diff --git a/openapi b/openapi
index b639a02180c2b5e301c77483b3a2fa645ba94169..073fd7213fd9e6ebc2f8a47d628a650de30c8bc4 160000
--- a/openapi
+++ b/openapi
@@ -1 +1 @@
-Subproject commit b639a02180c2b5e301c77483b3a2fa645ba94169
+Subproject commit 073fd7213fd9e6ebc2f8a47d628a650de30c8bc4
diff --git a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/CapabilitiesImpl.cs b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/CapabilitiesImpl.cs
index f9c1a3543df47330a2fc2d11b904b5e75c1f85a0..4638d5c7df96786128abcc49291f699338163b95 100644
--- a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/CapabilitiesImpl.cs
+++ b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/CapabilitiesImpl.cs
@@ -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();
diff --git a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/PoseImpl.cs b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/PoseImpl.cs
index 058e38806c8618f1b8a64de2238996e8eef5c7ac..44606416aab46dfd8512ffebd5068f2ada13de84 100644
--- a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/PoseImpl.cs
+++ b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/PoseImpl.cs
@@ -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 für öffentlich 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;
- // todo: handle multiple subscriptions ?
- // subscribeToPoseRequest.Targets[]
- // subscribeToPoseRequest.Modes[]
+ info.subscription = new SubscribeToPoseRequest();
+ info.subscription.Target = response.Target;
+ info.subscription.Mode = response.Mode;
+ info.subscription.Validity = response.Validity;
+ info.subscription.WebhookUrl = response.WebhookUrl;
+ 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;
-
- 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"
+ WorldAnalysisConnections.Singleton.SubscribeToPose(info, parentUUID);
- // 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
diff --git a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/WebSocketController.cs b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/WebSocketController.cs
index 8a76568e404ccd1c8b622f84521d46a4453f5327..822931138c2f13ab348f117112b00f5c7fc3360e 100644
--- a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/WebSocketController.cs
+++ b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/WebSocketController.cs
@@ -43,11 +43,13 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
//
public class WebSocketController : ControllerBase
{
+ private WebSocket websocket;
+ static public int WebSocketControllerInstanceCount = 0;
+
private string currentName = "";
private bool registered = false;
private bool firstTime = true;
private int timeCnt = 3;
- private WebSocket websockets;
[HttpGet("/ws")]
public async Task Get()
@@ -62,7 +64,8 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
}
else if (webSocket.State == WebSocketState.Open)
{
- await HandleClientData(HttpContext, webSocket);
+ // Go to the loop...
+ await WebSocketServer_Loop(HttpContext, webSocket);
}
}
else
@@ -75,63 +78,36 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
//
// Send a line of text
//
- private async Task SendText(WebSocket webSocket, string text)
+ static private async Task SendText(WebSocket ws, string msg)
{
- // Response an OK message
- var message = text;
+ var message = msg;
var bytes = Encoding.UTF8.GetBytes(message);
var arraySegment = new ArraySegment<byte>(bytes, 0, bytes.Length);
- await webSocket.SendAsync(arraySegment, WebSocketMessageType.Text, true, CancellationToken.None);
+ await ws.SendAsync(arraySegment, WebSocketMessageType.Text, true, CancellationToken.None);
}
- public void SendText(string text)
+ public void SendText(string msg)
{
- // Response an OK message
- var message = text;
+ var message = msg;
var bytes = Encoding.UTF8.GetBytes(message);
var arraySegment = new ArraySegment<byte>(bytes, 0, bytes.Length);
- websockets.SendAsync(arraySegment, WebSocketMessageType.Text, true, CancellationToken.None);
+ websocket.SendAsync(arraySegment, WebSocketMessageType.Text, true, CancellationToken.None);
}
//
- // Send the time all seconds
+ // Send a demo pose all seconds
//
- //[HttpGet("/ws/time")]
- private async Task SendTime(WebSocket webSocket)
- {
- while (true)
- {
- var message = "Time=" + DateTime.Now.ToLocalTime();
-
- if (webSocket.State == WebSocketState.Open)
- {
- timeCnt--;
- if (timeCnt < 0)
- {
- await SendText(webSocket, "TimeStop");
- break;
- }
- else await SendText(webSocket, message);
- }
- else if (webSocket.State == WebSocketState.Closed || webSocket.State == WebSocketState.Aborted)
- {
- break;
- }
