diff --git a/Runtime/Scripts/OpenAPI/DataModels.cs b/Runtime/Scripts/OpenAPI/DataModels.cs
index 91d04fc170eaa3f828c803928f87feb1fd404229..0d2864d31d7729442315279c757705276ee5caa1 100644
--- a/Runtime/Scripts/OpenAPI/DataModels.cs
+++ b/Runtime/Scripts/OpenAPI/DataModels.cs
@@ -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
diff --git a/Runtime/Scripts/OpenAPI/Generated/WorldAnalysisOpenAPI.cs b/Runtime/Scripts/OpenAPI/Generated/WorldAnalysisOpenAPI.cs
index 126f5ab2e7d000f038fffb4bd997490724b11be5..713ebd5dec71dd6a7bb553d364b7b8ab6869d787 100644
--- a/Runtime/Scripts/OpenAPI/Generated/WorldAnalysisOpenAPI.cs
+++ b/Runtime/Scripts/OpenAPI/Generated/WorldAnalysisOpenAPI.cs
@@ -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>
diff --git a/Runtime/Scripts/REST/AdminRequest.cs b/Runtime/Scripts/REST/AdminRequest.cs
index 991052665a677fe50c1e5d03997b69a922fab000..048b10cd7e23a1a039c1386bdf6bebb90db61a43 100644
--- a/Runtime/Scripts/REST/AdminRequest.cs
+++ b/Runtime/Scripts/REST/AdminRequest.cs
@@ -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
//
diff --git a/Runtime/Scripts/WorldAnalysisREST.cs b/Runtime/Scripts/WorldAnalysisREST.cs
index 073f237184e5f1b08fff06aaec076c86c8672768..3b20a5224448429ad0f06188cadd06afa16faa3a 100644
--- a/Runtime/Scripts/WorldAnalysisREST.cs
+++ b/Runtime/Scripts/WorldAnalysisREST.cs
@@ -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
@@ -204,16 +196,28 @@ 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;
- body.Mode = mode;
+ body.Mode = mode;
body.Validity = validity;
body.WebhookUrl = callback != null ? "" : "https:\\..."; // empty -> app will use websockets (client)!
@@ -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();
diff --git a/Runtime/Scripts/WorldAnalysisREST_WebSockets.cs b/Runtime/Scripts/WorldAnalysisREST_WebSockets.cs
index 118c780f75c235d252469c621d1311d53528b3cf..e2adc631c9e6f75ff552f7d0cb6a4776e5a92ae7 100644
--- a/Runtime/Scripts/WorldAnalysisREST_WebSockets.cs
+++ b/Runtime/Scripts/WorldAnalysisREST_WebSockets.cs
@@ -1,10 +1,13 @@
+#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;
}
@@ -63,57 +72,51 @@ 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());
-
- // to check: p.Confidence
- // to check: p.Mode, p.Value
-
+ 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?
+
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
+#endregion
}
\ No newline at end of file
diff --git a/Runtime/Scripts/WorldAnalysisUnityHelper.cs b/Runtime/Scripts/WorldAnalysisUnityHelper.cs
index b6f5b21805dbfb4d1023890eca2dd69465f7a570..830de284d346ca9fff7553343e2ccb965fabe1e2 100644
--- a/Runtime/Scripts/WorldAnalysisUnityHelper.cs
+++ b/Runtime/Scripts/WorldAnalysisUnityHelper.cs
@@ -33,7 +33,7 @@ public class WorldAnalysisUnityHelper
/// </summary>
/// <param name="matrix">the values to convert</param>
/// <returns>Converted Unity Matrix</returns>
- public static Matrix4x4 ConvertETSIARFTransform3DToUnity(ETSI.ARF.OpenAPI.WorldStorage.Transform3D value)
+ public static Matrix4x4 ConvertETSIARFTransform3DToUnity(ETSI.ARF.OpenAPI.WorldAnalysis.Transform3D value)
{
if (value.Count == 16)
{