Functions for the API 2.0.0. (42f62762) · Commits · ARF / World Analysis API helpers / World Analysis ASP.NET Server

openapi @ 073fd721

Original line number	Diff line number	Diff line
		Subproject commit b639a02180c2b5e301c77483b3a2fa645ba94169
		Subproject commit 073fd7213fd9e6ebc2f8a47d628a650de30c8bc4

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

+9 −4

Original line number	Diff line number	Diff line
		@@ -53,13 +53,16 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		/// </summary>
		public override IActionResult GetCapabilities([FromHeader (Name = "token")]string token, [FromHeader (Name = "sessionID")]string sessionID)
		{
		// todo: compare token and sessionID
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		// Get all capabilities from all anchors/trackables
		// Info: Capabilities are collected after a module is connected via websockets

		// Create list
		List<Capability> capabilitiesList = new List<Capability>();
		capabilitiesList.AddRange(WorldAnalysisModules.Singleton.GetCapabilities());
		capabilitiesList.AddRange(WorldAnalysisConnections.Singleton.GetCapabilities());

		// Create response object
		GetCapabilities200Response response = new GetCapabilities200Response();
		@@ -73,11 +76,13 @@ 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)
		{
		// todo: compare token and sessionID
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		// Create list
		List<Capability> capabilitiesList = new List<Capability>();
		capabilitiesList.AddRange(WorldAnalysisModules.Singleton.GetCapabilitiesFromUuid(trackableOrAnchorUUID));
		capabilitiesList.AddRange(WorldAnalysisConnections.Singleton.GetCapabilitiesFromUuid(trackableOrAnchorUUID));

		// Create response object
		GetSupport200Response response = new GetSupport200Response();

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

+98 −45

Original line number	Diff line number	Diff line
		@@ -53,11 +53,13 @@ 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
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		// Notify the modules that the client need a new framerate
		WorldAnalysisModules.Singleton.ConfigureFramerate(poseConfiguration);
		return StatusCode(200, "Ok.");
		bool result = WorldAnalysisConnections.Singleton.ConfigureFramerate(poseConfiguration);
		return result ? StatusCode(200, "Ok.") : StatusCode(405, "Not supported.");
		}

		/// <summary>
		@@ -65,11 +67,13 @@ 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
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		// Request from the modules a new pose of a single UUID
		Pose result;
		result = WorldAnalysisModules.Singleton.GetPose(trackableOrAnchorUUID, mode);
		result = WorldAnalysisConnections.Singleton.GetPose(trackableOrAnchorUUID, mode);
		return new ObjectResult(result);
		}

		@@ -78,13 +82,15 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		/// </summary>
		public override IActionResult GetPoses([FromQuery(Name = "uuid")][Required()] List<UuidAndMode> uuid, [FromHeader(Name = "token")] string token, [FromHeader(Name = "sessionID")] string sessionID)
		{
		// todo: compare token and sessionID
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		// Request from the modules new poses from all UUIDs
		GetPoses200Response result = new GetPoses200Response();
		foreach (var item in uuid)
		{
		result.Poses.Add(WorldAnalysisModules.Singleton.GetPose(item.Uuid, item.Mode));
		result.Poses.Add(WorldAnalysisConnections.Singleton.GetPose(item.Uuid, item.Mode));
		}
		return new ObjectResult(result);
		}
		@@ -101,10 +107,13 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers

		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 Guid uuidSub; // id of subscription (id is defined by the WA server)

		public SubscribeToPoseRequest subscription;
		public string webSocket;
		public Pose pose;
		public DateTime timeValidity;

		//public PoseCallback callback;
		}
		#pragma warning restore CS1591 // Fehlendes XML-Kommentar fr ffentlich sichtbaren Typ oder Element
		@@ -114,11 +123,26 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		/// </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
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: search for a subscription and send it back
		// todo: compare sessionID

		return StatusCode(405, "Not supported yet!");
		// todo: search for a subscription and send it back
		foreach (var item in m_subscriptionsPoses)
		{
		if (item.Key == subscriptionUUID)
		{
		SubscriptionSingle response = new SubscriptionSingle();
		response.Uuid = subscriptionUUID;
		response.Target = item.Value.subscription.Target;
		response.Mode = item.Value.pose.Mode;
		response.Validity = item.Value.timeValidity.Millisecond;
		response.WebhookUrl = item.Value.subscription.WebhookUrl;
		response.WebsocketUrl = item.Value.webSocket;
		return new ObjectResult(response);
		}
		}
		return StatusCode(404, "Not found.");
		}