- Thread.Sleep(1000);
- }
- }
-
float rotInc = 0;
- private async Task SendDemoPose(WebSocket webSocket)
+ private async Task SendDemoPose(WebSocket ws)
{
while (true)
{
- if (webSocket.State == WebSocketState.Open)
+ if (ws.State == WebSocketState.Open)
{
timeCnt--;
if (timeCnt < 0)
{
- await SendText(webSocket, "PoseStop");
+ await SendText(ws, "PoseStop");
break;
}
else
@@ -153,13 +129,13 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
string json = pose.ToJson();
- await SendText(webSocket, "Pose=" + json);
+ await SendText(ws, "NewPose=" + json);
}
}
- else if (webSocket.State == WebSocketState.Closed || webSocket.State == WebSocketState.Aborted)
+ else if (ws.State == WebSocketState.Closed || ws.State == WebSocketState.Aborted)
{
- if (WorldAnalysisModules.Singleton.modules.Contains(currentModule)) WorldAnalysisModules.Singleton.modules.Remove(currentModule);
- if (WorldAnalysisModules.Singleton.clients.Contains(currentClient)) WorldAnalysisModules.Singleton.clients.Remove(currentClient);
+ if (WorldAnalysisConnections.Singleton.modules.Contains(currentModule)) WorldAnalysisConnections.Singleton.modules.Remove(currentModule);
+ if (WorldAnalysisConnections.Singleton.clients.Contains(currentClient)) WorldAnalysisConnections.Singleton.clients.Remove(currentClient);
currentClient = null;
currentModule = null;
break;
@@ -171,140 +147,196 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
private Module currentModule;
private Client currentClient;
- private async void OnReceiveText(WebSocket webSocket, string msg)
+ private async void OnReceiveText(string msg)
{
+ #region Register the client/module
if (firstTime)
{
- #region Register the client/module
- if (msg.StartsWith("RegisterModule:"))
+ if (msg.StartsWith("RegisterModule="))
{
registered = true;
firstTime = false;
- currentName = msg.Split(':')[1];
+ currentName = msg.Split('=')[1];
if (currentModule == null && currentClient == null)
{
currentModule = new Module();
currentModule.name = currentName;
currentModule.websockets = this;
- WorldAnalysisModules.Singleton.modules.Add(currentModule);
- await SendText(webSocket, "ARF World Analysis Server: You are now registered as a module: " + currentName);
+ WorldAnalysisConnections.Singleton.modules.Add(currentModule);
+ SendText($"ARF World Analysis Server: #{ WebSocketControllerInstanceCount } You are now registered as module: { currentName }");
}
}
- else if (msg.StartsWith("RegisterClient:"))
+ else if (msg.StartsWith("RegisterClient="))
{
registered = true;
firstTime = false;
- currentName = msg.Split(':')[1];
+ currentName = msg.Split('=')[1];
if (currentModule == null && currentClient == null)
{
currentClient = new Client();
currentClient.name = currentName;
currentClient.websockets = this;
- WorldAnalysisModules.Singleton.clients.Add(currentClient);
- await SendText(webSocket, "ARF World Analysis Server: You are now registered as a client: " + currentName);
+ WorldAnalysisConnections.Singleton.clients.Add(currentClient);
+ SendText($"ARF World Analysis Server: #{ WebSocketControllerInstanceCount } You are now registered as client: { currentName }");
}
}
else
{
registered = false;
- await SendText(webSocket, "ARF World Analysis Server: Cannot register " + msg);
+ SendText("ARF World Analysis Server: Cannot register " + msg);
}
return;
- #endregion
}
+ #endregion
if (registered)
{
//
- // Messages from Analysis modules
+ // Some admin stuffs
//
- if (msg.StartsWith("PoseNew:"))
+ if (msg == "Idle")
{
- // todo: parse the json string
-
- // Send the pose to the client(s)
- Pose p = new Pose();
- WorldAnalysisModules.Singleton.SendPoseToClients(p);
- await SendText(webSocket, "RequestNextPose");
+ SendText("Idle");
}
- else if (msg.StartsWith("Capabilities of")) // Receive capab. from a module
+ else if (msg == "Busy")
{
- // Client is sending its capabilities
- string[] str_cap = msg.Split('=');
- Capability _c = JsonConvert.DeserializeObject<Capability>(str_cap[1]);
- if (currentModule != null) currentModule.capabilities.Add(_c);
+ SendText("Busy");
+ }
+ else if (msg.StartsWith("UnregisterModule="))
+ {
+ string name = msg.Split('=')[1];
+
+ // Unregister a client (e.g. Unity client)
+ Module module = null;
+ foreach (var item in WorldAnalysisConnections.Singleton.modules) if (item.name == name) module = item;
+ if (module != null)
+ {
+ WorldAnalysisConnections.Singleton.modules.Remove(module);
+ SendText("UnregisterModuleOK");
+ }
+ currentName = "";
+ firstTime = true;
+ registered = false;
}
+ else if (msg.StartsWith("UnregisterClient="))
+ {
