Struggling with REST and Larman's (RCP?) system operations - rest

In Craig Larman's book Applying UML and Patterns: An Introduction to Object-Oriented Analysis and Design and Iterative Development (3rd Edition), a use case is converted to a System Sequence Diagram (SSD) which contains system operations. It's a way of doing high-level design first, that's easily traceable to the requirements (use case), and later refining it by detailing the system operations at the domain level via OO design principles.
I'm trying to understand this methodology using RESTful services. The trouble spots seem to be with resources and the stateless operations.
Here's a sample from the book, an SSD with four system operations:
An SSD is also an abstraction of the presentation layer (on the left) and the domain layer (on the right). The domain layer might also include the application and or business logic.
In Larman's approach, a system operation (e.g., makeNewSale()) should be handled by a GRASP Controller which is a domain non-presentation-layer object that handles the system operation.
Now, let's say we're trying to use RESTful services in this approach:
The Uniform Interface constraint of REST is part of the presentation layer. For example, one can configure the route that a POST operation on a resource takes, allowing it to eventually call some operation of an object in the Domain layer. This Byte Rot blog by Aliostad explains very well the details of traditional layer architectures and REST.
In Larman's example, the Cashier clicks somewhere in the GUI to invoke a http://...com/sales - POST request and eventually a GRASP Controller receives makeNewSale(). The REST part http://...com/sales - POST request creates a new resource for the sale e.g., 001 and also makeNewSale() is sent to a GRASP controller object.
Session Controllers (mentioned in the GRASP Controller pattern) don't exist on the System, since REST operations are stateless on the server. This implies that system operations might actually need more arguments to pass state information to the server, and that isn't obvious from the use case. For example, makeNewSale() probably needs to receive and process an authentication token as an argument, since :System has no session information. I found a related question and answers here at RESTful Authentication
So, assuming my understanding up to now is right, my questions are:
Does the Uniform Interface constraint of REST respect loose coupling of presentation/domain layer separation? At first, it seems to be a detail of the presentation layer (like an actionPerformed() method in Java Swing). But the part that bothers me is that http://...com/sales ties right into a Sale (which is a domain) object.Another way of putting it: by creating REST resources and REST verbs accessing them via a Uniform Interface, isn't application/business logic being put into to the presentation layer? Larman's SSD approach is about layers and he explicitly states that application logic should not go in the presentation layer. For example, a POST to http://...com/sales creates a new sales/001 resource and also sends makeNewSale(). The first part seems like business logic. The fact that my REST resource names follow many of my Domain object names seems like my Presentation layer is (more) coupled to my Domain layer, than if I were using Swing and only called makeNewSale() from an actionPerformed() on a JButton.
Larman's SSD concept is oriented towards the RCP model (with state in the server), but can an SSD be made to easily jibe with a REST philosophy? For example, endSale() exists to break the system out of a loop of enterItem() calls. Later in the book, Larman even presents a state diagram about this:
I read about How to manage state in REST and it seems one has to take care with passing state on each system operation if needed (as in the authentication token example above), or the "state" is actually encapsulated in the resources. I thought about it, and with REST, endSale() could probably be removed entirely.
I used a concrete example here, so that the answers can also be concrete.

I'll try to address your questions, but keep in mind that this is a very much debatable topic..
The REST Uniform Interface does respect the separation of concerns between presentation and business logic. The separation is about the presentation layer not knowing details about the implementation of the business logic and vice-versa, but there is no point in hiding what can be done with a domain entity (i.e. the services that are available for a resource). What you want to hide is how the actions are executed.
The REST's HATEOAS principle dictates that the representation of a resource (the instance of a domain entity) should encapsulate the state of the client/server interaction, so the services should return that state to the client one way or another. This, and the use of hypermedia (i.e. links to available services - representing actions that can be done on a resource, given its state) should map quite easily to the state diagram you posted.
Let's continue with your example :
let's say that there is a service newSale returning a Sale object. This service must be invoked using the POST method. in the Sale's hypermedia section there are 2 links, one to the addItem service (which is also a POST and accepts an updated version of the Sale object, returning it after it has been saved), and one to the endSale service (also a POST), which saves the Sale and marks it as 'complete'. This last service does not return any resource representation, just the http response OK if the object is succesfully saved.

