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

openapi @ 073fd721

Original line number	Original line	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	Original line	Diff line number	Diff line
	@@ -53,13 +53,16 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
	/// </summary>		/// </summary>
	public override IActionResult GetCapabilities([FromHeader (Name = "token")]string token, [FromHeader (Name = "sessionID")]string sessionID)		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		// Get all capabilities from all anchors/trackables
			// Info: Capabilities are collected after a module is connected via websockets

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

	// Create response object		// Create response object
	GetCapabilities200Response response = new GetCapabilities200Response();		GetCapabilities200Response response = new GetCapabilities200Response();
	@@ -73,11 +76,13 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
	/// </summary>		/// </summary>
	public override IActionResult GetSupport([FromRoute (Name = "trackableOrAnchorUUID")][Required]Guid trackableOrAnchorUUID, [FromHeader (Name = "token")]string token, [FromHeader (Name = "sessionID")]string sessionID)		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		// Create list
	List<Capability> capabilitiesList = new List<Capability>();		List<Capability> capabilitiesList = new List<Capability>();
	capabilitiesList.AddRange(WorldAnalysisModules.Singleton.GetCapabilitiesFromUuid(trackableOrAnchorUUID));		capabilitiesList.AddRange(WorldAnalysisConnections.Singleton.GetCapabilitiesFromUuid(trackableOrAnchorUUID));

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

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

+98 −45

Original line number	Original line	Diff line number	Diff line
	@@ -53,11 +53,13 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
	/// </summary>		/// </summary>
	public override IActionResult ConfigureFramerate([FromBody] PoseConfiguration poseConfiguration, [FromHeader(Name = "token")] string token, [FromHeader(Name = "sessionID")] string sessionID)		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		// Notify the modules that the client need a new framerate
	WorldAnalysisModules.Singleton.ConfigureFramerate(poseConfiguration);		bool result = WorldAnalysisConnections.Singleton.ConfigureFramerate(poseConfiguration);
	return StatusCode(200, "Ok.");		return result ? StatusCode(200, "Ok.") : StatusCode(405, "Not supported.");
	}		}

	/// <summary>		/// <summary>
	@@ -65,11 +67,13 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
	/// </summary>		/// </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)		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		// Request from the modules a new pose of a single UUID
	Pose result;		Pose result;
	result = WorldAnalysisModules.Singleton.GetPose(trackableOrAnchorUUID, mode);		result = WorldAnalysisConnections.Singleton.GetPose(trackableOrAnchorUUID, mode);
	return new ObjectResult(result);		return new ObjectResult(result);
	}		}

	@@ -78,13 +82,15 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
	/// </summary>		/// </summary>
	public override IActionResult GetPoses([FromQuery(Name = "uuid")][Required()] List<UuidAndMode> uuid, [FromHeader(Name = "token")] string token, [FromHeader(Name = "sessionID")] string sessionID)		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		// Request from the modules new poses from all UUIDs
	GetPoses200Response result = new GetPoses200Response();		GetPoses200Response result = new GetPoses200Response();
	foreach (var item in uuid)		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);		return new ObjectResult(result);
	}		}
	@@ -101,10 +107,13 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers

	public struct SubscriptionInfo		public struct SubscriptionInfo
	{		{
	public Guid uuid; // id of subscription (id is defined by the WA server)		public Guid uuidSub; // 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 SubscribeToPoseRequest subscription;
			public string webSocket;
	public Pose pose;		public Pose pose;
			public DateTime timeValidity;