+ string name = msg.Split('=')[1];
+ // Unregister a client (e.g. Unity client)
+ Client client = null;
+ foreach (var item in WorldAnalysisConnections.Singleton.clients) if (item.name == name) client = item;
+ if (client != null)
+ {
+ WorldAnalysisConnections.Singleton.clients.Remove(client);
+ SendText("UnregisterClientOK");
+ }
+ currentName = "";
+ firstTime = true;
+ registered = false;
+ }
//
- // Messages from Unity clients
+ // OpenAPI
//
- else if (msg.StartsWith("PoseStart")) // send some fake poses to Unity clients
+ else if (msg == "PoseIsNowSubscribed")
{
- await SendDemoPose(webSocket);
+ SendText("RequestNextPose");
}
//
- // Messages from modules and clients
+ // Messages from a module (Analysis)
//
- else if (msg.StartsWith("TimeStart")) // send time to modules/clients
+ else if (msg.StartsWith("Capabilities=")) // Receive capab. from a module
{
- if (msg.Contains(':')) timeCnt = int.Parse(msg.Split(':')[1]);
- else timeCnt = 3;
- await SendTime(webSocket);
+ // Module is sending their capabilities
+ string[] str_cap = msg.Split('=');
+ Capability _c = JsonConvert.DeserializeObject<Capability>(str_cap[1]);
+ if (currentModule != null) currentModule.capabilities.Add(_c);
}
- else if (msg == "UnregisterClient")
+ else if (msg.StartsWith("NewPose="))
{
- // Unregister a client (e.g. Unity client)
- currentName = "";
- firstTime = true;
- registered = false;
- await SendText(webSocket, "SessionStop");
+ string[] str_pose = msg.Split('=');
+
+ // Send the pose to the client(s)
+ Pose pose = JsonConvert.DeserializeObject<Pose>(str_pose[1]);
+
+ //WorldAnalysisConnections.Singleton.SendPoseToClients(pose);
+ WorldAnalysisConnections.Singleton.SendPoseToClients(str_pose[1]);
+
+ // todo: if there are some subscription ask modules for new pose
+ SendText("RequestNextPose");
}
- else if (msg == "PoseIsRegistered")
+ else if (msg.StartsWith("Error="))
{
- await SendText(webSocket, "RequestNextPose");
+ string errorMsg = msg.Split('=')[1];
+ foreach (var item in WorldAnalysisConnections.Singleton.clients)
+ {
+ await SendText(item.websockets.websocket, errorMsg);
+ }
}
- else if (msg == "Idle")
+
+ //
+ // Messages from a client (Unity)
+ //
+ else if (msg.StartsWith("PoseStart")) // send some fake poses to Unity clients
{
- await SendText(webSocket, "Idle");
+ await SendDemoPose(websocket);
}
- else if (msg == "Busy")
+ else if (msg.StartsWith("CurrentUserPose="))
{
- await SendText(webSocket, "Busy");
+ // A client (Unity) is sending the current user posistion
+
+ // Send new user pose to all modules
+ foreach (var item in WorldAnalysisConnections.Singleton.modules)
+ {
+ await SendText(item.websockets.websocket, msg);
+ }
+
+ //// Test: send user pose back to clients
+ //string[] str_pose = msg.Split('=');
+ //Pose pose = JsonConvert.DeserializeObject<Pose>(str_pose[1]);
+ //pose.Value.Position[2] += 1f;
+ //WorldAnalysisConnections.Singleton.SendPoseToClients(pose);
}
+
+ //
+ // Messages from modules and clients
+ //
else
{
// Send a response
- await SendText(webSocket, "ARF World Analysis Server: I got this unknown message: " + msg);
+ SendText("ARF World Analysis Server: I got this unknown message: " + msg);
}
}
}
- private async Task HandleClientData(HttpContext context, WebSocket webSocket)
+ private async Task WebSocketServer_Loop(HttpContext context, WebSocket ws)
{
+ websocket = ws;
+ WebSocketControllerInstanceCount++;
+
var buffer = new byte[1024 * 4];
- websockets = webSocket;
// Read/get the first data block
- WebSocketReceiveResult result = await webSocket.ReceiveAsync(new ArraySegment<byte>(buffer), CancellationToken.None);
+ WebSocketReceiveResult result = await ws.ReceiveAsync(new ArraySegment<byte>(buffer), CancellationToken.None);
if (result.MessageType == WebSocketMessageType.Text)
{
string getMsg = System.Text.Encoding.UTF8.GetString(buffer, 0, result.Count);
- OnReceiveText(webSocket, getMsg);
+ OnReceiveText(getMsg);
}
// Entering the loop
while (!result.CloseStatus.HasValue)
{
// Read/get the next block
- result = await webSocket.ReceiveAsync(new ArraySegment<byte>(buffer), CancellationToken.None);
+ result = await ws.ReceiveAsync(new ArraySegment<byte>(buffer), CancellationToken.None);
if (result.MessageType == WebSocketMessageType.Text)
{
string getMsg = System.Text.Encoding.UTF8.GetString(buffer, 0, result.Count);
- OnReceiveText(webSocket, getMsg);
+ OnReceiveText(getMsg);
}
}
- await webSocket.CloseAsync(result.CloseStatus.Value, result.CloseStatusDescription, CancellationToken.None);
+ await ws.CloseAsync(result.CloseStatus.Value, result.CloseStatusDescription, CancellationToken.None);
