+        }
+      } else {
+				LOG(ERROR) << "header element has expr attribute but no datamodel is specified.";
+        return;
+      }
+    } else {
+      LOG(ERROR) << "header element has no value or expr attribute.";
+      return;
+    }
+
+    httpReply.headers[name] = value;
+  }
+  
+
 	// send the reply
 	HTTPServer::reply(httpReply);
 	servlet->getRequests().erase(requestId);
diff --git a/src/uscxml/plugins/invoker/filesystem/dirmon/DirMonInvoker.cpp b/src/uscxml/plugins/invoker/filesystem/dirmon/DirMonInvoker.cpp
index e34517d..b7477df 100644
--- a/src/uscxml/plugins/invoker/filesystem/dirmon/DirMonInvoker.cpp
+++ b/src/uscxml/plugins/invoker/filesystem/dirmon/DirMonInvoker.cpp
@@ -24,7 +24,11 @@ bool connect(pluma::Host& host) {
 }
 #endif
 
-DirMonInvoker::DirMonInvoker() : _reportExisting(false), _recurse(false), _thread(NULL) {
+DirMonInvoker::DirMonInvoker() :
+  _reportExisting(true),
+  _reportHidden(false),
+  _recurse(false),
+  _thread(NULL) {
 }
 
 DirMonInvoker::~DirMonInvoker() {
@@ -51,13 +55,31 @@ void DirMonInvoker::cancel(const std::string sendId) {
 }
 
 void DirMonInvoker::invoke(const InvokeRequest& req) {
-	if (req.params.find("dir") != req.params.end() && boost::iequals(req.params.find("reportexisting")->second, "true"))
-		_reportExisting = true;
+	if (req.params.find("dir") != req.params.end() && boost::iequals(req.params.find("reportexisting")->second, "false"))
+		_reportExisting = false;
 	if (req.params.find("recurse") != req.params.end() && boost::iequals(req.params.find("recurse")->second, "true"))
 		_recurse = true;
-	if (req.params.find("suffix") != req.params.end())
-		_suffix = req.params.find("suffix")->second;
-
+	if (req.params.find("reporthidden") != req.params.end() && boost::iequals(req.params.find("reporthidden")->second, "true"))
+		_reportHidden = true;
+  
+  std::string suffixList;
+  if (req.params.find("suffix") != req.params.end()) {
+    suffixList = req.params.find("suffix")->second;
+  } else if (req.params.find("suffixes") != req.params.end()) {
+    suffixList = req.params.find("suffixes")->second;
+  }
+
+  if (suffixList.size() > 0) {
+  	// seperate path into components
+    std::stringstream ss(suffixList);
+    std::string item;
+    while(std::getline(ss, item, ' ')) {
+      if (item.length() == 0)
+        continue;
+      _suffixes.insert(item);
+    }
+  }
+  
 	std::multimap<std::string, std::string>::const_iterator dirIter = req.params.find("dir");
 	while(dirIter != req.params.upper_bound("dir")) {
 		URL url(dirIter->second);
@@ -89,14 +111,20 @@ void DirMonInvoker::reportExisting() {
 }
 
 void DirMonInvoker::handleFileAction(FW::WatchID watchid, const FW::String& dir, const FW::String& filename, FW::Action action) {
-	if (!boost::algorithm::ends_with(filename, _suffix))
-		return;
-
-	struct stat fileStat;
-	if (stat(filename.c_str(), &fileStat) != 0) {
-		LOG(ERROR) << "Error with stat on directory entry " << filename << ": " << strerror(errno);
-		return;
-	}
+  
+  if (_suffixes.size() > 0) {
+    bool validSuffix = false;
+    std::set<std::string>::iterator suffixIter = _suffixes.begin();
+    while(suffixIter != _suffixes.end()) {
+      if (boost::algorithm::ends_with(filename, *suffixIter)) {
+        validSuffix = true;
+        break;
+      }
+      suffixIter++;
+    }
+    if (!validSuffix)
+      return;
+  }
 