Related

REST API Design - adapter service - how to mark endpoints for different directions?

Let's imagine a web service X that has a single purpose - help to integrate two existing services (A and B) having different domain models. Some sort of adapter pattern.
There are cases when A wants to call B, and cases when B wants to call A.
How should endpoints of X be named to make clear for which direction each endpoint is meant?
For example, let's assume that the service A manages "apples". And the service B wants to get updates on "apples".
The adapter service X would have two endpoints:
PUT /apples - when A wants to push updated "apples" to B
GET /apples - when B wants read "apples" from A
(without awaiting a push from A)
Such endpoint structure as above is quite misleading. The endpoints are quite different and use different domain models: PUT-endpoint awaits model of A, and GET-endpoint return model of B.
I would appreciate any advice on designing the API in such a case.
I don't like my own variant:
PUT /gateway-for-A/apples
GET /gateway-for-B/apples
In my view, it is fine, but can be improved:
PUT /gateway-for-A/apples
GET /gateway-for-B/apples
Because
forward slashes are conventionally used to show the hierarchy between individual resources and collections: /gateway-for-A/apples
What can be improved:
it is better to use lowercase
remove unnecessary words
So I would stick with the foloowing URI:
PUT /a/apples
GET /b/apples
Read more here about Restful API naming conventions
First things first: REST has no endpoints, but resources
Next, in terms of HTTP you should use the same URI for updating the state of a resource and retrieving updates done to it as caching, which basically uses the effective URI of a resource, will automatically invalidate any stored responses for an URI if a non-safe operation is performed on it and forward the request to the actual server. If you split concerns onto different URIs you basically bypass that cache management performed for you under the hood completely.
Note further, HTTP/0.9, HTTP/1.0 and HTTP/1.1 itself don't have a "push" option. It is a request-response protocol and as such if a client is interested in getting updates done to a resource it should poll the respective resource whenever it needs updates. If you need above-mentioned push though you basically need to switch to Web Sockets or the like. While HTTP/2 introduced server push functionality, this effectively just populates your local 2nd level cache preventing the client from effectively requesting the resource and instead using the previously received and cached one.
Such endpoint structure as above is quite misleading. The endpoints are quite different and use different domain models: PUT-endpoint awaits model of A, and GET-endpoint return model of B.
A resource shouldn't map your domain model 1:1. Usually in a REST architecture there can be way more resources than there are entities in your domain model. Just think of form-like resources that explain a client on how to request the creation or update of a resource or the like.
On the Web and therefore also in REST architectures the representation format exchanged should be based on well-defined media-types. These media types should define the syntax and semantics of elements that can be found within an exchanged document of that kind. The elements in particular provide the affordance that tell a client in particular what certain elements can be used for. I.e. a button wants to be pressed while a slider can be dragged left or right to change some numeric values or the like. You never have to frequent any external documentation once support for that media type is added to your client and/or server. A rule of thumb in regards to REST is to design the system as if you'd interact with a traditional Web page and then apply the same concepts you used for interacting with that Web page and translate it onto the REST application domain.
Client and server should furthermore use content-type negotiation to negotiate which representation format the server should generate for responses so that clients can process them. REST is all about indirections that ultimately allow a server to change its internals without affecting clients that behave well negatively. Staying interoperable whilst changing is an inherent design decision of REST. If that is not important to you, REST is probably overkill for your needs and you probably should use something more (Web-) RPC based.
In regards to you actual question, IMO a messaging queue could be a better fit to your problem than trying to force your design onto a REST architecture.
I was hoping that there is a well-known pattern for adapter service (when two different services are being integrated without knowing each other formats)
I'd compare that case with communication attempts among humans stemming from different countries. I.e. imagine a Chines who speaks Mandarin trying to communicate with a Frech. Either the Chinese needs to be able to talk French, the French being able to talk in Mandarin, they both use an intermediary language such as English or they make use of a translator. In terms of trust and cost, the latter option might be the most expansive one of all of these. As learning laguages though is a time-consuming, ongoing process this usually won't happen quickly unless special support is added, by hiring people with that language skills or using external translators.