+ WebSocketControllerInstanceCount--;
}
diff --git a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/WorldAnalysisModules.cs b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/WorldAnalysisConnections.cs
similarity index 57%
rename from server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/WorldAnalysisModules.cs
rename to server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/WorldAnalysisConnections.cs
index 6ec1f5606f492ecc484ee591cd3e9d252d6b64ef..c864547b3750de69a96ae41035c7a6f3c4788622 100644
--- a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/WorldAnalysisModules.cs
+++ b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/WorldAnalysisConnections.cs
@@ -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)
{
- // todo: configure the module via websocket
- item.websockets.SendText("ConfigureFramerate:" + poseConfiguration.ToJson());
+ bool moduleHasCap = false;
+ foreach (var c in m.capabilities)
+ {
+ 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)
@@ -73,39 +85,48 @@ 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)
}
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);
}
}
}
diff --git a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/Startup.cs b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/Startup.cs
index f56fad2d4b07afcd683ccc65a18b464cac76890b..2a3f67c8c81faf23840f8f5e81c90a997d5cb9ba 100644
--- a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/Startup.cs
+++ b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/Startup.cs
@@ -15,7 +15,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
//
-// Last change: June 2024
+// Last change: September 2024
//
/*
@@ -23,7 +23,7 @@
*
* API ensuring interoperability between Scene Management and a World Analysis service
*
- * The version of the OpenAPI document: 2.0.1
+ * The version of the OpenAPI document: 2.0.2
*
* Generated by: https://openapi-generator.tech
*/
@@ -64,17 +64,18 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
/// <summary>
/// The API version. (how to read it from the yaml?)
/// </summary>
- static public string apiVersion = "2.0.1";
+ static public string apiVersion = "2.0.0";
/// <summary>
/// Demo access key
/// </summary>
- static public string accessKey = "My!Key.ETSI";
+ static public string accessKey = "ARF";
/// <summary>
/// Demo secret key
/// </summary>
- static public string secretKey = "GW0Wae1t4Cs5rAqEbPYFWO9J5nSbpJXxp1F3uv0J";
+ //static public string secretKey = "GW0Wae1t4Cs5rAqEbPYFWO9J5nSbpJXxp1F3uv0J";
+ static public string secretKey = "hhi";
/// <summary>
/// Constructor
@@ -90,6 +91,20 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
/// </summary>
public IConfiguration Configuration { get; }
+ /// <summary>
+ /// SylR: Check if the request is authorized
+ /// </summary>
+ /// <param name="token"></param>
+ /// <returns></returns>
+ static public bool IsAccessGranted(string token)
+ {
+ if (token == null) return false;
+ else if (token == "dev") return true; // developermode
+
+ string[] t = token.Split('&');
+ return t[0] == accessKey && t[1] == secretKey;
+ }
+
/// <summary>
/// This method gets called by the runtime. Use this method to add services to the container.
/// </summary>
@@ -116,7 +131,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
{
c.EnableAnnotations(enableAnnotationsForInheritance: true, enableAnnotationsForPolymorphism: true);
- c.SwaggerDoc("2.0.1", new OpenApiInfo
+ c.SwaggerDoc(apiVersion, new OpenApiInfo
{
Title = "World Analysis API",
Description = "World Analysis API (ASP.NET Core 5.0)",
@@ -132,7 +147,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
Name = "NoLicense",
Url = new Uri("https://opensource.org/licenses/BSD-3-Clause")
},
- Version = "2.0.1",
+ Version = apiVersion,
});
c.CustomSchemaIds(type => type.FriendlyId(true));
c.IncludeXmlComments($"{AppContext.BaseDirectory}{Path.DirectorySeparatorChar}{Assembly.GetEntryAssembly().GetName().Name}.xml");
@@ -183,7 +198,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
// set route prefix to openapi, e.g. http://localhost:8080/openapi/index.html
c.RoutePrefix = "openapi";
//TODO: Either use the SwaggerGen generated OpenAPI contract (generated from C# classes)
- c.SwaggerEndpoint("/openapi/2.0.1/openapi.json", "World Analysis API");
+ c.SwaggerEndpoint("/openapi/" + apiVersion + "/openapi.json", "World Analysis API");
//TODO: Or alternatively use the original OpenAPI contract that's included in the static files
// c.SwaggerEndpoint("/openapi-original.json", "World Analysis API Original");