From 88513ff4167c18a3ed2bcd501a3ddb89dc3abc20 Mon Sep 17 00:00:00 2001
From: Sylvain Renault <sylvain.renault@hhi.fraunhofer.de>
Date: Thu, 8 Aug 2024 18:03:45 +0200
Subject: [PATCH] Some trst implementation for REST. First websocket functions
(register, send poses...)
---
.../ControllersImpl/CapabilitiesImpl.cs | 24 ++-
.../ETSI-ARF/ControllersImpl/PoseImpl.cs | 9 +-
.../ControllersImpl/WebSocketController.cs | 169 ++++++++++++++++--
.../ETSI-ARF/ModelsExt/NotNeeded.txt | 0
.../ETSI-ARF/NoMongoDBneeded.txt | 0
.../ETSI-ARF/Services/NotNeeded.txt | 0
.../ETSI.ARF.OpenAPI.WorldAnalysis/Startup.cs | 11 +-
.../wwwroot/ws.html | 1 +
8 files changed, 187 insertions(+), 27 deletions(-)
create mode 100644 server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ModelsExt/NotNeeded.txt
create mode 100644 server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/NoMongoDBneeded.txt
create mode 100644 server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/Services/NotNeeded.txt
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 3529f66..648b36f 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
@@ -53,7 +53,22 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
/// </summary>
public override IActionResult GetCapabilities([FromHeader (Name = "token")]string token, [FromHeader (Name = "sessionID")]string sessionID)
{
- return StatusCode(405, "Not supported yet!");
+ // Get all capabilities from all anchors/trackables
+ // test
+ Capability capability = new Capability();
+ capability.Framerate = 24;
+ capability.Latency = 0;
+ capability.TrackableType = TrackableType.FIDUCIALMARKEREnum;
+
+ // Create list
+ List<Capability> capabilities = new List<Capability>();
+ capabilities.Add(capability);
+
+ // Create repsonse object
+ GetCapabilities200Response response = new GetCapabilities200Response();
+ response.Capabilities = capabilities;
+ return new ObjectResult(response);
+ //return StatusCode(405, "Not supported yet!");
}
/// <summary>
@@ -61,7 +76,12 @@ 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)
{
- return StatusCode(405, "Not supported yet!");
+ 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);
+ //return StatusCode(405, "Not supported yet!");
}
}
}
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 93f84bf..1fbaa52 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
@@ -85,7 +85,14 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
/// </summary>
public override IActionResult SubscribeToPose([FromBody]SubscribeToPoseRequest subscribeToPoseRequest, [FromHeader (Name = "token")]string token, [FromHeader (Name = "sessionID")]string sessionID)
{
- return StatusCode(405, "Not supported yet!");
+ SubscribeToPose200Response response = new SubscribeToPose200Response();
+ response.Target = subscribeToPoseRequest.Target;
+ response.Mode = subscribeToPoseRequest.Mode[0];
+ response.WebhookUrl = subscribeToPoseRequest.WebhookUrl;
+ response.WebsocketUrl = Request.Host.ToString(); ;
+
+ return new ObjectResult(response);
+ //return StatusCode(405, "Not supported yet!");
}
/// <summary>
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 6e80b54..f0c81d3 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
@@ -31,6 +31,8 @@ using Microsoft.AspNetCore.Http;
using Swashbuckle.AspNetCore.Annotations;
using Swashbuckle.AspNetCore.SwaggerGen;
+using ETSI.ARF.OpenAPI.WorldAnalysis.Models;
+
#pragma warning disable CS1591 // Fehlendes XML-Kommentar für öffentlich sichtbaren Typ oder Element
namespace ETSI.ARF.OpenAPI.WorldStorage.Services
{
@@ -40,6 +42,11 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Services
//
public class WebSocketController : ControllerBase
{
+ private string currentName = "";
+ private bool registered = false;
+ private bool firstTime = true;
+ private int timeCnt = 3;
+
[HttpGet("/ws")]
public async Task Get()
{
@@ -47,12 +54,14 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Services
{
using var webSocket = await HttpContext.WebSockets.AcceptWebSocketAsync();