The beauty of REST is, servers and clients aren't limited to one particular representation format (a.k.a. language). In contrast to traditional RPC services, which limit themselves to one syntax, in REST servers and clients can support a multitude of media types. I.e. your browser knows how to process HTML pages, how to render JPG, PNG, GIF, ... images, how to embed Microsoft Word, Excel, ... documents and so forth. This support was added over the years and allows a browser to basically render a plethora of documents.
So, one option is to either create a translation service that is able to translate one representation to an other and then act as middleman in the process or you directly add support for the non yet understood media types to the service/client directly. The more media-types your client/servers are able to process, the more likely they will be to interoperate with other peers in the network.
The former approach clearly requires that the middleman service is able to at least support the two representation formats issued by A and B but on the other hand allows you to use services not directly under your control. If at least one of the services though is under your control, directly adding the not-yet-supported media type could be potentially less work in the end. Especially when certain library support for the media type is already available or can be obtained easily.
In a REST architecture clients and servers aren't build with the purpose of knowing the other one by heart. This is already a hint that there is a strong coupling between these two. They shouldn't be aware of the others "API" other than that they use HTTP as transport layer and URIs as their addressing scheme. All other stuff are negotiated and discovered on the fly. If they don't share the same language capabilities the server will responde with a 406 Not Accepttable response that informs a client that they don't speak the same languages and thus won't be able to communicate meaningfully.
As mentioned before, REST is all about introducing indirections to aid in the decoupling intent which allows servers to evolve freely in future without those changes breaking clients as these will just coop with the change. Therefore, eventual change in future is an inherent design concept. If at least one participant in a REST architecture doesn't respect these design concepts they are a potential candidate for introducing the problems traditional RPC services did in the past, like breaking clients on a required change, maintaining v2/3/4/.../n of various different APIs and scaling issues due to the direct coupling of client and servers.
Not sure why you need to distinguish it in the path and why the domain or subdomain is not enough for it:
A: PUT x.example.com/apples -> X: PUT b.example.com/apples
B: GET x.example.com/apples -> X: GET a.example.com/apples
As of the model, you want to do PUSH-PULL in a system which is designed for REQ-REP. Let's translate the upper: pushApples(apples) and pullApples() -> apples if this is all they do, then PUT and GET are just fine with the /apples URI if you ask me. Maybe /apples/new is somewhat more expressive if you need only the updates, but I would rather use if-modified-since header instead and maybe push with if-unmodified-since.
Though I think you should describe what the two service does, not what you do with the apples, which appear to be a collection of database entities instead of a web resource, which is several layers above the database. Currently your URIs describe the communication, not the services. For example why is X necessary, why don't they call each other directly? If you can answer that question, then you will understand what X does with the apples and how to name its operations and how to design the URIs and methods which describe them.

REST API Concepts

I'm trying to grasp the essence of REST API and i have some questions that i'd be happy if someone could clarify:
First
From Wikipedia:
it is a network of Web resources (a virtual state-machine) where the user progresses through the application by selecting resource identifiers such as http://www.example.com/articles/21 and resource operations such as GET or POST (application state transitions), resulting in the next resource's representation (the next application state) being transferred to the end user for their use.
What is the meaning of "application state"? As far as i understand, an application that exposes a REST API is stateless, so it doesn't have a "state" by definition? It just replies to client requests, which contain all the information needed by the server to respond to those requests. In other words, it doesn't hold any context. Am i correct?
Second
One of the 6 constraints is client-server architecture. Why is that a constraint? isn't it correct that every API is in a client-server architecture? eventually, API is Application Programming Interface. ??
Third
from here:
Using generic media types such as JSON is fundamentally not RESTful because REST requires the messages to be self-descriptive. Self-descriptiveness just means that the semantics of the data should travel with the data itself.
What is the original meaning behind the self-descriptiveness constraint, and does using a generic media-type violate this constraint?
