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

openapi @ 99ea877d

Original line number	Original line	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	Original line	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.		/// Operation to retrieve all the relocalization information of one or severals WorldAnchors or Trackables.
	/// </summary>		/// </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;		WorldAnchorService _worldAnchorService = WorldAnchorService.Singleton as WorldAnchorService;
	TrackableService _trackableService = TrackableService.Singleton as TrackableService;		TrackableService _trackableService = TrackableService.Singleton as TrackableService;

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

			Guid errorUid = Guid.Empty;

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

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

	if (trackable.Match(capabilities))		if (trackable.Match(capabilities))
	{		{
	// add itself with matrix identity as Transform3D		// add itself with matrix identity as Transform3D
	var itself = new RelocalizationInformationRelocObjectsInner();		var itself = new RelocObject();
	itself.Trackable = trackable;		itself.Trackable = trackable;
	itself.Mode = request.Mode;		itself.Mode = request.Mode;
	itself.Transform3D = new List<float>()		itself.Transform3D = new List<float>()
	@@ -118,16 +125,19 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
	}		}
	else		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(FindRelocInfoAsTo(targetUUID, mode, matrix, capabilities, ref history));
	results.AddRange(FindRelocInfoAsFrom(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"		// 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;		TrackableService _trackableService = TrackableService.Singleton as TrackableService;
	WorldAnchorService _worldAnchorService = WorldAnchorService.Singleton as WorldAnchorService;		WorldAnchorService _worldAnchorService = WorldAnchorService.Singleton as WorldAnchorService;
	WorldLinkService _worldLinkService = WorldLinkService.Singleton as WorldLinkService;		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"		// Check links where the target UUID appeared as "To"
	List<WorldLink> linksTo;		List<WorldLink> linksTo;
	@@ -199,7 +209,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
	}		}

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

	// Check links where the target UUID appeared as "From"		// 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;		TrackableService _trackableService = TrackableService.Singleton as TrackableService;
	WorldAnchorService _worldAnchorService = WorldAnchorService.Singleton as WorldAnchorService;		WorldAnchorService _worldAnchorService = WorldAnchorService.Singleton as WorldAnchorService;
	WorldLinkService _worldLinkService = WorldLinkService.Singleton as WorldLinkService;		WorldLinkService _worldLinkService = WorldLinkService.Singleton as WorldLinkService;

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

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

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

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

+22 −10

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

	/*		/*
	@@ -66,6 +66,8 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
	/// </summary>		/// </summary>
	public override IActionResult AddTrackable([FromBody] Trackable trackable, [FromHeader] string token)		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()))		if (String.IsNullOrEmpty(trackable.UUID.ToString()))
	{		{
	trackable.UUID = Guid.NewGuid();		trackable.UUID = Guid.NewGuid();
	@@ -75,13 +77,13 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
	Trackable mytrackable = _trackableService.Create(trackable);		Trackable mytrackable = _trackableService.Create(trackable);
	if (mytrackable == null)		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)		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>		/// </summary>
	public override IActionResult DeleteTrackable([FromRoute(Name = "trackableUUID")][Required] Guid trackableUUID, [FromHeader] string token)		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)		// Access other service(s)
	WorldLinkService _worldLinkService = WorldLinkService.Singleton as WorldLinkService;		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";		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>		/// <summary>
	@@ -129,8 +134,10 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
	/// </summary>		/// </summary>
	public override IActionResult GetTrackableById([FromRoute(Name = "trackableUUID")][Required] Guid trackableUUID, [FromHeader] string token)		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);		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>		/// <summary>
	@@ -138,8 +145,11 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
	/// </summary>		/// </summary>
	public override IActionResult GetTrackables([FromHeader] string token)		public override IActionResult GetTrackables([FromHeader] string token)
	{		{
	List<Trackable> trackablelist = _trackableService.Get();		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });
	return new ObjectResult(trackablelist);
			TrackablesResponse response = new TrackablesResponse();
			response.Trackables = _trackableService.Get();
			return new ObjectResult(response);
	}		}


