Draft implementation of the websockets logic

server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/CapabilitiesImpl.cs

@@ -53,27 +53,17 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
         /// </summary>
         public override IActionResult GetCapabilities([FromHeader (Name = "token")]string token, [FromHeader (Name = "sessionID")]string sessionID)
         {
-            // Get all capabilities from all anchors/trackables
-            // test
-            EncodingInformationStructure enc = new EncodingInformationStructure();
-            enc.DataFormat = EncodingInformationStructure.DataFormatEnum.OTHEREnum;
-            enc.VarVersion = "12345";
+            // todo: compare token and sessionID
 
-            Capability capability = new Capability();
-            capability.TrackableType = TrackableType.FIDUCIALMARKEREnum;
-            capability.EncodingInformation = enc;
-            capability.Accuracy = 1;
-            capability.Framerate = 24;
-            capability.Latency = 0;
+            // Get all capabilities from all anchors/trackables
 
             // Create list
-            List<Capability> capabilities = new List<Capability>();
-            //capabilities.Add(capability);
-            capabilities.AddRange(WorldAnalysisModules.Singleton.GetCapabilities());
+            List<Capability> capabilitiesList = new List<Capability>();
+            capabilitiesList.AddRange(WorldAnalysisModules.Singleton.GetCapabilities());
 
-            // Create repsonse object
+            // Create response object
             GetCapabilities200Response response = new GetCapabilities200Response();
-            response.Capabilities = capabilities;
+            response.Capabilities = capabilitiesList;
             return new ObjectResult(response);
             //return StatusCode(405, "Not supported yet!");
         }
@@ -83,11 +73,16 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
         /// </summary>
         public override IActionResult GetSupport([FromRoute (Name = "trackableOrAnchorUUID")][Required]Guid trackableOrAnchorUUID, [FromHeader (Name = "token")]string token, [FromHeader (Name = "sessionID")]string sessionID)
         {
-            Capability capability = new Capability();
-            capability.Framerate = 24;
-            capability.Latency = 0;
-            capability.TrackableType = TrackableType.FIDUCIALMARKEREnum;
-            return (null != capability) ? new ObjectResult(capability) : StatusCode(404, "Not found, could not find capability for UUID: " + trackableOrAnchorUUID);
+            // todo: compare token and sessionID
+
+            // Create list
+            List<Capability> capabilitiesList = new List<Capability>();
+            capabilitiesList.AddRange(WorldAnalysisModules.Singleton.GetCapabilitiesFromUuid(trackableOrAnchorUUID));
+
+            // Create response object
+            GetSupport200Response response = new GetSupport200Response();
+            response.Capabilities = capabilitiesList;
+            return new ObjectResult(response); 
             //return StatusCode(405, "Not supported yet!");
         }
     }

server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/PoseImpl.cs

@@ -53,6 +53,8 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
         /// </summary>
         public override IActionResult ConfigureFramerate([FromBody]PoseConfiguration poseConfiguration, [FromHeader (Name = "token")]string token, [FromHeader (Name = "sessionID")]string sessionID)
         {
+            // todo: compare token and sessionID
+
             return StatusCode(405, "Not supported yet!");
         }
 
@@ -61,6 +63,8 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
         /// </summary>
         public override IActionResult GetPose([FromRoute (Name = "trackableOrAnchorUUID")][Required]Guid trackableOrAnchorUUID, [FromQuery (Name = "mode")][Required()]ModeWorldAnalysis mode, [FromHeader (Name = "token")]string token, [FromHeader (Name = "sessionID")]string sessionID)
         {
+            // todo: compare token and sessionID
+
             return StatusCode(405, "Not supported yet!");
         }
 
@@ -72,11 +76,33 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
             return StatusCode(405, "Not supported yet!");
         }
 
+#pragma warning disable CS1591 // Fehlendes XML-Kommentar fr ffentlich sichtbaren Typ oder Element
+
+        //
+        // Management of subscriptions
+        //
+        /// <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 = new Dictionary<Guid, SubscriptionInfo>();
+
+        public struct SubscriptionInfo
+        {
+            public Guid uuid;           // id of subscription (id is defined by the WA server)
+            public Guid uuidTarget;     // id trackable or anchor
+            public DateTime timeValidity;  //The duration of the validity of the subscription
+            public Pose pose;
+            //public PoseCallback callback;
+        }
+#pragma warning restore CS1591 // Fehlendes XML-Kommentar fr ffentlich sichtbaren Typ oder Element
+
         /// <summary>
         /// Get information about a subscription
         /// </summary>
         public override IActionResult GetSubscription([FromRoute (Name = "subscriptionUUID")][Required]Guid subscriptionUUID, [FromHeader (Name = "token")]string token, [FromHeader (Name = "sessionID")]string sessionID)
         {
+            // todo: compare token and sessionID
+
             return StatusCode(405, "Not supported yet!");
         }
 