 	Event event;
 	event.invokeid = _invokeId;
@@ -117,39 +145,56 @@ void DirMonInvoker::handleFileAction(FW::WatchID watchid, const FW::String& dir,
 		break;
 	}
 
+  // basename is the filename with suffix
 	std::string basename;
 	size_t lastSep;
 	if ((lastSep = filename.find_last_of(PATH_SEPERATOR)) != std::string::npos) {
 		lastSep++;
 		basename = filename.substr(lastSep, filename.length() - lastSep);
-	} else {
-		basename = filename;
+  	event.data.compound["file"].compound["name"] = Data(basename, Data::VERBATIM);
 	}
-
-	std::string extension;
+  
+  // return if this is a hidden file
+  if (boost::algorithm::starts_with(basename, ".") && !_reportHidden)
+    return;
+
+  struct stat fileStat;
+	if (action != FW::Actions::Delete) {
+    if (stat(filename.c_str(), &fileStat) != 0) {
+      LOG(ERROR) << "Error with stat on directory entry " << filename << ": " << strerror(errno);
+      return;
+    } else {
+      event.data.compound["file"].compound["mtime"] = toStr(fileStat.st_mtime);
+      event.data.compound["file"].compound["ctime"] = toStr(fileStat.st_ctime);
+      event.data.compound["file"].compound["atime"] = toStr(fileStat.st_atime);
+      event.data.compound["file"].compound["size"]  = toStr(fileStat.st_size);
+    }
+  }
+
+  // extension is the suffix and strippedName the basename without the suffix
 	size_t lastDot;
 	if ((lastDot = basename.find_last_of(".")) != std::string::npos) {
-		lastDot++;
-		extension = basename.substr(lastDot, basename.length() - lastDot);
+		std::string extension = basename.substr(lastDot + 1);
+		event.data.compound["file"].compound["extension"] = Data(extension, Data::VERBATIM);
+  	std::string strippedName = basename.substr(0, lastDot);
+		event.data.compound["file"].compound["strippedName"] = Data(strippedName, Data::VERBATIM);
 	}
 
-	std::string relPath;
+  // relpath is the path to the file relative to the dir
 	if (boost::algorithm::starts_with(filename, dir)) {
-		relPath = filename.substr(dir.length());
-	} else {
-		relPath = filename;
+		std::string relPath = filename.substr(dir.length());
+  	event.data.compound["file"].compound["relPath"] = Data(relPath, Data::VERBATIM);
+
+    // relDir is the relpath without the basename
+    if ((lastSep = relPath.find_last_of(PATH_SEPERATOR)) != std::string::npos) {
+  		lastSep++;
+      std::string relDir = relPath.substr(0, lastSep);
+    	event.data.compound["file"].compound["relDir"] = Data(relDir, Data::VERBATIM);
+  	}
 	}
 
-	event.data.compound["file"].compound["name"] = Data(basename, Data::VERBATIM);
 	event.data.compound["file"].compound["path"] = Data(filename, Data::VERBATIM);
-	event.data.compound["file"].compound["relPath"] = Data(relPath, Data::VERBATIM);
 	event.data.compound["file"].compound["dir"] = Data(dir, Data::VERBATIM);
-	event.data.compound["file"].compound["extension"] = Data(extension, Data::VERBATIM);
-
-	event.data.compound["file"].compound["mtime"] = toStr(fileStat.st_mtime);
-	event.data.compound["file"].compound["ctime"] = toStr(fileStat.st_ctime);
-	event.data.compound["file"].compound["atime"] = toStr(fileStat.st_atime);
-	event.data.compound["file"].compound["size"]  = toStr(fileStat.st_size);
 
 	returnEvent(event);
 }
diff --git a/src/uscxml/plugins/invoker/filesystem/dirmon/DirMonInvoker.h b/src/uscxml/plugins/invoker/filesystem/dirmon/DirMonInvoker.h
index 1437759..04e670d 100644
--- a/src/uscxml/plugins/invoker/filesystem/dirmon/DirMonInvoker.h
+++ b/src/uscxml/plugins/invoker/filesystem/dirmon/DirMonInvoker.h
@@ -39,8 +39,9 @@ public:
 
