Integration of websocket subscriptions (b1996331) · Commits · ARF / World Analysis API helpers / Unity World Analysis Package

Runtime/Scripts/OpenAPI/Generated/WorldAnalysisOpenAPI.cs

+128 −2

Original line number	Diff line number	Diff line
		@@ -763,6 +763,12 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
		return SubscribeToPoseAsync(token, sessionID, body, System.Threading.CancellationToken.None);
		}

		// SylR
		public virtual System.Threading.Tasks.Task<SubscriptionMultiple> SubscribeToPoseAsync(string token, string sessionID, SubscriptionMultipleRequest body)
		{
		return SubscribeToPoseAsync(token, sessionID, body, System.Threading.CancellationToken.None);
		}

		/// <summary>
		/// Subscribe to collect the pose of an AR device, an Anchor or a Trackable
		/// </summary>
		@@ -776,6 +782,12 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
		return System.Threading.Tasks.Task.Run(async () => await SubscribeToPoseAsync(token, sessionID, body, System.Threading.CancellationToken.None)).GetAwaiter().GetResult();
		}

		// SylR
		public virtual SubscriptionMultiple SubscribeToPose(string token, string sessionID, SubscriptionMultipleRequest body)
		{
		return System.Threading.Tasks.Task.Run(async () => await SubscribeToPoseAsync(token, sessionID, body, System.Threading.CancellationToken.None)).GetAwaiter().GetResult();
		}

		/// <param name="cancellationToken">A cancellation token that can be used by other objects or threads to receive notice of cancellation.</param>
		/// <summary>
		/// Subscribe to collect the pose of an AR device, an Anchor or a Trackable
		@@ -898,6 +910,120 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
		}
		}

		// SylR
		public virtual async System.Threading.Tasks.Task<SubscriptionMultiple> SubscribeToPoseAsync(string token, string sessionID, SubscriptionMultipleRequest body, System.Threading.CancellationToken cancellationToken)
		{
		if (body == null)
		throw new System.ArgumentNullException("body");

		var client_ = _httpClient;
		var disposeClient_ = false;
		try
		{
		using (var request_ = new System.Net.Http.HttpRequestMessage())
		{

		if (token != null)
		request_.Headers.TryAddWithoutValidation("token", ConvertToString(token, System.Globalization.CultureInfo.InvariantCulture));

		if (sessionID != null)
		request_.Headers.TryAddWithoutValidation("sessionID", ConvertToString(sessionID, System.Globalization.CultureInfo.InvariantCulture));
		var json_ = Newtonsoft.Json.JsonConvert.SerializeObject(body, _settings.Value);
		var content_ = new System.Net.Http.StringContent(json_);
		content_.Headers.ContentType = System.Net.Http.Headers.MediaTypeHeaderValue.Parse("application/json");
		request_.Content = content_;
		request_.Method = new System.Net.Http.HttpMethod("POST");
		request_.Headers.Accept.Add(System.Net.Http.Headers.MediaTypeWithQualityHeaderValue.Parse("application/json"));

		var urlBuilder_ = new System.Text.StringBuilder();

		// Operation Path: "pose/subscriptions"
		urlBuilder_.Append("pose/subscriptions");

		PrepareRequest(client_, request_, urlBuilder_);

		var url_ = urlBuilder_.ToString();
		request_.RequestUri = new System.Uri(url_, System.UriKind.RelativeOrAbsolute);

		PrepareRequest(client_, request_, url_);

		var response_ = await client_.SendAsync(request_, System.Net.Http.HttpCompletionOption.ResponseHeadersRead, cancellationToken).ConfigureAwait(false);
		var disposeResponse_ = true;
		try
		{
		var headers_ = new System.Collections.Generic.Dictionary<string, System.Collections.Generic.IEnumerable<string>>();
		foreach (var item_ in response_.Headers)
		headers_[item_.Key] = item_.Value;
		if (response_.Content != null && response_.Content.Headers != null)
		{
		foreach (var item_ in response_.Content.Headers)
		headers_[item_.Key] = item_.Value;
		}

