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Commit 88513ff4 authored by Sylvain Renault's avatar Sylvain Renault
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Some trst implementation for REST. 

First websocket functions (register, send poses...)
parent f2663162
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2 merge requests!2Some trst implementation for REST.,!1Some trst implementation for REST.
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with 187 additions and 27 deletions
server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/CapabilitiesImpl.cs
+ 22
− 2
View file @ 88513ff4
......@@ -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!");
}
}
}
server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/PoseImpl.cs
+ 8
− 1
View file @ 88513ff4
......@@ -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>
......
server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/WebSocketController.cs
+ 150
− 19
View file @ 88513ff4
......@@ -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 fr ffentlich 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 fr ffentlich sichtbaren Typ oder Element
......
server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/Startup.cs
+ 6
− 5
View file @ 88513ff4
......@@ -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();
......
server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/wwwroot/ws.html
+ 1
− 0
View file @ 88513ff4
......@@ -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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