I'm working an a PHP/JS based project, where I like to introduce Domain Driven Design in the backend. I find that commands and queries are a better way to express my public domain, than CRUD, so I like to build my HTTP-based API following the CQS principle. It is not quiet CQRS since I want to use the same model for the command and query side, however many principles are the same. For API documentation I use Swagger.
I found an article which exposes CQRS through REST resources (https://www.infoq.com/articles/rest-api-on-cqrs). They use 5LMT to distinct commands, which Swagger does not support. Moreover, don't I loose the benefit of the intention-revealing interface which CQS provides by putting it into a resource-oriented REST API? I didn't find any articles or products which expose commands and queries directly through an HTTP-based backend.
So my question is: Is it a good idea to expose commands and queries directly through the API. It would look something like this:
POST /api/module1/command1
GET /api/module1/query1
...
It wouldn't be REST but I don't see how REST brings anything beneficial to the table. Maintaining REST resource would introduce yet another model. Moreover, having commands and queries in the URL would allow to use features like routing frameworks and access logs.