Fourth
I've seen in many places that REST is not HTTP, and doesn't have to use HTTP as it's undelying protocol, it's just natural to use HTTP because the set of methods it has (GET, POST, PUT, DELETE). Can someone explain why is it natural for REST and give an example for another way to use REST other then HTTP?
As far as i understand, an application that exposes a REST API is stateless, so it doesn't have a "state" by definition?
No, the communication itself should be stateless. REST is an abbreviation for REpresentational State Transfer, so the term state is even included in the name itself.
It is probably easier to think here in terms of traditional Web pages. If you have a server that keeps client state in it, i.e. manages multiple clients sessions, what you end up is having a scaling issue sooner or later. You can't add a further server the client can connect to to retrieve the same information as the session is tide to the server it was communicating before. One might try to share the server state through a remote bus (i.e. Redis queues or the like) but this leads to plenty other challenges that are not easily solvable.
In the words of Fielding:
REST is software design on the scale of decades: every detail is intended to promote software longevity and independent evolution. Many of the constraints are directly opposed to short-term efficiency. Unfortunately, people are fairly good at short-term design, and usually awful at long-term design. Most don’t think they need to design past the current release. (Source)
In my sense statelessness is less a constraint on independent evolution than it is on system scalability though. If you just take client-server decoupling into account, based on content type negotiation, usage of HATEOAS and so on, statelessness is not really a blocker here, though it takes a way a lot of background complexities if you avoid sharing client state, i.e. its current session data, across your server landscape.
One of the 6 constraints is client-server architecture. Why is that a constraint? isn't it correct that every API is in a client-server architecture? eventually, API is Application Programming Interface. ??
What are the counterparts to client-server architectures? Applications that don't have to deal with other applications. If an application does not have to communicate with other applications you don't need to be that careful in your design for it having to adapt to changes or avoid any coupling between its components as it is always treated as one thing. As quoted above, REST is software design on the scale of decades. As such, the same services you put online should still work in years to come and in essence should have the freedom to evolve in future.
Interoperability is one of the core issues in client-server architectures. If two participants do not talk the same language or do have a different understanding of the domain, they will have a hard time communicating with each other. Just put a Chinese and a Frenchmen in the same room and watch them try to solve a particular issue. Unless they do understand a minimal language set, i.e. English, communication will be the main problem to solve that issue.
What is the original meaning behind the self-descriptiveness constraint, and does using a generic media-type violate this constraint?
I start by quoting this statement from an actually good blog post:
A self-descriptive message is one that contains all the information that the recipient needs to understand it. There should not be additional information in a separate documentation or in another message. (Source)
If you now take a closer look at the JSON spec It just defines the basic syntax but does not define any semantics. So, in essence you know that objects start and end with curly braces ({, }), that an object consists of a set of key and values where the key is a string value and the value may either be a string, a number, a boolean, a further object or an array and so on. But it doesn't tell you anything about the actual structure, which elements are shipped within a document and so on. XML i.e. has document type definitions (DTDs) and XML schemas that define which elements and attributes are in which order and what their admissible values are and the like. While JSON (Hyper-)Schema attempts to fill this gap, it still doesn't define the semantics of the fields fully, i.e. in which context which elements may appear and what not. JSON itself also lacks support for URLs/URIs and JSON hyper-schema now tries to add support for it at least.
If you take a look at HTML i.e., the spec has already gone through different versions now but it was designed with backward compatibility in mind and even in version 5 you can use the tags defined in the original version and browser will be able to handle your Web page more or less correctly. A further part of self-descriptiveness comes through HTML's form support. A server can thereby teach a client not only on the data elements of a resource, i.e. about field name expecting a text input whereas a time field presents you a calendar widget to select a specific date and time entry and so on, but it will also tell a client the URI where to send the request to, which HTTP operation to use and which media-type to use to send the request in. While this already tackles HATEOAS as well, a client understanding HTML will know what the server wants it to do and therefore does not need to consult any external documentation that describes how a request should look like.
