Implementation of the new API (generator issues) (afbfe86d) · Commits · ARF / World Analysis API helpers / World Analysis ASP.NET Server

openapi @ b639a021

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

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

+56 −25

Original line number	Diff line number	Diff line
		@@ -55,7 +55,9 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		{
		// todo: compare token and sessionID

		return StatusCode(405, "Not supported yet!");
		// Notify the modules that the client need a new framerate
		WorldAnalysisModules.Singleton.ConfigureFramerate(poseConfiguration);
		return StatusCode(200, "Ok.");
		}

		/// <summary>
		@@ -65,15 +67,26 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		{
		// todo: compare token and sessionID

		return StatusCode(405, "Not supported yet!");
		// Request from the modules a new pose of a single UUID
		Pose result;
		result = WorldAnalysisModules.Singleton.GetPose(trackableOrAnchorUUID, mode);
		return new ObjectResult(result);
		}

		/// <summary>
		/// Request the last pose of a batch of Anchor or Trackable
		/// </summary>
		public override IActionResult GetPoses([FromQuery (Name = "uuid")][Required()]List<GetPosesUuidParameterInner> 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)
		{
		return StatusCode(405, "Not supported yet!");
		// todo: compare token and 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));
		}
		return new ObjectResult(result);
		}

		#pragma warning disable CS1591 // Fehlendes XML-Kommentar fr ffentlich sichtbaren Typ oder Element
		@@ -103,6 +116,8 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		{
		// todo: compare token and sessionID

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

		return StatusCode(405, "Not supported yet!");
		}

		@@ -116,19 +131,28 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		int validity = subscribeToPoseRequest.Validity; // todo: is to handle here or by the client?

		// We add the subscription
		SubscriptionInfo sub = new SubscriptionInfo();
		sub.uuid = new Guid();
		sub.timeValidity = DateTime.Now.AddMilliseconds(validity / 1000.0f);
		sub.pose = new Pose();
		sub.pose.Mode = subscribeToPoseRequest.Mode[0];
		sub.uuidTarget = subscribeToPoseRequest.Target;
		m_subscriptionsPoses.Add(sub.uuid, sub);
		SubscriptionInfo info = new SubscriptionInfo();
		info.uuid = new Guid();
		info.uuidTarget = subscribeToPoseRequest.Target;
		info.timeValidity = DateTime.Now.AddMilliseconds(validity / 1000.0f);
		info.pose = new Pose();
		info.pose.Mode = subscribeToPoseRequest.Mode;
		m_subscriptionsPoses.Add(info.uuid, info);

		// todo: handle multiple subscriptions ?
		// subscribeToPoseRequest.Targets[]
		// subscribeToPoseRequest.Modes[]

		// 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.Uuid = sub.uuid;
		response.Validity = validity;
		response.Target = sub.uuidTarget;
		response.Mode = sub.pose.Mode;
		response.Uuid = info.uuid;
		response.Target = info.uuidTarget;
		response.Mode = info.pose.Mode;

		if (string.IsNullOrEmpty(subscribeToPoseRequest.WebhookUrl))
		{
		response.WebhookUrl = "";
		@@ -143,7 +167,6 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		response.WebsocketUrl = null;
		}
		return new ObjectResult(response);
		//return StatusCode(405, "Not supported yet!");
		}

		/// <summary>
		@@ -153,7 +176,13 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		{
		// todo: compare token and sessionID

		return StatusCode(405, "Not supported yet!");
		// Remove the subscription from the list?
		if (m_subscriptionsPoses.ContainsKey(subscriptionUUID)) m_subscriptionsPoses.Remove(subscriptionUUID);

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

		return StatusCode(200, "Ok!");
		}

		/// <summary>
		@@ -163,6 +192,8 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		{
		// todo: compare token and sessionID

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

		return StatusCode(405, "Not supported yet!");
		}
		}

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

+55 −17

Original line number	Diff line number	Diff line
		@@ -47,6 +47,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		private bool registered = false;
		private bool firstTime = true;
		private int timeCnt = 3;
		private WebSocket websockets;

		[HttpGet("/ws")]
		public async Task Get()
		@@ -83,6 +84,15 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		await webSocket.SendAsync(arraySegment, WebSocketMessageType.Text, true, CancellationToken.None);
		}

		public void SendText(string text)
		{
		// Response an OK message
		var message = text;
		var bytes = Encoding.UTF8.GetBytes(message);
		var arraySegment = new ArraySegment<byte>(bytes, 0, bytes.Length);
		websockets.SendAsync(arraySegment, WebSocketMessageType.Text, true, CancellationToken.None);
		}

