Merge branch 'develop' into 'main' (ccab91f6) · Commits · ARF / World Storage API Helpers / World Storage ASP.NET Server

openapi @ 99ea877d

Original line number	Diff line number	Diff line
		Subproject commit 073fd7213fd9e6ebc2f8a47d628a650de30c8bc4
		Subproject commit 99ea877dca8ba0587699f12dab77a43f79a836fc

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

+27 −17

Original line number	Diff line number	Diff line
		@@ -52,17 +52,24 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// Operation to retrieve all the relocalization information of one or severals WorldAnchors or Trackables.
		/// </summary>
		///
		public override IActionResult GetRelocalizationInformation([FromQuery(Name = "uuids")][Required()] List<GetRelocalizationInformationUuidsParameterInner> uuids, [FromQuery(Name = "capabilities")][Required()] List<Capability> capabilities, [FromHeader(Name = "token")] string token)
		// old: public override IActionResult GetRelocalizationInformation([FromQuery(Name = "uuids")][Required()] List<GetRelocalizationInformationUuidsParameterInner> uuids, [FromQuery(Name = "capabilities")][Required()] List<Capability> capabilities, [FromHeader(Name = "token")] string token)
		public override IActionResult GetRelocalizationInformation([FromQuery(Name = "uuids")][Required()] List<UuidAndMode> uuids, [FromQuery(Name = "capabilities")][Required()] List<Capability> capabilities, [FromHeader(Name = "token")] string token)
		{
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		WorldAnchorService _worldAnchorService = WorldAnchorService.Singleton as WorldAnchorService;
		TrackableService _trackableService = TrackableService.Singleton as TrackableService;

		var history = new List<Guid>();
		var result = new GetRelocalizationInformation200Response();
		var result = new RelocalizationInformations();
		result.RelocInfo = new List<RelocalizationInformation>();

		Guid errorUid = Guid.Empty;

		foreach (var request in uuids)
		{
		//System.Diagnostics.Debug.WriteLine("RelocInfo: Looking in the WS database for UUID=" + request.Uuid.ToString());

		var anchor = _worldAnchorService.Get(request.Uuid);
		Trackable trackable = null;

		@@ -94,12 +101,12 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		var relocalizationInformation = new RelocalizationInformation();
		relocalizationInformation.RequestUUID = trackable.UUID;
		relocalizationInformation.RequestType = TypeWorldStorage.TRACKABLEEnum;
		relocalizationInformation.RelocObjects = new List<RelocalizationInformationRelocObjectsInner>();
		relocalizationInformation.RelocObjects = new List<RelocObject>();

		if (trackable.Match(capabilities))
		{
		// add itself with matrix identity as Transform3D
		var itself = new RelocalizationInformationRelocObjectsInner();
		var itself = new RelocObject();
		itself.Trackable = trackable;
		itself.Mode = request.Mode;
		itself.Transform3D = new List<float>()
		@@ -118,16 +125,19 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		}
		else
		{
		Console.WriteLine($"WorldAnchor with UUID {request.Uuid} does not exist in database");
		Console.WriteLine($"Trackable or WorldAnchor with UUID {request.Uuid} does not exist in database");
		}
		}

		return result.RelocInfo.Count > 0 ? new ObjectResult(result) : StatusCode(404, "Not found, could not find UUID in database.");
		return result.RelocInfo.Count > 0 ? new ObjectResult(result) : StatusCode(404, new Error() { Message = "Not found, could not find UUID(s) in database." });
		}

		private List<RelocalizationInformationRelocObjectsInner> FindRelocInfo(Guid targetUUID, ModeWorldStorage mode, Matrix4x4 matrix, List<Capability> capabilities, ref List<Guid> history)
		//
		// Helpers
		//
		private List<RelocObject> FindRelocInfo(Guid targetUUID, ModeWorldStorage mode, Matrix4x4 matrix, List<Capability> capabilities, ref List<Guid> history)
		{
		var results = new List<RelocalizationInformationRelocObjectsInner>();
		var results = new List<RelocObject>();

		results.AddRange(FindRelocInfoAsTo(targetUUID, mode, matrix, capabilities, ref history));
		results.AddRange(FindRelocInfoAsFrom(targetUUID, mode, matrix, capabilities, ref history));
		@@ -136,13 +146,13 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		}