HTML is in essence a generic media type. You can use it to depict details of a specific car model but also to show news and other data. A media type in the end is nothing more than a human-readable definition how an application (client or server) should process data that is said to be of that format. As such, a generic media type is preferable to specific ones as it allows and promotes the reusage of that media type for many other domains and those increase the likelihood of its support across different vendors.
I've seen in many places that REST is not HTTP, and doesn't have to use HTTP as it's undelying protocol, it's just natural to use HTTP because the set of methods it has (GET, POST, PUT, DELETE). Can someone explain why is it natural for REST and give an example for another way to use REST other then HTTP?
As "Uncle Bob" Martin stated architecture is about intent. As already quoted above, REST is all about decoupling clients from servers to allow servers to evolve freely in future and clients to adopt to changes easily. This is, what basically allowed the Web to grow to its todays size. Fielding just took the concepts used successfully on the Web, mostly by us humans, and started questioning why applications do not use our style of interacting with the Web also. Therefore, loosely speaking, REST is just Web surfing for applications.
REST itself is just an architectural style. Like some churches use a gothic style, others a modern one and yet other a baroque one, each style has its unique properties that differentiate it from the others. In software engineering you have also a couple of different styles you can follow, such as monolithic or n-tier architectures, MVC architecture, domain specific languages (DSLs), SOA, peer-to-peer architectures, cloud computing (serverless, ...) and so on. Each of these have their own characteristics and unique proposition features, benefits and drawbacks. As in traditional architecture you can mix and match different styles into one approach, though the final result may not be what you were initially aiming for and remember, each style attempts to tackle at least one major concern.
Fielding was working on the HTTP 1.0 and 1.1 specification (among others) and analyzed the architecture of the Web in this doctoral thesis. Therefore it is no miracle in my sense that REST does work well on top of HTTP, but as already mentioned, he might have taken a to-close look at HTTP and the Web as statelessness is, at least in my understanding, less a concern for future evolution than for scalability. While scalability might be a future concern as well, I wouldn't call it a high-priority constraint in that regard, even though Fielding claims that all of the constraints are mandatory to deserve the REST tag.
As such, REST itself does not tie you to HTTP as it is just an architectural style. It does not forbid to deviate from its core ideas, but you might miss out on some of the properties it advocates (besides misusing the term REST eventually). But as REST goes almost hand in hand with HTTP, it is like the perfect match and why change it?! Sure, you could come up with a new transport protocol in future and apply the same concepts used to interact with Web pages to that protocol and you will more or less end with a REST architecture. Your protocol however should at least support URIs, media-types, link-relations and content-type negotiation. These are the foundation blocks IMO that every REST enabled application needs to support, as these guarantee the exchange of well-defined messages and the ability to act upon these.
As HTTP is just a transport protocol to transfer a document from a source machine to a target, one might question why SMTP, FTP or similar protocols are not used for REST architectures as well. While these protocols also transfer documents from one point to an other, they either lack support for media-types (S/FTP/S) or do not support the uniform interface constraint fully, i.e. by not supporting HATEOAS fully and the like. Besides that, both require a particular login to create a session which may or not be seen as violation of the statelessness constraint.

How to structure a RESTful backend API with a database?

I want to make an API using REST which interacts (stores) data in a database.
While I was reading some design patterns and I came across remote facade, and the book I was reading mentions that the role of this facade is to translate the course grained methods from the remote calls into fine grained local calls, and that it should not have any extra logic. As an explaination, it says that the program should still work without this facade.
Here's an example
Yet I have two questions:
Considering I also have a database, does it make sense to split the general call into specific calls for each attribute? Doesn't it make more sense to just have a general "get data" method that runs one query against the database and converts it into an usable object, to reduce the number of database calls? So instead of splitting the get address to get street, get city, get zip, make on db call for all that info.
With all this in mind, and, in my case using golang, how should the project be structured in terms of files and functions?
I will have the main file with all the endpoints from the REST API, calling the controllers that handle these requests.
I will have a set of files that define those controllers. Are these controllers the remote facade? Should those methods not have logic in that case, and just call the equivalent local methods?