- if (webSocket.State == WebSocketState.Open)
+ if (webSocket.State == WebSocketState.Connecting)
{
// Response an OK message
- await SendText(webSocket, "Hello, here is the ARF World Analysis services!");
}
- await Echo(HttpContext, webSocket);
+ else if (webSocket.State == WebSocketState.Open)
+ {
+ await HandleClientData(HttpContext, webSocket);
+ }
}
else
{
@@ -76,17 +85,22 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Services
//
// Send the time all seconds
//
+ //[HttpGet("/ws/time")]
private async Task SendTime(WebSocket webSocket)
{
while (true)
{
- var message = "Hello, my time is: " + DateTime.Now.ToLocalTime();
- var bytes = Encoding.UTF8.GetBytes(message);
- var arraySegment = new ArraySegment<byte>(bytes, 0, bytes.Length);
+ var message = "ARF World Analysis Server, Time = " + DateTime.Now.ToLocalTime();
if (webSocket.State == WebSocketState.Open)
{
- await webSocket.SendAsync(arraySegment, WebSocketMessageType.Text, true, CancellationToken.None);
+ timeCnt--;
+ if (timeCnt < 0)
+ {
+ await SendText(webSocket, "Stop");
+ break;
+ }
+ else await SendText(webSocket, message);
}
else if (webSocket.State == WebSocketState.Closed || webSocket.State == WebSocketState.Aborted)
{
@@ -96,28 +110,145 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Services
}
}
- //
- // Echo incoming messages
- //
- private async Task Echo(HttpContext context, WebSocket webSocket)
+ float rotInc = 0;
+ private async Task SendPose(WebSocket webSocket)
+ {
+ while (true)
+ {
+ if (webSocket.State == WebSocketState.Open)
+ {
+ timeCnt--;
+ if (timeCnt < 0)
+ {
+ await SendText(webSocket, "Stop");
+ break;
+ }
+ else
+ {
+ PoseValue val = new PoseValue();
+ val.Unit = UnitSystem.MEnum;
+ val.Position = new List<float>() { 1, 2, 3 };
+ val.Rotation = new List<float>() { rotInc, 0, 0, 0 };
+ rotInc += 0.01f;
+
+ Pose pose = new Pose();
+ pose.Uuid = new Guid();
+ pose.EstimationState = Pose.EstimationStateEnum.OKEnum;
+ //pose.SubscriptionUrl = "";
+ pose.Value = val;
+ pose.Timestamp = (int)DateTime.Now.ToFileTime();
+ pose.Confidence = 1;
+ pose.Mode = ModeWorldAnalysis.DEVICETOTRACKABLESEnum;
+
+ string json = pose.ToJson();
+
+ await SendText(webSocket, json);
+ }
+ }
+ else if (webSocket.State == WebSocketState.Closed || webSocket.State == WebSocketState.Aborted)
+ {
+ break;
+ }
+ Thread.Sleep(250);
+ }
+ }
+
+ private async void OnReceiveText(WebSocket webSocket, string msg)
+ {
+ if (firstTime)
+ {
+ // Register the client/module
+ if (msg.ToLower().StartsWith("module:"))
+ {
+ registered = true;
+ firstTime = false;
+ currentName = msg.Split(':')[1];
+ await SendText(webSocket, "ARF World Analysis Server: You are now registered as a module: " + currentName);
+ }
+ else if (msg.ToLower().StartsWith("client:"))
+ {
+ registered = true;
+ firstTime = false;
+ currentName = msg.Split(':')[1];
+ await SendText(webSocket, "ARF World Analysis Server: You are now registered as a client: " + currentName);
+ }
+ else
+ {
+ registered = false;
+ await SendText(webSocket, "ARF World Analysis Server: Cannot register " + msg);
+ }
+ }
+ else if (registered)
+ {
+ if (msg.ToLower().StartsWith("startsendingpose"))
+ {
+ if (msg.Contains(':')) timeCnt = int.Parse(msg.Split(':')[1]);
+ else timeCnt = 3;
+ await SendPose(webSocket);
+ }
+ else if (msg.ToLower().StartsWith("time"))
+ {
+ if (msg.Contains(':')) timeCnt = int.Parse(msg.Split(':')[1]);
+ else timeCnt = 3;
+ await SendTime(webSocket);
+ }
+ else if (msg.ToLower() == "unregister")
+ {
+ // Unregister client/user
+ currentName = "";
+ firstTime = true;
+ registered = false;
+ await SendText(webSocket, "Stop");
+ }
+ else
+ {
+ // Send a response
+ await SendText(webSocket, "ARF World Analysis Server: I got this unknown message: " + msg);
+ }
+ }
+ }
+
+ private async Task HandleClientData(HttpContext context, WebSocket webSocket)
{
var buffer = new byte[1024 * 4];
- // get the first data block
+ // Read/get the first data block