 protected:
 	bool _reportExisting;
+	bool _reportHidden;
 	bool _recurse;
-	std::string _suffix;
+  std::set<std::string> _suffixes;
 
 	bool _isRunning;
 	tthread::thread* _thread;
diff --git a/src/uscxml/plugins/invoker/graphics/openscenegraph/OSGConverter.cpp b/src/uscxml/plugins/invoker/graphics/openscenegraph/OSGConverter.cpp
index 726cd08..0337770 100644
--- a/src/uscxml/plugins/invoker/graphics/openscenegraph/OSGConverter.cpp
+++ b/src/uscxml/plugins/invoker/graphics/openscenegraph/OSGConverter.cpp
@@ -3,15 +3,31 @@
 #include "uscxml/config.h"
 
 #include <osg/MatrixTransform>
+#include <osg/Node>
+#include <osg/Group>
 #include <osgDB/ReadFile>
 #include <osgDB/WriteFile>
 #include <osgDB/Registry>
 #include <osgGA/TrackballManipulator>
+#include <osg/ShapeDrawable>
+
+#include <boost/lexical_cast.hpp>
 
 #ifdef BUILD_AS_PLUGINS
 #include <Pluma/Connector.hpp>
 #endif
 
+#define EVAL_PARAM_EXPR(param, expr, key) \
+if (param.find(key) == param.end() && param.find(expr) != param.end() && _interpreter->getDataModel()) \
+  param.insert(std::make_pair(key, _interpreter->getDataModel().evalAsString(param.find(expr)->second)));
+
+#define CAST_PARAM(param, var, key, type) \
+if (param.find(key) != param.end()) { \
+  try { var = boost::lexical_cast<type>(param.find(key)->second); } \
+  catch(...) { LOG(ERROR) << "Attribute " key " of sendrequest to osgconverter is of invalid format: " << param.find(key)->second; } \
+}
+
+
 namespace uscxml {
 
 #ifdef BUILD_AS_PLUGINS
@@ -23,6 +39,7 @@ bool connect(pluma::Host& host) {
 #endif
 
 OSGConverter::OSGConverter() : _isRunning(false) {
+//  osg::setNotifyLevel(osg::DEBUG_FP);
 }
 
 OSGConverter::~OSGConverter() {
@@ -94,20 +111,14 @@ void OSGConverter::send(const SendRequest& req) {
 		}
 	}
 
-	if (actualReq.params.find("height") == actualReq.params.end()) {
-		// no explicit height
-		if (actualReq.params.find("heightexpr") != actualReq.params.end() && _interpreter->getDataModel()) {
-			actualReq.params.insert(std::make_pair("height", _interpreter->getDataModel().evalAsString(actualReq.params.find("heightexpr")->second)));
-		}
-	}
-
-	if (actualReq.params.find("width") == actualReq.params.end()) {
-		// no explicit width
-		if (actualReq.params.find("widthexpr") != actualReq.params.end() && _interpreter->getDataModel()) {
-			actualReq.params.insert(std::make_pair("width", _interpreter->getDataModel().evalAsString(actualReq.params.find("widthexpr")->second)));
-		}
-	}
+  EVAL_PARAM_EXPR(actualReq.params, "heightexpr", "height");
+  EVAL_PARAM_EXPR(actualReq.params, "widthexpr", "width");
+  EVAL_PARAM_EXPR(actualReq.params, "pitchexpr", "pitch");
+  EVAL_PARAM_EXPR(actualReq.params, "rollexpr", "roll");
+  EVAL_PARAM_EXPR(actualReq.params, "yawexpr", "yaw");
+  EVAL_PARAM_EXPR(actualReq.params, "zoomexpr", "zoom");
 
