Merge branch 'feature/unityWebSocketReg' into 'develop' (b1710310) · Commits · ARF / World Analysis API helpers / World Analysis ASP.NET Server

openapi @ 073fd721

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		Subproject commit 073fd7213fd9e6ebc2f8a47d628a650de30c8bc4

server/worldanalysis/src/ETSI.ARF.OpenAPI.WorldAnalysis/Dockerfile

+4 −4

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		#See https://aka.ms/containerfastmode to understand how Visual Studio uses this Dockerfile to build your images for faster debugging.

		# Container we use for final publish
		FROM mcr.microsoft.com/dotnet/core/aspnet:5.0-buster-slim AS base
		FROM mcr.microsoft.com/dotnet/aspnet:5.0-buster-slim AS base
		WORKDIR /app
		EXPOSE 80
		EXPOSE 443

		# Build container
		FROM mcr.microsoft.com/dotnet/core/sdk:5.0-buster AS build
		FROM mcr.microsoft.com/dotnet/sdk:5.0-buster-slim AS build

		# Copy the code into the container
		WORKDIR /src
		COPY ["src/ETSI.ARF.OpenAPI.WorldAnalysis/ETSI.ARF.OpenAPI.WorldAnalysis.csproj", "ETSI.ARF.OpenAPI.WorldAnalysis/"]
		COPY ["ETSI.ARF.OpenAPI.WorldAnalysis.csproj", "ETSI.ARF.OpenAPI.WorldAnalysis/"]

		# NuGet restore
		RUN dotnet restore "ETSI.ARF.OpenAPI.WorldAnalysis/ETSI.ARF.OpenAPI.WorldAnalysis.csproj"
		COPY ["src/ETSI.ARF.OpenAPI.WorldAnalysis/", "ETSI.ARF.OpenAPI.WorldAnalysis/"]
		COPY [".", "ETSI.ARF.OpenAPI.WorldAnalysis/"]

		# Build the API
		WORKDIR "ETSI.ARF.OpenAPI.WorldAnalysis"

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

+29 −2

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		@@ -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!");
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		// Get all capabilities from all anchors/trackables
		// Info: Capabilities are collected after a module is connected via websockets

		// Create list
		List<Capability> capabilitiesList = new List<Capability>();
		capabilitiesList.AddRange(WorldAnalysisConnections.Singleton.GetCapabilities());

		// Create response object
		GetCapabilities200Response response = new GetCapabilities200Response();
		response.Capabilities = capabilitiesList;
		return new ObjectResult(response);
		//return StatusCode(405, "Not supported yet!");
		}

		/// <summary>
		@@ -61,7 +76,19 @@ 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!");
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		// Create list
		List<Capability> capabilitiesList = new List<Capability>();
		capabilitiesList.AddRange(WorldAnalysisConnections.Singleton.GetCapabilitiesFromUuid(trackableOrAnchorUUID));

		// Create response object
		GetSupport200Response response = new GetSupport200Response();
		response.Capabilities = capabilitiesList;
		return new ObjectResult(response);
		//return StatusCode(405, "Not supported yet!");
		}
		}
		}

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

+161 −15

Original line number	Diff line number	Diff line
		@@ -53,7 +53,13 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		/// </summary>
		public override IActionResult ConfigureFramerate([FromBody] PoseConfiguration poseConfiguration, [FromHeader(Name = "token")] string token, [FromHeader(Name = "sessionID")] string sessionID)
		{
		return StatusCode(405, "Not supported yet!");
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		// Notify the modules that the client need a new framerate
		bool result = WorldAnalysisConnections.Singleton.ConfigureFramerate(poseConfiguration);
		return result ? StatusCode(200, "Ok.") : StatusCode(405, "Not supported.");
		}

		/// <summary>
		@@ -61,23 +67,82 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		/// </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)
		{
		return StatusCode(405, "Not supported yet!");
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		// Request from the modules a new pose of a single UUID
		Pose result;
		result = WorldAnalysisConnections.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!");
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		// Request from the modules new poses from all UUIDs
		GetPoses200Response result = new GetPoses200Response();
		foreach (var item in uuid)
		{
		result.Poses.Add(WorldAnalysisConnections.Singleton.GetPose(item.Uuid, item.Mode));
		}
		return new ObjectResult(result);
		}

		#pragma warning disable CS1591 // Fehlendes XML-Kommentar fr ffentlich sichtbaren Typ oder Element

		//
		// Management of subscriptions
		//
		/// <summary>
		/// Dictionnary of susbscription informations for poses, for each item, stored using the UUID of the item (anchor/trackable)
		/// </summary>
		private Dictionary<Guid, SubscriptionInfo> m_subscriptionsPoses = new Dictionary<Guid, SubscriptionInfo>();

		public struct SubscriptionInfo
		{
		public Guid uuidSub; // id of subscription (id is defined by the WA server)

		public SubscribeToPoseRequest subscription;
		public string webSocket;
		public Pose pose;
		public DateTime timeValidity;

