Commit 35d29c13 authored by Stephane LOUIS DIT PICARD's avatar Stephane LOUIS DIT PICARD
Browse files

feat: add support for requesting relocalization information with a trackable UUID

parent a8be8987

server/worldstorage/src/ETSI.ARF.OpenAPI.WorldStorage/ETSI-ARF/ControllersImpl/RelocalizationInformationImpl.cs

+39 −0
Original line number Diff line number Diff line
@@ -55,6 +55,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers 
        public override IActionResult GetRelocalizationInformation([FromQuery(Name = "uuids")][Required()] List<GetRelocalizationInformationUuidsParameterInner> uuids, [FromQuery(Name = "capabilities")][Required()] List<Capability> capabilities, [FromHeader(Name = "token")] string token)

        {

            WorldAnchorService _worldAnchorService = WorldAnchorService.Singleton as WorldAnchorService;

            TrackableService _trackableService = TrackableService.Singleton as TrackableService;



            var history = new List<Guid>();

            var result = new GetRelocalizationInformation200Response();
@@ -63,6 +64,13 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers 
            foreach (var request in uuids)

            {

                var anchor = _worldAnchorService.Get(request.Uuid);

                Trackable trackable = null;



                if (anchor == null)

                {

                    // anchor not found, try to find uuid as a trackable

                    trackable = _trackableService.Get(request.Uuid);

                }



                if (anchor != null)

                {
@@ -77,6 +85,37 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers 


                    result.RelocInfo.Add(relocalizationInformation);

                }

                else if (trackable != null)

                {

                    history.Add(trackable.UUID);

                    

                    Matrix4x4 matrix = Matrix4x4.Identity;



                    var relocalizationInformation = new RelocalizationInformation();

                    relocalizationInformation.RequestUUID = trackable.UUID;

                    relocalizationInformation.RequestType = TypeWorldStorage.TRACKABLEEnum;

                    relocalizationInformation.RelocObjects = new List<RelocalizationInformationRelocObjectsInner>();



                    if (trackable.Match(capabilities))

                    {

                        // add itself with matrix identity as Transform3D

                        var itself = new RelocalizationInformationRelocObjectsInner();

                        itself.Trackable = trackable;

                        itself.Mode = request.Mode;

                        itself.Transform3D = new List<float>()

                        {

                            matrix.M11, matrix.M12, matrix.M13, matrix.M14,

                            matrix.M21, matrix.M22, matrix.M23, matrix.M24,

                            matrix.M31, matrix.M32, matrix.M33, matrix.M34,

                            matrix.M41, matrix.M42, matrix.M43, matrix.M44,

                        };

                        relocalizationInformation.RelocObjects.Add(itself);

                    }



                    relocalizationInformation.RelocObjects.AddRange(FindRelocInfo(trackable.UUID, request.Mode, matrix, capabilities, ref history));



                    result.RelocInfo.Add(relocalizationInformation);

                }

                else

                {

                    Console.WriteLine($"WorldAnchor with UUID {request.Uuid} does not exist in database");