@@ -85,12 +111,37 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
         /// </summary>
         public override IActionResult SubscribeToPose([FromBody]SubscribeToPoseRequest subscribeToPoseRequest, [FromHeader (Name = "token")]string token, [FromHeader (Name = "sessionID")]string sessionID)
         {
+            // todo: compare token and sessionID
+
+            int validity = subscribeToPoseRequest.Validity; // todo: is to handle here or by the client?
+
+            // We add the subscription
+            SubscriptionInfo sub = new SubscriptionInfo();
+            sub.uuid = new Guid();
+            sub.timeValidity = DateTime.Now.AddMilliseconds(validity / 1000.0f);
+            sub.pose = new Pose();
+            sub.pose.Mode = subscribeToPoseRequest.Mode[0];
+            sub.uuidTarget = subscribeToPoseRequest.Target;
+            m_subscriptionsPoses.Add(sub.uuid, sub);
+
             SubscribeToPose200Response response = new SubscribeToPose200Response();
-            response.Target = subscribeToPoseRequest.Target;
-            response.Mode = subscribeToPoseRequest.Mode[0];
-            response.WebhookUrl = "";
-            response.WebsocketUrl = Request.Host.ToString(); ;
-            
+            response.Uuid = sub.uuid;
+            response.Validity = validity;
+            response.Target = sub.uuidTarget;
+            response.Mode = sub.pose.Mode;
+            if (string.IsNullOrEmpty(subscribeToPoseRequest.WebhookUrl))
+            {
+                response.WebhookUrl = "";
+                response.WebsocketUrl = Request.Host.ToString();
+                // Notice: starting websocket server is done autom. by the client, when calling "URL:/ws"
+                
+                // todo: register the client, so the websocket will send to it pose updates
+            }
+            else
+            {
+                response.WebhookUrl = subscribeToPoseRequest.WebhookUrl;
+                response.WebsocketUrl = null;
+            }
             return new ObjectResult(response);
             //return StatusCode(405, "Not supported yet!");
         }
@@ -100,6 +151,8 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
         /// </summary>
         public override IActionResult UnsubscribeFromPose([FromRoute (Name = "subscriptionUUID")][Required]Guid subscriptionUUID, [FromHeader (Name = "token")]string token, [FromHeader (Name = "sessionID")]string sessionID)
         {
+            // todo: compare token and sessionID
+
             return StatusCode(405, "Not supported yet!");
         }
 
@@ -108,6 +161,8 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
         /// </summary>
         public override IActionResult UpdateSubscription([FromRoute (Name = "subscriptionUUID")][Required]Guid subscriptionUUID, [FromBody]UpdateSubscriptionRequest updateSubscriptionRequest, [FromHeader (Name = "token")]string token, [FromHeader (Name = "sessionID")]string sessionID)
         {
+            // todo: compare token and sessionID
+
             return StatusCode(405, "Not supported yet!");
         }
     }

server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/WebSocketController.cs

@@ -166,7 +166,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
             if (firstTime)
             {
                 // Register the client/module
-                if (msg.StartsWith("Module:"))
+                if (msg.StartsWith("RegisterModule:"))
                 {
                     registered = true;
                     firstTime = false;
@@ -179,7 +179,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
                         await SendText(webSocket, "ARF World Analysis Server: You are now registered as a module: " + currentName);
                     }
                 }
-                else if (msg.StartsWith("Client:"))
+                else if (msg.StartsWith("RegisterClient:"))
                 {
                     registered = true;
                     firstTime = false;
@@ -200,13 +200,13 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
             }
             else if (registered)
             {
-                if (msg.StartsWith("StartSendingPose"))
+                if (msg.StartsWith("PoseStart"))
                 {
                     if (msg.Contains(':')) timeCnt = int.Parse(msg.Split(':')[1]);
                     else timeCnt = 3;
                     await SendPose(webSocket);
                 }
-                else if (msg.StartsWith("Time"))
+                else if (msg.StartsWith("TimeStart"))
                 {
                     if (msg.Contains(':')) timeCnt = int.Parse(msg.Split(':')[1]);
                     else timeCnt = 3;

server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/WorldAnalysisModules.cs

@@ -41,6 +41,19 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
             }
             return list;
         }
+
+        public List<Capability> GetCapabilitiesFromUuid(Guid trackableOrAnchorUUID)
+        {
+            List<Capability> list = new List<Capability>();
+            foreach (var item in modules)
+            {
+                // todo: Check if uuid has the capability?
+                // Get the world object from the storage via the module?
+                
+                list.AddRange(item.capabilities);
+            }
+            return list;
+        }
     }
 }
 #pragma warning restore CS1591 // Fehlendes XML-Kommentar für öffentlich sichtbaren Typ oder Element

server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/Program.cs

@@ -27,7 +27,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
                 .ConfigureWebHostDefaults(webBuilder =>
                 {
                    webBuilder.UseStartup<Startup>()
-                             .UseUrls("http://0.0.0.0:8080/");
+                             .UseUrls("http://0.0.0.0:44301/");     // SylR: Wichtig!!!
                 });
     }
 }