Implementation of the new API (generator issues)

openapi @ b639a021

-Subproject commit 073fd7213fd9e6ebc2f8a47d628a650de30c8bc4
+Subproject commit b639a02180c2b5e301c77483b3a2fa645ba94169

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 fr ffentlich 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!");
         }
     }

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);

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