Implementation of all ws functions. (9e97f577) · Commits · ARF / World Analysis API helpers / Unity World Analysis Package

Runtime/Scripts/OpenAPI/DataModels.cs

+8 −2

Original line number	Diff line number	Diff line
		@@ -24,9 +24,15 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
		Name = name;
		}

		public string ToJson() { return JsonUtility.ToJson(this); }
		public string ToJson() { return Newtonsoft.Json.JsonConvert.SerializeObject(this); }
		}

		//public class MatrixPose : Pose
		//{
		// [Newtonsoft.Json.JsonProperty("matrixValue", Required = Newtonsoft.Json.Required.AllowNull, NullValueHandling = Newtonsoft.Json.NullValueHandling.Ignore)]
		// public MatrixPoseValue MatrixValue { get; set; }
		//}

		//
		// Implement here some constructors
		//
		@@ -37,6 +43,6 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
		Uuid = Guid.NewGuid();
		}

		public string ToJson() { return JsonUtility.ToJson(this); }
		public string ToJson() { return Newtonsoft.Json.JsonConvert.SerializeObject(this); }
		}
		}
		No newline at end of file

Runtime/Scripts/OpenAPI/Generated/WorldAnalysisOpenAPI.cs

+1 −1

Original line number	Diff line number	Diff line
		@@ -1879,7 +1879,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
		/// <summary>
		/// The pose value
		/// </summary>
		[Newtonsoft.Json.JsonProperty("value", Required = Newtonsoft.Json.Required.DisallowNull, NullValueHandling = Newtonsoft.Json.NullValueHandling.Ignore)]
		[Newtonsoft.Json.JsonProperty("value", Required = Newtonsoft.Json.Required.AllowNull, NullValueHandling = Newtonsoft.Json.NullValueHandling.Ignore)]
		public PoseValue Value { get; set; }

		/// <summary>

Runtime/Scripts/REST/AdminRequest.cs

+12 −0

Original line number	Diff line number	Diff line
		@@ -29,6 +29,18 @@ namespace ETSI.ARF.WorldAnalysis.REST
		{
		public class AdminRequest : RequestBase<string>
		{
		#region Test methods
		static public void CheckServer(WorldAnalysisServer wa)
		{
		string ping = AdminRequest.PingSync(wa);
		string state = AdminRequest.AdminSync(wa);
		string ver = AdminRequest.VersionSync(wa);
		Debug.Log("[REST] WA Ping: " + ping);
		Debug.Log("[REST] WA State: " + state);
		Debug.Log("[REST] WA Version: " + ver);
		}
		#endregion

		//
		// Wrapper for the endpoints
		//

Runtime/Scripts/WorldAnalysisREST.cs

+64 −64

Original line number	Diff line number	Diff line
		@@ -18,20 +18,21 @@ public partial class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		//
		// Inspector variables
		//

		// Name to register the client to the World Analysis
		public string modulename = "UnityValidationApp";


		/// <summary>
		/// WorldSAnalysisServer
		/// </summary>
		public WorldAnalysisServer waServer;
		public string token = "ETSI-ARF-STF";
		public string sessionID = "RESTful-API";
		public string sessionID = "ARF-STF669";

		[Space(8)]
		public bool isDebug = false;

		//[Serializable]
		//public class StringEvent : UnityEvent<string> { }
		//public StringEvent webSocketMessage;

		//
		// Private members
		//
		@@ -44,14 +45,15 @@ public partial class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		/// <summary>
		/// Dictionnary of susbscription informations for poses, for each item, stored using the UUID of the item (anchor/trackable)
		/// </summary>
		private Dictionary<Guid, SubscriptionInfo> m_subscriptionsPoses;
		private Dictionary<Guid, SubscriptionInfo> subscriptionsPoses;

		public struct SubscriptionInfo
		{
		public ETSI.ARF.OpenAPI.WorldAnalysis.Pose pose;

		public Guid uuid; // id of subscription (id is defined by the WA server)
		public Guid uuidTarget; // id trackable or anchor
		public float timeValidity; //The duration of the validity of the subscription
		public ETSI.ARF.OpenAPI.WorldAnalysis.Pose pose;
		public PoseCallback callback;
		}