+//  process(actualReq);
 	_workQueue.push(actualReq);
 }
 
@@ -139,9 +150,13 @@ void OSGConverter::run(void* instance) {
 }
 
 void OSGConverter::process(const SendRequest& req) {
-
-	int width = (req.params.find("width") != req.params.end() ? strTo<int>(req.params.find("width")->second) : 640);
-	int height = (req.params.find("height") != req.params.end() ? strTo<int>(req.params.find("height")->second) : 480);
+  
+//  std::cout << req;
+  
+  int width = 640;
+	int height = 480;
+  CAST_PARAM(req.params, width, "width", int);
+  CAST_PARAM(req.params, height, "height", int);
 
 	assert(req.params.find("source") != req.params.end());
 	assert(req.params.find("dest") != req.params.end());
@@ -191,10 +206,10 @@ void OSGConverter::process(const SendRequest& req) {
 		viewer.getCamera()->setClearColor(osg::Vec4f(1.0f,1.0f,1.0f,1.0f));
 		viewer.getCamera()->setClearMask(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 
-		((osg::MatrixTransform*)sceneGraph.get())->setMatrix(requestToModelPose(req));
-		viewer.getCamera()->setViewMatrix(requestToCamPose(req));
+//		viewer.getCamera()->setViewMatrix(requestToCamPose(req));
 
-//    viewer.home();
+    viewer.home();
+		((osg::MatrixTransform*)sceneGraph.get())->setMatrix(requestToModelPose(req));
 
 		// perform one viewer iteration
 		viewer.realize();
@@ -202,19 +217,32 @@ void OSGConverter::process(const SendRequest& req) {
 	}
 }
 
-osg::Matrix OSGConverter::requestToModelPose(const SendRequest& req) {
-	double pitch = (req.params.find("pitch") != req.params.end() ? strTo<int>(req.params.find("pitch")->second) : 0);
-	double roll = (req.params.find("roll") != req.params.end() ? strTo<int>(req.params.find("roll")->second) : 0);
-	double yaw = (req.params.find("yaw") != req.params.end() ? strTo<int>(req.params.find("yaw")->second) : 0);
-
-	return eulerToMatrix(pitch, roll, yaw);
-//  osg::Matrix m;
-//  m.makeIdentity();
-//  return m;
+osg::Matrix OSGConverter::requestToModelPose(const SendRequest& req) {  
+  double pitch = 0;
+  double roll = 0;
+  double yaw = 0;
+  double zoom = 1;
+  CAST_PARAM(req.params, pitch, "pitch", double);
+  CAST_PARAM(req.params, roll, "roll", double);
+  CAST_PARAM(req.params, yaw, "yaw", double);
+  CAST_PARAM(req.params, zoom, "zoom", double);
+
+  osg::Matrix m = osg::Matrix::scale(zoom, zoom, zoom) * eulerToMatrix(pitch, roll, yaw);
+  
+#if 0
+  dumpMatrix(m);
+#endif
+  return m;
 }
 
 osg::Matrix OSGConverter::requestToCamPose(const SendRequest& req) {
-	return eulerToMatrix(0, 0, 0);
+//  double zoom = 1;
+//  CAST_PARAM(req.params, zoom, "zoom", double);
+//  osg::Matrix scale = osg::Matrix::scale(zoom, zoom, zoom);
+//  return scale;
+  osg::Matrix identity;
+  identity.makeIdentity();
+  return identity;
 }
 
 osg::ref_ptr<osg::Node> OSGConverter::setupGraph(const std::string filename) {
@@ -240,7 +268,9 @@ osg::ref_ptr<osg::Node> OSGConverter::setupGraph(const std::string filename) {
 			}
 			_models[filename] = std::make_pair(now, model);
 		}
+    _models[filename].first = now;
 
+#if 1
 		// remove old models from cache
 		std::map<std::string, std::pair<long, osg::ref_ptr<osg::Node> > >::iterator modelIter = _models.begin();
 		while(modelIter != _models.end()) {
@@ -251,12 +281,13 @@ osg::ref_ptr<osg::Node> OSGConverter::setupGraph(const std::string filename) {
 				modelIter++;
 			}
 		}
-	}
 