		//
		// Send the time all seconds
		//
		@@ -91,7 +101,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		{
		while (true)
		{
		var message = "ARF World Analysis Server, Time = " + DateTime.Now.ToLocalTime();
		var message = "Time=" + DateTime.Now.ToLocalTime();

		if (webSocket.State == WebSocketState.Open)
		{
		@@ -112,7 +122,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		}

		float rotInc = 0;
		private async Task SendPose(WebSocket webSocket)
		private async Task SendDemoPose(WebSocket webSocket)
		{
		while (true)
		{
		@@ -143,7 +153,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers

		string json = pose.ToJson();

		await SendText(webSocket, json);
		await SendText(webSocket, "Pose=" + json);
		}
		}
		else if (webSocket.State == WebSocketState.Closed \|\| webSocket.State == WebSocketState.Aborted)
		@@ -165,7 +175,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		{
		if (firstTime)
		{
		// Register the client/module
		#region Register the client/module
		if (msg.StartsWith("RegisterModule:"))
		{
		registered = true;
		@@ -175,6 +185,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		{
		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);
		}
		@@ -188,6 +199,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		{
		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);
		}
		@@ -197,36 +209,61 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		registered = false;
		await SendText(webSocket, "ARF World Analysis Server: Cannot register " + msg);
		}
		return;
		#endregion
		}
		else if (registered)
		{
		if (msg.StartsWith("PoseStart"))

		if (registered)
		{
		if (msg.Contains(':')) timeCnt = int.Parse(msg.Split(':')[1]);
		else timeCnt = 3;
		await SendPose(webSocket);
		}
		else if (msg.StartsWith("TimeStart"))
		//
		// Messages from Analysis modules
		//
		if (msg.StartsWith("PoseNew:"))
		{
		if (msg.Contains(':')) timeCnt = int.Parse(msg.Split(':')[1]);
		else timeCnt = 3;
		await SendTime(webSocket);
		// todo: parse the json string

		// Send the pose to the client(s)
		Pose p = new Pose();
		WorldAnalysisModules.Singleton.SendPoseToClients(p);
		await SendText(webSocket, "RequestNextPose");
		}
		else if (msg.StartsWith("Capabilities"))
		else if (msg.StartsWith("Capabilities of")) // Receive capab. from a module
		{
		// 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);
		}

		//
		// Messages from Unity clients
		//
		else if (msg.StartsWith("PoseStart")) // send some fake poses to Unity clients
		{
		await SendDemoPose(webSocket);
		}

		//
		// Messages from modules and clients
		//
		else if (msg.StartsWith("TimeStart")) // send time to modules/clients
		{
		if (msg.Contains(':')) timeCnt = int.Parse(msg.Split(':')[1]);
		else timeCnt = 3;
		await SendTime(webSocket);
		}
		else if (msg == "UnregisterClient")
		{
		// Unregister client/user
		// Unregister a client (e.g. Unity client)
		currentName = "";
		firstTime = true;
		registered = false;
		await SendText(webSocket, "SessionStop");
		}
		else if (msg == "PoseIsRegistered")
		{
		await SendText(webSocket, "RequestNextPose");
		}
		else if (msg == "Idle")
		{
		await SendText(webSocket, "Idle");
		@@ -246,6 +283,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		private async Task HandleClientData(HttpContext context, WebSocket webSocket)
		{
		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);

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

+57 −3

Original line number	Diff line number	Diff line
		@@ -3,6 +3,8 @@ using System;
		using System.Collections.Generic;
		using System.Linq;
		using System.Threading.Tasks;
		using static ETSI.ARF.OpenAPI.WorldAnalysis.Controllers.PoseApiControlleImpl;
		using ETSI.ARF.OpenAPI.WorldAnalysis.Controllers;

		#pragma warning disable CS1591 // Fehlendes XML-Kommentar für öffentlich sichtbaren Typ oder Element
		namespace ETSI.ARF.OpenAPI.WorldAnalysis
		@@ -12,6 +14,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
		{
		public string name;
		public List<Capability> capabilities = new List<Capability>();
		public WebSocketController websockets;
		}

		// For management of WA clinet (e.g. Unity client)
		@@ -19,7 +22,7 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
		{
		public string name;
		public string session;

		public WebSocketController websockets;
		}

		public class WorldAnalysisModules
		@@ -48,12 +51,63 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis
		foreach (var item in modules)
		{
		// todo: Check if uuid has the capability?
		// Get the world object from the storage via the module?

		// Get the world object from the world storage via the module?
		// Use GetRelocalisation() ?
		list.AddRange(item.capabilities);
		}
		return list;
		}

		public void ConfigureFramerate(PoseConfiguration poseConfiguration)
		{
		foreach (var item in modules)
		{
		// todo: configure the module via websocket
		item.websockets.SendText("ConfigureFramerate:" + poseConfiguration.ToJson());
		}
		}

		public Pose GetPose(Guid trackableOrAnchorUUID, ModeWorldAnalysis mode)
		{
		Pose result = new Pose();
		foreach (var item in modules)
		{
		// todo: get the pose via websocket
		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)
		{
		// Send to all modules a request of subscription
		foreach (var item in modules)
		{
		item.websockets.SendText("SubscribePose:" + info.uuidTarget.ToString());
		}
		}

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

		public void SendPoseToClients(Pose p)
		{
		// Send to all clients with valid subscription the new pose
		foreach (var item in clients)
		{
		item.websockets.SendText("Pose=" + p.ToJson());
		}
		}
		}
		}
		#pragma warning restore CS1591 // Fehlendes XML-Kommentar für öffentlich sichtbaren Typ oder Element