diff --git a/openapi b/openapi
index 073fd7213fd9e6ebc2f8a47d628a650de30c8bc4..b639a02180c2b5e301c77483b3a2fa645ba94169 160000
--- a/openapi
+++ b/openapi
@@ -1 +1 @@
-Subproject commit 073fd7213fd9e6ebc2f8a47d628a650de30c8bc4
+Subproject commit b639a02180c2b5e301c77483b3a2fa645ba94169
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 2efde9582b63456818e9cdf7a4580eaace02aecc..058e38806c8618f1b8a64de2238996e8eef5c7ac 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
@@ -41,39 +41,52 @@ using ETSI.ARF.OpenAPI.WorldAnalysis.Attributes;
using ETSI.ARF.OpenAPI.WorldAnalysis.Models;
namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
-{
+{
/// <summary>
///
/// </summary>
[ApiController]
public class PoseApiControlleImpl : PoseApiController
- {
+ {
/// <summary>
/// Specify the a minimum frame rate for pose estimation for Trackable types
/// </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
- 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>
/// Request the last pose of a single Anchor or Trackable
/// </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
- 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 für öffentlich sichtbaren Typ oder Element
@@ -99,42 +112,53 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
/// <summary>
/// Get information about a subscription
/// </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
+ // todo: search for a subscription and send it back
+
return StatusCode(405, "Not supported yet!");
}
/// <summary>
/// Subscribe to collect the pose of an AR device, an Anchor or a Trackable
/// </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
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 = "";
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
@@ -143,26 +167,33 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
response.WebsocketUrl = null;
}
return new ObjectResult(response);
- //return StatusCode(405, "Not supported yet!");
}
/// <summary>
/// Remove a subscription to a given pose
/// </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
- 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>
/// Update a subscription
/// </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
+ // todo: inform the module(s) that the subscription changed
+
return StatusCode(405, "Not supported yet!");
}
}
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 072271569df7a96b2b514511021fb4edc570cd96..8a76568e404ccd1c8b622f84521d46a4453f5327 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
@@ -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 (registered)
{
- if (msg.StartsWith("PoseStart"))
+ //
+ // Messages from Analysis modules
+ //
+ if (msg.StartsWith("PoseNew:"))
{
- if (msg.Contains(':')) timeCnt = int.Parse(msg.Split(':')[1]);
- else timeCnt = 3;
- await SendPose(webSocket);
- }
- else if (msg.StartsWith("TimeStart"))
- {
- 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);
diff --git a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/WorldAnalysisModules.cs b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/WorldAnalysisModules.cs
index f4b3938d658a8f2a0852013ba111832b9412611a..6ec1f5606f492ecc484ee591cd3e9d252d6b64ef 100644
--- a/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/WorldAnalysisModules.cs
+++ b/server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/WorldAnalysisModules.cs
@@ -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