		// Check links where the target UUID appeared as "To"
		private List<RelocalizationInformationRelocObjectsInner> FindRelocInfoAsTo(Guid targetUUID, ModeWorldStorage mode, Matrix4x4 matrix, List<Capability> capabilities, ref List<Guid> history)
		private List<RelocObject> FindRelocInfoAsTo(Guid targetUUID, ModeWorldStorage mode, Matrix4x4 matrix, List<Capability> capabilities, ref List<Guid> history)
		{
		TrackableService _trackableService = TrackableService.Singleton as TrackableService;
		WorldAnchorService _worldAnchorService = WorldAnchorService.Singleton as WorldAnchorService;
		WorldLinkService _worldLinkService = WorldLinkService.Singleton as WorldLinkService;

		var results = new List<RelocalizationInformationRelocObjectsInner>();
		var results = new List<RelocObject>();

		// Check links where the target UUID appeared as "To"
		List<WorldLink> linksTo;
		@@ -199,7 +209,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		}

		// We found a valid trackable, add it to the results
		var result = new RelocalizationInformationRelocObjectsInner();
		var result = new RelocObject();
		result.Trackable = trackable;
		result.Mode = mode;
		result.Transform3D = new List<float>()
		@@ -272,13 +282,13 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		}

		// Check links where the target UUID appeared as "From"
		private List<RelocalizationInformationRelocObjectsInner> FindRelocInfoAsFrom(Guid targetUUID, ModeWorldStorage mode, Matrix4x4 matrix, List<Capability> capabilities, ref List<Guid> history)
		private List<RelocObject> FindRelocInfoAsFrom(Guid targetUUID, ModeWorldStorage mode, Matrix4x4 matrix, List<Capability> capabilities, ref List<Guid> history)
		{
		TrackableService _trackableService = TrackableService.Singleton as TrackableService;
		WorldAnchorService _worldAnchorService = WorldAnchorService.Singleton as WorldAnchorService;
		WorldLinkService _worldLinkService = WorldLinkService.Singleton as WorldLinkService;

		var results = new List<RelocalizationInformationRelocObjectsInner>();
		var results = new List<RelocObject>();

		// Check links where the anchor appeared as "From"
		List<WorldLink> linksTo;
		@@ -335,7 +345,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		}

		// We found a valid trackable, add it to the results
		var result = new RelocalizationInformationRelocObjectsInner();
		var result = new RelocObject();
		result.Trackable = trackable;
		result.Mode = mode;
		result.Transform3D = new List<float>()

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

+22 −10

Original line number	Diff line number	Diff line
		@@ -15,7 +15,7 @@
		// See the License for the specific language governing permissions and
		// limitations under the License.
		//
		// Last change: June 2024
		// Last change: September 2024
		//

		/*
		@@ -66,6 +66,8 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// </summary>
		public override IActionResult AddTrackable([FromBody] Trackable trackable, [FromHeader] string token)
		{
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		if (String.IsNullOrEmpty(trackable.UUID.ToString()))
		{
		trackable.UUID = Guid.NewGuid();
		@@ -75,13 +77,13 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		Trackable mytrackable = _trackableService.Create(trackable);
		if (mytrackable == null)
		{
		return StatusCode(409, "UUID already existing!");
		return StatusCode(409, new Error() { Message = "UUID already existing!" });
		}
		else return StatusCode(200, mytrackable.UUID.ToString());
		else return StatusCode(200, new Success() { Message = mytrackable.UUID.ToString() });
		}
		catch (Exception e)
		{
		return StatusCode(400, e.Message);
		return StatusCode(400, new Error() { Message = e.Message });
		}
		}

		@@ -90,6 +92,8 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// </summary>
		public override IActionResult DeleteTrackable([FromRoute(Name = "trackableUUID")][Required] Guid trackableUUID, [FromHeader] string token)
		{
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// Access other service(s)
		WorldLinkService _worldLinkService = WorldLinkService.Singleton as WorldLinkService;

		@@ -121,7 +125,8 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		{
		result += ", removed object was referenced in " + worldlinkinfo + " and removed there as well";
		}
		return (count > 0) ? new ObjectResult(result) : StatusCode(404, "Not found, could not find UUID in database.");
		result += " Token: " + token;
		return (count > 0) ? StatusCode(200, new Success() { Message = result }) : StatusCode(404, new Error() { Message = "Not found, could not find UUID in database." });
		}