		/// <summary>
		@@ -126,46 +150,67 @@ 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
		// Simulation ON for STF669 pose calcualtion
		string _token = token;
		Guid parentUUID = Guid.Empty;
		if (token.Contains(","))
		{
		_token = token.Split(',')[0];
		parentUUID = new Guid(token.Split(',')[1]);
		}

		if (!Startup.IsAccessGranted(_token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		if (subscribeToPoseRequest.Targets != null && subscribeToPoseRequest.Targets.Count > 0)
		{
		return StatusCode(404, "Multiple subscriptions are not implemented (targets).");
		}
		else if (subscribeToPoseRequest.Modes != null && subscribeToPoseRequest.Modes.Count > 0)
		{
		return StatusCode(404, "Multiple subscriptions are not implemented (modes).");
		}

		int validity = subscribeToPoseRequest.Validity; // todo: is to handle here or by the client?

		SubscribeToPose200Response response = new SubscribeToPose200Response();
		response.Validity = validity;
		response.Uuid = Guid.NewGuid();
		response.Target = subscribeToPoseRequest.Target;
		response.Mode = subscribeToPoseRequest.Mode;
		response.WebhookUrl = subscribeToPoseRequest.WebhookUrl;
		response.WebsocketUrl = "";

		// Send the websocket connection URL
		if (string.IsNullOrEmpty(response.WebhookUrl))
		{
		// Notice: starting websocket server is done autom. by the client, when calling "URL:xxx/ws"
		// Registering the client is done in the analysis module, so the websocket can send to it pose updates
		response.WebsocketUrl = "wss://" + Request.Host.ToString() + "/ws";
		}

		// We add the subscription
		SubscriptionInfo info = new SubscriptionInfo();
		info.uuid = new Guid();
		info.uuidTarget = subscribeToPoseRequest.Target;
		info.uuidSub = response.Uuid;
		info.webSocket = response.WebsocketUrl;
		info.timeValidity = DateTime.Now.AddMilliseconds(validity / 1000.0f);

		info.pose = new Pose();
		info.pose.Mode = subscribeToPoseRequest.Mode;
		m_subscriptionsPoses.Add(info.uuid, info);
		info.pose.Mode = response.Mode;

		info.subscription = new SubscribeToPoseRequest();
		info.subscription.Target = response.Target;
		info.subscription.Mode = response.Mode;
		info.subscription.Validity = response.Validity;
		info.subscription.WebhookUrl = response.WebhookUrl;

		// todo: handle multiple subscriptions ?
		// subscribeToPoseRequest.Targets[]
		// subscribeToPoseRequest.Modes[]
		m_subscriptionsPoses.Add(info.uuidSub, info);

		// todo: inform the module(s) that the client will track an anchor/trackable and need the pose
		// todo: has the module to call GetRelocalizationInformation() then?!?
		WorldAnalysisModules.Singleton.SubscribeToPose(info);

		SubscribeToPose200Response response = new SubscribeToPose200Response();
		response.Validity = validity;
		response.Uuid = info.uuid;
		response.Target = info.uuidTarget;
		response.Mode = info.pose.Mode;
		WorldAnalysisConnections.Singleton.SubscribeToPose(info, parentUUID);

		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);
		}

		@@ -174,15 +219,21 @@ 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
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		// Remove the subscription from the list?
		if (m_subscriptionsPoses.ContainsKey(subscriptionUUID)) m_subscriptionsPoses.Remove(subscriptionUUID);
		else
		{
		//return StatusCode(404, new Error() { Message = "Unsubscribe UUID not found!" });
		}

		// Inform the module(s) that the subscription ended
		WorldAnalysisModules.Singleton.UnsubscribeFromPose(subscriptionUUID);
		WorldAnalysisConnections.Singleton.UnsubscribeFromPose(subscriptionUUID);

		return StatusCode(200, "Ok!");
		return StatusCode(200, new Success() { Message = "Unsubscription successfull." });
		}

		/// <summary>
		@@ -190,7 +241,9 @@ 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
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		// todo: inform the module(s) that the subscription changed

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

+128 −96

File changed.