	//public PoseCallback callback;		//public PoseCallback callback;
	}		}
	#pragma warning restore CS1591 // Fehlendes XML-Kommentar fr ffentlich sichtbaren Typ oder Element		#pragma warning restore CS1591 // Fehlendes XML-Kommentar fr ffentlich sichtbaren Typ oder Element
	@@ -114,11 +123,26 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
	/// </summary>		/// </summary>
	public override IActionResult GetSubscription([FromRoute(Name = "subscriptionUUID")][Required] Guid subscriptionUUID, [FromHeader(Name = "token")] string token, [FromHeader(Name = "sessionID")] string sessionID)		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>		/// <summary>
	@@ -126,46 +150,67 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
	/// </summary>		/// </summary>
	public override IActionResult SubscribeToPose([FromBody] SubscribeToPoseRequest subscribeToPoseRequest, [FromHeader(Name = "token")] string token, [FromHeader(Name = "sessionID")] string sessionID)		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?		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		// We add the subscription
	SubscriptionInfo info = new SubscriptionInfo();		SubscriptionInfo info = new SubscriptionInfo();
	info.uuid = new Guid();		info.uuidSub = response.Uuid;
	info.uuidTarget = subscribeToPoseRequest.Target;		info.webSocket = response.WebsocketUrl;
	info.timeValidity = DateTime.Now.AddMilliseconds(validity / 1000.0f);		info.timeValidity = DateTime.Now.AddMilliseconds(validity / 1000.0f);

	info.pose = new Pose();		info.pose = new Pose();
	info.pose.Mode = subscribeToPoseRequest.Mode;		info.pose.Mode = response.Mode;
	m_subscriptionsPoses.Add(info.uuid, info);
			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 ?		m_subscriptionsPoses.Add(info.uuidSub, info);
	// subscribeToPoseRequest.Targets[]
	// subscribeToPoseRequest.Modes[]

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

	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"

	// 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 new ObjectResult(response);
	}		}

	@@ -174,15 +219,21 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
	/// </summary>		/// </summary>
	public override IActionResult UnsubscribeFromPose([FromRoute(Name = "subscriptionUUID")][Required] Guid subscriptionUUID, [FromHeader(Name = "token")] string token, [FromHeader(Name = "sessionID")] string sessionID)		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?		// Remove the subscription from the list?
	if (m_subscriptionsPoses.ContainsKey(subscriptionUUID)) m_subscriptionsPoses.Remove(subscriptionUUID);		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		// 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>		/// <summary>
	@@ -190,7 +241,9 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
	/// </summary>		/// </summary>
	public override IActionResult UpdateSubscription([FromRoute(Name = "subscriptionUUID")][Required] Guid subscriptionUUID, [FromBody] UpdateSubscriptionRequest updateSubscriptionRequest, [FromHeader(Name = "token")] string token, [FromHeader(Name = "sessionID")] string sessionID)		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		// 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	Original line	Diff line number	Diff line
	@@ -17,20 +17,21 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
	public WebSocketController websockets;		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 class Client
	{		{
	public string name;		public string name;
	public string session;		public string session;
			public VectorQuaternionPoseValue currentUserPose;
	public WebSocketController websockets;		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<Module> modules = new List<Module>();
	public List<Client> clients = new List<Client>();		public List<Client> clients = new List<Client>(); // e.g. Unity clients

	// todo		// todo
	// Manage the sessions and modules		// Manage the sessions and modules
	@@ -58,13 +59,24 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
	return list;		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		if ((int)poseConfiguration.TrackableType == (int)c.TrackableType)
	item.websockets.SendText("ConfigureFramerate:" + poseConfiguration.ToJson());		{
			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)		public Pose GetPose(Guid trackableOrAnchorUUID, ModeWorldAnalysis mode)
	@@ -73,7 +85,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
	foreach (var item in modules)		foreach (var item in modules)
	{		{
	// todo: get the pose via websocket		// 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?		// todo: find the pose with the best confidence?
	// How to get the results !?!?! (List with results, per Modules)		// How to get the results !?!?! (List with results, per Modules)
	@@ -81,31 +93,40 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
	return result;		return result;
	}		}

			public void SubscribeToPose(SubscriptionInfo info, Guid parentTrackableUUID)
	public void SubscribeToPose(SubscriptionInfo info)
	{		{
	// Send to all modules a request of subscription		// Send to all modules a request of subscription
	foreach (var item in modules)		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		// Send to all modules a request of subscription
	foreach (var item in modules)		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		// Send to all clients with valid subscription the new pose
	foreach (var item in clients)		foreach (var item in clients)
	{		{
	item.websockets.SendText("Pose=" + p.ToJson());		item.websockets.SendText("NewPose=" + str_pose);
	}		}
	}		}
	}		}