		ProcessResponse(client_, response_);

		var status_ = (int)response_.StatusCode;
		if (status_ == 200)
		{
		var objectResponse_ = await ReadObjectResponseAsync<SubscriptionMultiple>(response_, headers_, cancellationToken).ConfigureAwait(false);
		if (objectResponse_.Object == null)
		{
		throw new ApiException("Response was null which was not expected.", status_, objectResponse_.Text, headers_, null);
		}
		return objectResponse_.Object;
		}
		else
		if (status_ == 400)
		{
		var responseData_ = response_.Content == null ? null : await response_.Content.ReadAsStringAsync().ConfigureAwait(false);
		var result_ = (string)System.Convert.ChangeType(responseData_, typeof(string));
		throw new ApiException<string>("Bad request.", status_, responseData_, headers_, result_, null);
		}
		else
		if (status_ == 403)
		{
		var responseData_ = response_.Content == null ? null : await response_.Content.ReadAsStringAsync().ConfigureAwait(false);
		var result_ = (string)System.Convert.ChangeType(responseData_, typeof(string));
		throw new ApiException<string>("Not allowed.", status_, responseData_, headers_, result_, null);
		}
		else
		if (status_ == 404)
		{
		var responseData_ = response_.Content == null ? null : await response_.Content.ReadAsStringAsync().ConfigureAwait(false);
		var result_ = (string)System.Convert.ChangeType(responseData_, typeof(string));
		throw new ApiException<string>("Not found.", status_, responseData_, headers_, result_, null);
		}
		else
		if (status_ == 405)
		{
		var responseData_ = response_.Content == null ? null : await response_.Content.ReadAsStringAsync().ConfigureAwait(false);
		var result_ = (string)System.Convert.ChangeType(responseData_, typeof(string));
		throw new ApiException<string>("Not supported.", status_, responseData_, headers_, result_, null);
		}
		else
		{
		var objectResponse_ = await ReadObjectResponseAsync<Error>(response_, headers_, cancellationToken).ConfigureAwait(false);
		if (objectResponse_.Object == null)
		{
		throw new ApiException("Response was null which was not expected.", status_, objectResponse_.Text, headers_, null);
		}
		throw new ApiException<Error>("Unexpected error.", status_, objectResponse_.Text, headers_, objectResponse_.Object, null);
		}
		}
		finally
		{
		if (disposeResponse_)
		response_.Dispose();
		}
		}
		}
		finally
		{
		if (disposeClient_)
		client_.Dispose();
		}
		}

		/// <summary>
		/// Get information about a subscription
		/// </summary>
		@@ -1927,8 +2053,8 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
		/// <summary>
		/// List of modes representing the context of the Relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
		/// </summary>
		[Newtonsoft.Json.JsonProperty("mode", Required = Newtonsoft.Json.Required.Always, ItemConverterType = typeof(Newtonsoft.Json.Converters.StringEnumConverter))]
		public System.Collections.Generic.ICollection<Mode_WorldAnalysis> Mode { get; set; } = new System.Collections.ObjectModel.Collection<Mode_WorldAnalysis>();
		[Newtonsoft.Json.JsonProperty("modes", Required = Newtonsoft.Json.Required.Always, ItemConverterType = typeof(Newtonsoft.Json.Converters.StringEnumConverter))]
		public System.Collections.Generic.ICollection<Mode_WorldAnalysis> Modes { get; set; } = new System.Collections.ObjectModel.Collection<Mode_WorldAnalysis>();

		/// <summary>
		/// Subscription validity delay in millisecond

Runtime/Scripts/WorldAnalysisInterface.cs

+1 −1

Original line number	Diff line number	Diff line
		@@ -151,7 +151,7 @@ public interface WorldAnalysisInterface
		/// </summary>
		/// <param name="subscriptionUUID">id of the subscription</param>
		/// /// <returns>The unsubscription has been performed or not</returns>
		public InformationSubscriptionResult UnSubscribeToPose(Guid subscriptionUUID);
		public InformationSubscriptionResult UnsubscribeFromPose(Guid subscriptionUUID);