WebSocketReceiveResult result = await webSocket.ReceiveAsync(new ArraySegment<byte>(buffer), CancellationToken.None);
- while (!result.CloseStatus.HasValue)
+ if (result.MessageType == WebSocketMessageType.Text)
{
- // test
- await SendText(webSocket, "Thanks, I got this message:");
-
- // echo the message back to the client
- await webSocket.SendAsync(new ArraySegment<byte>(buffer, 0, result.Count), result.MessageType, result.EndOfMessage, CancellationToken.None);
+ string getMsg = System.Text.Encoding.UTF8.GetString(buffer, 0, result.Count);
+ OnReceiveText(webSocket, getMsg);
+ }
- // get the next block
+ // Entering the loop
+ while (!result.CloseStatus.HasValue)
+ {
+ // Read/get the next block
result = await webSocket.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);
+ }
}
await webSocket.CloseAsync(result.CloseStatus.Value, result.CloseStatusDescription, CancellationToken.None);
}
+
+
+ //
+ // Echo incoming messages
+ //
+ private async Task Echo(WebSocketReceiveResult context, WebSocket webSocket)
+ {
+ var buffer = new byte[1024 * 4];
+
+ // Read/get the first data block
+ WebSocketReceiveResult result = await webSocket.ReceiveAsync(new ArraySegment<byte>(buffer), CancellationToken.None);
+
+ // Send/echo the message back to the client
+ await SendText(webSocket, "ARF World Analysis Server: I got this (raw) message: ");
+ await webSocket.SendAsync(new ArraySegment<byte>(buffer, 0, result.Count), result.MessageType, result.EndOfMessage, CancellationToken.None);
+ }
}
}
#pragma warning restore CS1591 // Fehlendes XML-Kommentar für öffentlich sichtbaren Typ oder Element
diff --git a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ModelsExt/NotNeeded.txt b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ModelsExt/NotNeeded.txt
new file mode 100644
index 0000000..e69de29
diff --git a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/NoMongoDBneeded.txt b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/NoMongoDBneeded.txt
new file mode 100644
index 0000000..e69de29
diff --git a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/Services/NotNeeded.txt b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/Services/NotNeeded.txt
new file mode 100644
index 0000000..e69de29
diff --git a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/Startup.cs b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/Startup.cs
index 48be552..f56fad2 100644
--- a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/Startup.cs
+++ b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/Startup.cs
@@ -161,14 +161,15 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
app.UseHsts();
}
- // ETSI-ARF Websocket implementation
+ // ETSI-ARF Websockets implementation
var webSocketOptions = new WebSocketOptions()
{
- KeepAliveInterval = TimeSpan.FromSeconds(120),
+ //KeepAliveInterval = TimeSpan.FromSeconds(120),
+ //AllowedOrigins.Add("https://etsi.hhi.fraunhofer.de"),
+ //AllowedOrigins.Add("https://www.client.com")
};
- //webSocketOptions.AllowedOrigins.Add("https://etsi.hhi.fraunhofer.de");
- //webSocketOptions.AllowedOrigins.Add("https://www.client.com");
- app.UseWebSockets();
+ app.UseWebSockets(webSocketOptions);
+ //app.UseWebSockets();
app.UseHttpsRedirection();
app.UseDefaultFiles();
diff --git a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/wwwroot/ws.html b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/wwwroot/ws.html
index bf3da4b..cbc7959 100644
--- a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/wwwroot/ws.html
+++ b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/wwwroot/ws.html
@@ -71,6 +71,7 @@
var port = document.location.port ? (":" + document.location.port) : "";
connectionUrl.value = scheme + "://" + document.location.hostname + port + "/ws" ;
+ //connectionUrl.value = scheme + "://" + "etsi.hhi.fraunhofer.de" + "/ws" ;
function updateState() {
function disable() {
--
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