Should the local methods call the database directly, or should they use some sort of helper class that accesses the database?
Assuming all questions are positive, does the following structure make sense?
Main
Controllers
Domain
Database helper
First and foremost, as Mike Amundsen has stated
Your data model is not your object model is not your resource model is not your affordance model
Jim Webber did say something very similar, that by implementing a REST architecture you have an integration model, in the form of the Web, which is governed by HTTP and the other being the domain model. Resources adept and project your domain model to the world, though there is no 1:1 mapping between the data in your database and the representations you send out. A typical REST system does have many more resources than you have DB entries in your domain model.
With that being said, it is hard to give concrete advice on how you should structure your project, especially in terms of a certain framework you want to use. In regards to Robert "Uncle Bob" C. Martin on looking at the code structure, it should tell you something about the intent of the application and not about the framework¹ you use. According to him Architecture is about intent. Though what you usually see is the default-structure imposed by a framework such as Maven, Ruby on Rails, ... For golang you should probably read through certain documentation or blogs which might or might not give you some ideas.
In terms of accessing the database you might either try to follow a micro-service architecture where each service maintains their own database or you attempt something like a distributed monolith that acts as one cohesive system and shares the database among all its parts. In case you scale to the broad and a couple of parallel services consume data, i.e. in case of a message broker, you might need a distributed lock and/or queue to guarantee that the data is not consumed by multiple instances at the same time.
What you should do, however, is design your data layer in a way that it does scale well. What many developers often forget or underestimate is the benefit they can gain from caching. Links are basically used on the Web to reference from one resource to an other and giving the relation some semantic context by the utilization of well-defined link-relation names. Link relations also allow a server to control its own namespace and change URIs as needed. But URIs are not only pointers to a resource a client can invoke but also keys for a cache. Caching can take place on multiple locations. On the server side to avoid costly calculations or look ups on the client side to avoid sending requests out in general or on intermediary hops which allow to take away pressure from heavily requested servers. Fielding made caching even a constraint that needs to be respected.
In regards to what attributes you should create queries for is totally dependent on the use case you attempt to depict. In case of the address example given it does make sense to return the address information all at once as the street or zip code is rarely queried on its own. If the address is part of some user or employee data it is more vague whether to return that information as part of the user or employee data or just as a link that should be queried on its own as part of a further request. What you return may also depend on the capabilities of the media-type client and your service agree upon (content-type negotiation).
If you implement something like a grouping for i.e. some football players and certain categories they belong to, such as their teams and whether they are offense or defense players, you might have a Team A resource that includes all of the players as embedded data. Within the DB you could have either an own table for teams and references to the respective player or the team could just be a column in the player table. We don't know and a client usually doesn't bother as well. From a design perspective you should however be aware of the benefits and consequences of including all the players at the same time in regards to providing links to the respective player or using a mixed approach of presenting some base data and a link to learn further details.
The latter approach is probably the most sensible way as this gives a client enough information to determine whether more detailed data is needed or not. If needed a simple GET request to the provided URI is enough, which might be served by a cache and thus never reach the actual server at all. The first approach has for sure the disadvantage that it doesn't reuse caching optimally and may return way more data then actually needed. The approach to include links only may not provide enough information forcing the client to perform a follow-up request to learn data about the team member. But as mentioned before, you as the service designer decide which URIs or queries are returned to the client and thus can design your system and data model accordingly.
In general what you do in a REST architecture is providing a client with choices. It is good practice to design the overall interaction flow as a state machine which is traversed through receiving requests and returning responses. As REST uses the same interaction model as the Web, it probably feels more natural to design the whole system as if you'd implement it for the Web and then apply the design to your REST system.
Whether controllers should contain business logic or not is primarily an opinionated question. As Jim Webber correctly stated, HTTP, which is the de-facto transport layer of REST, is an
application protocol whose application domain is the transfer of documents over a network. That is what HTTP does. It moves documents around. ... HTTP is an application protocol, but it is NOT YOUR application protocol.