		@@ -65,7 +67,7 @@ public partial class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		Instance = this;
		//m_relocalizationInformations = new Dictionary<Guid, ETSI.ARF.OpenAPI.WorldStorage.RelocalizationInformation>();
		//m_computedPoses = new Dictionary<Guid, ETSI.ARF.OpenAPI.WorldAnalysis.Pose>();
		m_subscriptionsPoses = new Dictionary<Guid, SubscriptionInfo>();
		subscriptionsPoses = new Dictionary<Guid, SubscriptionInfo>();

		// sync
		var httpClient = new BasicHTTPClient(waServer.URI);
		@@ -91,7 +93,7 @@ public partial class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		ManageSubscriptionValidity();

		// todo: Call subscription callback(s) here or in the websocket?!?
		foreach (KeyValuePair<Guid, SubscriptionInfo> subPose in m_subscriptionsPoses)
		foreach (KeyValuePair<Guid, SubscriptionInfo> subPose in subscriptionsPoses)
		{
		}
		}
		@@ -104,16 +106,6 @@ public partial class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		#endregion

		#region Test methods
		public void CheckServer()
		{
		string ping = AdminRequest.PingSync(waServer);
		string state = AdminRequest.AdminSync(waServer);
		string ver = AdminRequest.VersionSync(waServer);
		Debug.Log("[REST] WA Ping: " + ping);
		Debug.Log("[REST] WA State: " + state);
		Debug.Log("[REST] WA Version: " + ver);
		}

		public void PrintCapabilities(Capability[] capabilities)
		{
		string res = "";
		@@ -133,10 +125,10 @@ public partial class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		/// </summary>
		protected void ManageSubscriptionValidity()
		{
		if (m_subscriptionsPoses.Count == 0) return;
		if (subscriptionsPoses.Count == 0) return;

		List<Guid> subscriptionToDelete = new List<Guid>();
		foreach (KeyValuePair<Guid, SubscriptionInfo> sub in m_subscriptionsPoses)
		foreach (KeyValuePair<Guid, SubscriptionInfo> sub in subscriptionsPoses)
		{
		float validity = sub.Value.timeValidity;
		if (Time.time > validity)
		@@ -147,7 +139,7 @@ public partial class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		foreach (Guid s in subscriptionToDelete)
		{
		Debug.Log("ETSI ARF : Subscription deleted " + s);
		m_subscriptionsPoses.Remove(s);
		subscriptionsPoses.Remove(s);
		}
		}
		#endregion
		@@ -204,12 +196,24 @@ public partial class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		}
		}

		private string CreateWebsocket_URL(string originalURL)
		{
		string uri = originalURL;

		//
		// Overwrite server setting for testing local/extra servers
		//
		//if (isDebug) uri = "ws://localhost:61788/ws"; // for tests
		//if (isDebug) uri = "wss://localhost:44301/ws"; // for tests

		return uri;
		}

		public InformationSubscriptionResult SubscribeToPose(string token, Guid uuid, Mode_WorldAnalysis mode, PoseCallback callback, ref int validity, out Guid subscriptionUUID)
		{
		// Todo: Maintain the callback to the subscription id
		// Get capabilities?
		// Get reloc info?
		subscriptionUUID = Guid.Empty; // default