Preview size limit exceeded, changes collapsed.

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

+38 −17

Original line number	Diff line number	Diff line
		@@ -17,20 +17,21 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
		public WebSocketController websockets;
		}

		// For management of WA clinet (e.g. Unity client)
		// For management of WA client (e.g. Unity client)
		public class Client
		{
		public string name;
		public string session;
		public VectorQuaternionPoseValue currentUserPose;
		public WebSocketController websockets;
		}

		public class WorldAnalysisModules
		public class WorldAnalysisConnections
		{
		static public WorldAnalysisModules Singleton = new WorldAnalysisModules();
		static public WorldAnalysisConnections Singleton = new WorldAnalysisConnections();

		public List<Module> modules = new List<Module>();
		public List<Client> clients = new List<Client>();
		public List<Client> clients = new List<Client>(); // e.g. Unity clients

		// todo
		// Manage the sessions and modules
		@@ -58,13 +59,24 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
		return list;
		}

		public void ConfigureFramerate(PoseConfiguration poseConfiguration)
		public bool ConfigureFramerate(PoseConfiguration poseConfiguration)
		{
		foreach (var item in modules)
		bool ok = false;
		foreach (var m in modules)
		{
		bool moduleHasCap = false;
		foreach (var c in m.capabilities)
		{
		// todo: configure the module via websocket
		item.websockets.SendText("ConfigureFramerate:" + poseConfiguration.ToJson());
		if ((int)poseConfiguration.TrackableType == (int)c.TrackableType)
		{
		moduleHasCap = true;
		break;
		}
		}
		// Configure the module via websocket
		if (moduleHasCap) m.websockets.SendText("ConfigureFramerate=" + poseConfiguration.ToJson());
		}
		return ok;
		}

		public Pose GetPose(Guid trackableOrAnchorUUID, ModeWorldAnalysis mode)
		@@ -73,7 +85,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
		foreach (var item in modules)
		{
		// todo: get the pose via websocket
		item.websockets.SendText("GetPose:" + trackableOrAnchorUUID + ":" + mode.ToString());
		item.websockets.SendText("GetPose=" + trackableOrAnchorUUID + "=" + mode.ToString());

		// todo: find the pose with the best confidence?
		// How to get the results !?!?! (List with results, per Modules)
		@@ -81,31 +93,40 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
		return result;
		}


		public void SubscribeToPose(SubscriptionInfo info)
		public void SubscribeToPose(SubscriptionInfo info, Guid parentTrackableUUID)
		{
		// Send to all modules a request of subscription
		foreach (var item in modules)
		{
		item.websockets.SendText("SubscribePose:" + info.uuidTarget.ToString());
		if (parentTrackableUUID == Guid.Empty) item.websockets.SendText("SubscribePose=" + info.uuidSub + "=" + info.subscription.ToJson());
		else item.websockets.SendText("SubscribeSimulatedPose=" + info.uuidSub + "=" + info.subscription.ToJson() + "=" + parentTrackableUUID.ToString());
		}
		}

		public void UnsubscribeFromPose(Guid uuid)
		public void UnsubscribeFromPose(Guid subscriptionUUID)
		{
		// Send to all modules a request of subscription
		foreach (var item in modules)
		{
		item.websockets.SendText("UnsubscribePose:" + uuid.ToString());
		item.websockets.SendText("UnsubscribePose=" + subscriptionUUID.ToString());
		}
		}

		public void SendPoseToClients(Pose pose)
		{
		// Send to all clients with valid subscription the new pose
		foreach (var item in clients)
		{
		item.websockets.SendText("NewPose=" + pose.ToJson());
		}
		}

		public void SendPoseToClients(Pose p)
		public void SendPoseToClients(string str_pose)
		{
		// Send to all clients with valid subscription the new pose
		foreach (var item in clients)
		{
		item.websockets.SendText("Pose=" + p.ToJson());
		item.websockets.SendText("NewPose=" + str_pose);
		}
		}
		}