+#endif
+	}
+  
 	osg::ref_ptr<osg::MatrixTransform> root = new osg::MatrixTransform();
 
 	osg::ref_ptr<osg::Node> model = _models[filename].second;
-	_models[filename].first = now;
 
 	// translation matrix to move model into center
 	osg::ref_ptr<osg::MatrixTransform> modelCenter = new osg::MatrixTransform();
@@ -268,7 +299,7 @@ osg::ref_ptr<osg::Node> OSGConverter::setupGraph(const std::string filename) {
 
 	// add to model pose matrix
 	root->addChild(modelCenter);
-
+    
 	return root;
 }
 
@@ -299,7 +330,7 @@ osg::Matrix OSGConverter::eulerToMatrix(double pitch, double roll, double yaw) {
 
 	m(0,3) = m(1,3) = m(2,3) = m(3,0) = m(3,1) = m(3,2) = 0;
 	m(3,3) = 1;
-
+  
 	return m;
 }
 
@@ -331,6 +362,15 @@ void OSGConverter::matrixToEuler(const osg::Matrix& m, double& pitch, double& ro
 	yaw = fmod( angle_z, 2 * M_PI );
 }
 
+void OSGConverter::dumpMatrix(const osg::Matrix& m) {
+  for (int i = 0; i < 4; i++) {
+    for (int j = 0; j < 4; j++) {
+      std::cout << ", " << m(i, j);
+    }
+    std::cout << std::endl;
+  }
+}
+  
 void OSGConverter::NameRespectingWriteToFile::operator()(const osg::Image& image, const unsigned int context_id) {
 	osgDB::writeImageFile(image, _filename);
 }
diff --git a/src/uscxml/plugins/invoker/graphics/openscenegraph/OSGConverter.h b/src/uscxml/plugins/invoker/graphics/openscenegraph/OSGConverter.h
index e96a4e9..67b0da6 100644
--- a/src/uscxml/plugins/invoker/graphics/openscenegraph/OSGConverter.h
+++ b/src/uscxml/plugins/invoker/graphics/openscenegraph/OSGConverter.h
@@ -34,6 +34,7 @@ public:
 	osg::Matrix requestToModelPose(const SendRequest& req);
 	osg::Matrix requestToCamPose(const SendRequest& req);
 
+  static void dumpMatrix(const osg::Matrix& m);
 	static osg::Matrix eulerToMatrix(double pitch, double roll, double yaw);
 	static void matrixToEuler(const osg::Matrix& m, double& pitch, double& roll, double& yaw);
 
diff --git a/src/uscxml/plugins/invoker/heartbeat/HeartbeatInvoker.cpp b/src/uscxml/plugins/invoker/heartbeat/HeartbeatInvoker.cpp
index f89c1b0..16947a7 100644
--- a/src/uscxml/plugins/invoker/heartbeat/HeartbeatInvoker.cpp
+++ b/src/uscxml/plugins/invoker/heartbeat/HeartbeatInvoker.cpp
@@ -41,6 +41,7 @@ void HeartbeatInvoker::cancel(const std::string sendId) {
 }
 
 void HeartbeatInvoker::invoke(const InvokeRequest& req) {
+  _invokeId = req.invokeid;
 	_event.invokeid = _invokeId;
 	std::string intervalStr;
 	double interval = 0;
diff --git a/src/uscxml/plugins/invoker/http/HTTPServletInvoker.cpp b/src/uscxml/plugins/invoker/http/HTTPServletInvoker.cpp
index 753877c..a3556c2 100644
--- a/src/uscxml/plugins/invoker/http/HTTPServletInvoker.cpp
+++ b/src/uscxml/plugins/invoker/http/HTTPServletInvoker.cpp
@@ -1,6 +1,8 @@
 #include "HTTPServletInvoker.h"
 #include <glog/logging.h>
 
+#include "uscxml/config.h"
+
 #ifdef BUILD_AS_PLUGINS
 #include <Pluma/Connector.hpp>
 #endif