He further points out that you have to narrow HTTP into a domain application protocol and trigger business activities as a side-effect of moving documents around the network. So, it's the side-effect of moving documents over the network that triggers your business logic. There is no straight rule whether to include business logic in your controller or not, but usually you try to keep the business logic in yet their own layer, i.e. as a service that you just invoke from within the controller. That allows to test the business logic without the need of the controller and thus without the need of a real HTTP request.
While this answer can't provide more detailed information, partly due to the broad nature of the question itself, I hope I could shed some light in what areas you should put in some thoughts and that your data model is not necessarily your resource or affordance model.

Are these valid disadvantages of a REST-ful API?

I get the basic idea of REST-ful API, but I can see how they're not ideal. I want to know where I'm wrong on the following assumptions.
REST-ful API unnecessarily exposes models
On a REST-ful API, it's usually a set of actions e.g CRUD on an entity. Sometimes performing a business action requires many models to be manipulated, and not just one.
For example, consider a business action of refunding an order, which then decreases a buyer's rating. Several possible models are involved here e.g Order, OrderItem, Payment, Buyer, Refund.
We often end up exposing single 'parent' model with an action that updates itself and its sub-models, or we end up exposing many models that must be updated appropriately to successfully accomplish the business action as a whole.
REST-ful API forces one to think in terms of manipulating models instead of the natural behavior of stating intent
Consider a customer service rating application. A customer can state his / her happiness once a support call ends e.g "I'm satisfied" / "I'm angry" / "I'm neutral".
In a REST-ful API, the customer has to figure out what exact model to manipulate in order to state how he feels. Perhaps a CustomerResponse model, or a Feedback model. Why can't the customer just hit an endpoint, identify himself and simply state whether he's happy or not, without having to know the underlying model that tracks his response?
REST-ful API Update action oversimplifies too much
Sometimes on a model, you want to do more than just an update. An update can be many things.
Consider a Word model. You can reverse the characters, randomize the characters, uppercase / lowercase the characters, split the word and many other actions that actually means a Word model is 'updated' in a certain way.
At this point, exposing just an Update action on Word probably oversimplifies how rich the Word model can be.
I do not believe the points you state above are really drawbacks of a RESTful API. More analytically:
REST-ful API unnecessarily exposes models
No models are exposed. Everything is handled by a single controller. The only thing that is exposed to the user is the route of the appropriate controller.
REST-ful API forces one to think in terms of manipulating models instead of the natural behavior of stating intent
Same as above. A single controller can handle the different customer happiness states. The distinction can be made by passing different post paramenters (ex. { state: "happy"}).
REST-ful API Update action oversimplifies too much
Nothing stops you from manipulating the data that needs to be sent to your model before updating it. You can do whatever you want, however complex it may be, before updating your model.
Finally, I believe that a RESTful API is only as good as its implementation. Furthermore, I believe that if you wanted to find a flaw to the REST technique is the fact that you cannot initiate transactions or push notifications server-side
First, Web service APIs that adhere to the REST architectural constraints are called RESTful APIs. HTTP based RESTful APIs are defined with these aspects:
base URI, such as http://example.com/resources/
an Internet media type for the data. This is often JSON but can be any other valid Internet media type (e.g. XML, Atom, microformats, images, etc.)
standard HTTP methods (e.g., GET, PUT, POST, or DELETE)
hypertext links to reference state
hypertext links to reference related resources
Now with your questions:
REST-ful API unnecessarily exposes models
In your example, if you want to refund someone, you obviously use more than one model.
RESTful doesn't means that you expose only one model, for example, a POST on a /api/refunds is a RESTful way of doing it without expose a single model.
The only thing peole see from you API are routes to your different actions in your different controllers
REST-ful API forces one to think in terms of manipulating models instead of the natural behavior of stating intent
Your RESTful API is called from a front-end (smartphone app, javascript app, etc..) or a back-end (a server), the end user (here, the satisfied/angry/neutral client) is not obligated to see the url called by your front-end, the satisfaction form could be here /support/survey and the server API url could be a POST to /api/support_calls/1/surveys.
REST-ful API Update action oversimplifies too much
An PUT on a RESTful route does NOT means that you should only update one model. You can manipulate params, create a model, update another, and then, update your main model.