		#endregion

Runtime/Scripts/WorldAnalysisREST.cs

+49 −115

Original line number	Diff line number	Diff line
		@@ -7,11 +7,14 @@ using ETSI.ARF.WorldAnalysis;
		using static WorldAnalysisInterface;
		using ETSI.ARF.WorldAnalysis.REST;

		using WebSocketSharp;
		using UnityEngine.Events;

		//Implementation of the WorldAnalysis interface
		public class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		public partial class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		{
		[Serializable]
		public class StringEvent : UnityEvent<string> { }

		//
		// Inspector variables
		//
		@@ -25,13 +28,15 @@ public class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		[Space(8)]
		public bool isDebug = false;

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

		//
		// Private members
		//
		private WorldAnalysisClient apiClient; // For sync calls
		private WorldAnalysisClient apiClientAsync; // For async calls
		private WebSocketSharp.WebSocket webSocket; // For WebSockets
		private bool websocketConnected = false;

		//
		// Management of subscriptions
		@@ -91,6 +96,11 @@ public class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		}
		}

		private void OnDestroy()
		{
		WebSocketClient_Close();
		}

		#endregion

		#region Test methods
		@@ -117,95 +127,6 @@ public class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		}
		#endregion

		#region Communication system
		private void CreateWebHookServer()
		{
		throw new Exception("[REST] CreateWebHookServer(): Not implemented!");
		}

		private void DestroyWebHookServer()
		{
		return;
		}

		public WebSocket OpenWebSocketClient(string url)
		{
		webSocket = new WebSocketSharp.WebSocket(url);

		//
		// Define standard callbacks
		//
		webSocket.OnOpen += (sender, e) =>
		{
		Debug.Log("[WS] Connected");
		websocketConnected = true;
		webSocket.Send("RegisterClient:UnitySceneManagement");
		};
		webSocket.OnClose += (sender, e) =>
		{
		Debug.Log("[WS] Disconnected");
		websocketConnected = false;
		};
		webSocket.OnError += (sender, e) => Debug.Log("[WS] Error!");
		webSocket.OnMessage += (sender, e) => HandleWebSocketClient(e.Data);
		webSocket.Connect();

		return webSocket;
		}

		private void OnDestroy()
		{
		// State: red
		CloseWebSocketClient();
		}

		private void CloseWebSocketClient()
		{
		if (websocketConnected)
		{
		webSocket.Send("UnregisterClient");
		webSocket.Close();
		}
		}

		bool ok = false;
		public void HandleWebSocketClient(string data)
		{
		Debug.Log("[WS] Receiving: " + data);

		if (data.Contains("You are now registered"))
		{
		ok = true;
		if (isDebug) webSocket.Send("PoseStart:10"); // test
		}
		else if (data == "PoseStop")
		{
		//SetColor(Color.yellow);
		}
		else if (ok)
		{
		if (data.Contains("estimationState"))
		{
		// Handle pose
		ETSI.ARF.OpenAPI.WorldAnalysis.Pose p = JsonUtility.FromJson<ETSI.ARF.OpenAPI.WorldAnalysis.Pose>(data);
		Debug.Log("[WS][Pose] State: " + p.EstimationState.ToString());

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

		// Search the corresponding callbacks
		foreach (var item in m_subscriptionsPoses.Values)
		{
		if (p.Uuid == item.uuidTarget)
		{
		item.callback(res, p);
		}
		}
		}
		}
		}

		#endregion

		#region Lifecycle
		/// <summary>
		/// Check the validity of all subscriptions and delete one if needed
		@@ -270,8 +191,8 @@ public class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		{
		for (int i = 0; i < uuids.Length; i++)
		{
		PoseEstimationResult poseResul = new PoseEstimationResult();
		resul[i] = poseResul;
		PoseEstimationResult poseResult = new PoseEstimationResult();
		resul[i] = poseResult;
		poses[i] = posesList[i];
		}
		return resul;
		@@ -288,20 +209,29 @@ public class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		// 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.Validity = validity;
		body.WebhookUrl = callback == null ? "" : "https:\\..."; // empty -> app will use websockets (client)!
		body.WebhookUrl = callback != null ? "" : "https:\\..."; // empty -> app will use websockets (client)!

