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Commit afbfe86d authored by Sylvain Renault's avatar Sylvain Renault
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Implementation of the new API (generator issues)

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2 merge requests!2Some trst implementation for REST.,!1Some trst implementation for REST.
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openapi @ b639a021
Subproject commit 073fd7213fd9e6ebc2f8a47d628a650de30c8bc4
Subproject commit b639a02180c2b5e301c77483b3a2fa645ba94169
server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI-ARF/ControllersImpl/PoseImpl.cs
+ 56
− 25
View file @ afbfe86d
......@@ -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
View file @ afbfe86d
......@@ -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
View file @ afbfe86d
......@@ -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
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