		SubscriptionSingleRequest body = new SubscriptionSingleRequest();
		body.Target = uuid;
		@@ -232,39 +236,37 @@ public partial class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		// We add the subscription
		SubscriptionInfo sub = new SubscriptionInfo();
		sub.uuid = subscriptionUUID;
		sub.uuidTarget = uuid;
		sub.timeValidity = Time.time + (validity / 1000.0f);
		sub.callback = callback;

		sub.pose = new ETSI.ARF.OpenAPI.WorldAnalysis.Pose();
		sub.pose.Mode = mode;
		sub.uuidTarget = uuid;
		sub.callback = callback;
		m_subscriptionsPoses.Add(sub.uuid, sub);

		subscriptionsPoses.Add(sub.uuid, sub);

		if (!string.IsNullOrEmpty(response.WebhookUrl))
		{
		// Create a REST server so that the WA server can send pose update to it
		string webhookUrl = response.WebhookUrl;

		// Close other communication channel
		WebSocketClient_Close();

		// Create a REST server so that the WA server can send pose update to it
		// How to auto-generate the C# REST webhook server for pose for Unity?
		string webhookUrl = response.WebhookUrl;
		WebHookServer_Create(webhookUrl);
		}
		else
		else if (!string.IsNullOrEmpty(response.WebsocketUrl))
		{
		// Create the WebSockets client here (NOT in the scene scripts)

		// Close other communication channel
		WebHookServer_Close();

		// Open the websocket
		string websocketUrl = "ws://" + response.WebsocketUrl + "/ws";
		//if (isDebug) websocketUrl = "ws://localhost:61788/ws"; // for tests

		if (!string.IsNullOrEmpty(websocketUrl))
		{
		// Create the WebSockets client here (NOT in the scene scripts)
		if (!websocketConnected) WebSocketClient_Create(websocketUrl);
		}
		else throw new Exception("[REST] No valid WebSockets URL in server reponse.");
		if (webSocket == null) WebSocketClient_Create(CreateWebsocket_URL(response.WebsocketUrl)); // only one instance
		}
		else throw new Exception("[REST] No valid URL in server reponse.");
		return InformationSubscriptionResult.OK;
		}

		@@ -296,7 +298,7 @@ public partial class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		mode = Mode_WorldAnalysis.TRACKABLES_TO_DEVICE;
		validity = 0;

		if (m_subscriptionsPoses.ContainsKey(subscriptionUUID))
		if (subscriptionsPoses.ContainsKey(subscriptionUUID))
		{
		// Check the server subscription
		SubscriptionSingle sub = apiClient.GetSubscription(token, sessionID, subscriptionUUID);
		@@ -304,7 +306,7 @@ public partial class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		// Check local one
		if (sub.Uuid == subscriptionUUID)
		{
		SubscriptionInfo subInfo = m_subscriptionsPoses[subscriptionUUID];
		SubscriptionInfo subInfo = subscriptionsPoses[subscriptionUUID];
		callback = subInfo.callback;
		target = subInfo.uuidTarget;
		mode = subInfo.pose.Mode;
		@@ -328,18 +330,18 @@ public partial class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		mode = Mode_WorldAnalysis.TRACKABLES_TO_DEVICE;
		validity = 0;

		if (m_subscriptionsPoses.ContainsKey(subscriptionUUID))
		if (subscriptionsPoses.ContainsKey(subscriptionUUID))
		{
		SubscriptionInfo sub = m_subscriptionsPoses[subscriptionUUID];
		SubscriptionInfo sub = subscriptionsPoses[subscriptionUUID];
		PoseCallback oldCB = sub.callback;

		Body body = new Body();
		body.Mode = mode;
		body.Validity = validity;
		body.WebhookUrl = callback == null ? "" : "https:\\..."; // empty -> app will use websockets (client)!
		Body newSub = new Body();
		newSub.Mode = mode;
		newSub.Validity = validity;
		newSub.WebhookUrl = callback == null ? "" : "https:\\..."; // empty -> app will use websockets (client)!