Finally
Dont forget that RESTful architecture is a ROUTE and URL architecture created for developpers, you can do anything you want in your controllers, this is just a convention-based way of exposing your URLs to API's consumers
I'll try to address your concerns, but keep in mind that the topic is very mch debatable, so take this as my humble opinion..
1) about the model being unnecessary exposed, well I think it is mostly a matter of modeling your domain entities in a way that allows you to express all the available action and concepts in terms of 'doing something on a resource'. In the refund example, you could for instance model a Refund entity and perform actions on that.
2) here too is a matter of modeling domain entities and services. Your happiness service could be a matter of having a service accepting a user id and an integer expressing the user's satissfaction level.
3) In the case of the Word model, you can simply use the PATCH (or PUT) http verb and provide a service that simply overwrites the resource, which would in turn be manipulated by the client.
Again, REST is a paradigm, so it is (among other things) a way to organize the objects of your domain and the actions that can be performed on those objects. Obviously it has drawbacks and limitations, but I personally think that it is quite 'transparent' (i.e. not imposing artificial constraints on your programming), and that it is quite easy to use, being mostly based on widely accepted conventions and technologies (i.e. http verbs and so on).

Is it good to return domain model from REST api over a DDD application?

If you were to have a REST layer on top of your DDD App for CRUD, would you let the REST layer spit out domain model(in terms of data)(say for a GET)?
Generally, you'd want to be able to change your domain objects (for instance when you learn something new about the domain), without having to change a public interface/API to your system. Same thing the other way around: if a change is required to a public interface, you don't want to have to change your domain model.
So from this perspective I'd never expose my domain objects as-is over a public interface. Instead I'd create data transfer objects (DTO) that are part of the public interface. This way, changes to my domain and public api can change independently.
You should not expose the DDD model. This is absolutely correct, because a SOA frontend should not expose implementation details to clients. Your users should depend on a business function, not an implementation detail… But this assumes a nice design of several, maybe heterogeneous, applications united into a SOA bus.
I would like to add to the answer because the mention of a CRUD interface makes me think that this could be a case of SOA abuse where SOA principles are used to glue the layers of an application, instead of a network of applications. SOA is meant as a way for the enterprise to communicate its systems, it is not a way to implement MVC! So simple yet so misunderstood. For example, just because your front end GUI uses services to access the backend you do not have a "SOA application."… what ever that means.
If this is a case of SOA used to glue layers, please revise your design and use an appropriate design architecture for that level of abstraction. Otherwise you will misinterpret the recommendations found here about no exposing the DDD model and not using CRUDY, and you will surely end up creating a separate domain model for the services interface, that then you will have to map to the DDD , which is so complicated that you will need to use dozer and things like that to map the same thing with different names, and so forth until we end up with a bloated un maintainable mess…
.. just be careful.
-Alex
Redzedi is so right that we need a clarification....
Like everything, this is quite more complicated to do than to say. Serializing a complex domain model could be so difficult that you can end up either not putting any logic in the domain, the anemic model antipattern (http://martinfowler.com/bliki/AnemicDomainModel.html), or having a separate anemic model for persistence, ie DTOs.
I don’t know what is worst, but both options are bad. You should put the logic that goes in the model in the model and you should be able to serialize directly everywhere.
In my experience using the domain model for many years, I believe that the best thing is a point in the middle. Yes, as Fowler and Evans state, business objects should carry logic, but not all (http://codebetter.com/gregyoung/2009/07/15/the-anemic-domain-model-pattern/) a little anemia with a nice service layer is best.
For example, an invoice should know about its items and have a procedure to calculate its total, which depends on the items. But an invoice's item does not need to know about invoicing. So what happens when an item changes in cost, should it have a pointer back to the father invoice as a circular reference and call the invoice's calculate total procedure?
I believe not. I think that's a task for the service layer who should received the event first and then orchestrate the procedure, with out having to couple all the business objects together for implementation purposes and violating the business interaction rules, which is what a domain model is for.
-Alex