		// Get subscription info from the REST server
		SubscriptionSingle response = apiClient.SubscribeToPose(token, sessionID, body);
		subscriptionUUID = response.Uuid;
		validity = response.Validity;

		//SubscriptionMultipleRequest body_m = new SubscriptionMultipleRequest();
		//body_m.Targets = new List<object>();
		//body_m.Mode = new List<Mode_WorldAnalysis>();
		//body_m.Validity = validity;
		//body_m.WebhookUrl = callback == null ? "" : "https:\\..."; // empty -> app will use websockets (client)!
		//SubscriptionMultiple response = apiClient.SubscribeToPose(token, sessionID, body_m);

		// We add the subscription
		SubscriptionInfo sub = new SubscriptionInfo();
		sub.uuid = response.Uuid;
		sub.uuid = subscriptionUUID;
		sub.timeValidity = Time.time + (validity / 1000.0f);
		sub.pose = new ETSI.ARF.OpenAPI.WorldAnalysis.Pose();
		sub.pose.Mode = mode;
		@@ -311,24 +241,27 @@ public class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface

		if (!string.IsNullOrEmpty(response.WebhookUrl))
		{
		CloseWebSocketClient();
		// Close other communication channel
		WebSocketClient_Close();

		// todo: 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?
		CreateWebHookServer();
		// 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
		{
		DestroyWebHookServer();
		// Close other communication channel
		WebHookServer_Close();

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

		if (string.IsNullOrEmpty(websocketUrl))
		if (!string.IsNullOrEmpty(websocketUrl))
		{
		// Create the WebSockets client here (NOT in the scene scripts)
		if (!websocketConnected) OpenWebSocketClient(websocketUrl);
		if (!websocketConnected) WebSocketClient_Create(websocketUrl);
		}
		else throw new Exception("[REST] No valid WebSockets URL in server reponse.");
		}
		@@ -418,15 +351,16 @@ public class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		//
		if (oldCB != null && callback == null && !string.IsNullOrEmpty(response.WebhookUrl))
		{
		CloseWebSocketClient();
		WebSocketClient_Close();

		// todo: create a REST server so that the WA server can send pose update to it
		// 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?
		CreateWebHookServer();
		string webhookUrl = response.WebhookUrl;
		WebHookServer_Create(webhookUrl);
		}
		else if (oldCB == null && callback != null && string.IsNullOrEmpty(response.WebhookUrl))
		{
		DestroyWebHookServer();
		WebHookServer_Close();

		// todo: Open the websocket?
		string websocketUrl = response.WebsocketUrl;
		@@ -435,7 +369,7 @@ public class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		if (string.IsNullOrEmpty(websocketUrl))
		{
		// Create the WebSockets client here (NOT in the scene scripts)
		if (!websocketConnected) OpenWebSocketClient(websocketUrl);
		if (!websocketConnected) WebSocketClient_Create(websocketUrl);
		}
		else throw new Exception("[REST] No valid WebSockets URL in server reponse.");
		}
		@@ -445,7 +379,7 @@ public class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		return InformationSubscriptionResult.UNKNOWN_ID;
		}

		public InformationSubscriptionResult UnSubscribeToPose(Guid subscriptionUUID)
		public InformationSubscriptionResult UnsubscribeFromPose(Guid subscriptionUUID)
		{
		if (m_subscriptionsPoses.ContainsKey(subscriptionUUID))
		{
		@@ -455,7 +389,7 @@ public class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
		if (m_subscriptionsPoses.Count == 0)
		{
		// Close the connection via websockets
		CloseWebSocketClient();
		WebSocketClient_Close();
		}
		return InformationSubscriptionResult.OK;
		}