		// Update subscription info in the REST server
		SubscriptionSingle response = apiClient.UpdateSubscription(token, sessionID, subscriptionUUID, body);
		SubscriptionSingle response = apiClient.UpdateSubscription(token, sessionID, subscriptionUUID, newSub);

		// Update local data
		sub.pose.Mode = response.Mode;
		@@ -351,28 +353,26 @@ public partial class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		//
		if (oldCB != null && callback == null && !string.IsNullOrEmpty(response.WebhookUrl))
		{
		// Create a REST server so that the WA server can send pose update to it
		string webhookUrl = response.WebhookUrl;

		// Close other communication channel
		WebSocketClient_Close();

		// Create a REST server so that the WA server can send pose update to it
		// How to auto-generate the C# REST server for pose for Unity?
		string webhookUrl = response.WebhookUrl;
		WebHookServer_Create(webhookUrl);
		}
		else if (oldCB == null && callback != null && string.IsNullOrEmpty(response.WebhookUrl))
		else if (oldCB == null && callback != null && !string.IsNullOrEmpty(response.WebsocketUrl))
		{
		WebHookServer_Close();
		// Create the WebSockets client here (NOT in the scene scripts)

		// todo: Open the websocket?
		string websocketUrl = response.WebsocketUrl;
		if (isDebug) websocketUrl = "ws://localhost:61788/ws"; // for tests
		// Close other communication channel
		WebHookServer_Close();

		if (string.IsNullOrEmpty(websocketUrl))
		{
		// Create the WebSockets client here (NOT in the scene scripts)
		if (!websocketConnected) WebSocketClient_Create(websocketUrl);
		}
		else throw new Exception("[REST] No valid WebSockets URL in server reponse.");
		// Open the websocket?
		if (webSocket == null) WebSocketClient_Create(CreateWebsocket_URL(response.WebsocketUrl));
		}
		else throw new Exception("[REST] No valid URL in server reponse.");

		return InformationSubscriptionResult.OK;
		}
		@@ -381,12 +381,12 @@ public partial class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface

		public InformationSubscriptionResult UnsubscribeFromPose(Guid subscriptionUUID)
		{
		if (m_subscriptionsPoses.ContainsKey(subscriptionUUID))
		if (subscriptionsPoses.ContainsKey(subscriptionUUID))
		{
		apiClient.UnsubscribeFromPose(token, sessionID, subscriptionUUID);
		m_subscriptionsPoses.Remove(subscriptionUUID);
		subscriptionsPoses.Remove(subscriptionUUID);

		if (m_subscriptionsPoses.Count == 0)
		if (subscriptionsPoses.Count == 0)
		{
		// Close the connection via websockets
		WebSocketClient_Close();

Runtime/Scripts/WorldAnalysisREST_WebSockets.cs

+41 −38

Original line number	Diff line number	Diff line
		#define IS_HHI_LAN

		using System;
		using System.Collections;
		using System.Collections.Generic;
		using UnityEngine;
		using ETSI.ARF.OpenAPI.WorldAnalysis;

		using Newtonsoft.Json;
		using WebSocketSharp;

		using ETSI.ARF.OpenAPI.WorldAnalysis;
		using static WorldAnalysisInterface;

		//Implementation of the WorldAnalysis interface
		@@ -18,13 +21,21 @@ public partial class WorldAnalysisREST
		//
		// Private members
		//
		private WebSocketSharp.WebSocket webSocket; // For WebSockets
		private bool websocketConnected = false;
		private WebSocketSharp.WebSocket webSocket = null; // For WebSockets

		#region Communication system for WebSockets
		public WebSocket WebSocketClient_Create(string url)
		{
		webSocket = new WebSocketSharp.WebSocket(url);
		if (webSocket != null) return webSocket;

		string _url = url;

		#if IS_HHI_LAN
		_url = "ws://192.168.20.29:8084/ws";
		Debug.LogWarning("[WS] Changing the websocket URL to: " + _url + " (local network VM, HHI)");
		#endif

		webSocket = new WebSocketSharp.WebSocket(_url);