		/// <summary>
		@@ -129,8 +134,10 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// </summary>
		public override IActionResult GetTrackableById([FromRoute(Name = "trackableUUID")][Required] Guid trackableUUID, [FromHeader] string token)
		{
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		Trackable trackable = _trackableService.Get(trackableUUID);
		return (null != trackable) ? new ObjectResult(trackable) : StatusCode(404, "Not found, could not find UUID in database.");
		return (null != trackable) ? new ObjectResult(trackable) : StatusCode(404, new Error() { Message = "Not found, could not find UUID in database." });
		}

		/// <summary>
		@@ -138,8 +145,11 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// </summary>
		public override IActionResult GetTrackables([FromHeader] string token)
		{
		List<Trackable> trackablelist = _trackableService.Get();
		return new ObjectResult(trackablelist);
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		TrackablesResponse response = new TrackablesResponse();
		response.Trackables = _trackableService.Get();
		return new ObjectResult(response);
		}


		@@ -149,14 +159,16 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// </summary>
		public override IActionResult ModifyTrackable([FromBody] Trackable trackable, [FromHeader] string token)
		{
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		long count = _trackableService.Replace(trackable);
		if (count == 0)
		{
		return StatusCode(404, "Not found, could not find UUID in database.");
		return StatusCode(404, new Error() { Message = "Not found, could not find UUID in database." });
		}
		else
		{
		return StatusCode(200, trackable.UUID.ToString());
		return StatusCode(200, new Success() { Message = trackable.UUID.ToString() });
		}
		}
		}

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

+20 −9

Original line number	Diff line number	Diff line
		@@ -66,6 +66,8 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// </summary>
		public override IActionResult AddWorldAnchor([FromBody] WorldAnchor worldAnchor, [FromHeader] string token)
		{
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		if (String.IsNullOrEmpty(worldAnchor.UUID.ToString()))
		{
		worldAnchor.UUID = Guid.NewGuid();
		@@ -75,13 +77,13 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		WorldAnchor myworldanchor = _worldAnchorService.Create(worldAnchor);
		if (myworldanchor == null)
		{
		return StatusCode(409, "UUID alread exexisting!");
		return StatusCode(409, new Error() { Message = "UUID alread exexisting!" });
		}
		else return StatusCode(200, myworldanchor.UUID.ToString());
		else return StatusCode(200, new Success() { Message = myworldanchor.UUID.ToString() });
		}
		catch (Exception e)
		{
		return StatusCode(400, e.Message);
		return StatusCode(400, new Error() { Message = e.Message });
		}
		}

		@@ -90,6 +92,8 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// </summary>
		public override IActionResult DeleteWorldAnchor([FromRoute(Name = "worldAnchorUUID")][Required] Guid worldAnchorUUID, [FromHeader] string token)
		{
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// Access other service(s)
		WorldLinkService _worldLinkService = WorldLinkService.Singleton as WorldLinkService;

		@@ -121,7 +125,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		{
		result += ", but removed object was referenced in " + worldlinkinfo + " and removed there as well";
		}
		return (count > 0) ? new ObjectResult(result) : StatusCode(404, "Not found, could not find UUID in database.");
		return (count > 0) ? StatusCode(200, new Success() { Message = result }) : StatusCode(404, new Error() { Message = "Not found, could not find UUID in database." });
		}

		/// <summary>
		@@ -129,8 +133,10 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// </summary>
		public override IActionResult GetWorldAnchorById([FromRoute(Name = "worldAnchorUUID")][Required] Guid worldAnchorUUID, [FromHeader] string token)
		{
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		WorldAnchor myworldanchor = _worldAnchorService.Get(worldAnchorUUID);
		return (null != myworldanchor) ? new ObjectResult(myworldanchor) : StatusCode(404, "Not found, could not find UUID in database.");
		return (null != myworldanchor) ? new ObjectResult(myworldanchor) : StatusCode(404, new Error() { Message = "Not found, could not find UUID in database." });
		}

		/// <summary>
		@@ -138,8 +144,11 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// </summary>
		public override IActionResult GetWorldAnchors([FromHeader] string token)
		{
		List<WorldAnchor> worldanchorlist = _worldAnchorService.Get();
		return new ObjectResult(worldanchorlist);
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		WorldAnchorsResponse response = new WorldAnchorsResponse();
		response.WorldAnchors = _worldAnchorService.Get();
		return new ObjectResult(response);
		}