		//public PoseCallback callback;
		}
		#pragma warning restore CS1591 // Fehlendes XML-Kommentar fr ffentlich sichtbaren Typ oder Element

		/// <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)
		{
		return StatusCode(405, "Not supported yet!");
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		// todo: search for a subscription and send it back
		foreach (var item in m_subscriptionsPoses)
		{
		if (item.Key == subscriptionUUID)
		{
		SubscriptionSingle response = new SubscriptionSingle();
		response.Uuid = subscriptionUUID;
		response.Target = item.Value.subscription.Target;
		response.Mode = item.Value.pose.Mode;
		response.Validity = item.Value.timeValidity.Millisecond;
		response.WebhookUrl = item.Value.subscription.WebhookUrl;
		response.WebsocketUrl = item.Value.webSocket;
		return new ObjectResult(response);
		}
		}
		return StatusCode(404, "Not found.");
		}

		/// <summary>
		@@ -85,7 +150,68 @@ 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!");
		// Simulation ON for STF669 pose calcualtion
		string _token = token;
		Guid parentUUID = Guid.Empty;
		if (token.Contains(","))
		{
		_token = token.Split(',')[0];
		parentUUID = new Guid(token.Split(',')[1]);
		}

		if (!Startup.IsAccessGranted(_token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		if (subscribeToPoseRequest.Targets != null && subscribeToPoseRequest.Targets.Count > 0)
		{
		return StatusCode(404, "Multiple subscriptions are not implemented (targets).");
		}
		else if (subscribeToPoseRequest.Modes != null && subscribeToPoseRequest.Modes.Count > 0)
		{
		return StatusCode(404, "Multiple subscriptions are not implemented (modes).");
		}

		int validity = subscribeToPoseRequest.Validity; // todo: is to handle here or by the client?

		SubscribeToPose200Response response = new SubscribeToPose200Response();
		response.Validity = validity;
		response.Uuid = Guid.NewGuid();
		response.Target = subscribeToPoseRequest.Target;
		response.Mode = subscribeToPoseRequest.Mode;
		response.WebhookUrl = subscribeToPoseRequest.WebhookUrl;
		response.WebsocketUrl = "";

		// Send the websocket connection URL
		if (string.IsNullOrEmpty(response.WebhookUrl))
		{
		// Notice: starting websocket server is done autom. by the client, when calling "URL:xxx/ws"
		// Registering the client is done in the analysis module, so the websocket can send to it pose updates
		response.WebsocketUrl = "wss://" + Request.Host.ToString() + "/ws";
		}

		// We add the subscription
		SubscriptionInfo info = new SubscriptionInfo();
		info.uuidSub = response.Uuid;
		info.webSocket = response.WebsocketUrl;
		info.timeValidity = DateTime.Now.AddMilliseconds(validity / 1000.0f);

		info.pose = new Pose();
		info.pose.Mode = response.Mode;

		info.subscription = new SubscribeToPoseRequest();
		info.subscription.Target = response.Target;
		info.subscription.Mode = response.Mode;
		info.subscription.Validity = response.Validity;
		info.subscription.WebhookUrl = response.WebhookUrl;

		m_subscriptionsPoses.Add(info.uuidSub, info);

		// 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?!?
		WorldAnalysisConnections.Singleton.SubscribeToPose(info, parentUUID);

		return new ObjectResult(response);
		}

		/// <summary>
		@@ -93,7 +219,21 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		/// </summary>
		public override IActionResult UnsubscribeFromPose([FromRoute(Name = "subscriptionUUID")][Required] Guid subscriptionUUID, [FromHeader(Name = "token")] string token, [FromHeader(Name = "sessionID")] string sessionID)
		{
		return StatusCode(405, "Not supported yet!");
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare sessionID

		// Remove the subscription from the list?
		if (m_subscriptionsPoses.ContainsKey(subscriptionUUID)) m_subscriptionsPoses.Remove(subscriptionUUID);
		else
		{
		//return StatusCode(404, new Error() { Message = "Unsubscribe UUID not found!" });
		}

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

		return StatusCode(200, new Success() { Message = "Unsubscription successfull." });
		}

		/// <summary>
		@@ -101,6 +241,12 @@ namespace ETSI.ARF.OpenAPI.WorldAnalysis.Controllers
		/// </summary>
		public override IActionResult UpdateSubscription([FromRoute(Name = "subscriptionUUID")][Required] Guid subscriptionUUID, [FromBody] UpdateSubscriptionRequest updateSubscriptionRequest, [FromHeader(Name = "token")] string token, [FromHeader(Name = "sessionID")] string sessionID)
		{
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// todo: compare 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

+285 −32

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