		//
		// Define standard callbacks
		@@ -32,16 +43,14 @@ public partial class WorldAnalysisREST
		webSocket.OnOpen += (sender, e) =>
		{
		Debug.Log("[WS] Connected");
		websocketConnected = true;
		webSocket.Send("RegisterClient:UnitySceneManagement");
		webSocket.Send("RegisterClient=" + modulename);
		};
		webSocket.OnClose += (sender, e) =>
		{
		Debug.Log("[WS] Disconnected");
		websocketConnected = false;
		};
		webSocket.OnError += (sender, e) => Debug.Log("[WS] Error!");
		webSocket.OnMessage += (sender, e) => WebSocketClient_OnReceive(e.Data);
		webSocket.OnError += (sender, e) => Debug.Log("[WS] Websocket error!");
		webSocket.Connect();

		return webSocket;
		@@ -49,9 +58,9 @@ public partial class WorldAnalysisREST

		private void WebSocketClient_Close()
		{
		if (websocketConnected)
		if (webSocket != null)
		{
		webSocket.Send("UnregisterClient");
		webSocket.Send("UnregisterClient=" + modulename);
		webSocket.Close();
		webSocket = null;
		}
		@@ -63,56 +72,50 @@ public partial class WorldAnalysisREST
		}

		bool isRegistered = false;
		public void WebSocketClient_OnReceive(string data)
		public void WebSocketClient_OnReceive(string serverMessage)
		{
		//Debug.Log("[WS] Receiving: " + data);

		if (data.Contains("You are now registered"))
		if (serverMessage.Contains("You are now registered"))
		{
		isRegistered = true;
		if (isDebug)
		{
		webSocket.Send("TimeStart:3"); // test
		}
		Debug.Log($"[WS] {serverMessage }");
		//Debug.Log($"[WS] Registration of { modulename } was succesfull.");
		}
		else if (isRegistered)
		{
		if (data.StartsWith("Time="))
		if (serverMessage == "PoseStop")
		{
		// test the communication
		Debug.Log("[WS] Server time is: " + data.Split('=')[1]);
		webSocketMessage?.Invoke(data);
		//SetColor(Color.yellow);
		}
		else if (data == "TimeStop")
		else if (serverMessage == "PoseIsNowSubscribed")
		{
		// Get some dummy poses?
		//webSocket.Send("PoseStart:5"); // test
		}
		else if (data == "PoseStop")
		else if (serverMessage == "PoseIsNowUnubscribed")
		{
		//SetColor(Color.yellow);
		}
		else if (data.StartsWith("Pose=") && data.Contains("estimationState"))
		else if (serverMessage.StartsWith("NewPose=") && serverMessage.Contains("estimationState"))
		{
		// Handle the new pose
		string json = data.Substring("Pose=".Length);
		ETSI.ARF.OpenAPI.WorldAnalysis.Pose pose = JsonUtility.FromJson<ETSI.ARF.OpenAPI.WorldAnalysis.Pose>(json);
		Debug.Log("[WS][Pose] State: " + pose.EstimationState.ToString());
		string _str = serverMessage.Substring("NewPose=".Length);
		ETSI.ARF.OpenAPI.WorldAnalysis.Pose pose = JsonConvert.DeserializeObject<ETSI.ARF.OpenAPI.WorldAnalysis.Pose>(_str);
		//Debug.Log("[WS] JSON - my new pose : " + pose.ToJson());

		// to check: p.Confidence
		// to check: p.Mode, p.Value
		// to check: p.Confidence?

		PoseEstimationResult res = pose.EstimationState == PoseEstimationState.OK ? PoseEstimationResult.OK : PoseEstimationResult.FAILURE;

		// Look for the corresponding callbacks
		foreach (var item in m_subscriptionsPoses.Values)
		foreach (var item in subscriptionsPoses.Values)
		{
		if (pose.Uuid == item.uuidTarget)
		if (item.uuidTarget == pose.Uuid)
		{
		item.pose.Value = pose.Value;
		item.callback(res, pose);
		}
		}
		}
		else webSocketMessage?.Invoke(serverMessage);
		}
		}
		#endregion