		@@ -149,14 +158,16 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// </summary>
		public override IActionResult ModifyWorldAnchor([FromBody] WorldAnchor worldAnchor, [FromHeader] string token)
		{
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		long count = _worldAnchorService.Replace(worldAnchor);
		if (count == 0)
		{
		return StatusCode(404, "Not found, could not find UUID in database.");
		return StatusCode(404, new Error() { Message = "Not found, could not find UUID in database." });
		}
		else
		{
		return StatusCode(200, worldAnchor.UUID.ToString());
		return StatusCode(200, new Success() { Message = worldAnchor.UUID.ToString() });
		}
		}

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

+23 −11

Original line number	Diff line number	Diff line
		@@ -15,7 +15,7 @@
		// See the License for the specific language governing permissions and
		// limitations under the License.
		//
		// Last change: June 2024
		// Last change: September 2024
		//

		/*
		@@ -65,6 +65,8 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// </summary>
		public override IActionResult AddWorldLink([FromBody] WorldLink worldLink, [FromHeader] string token)
		{
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		if (String.IsNullOrEmpty(worldLink.UUID.ToString()))
		{
		worldLink.UUID = Guid.NewGuid();
		@@ -74,13 +76,13 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		WorldLink myworldlink = _worldLinkService.Create(worldLink);
		if (myworldlink == null)
		{
		return StatusCode(409, "UUID already existing!");
		return StatusCode(409, new Error() { Message = "UUID already existing!" });
		}
		else return StatusCode(200, myworldlink.UUID.ToString());
		else return StatusCode(200, new Success() { Message = myworldlink.UUID.ToString() });
		}
		catch (Exception e)
		{
		return StatusCode(400, e.Message);
		return StatusCode(400, new Error() { Message = e.Message});
		}
		}

		@@ -89,8 +91,10 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// </summary>
		public override IActionResult DeleteWorldLink([FromRoute(Name = "worldLinkUUID")][Required] Guid worldLinkUUID, [FromHeader] string token)
		{
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		long count = _worldLinkService.Remove(worldLinkUUID);
		return (count > 0) ? new ObjectResult("ok") : StatusCode(404, "Not found, could not find UUID in database.");
		return (count > 0) ? StatusCode(200, new Success() { Message = "ok" } ) : StatusCode(404, new Error() { Message = "Not found, could not find UUID in database." });
		}


		@@ -99,6 +103,8 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// </summary>
		public override IActionResult GetWorldLinkById([FromRoute(Name = "worldLinkUUID")][Required] Guid worldLinkUUID, [FromHeader] string token)
		{
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		// Access other service(s)
		TrackableService _trackableService = TrackableService.Singleton as TrackableService;
		WorldAnchorService _worldAnchorService = WorldAnchorService.Singleton as WorldAnchorService;
		@@ -141,7 +147,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		}
		}
		}
		return (null != myworldlink) ? new ObjectResult(myworldlink) : StatusCode(404, "Not found, could not find UUID in database.");
		return (null != myworldlink) ? new ObjectResult(myworldlink) : StatusCode(404, new Error() { Message = "Not found, could not find UUID in database." });
		}

		/// <summary>
		@@ -149,12 +155,16 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// </summary>
		public override IActionResult GetWorldLinks([FromHeader] string token)
		{
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		WorldLinksResponse response = new WorldLinksResponse();

		// Access other service(s)
		TrackableService _trackableService = TrackableService.Singleton as TrackableService;
		WorldAnchorService _worldAnchorService = WorldAnchorService.Singleton as WorldAnchorService;

		List<WorldLink> worldlinklist = _worldLinkService.Get();
		foreach (WorldLink myworldlink in worldlinklist)
		response.WorldLinks = _worldLinkService.Get();
		foreach (WorldLink myworldlink in response.WorldLinks)
		{
		// check TypeFrom
		if (myworldlink.TypeFrom == TypeWorldStorage.TRACKABLEEnum)
		@@ -191,7 +201,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		}
		}
		}
		return new ObjectResult(worldlinklist);
		return new ObjectResult(response);
		}


		@@ -201,14 +211,16 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
		/// </summary>
		public override IActionResult ModifyWorldLink([FromBody] WorldLink worldLink, [FromHeader] string token)
		{
		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });

		long count = _worldLinkService.Replace(worldLink);
		if (count == 0)
		{
		return StatusCode(404, "Not found, could not find UUID in database.");
		return StatusCode(404, new Error() { Message = "Not found, could not find UUID in database." });
		}
		else
		{
		return StatusCode(200, worldLink.UUID.ToString());
		return StatusCode(200, new Success() { Message = worldLink.UUID.ToString() });
		}
		}
		}