	@@ -149,14 +159,16 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
	/// </summary>		/// </summary>
	public override IActionResult ModifyTrackable([FromBody] Trackable trackable, [FromHeader] string token)		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);		long count = _trackableService.Replace(trackable);
	if (count == 0)		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		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	Original line	Diff line number	Diff line
	@@ -66,6 +66,8 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
	/// </summary>		/// </summary>
	public override IActionResult AddWorldAnchor([FromBody] WorldAnchor worldAnchor, [FromHeader] string token)		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()))		if (String.IsNullOrEmpty(worldAnchor.UUID.ToString()))
	{		{
	worldAnchor.UUID = Guid.NewGuid();		worldAnchor.UUID = Guid.NewGuid();
	@@ -75,13 +77,13 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
	WorldAnchor myworldanchor = _worldAnchorService.Create(worldAnchor);		WorldAnchor myworldanchor = _worldAnchorService.Create(worldAnchor);
	if (myworldanchor == null)		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)		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>		/// </summary>
	public override IActionResult DeleteWorldAnchor([FromRoute(Name = "worldAnchorUUID")][Required] Guid worldAnchorUUID, [FromHeader] string token)		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)		// Access other service(s)
	WorldLinkService _worldLinkService = WorldLinkService.Singleton as WorldLinkService;		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";		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>		/// <summary>
	@@ -129,8 +133,10 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
	/// </summary>		/// </summary>
	public override IActionResult GetWorldAnchorById([FromRoute(Name = "worldAnchorUUID")][Required] Guid worldAnchorUUID, [FromHeader] string token)		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);		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>		/// <summary>
	@@ -138,8 +144,11 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
	/// </summary>		/// </summary>
	public override IActionResult GetWorldAnchors([FromHeader] string token)		public override IActionResult GetWorldAnchors([FromHeader] string token)
	{		{
	List<WorldAnchor> worldanchorlist = _worldAnchorService.Get();		if (!Startup.IsAccessGranted(token)) return StatusCode(511, new Error() { Message = "Invalid token!" });
	return new ObjectResult(worldanchorlist);
			WorldAnchorsResponse response = new WorldAnchorsResponse();
			response.WorldAnchors = _worldAnchorService.Get();
			return new ObjectResult(response);
	}		}


	@@ -149,14 +158,16 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
	/// </summary>		/// </summary>
	public override IActionResult ModifyWorldAnchor([FromBody] WorldAnchor worldAnchor, [FromHeader] string token)		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);		long count = _worldAnchorService.Replace(worldAnchor);
	if (count == 0)		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		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	Original line	Diff line number	Diff line
	@@ -15,7 +15,7 @@
	// See the License for the specific language governing permissions and		// See the License for the specific language governing permissions and
	// limitations under the License.		// limitations under the License.
	//		//
	// Last change: June 2024		// Last change: September 2024
	//		//

	/*		/*
	@@ -65,6 +65,8 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
	/// </summary>		/// </summary>
	public override IActionResult AddWorldLink([FromBody] WorldLink worldLink, [FromHeader] string token)		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()))		if (String.IsNullOrEmpty(worldLink.UUID.ToString()))
	{		{
	worldLink.UUID = Guid.NewGuid();		worldLink.UUID = Guid.NewGuid();
	@@ -74,13 +76,13 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
	WorldLink myworldlink = _worldLinkService.Create(worldLink);		WorldLink myworldlink = _worldLinkService.Create(worldLink);
	if (myworldlink == null)		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)		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>		/// </summary>
	public override IActionResult DeleteWorldLink([FromRoute(Name = "worldLinkUUID")][Required] Guid worldLinkUUID, [FromHeader] string token)		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);		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>		/// </summary>
	public override IActionResult GetWorldLinkById([FromRoute(Name = "worldLinkUUID")][Required] Guid worldLinkUUID, [FromHeader] string token)		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)		// Access other service(s)
	TrackableService _trackableService = TrackableService.Singleton as TrackableService;		TrackableService _trackableService = TrackableService.Singleton as TrackableService;
	WorldAnchorService _worldAnchorService = WorldAnchorService.Singleton as WorldAnchorService;		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>		/// <summary>
	@@ -149,12 +155,16 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
	/// </summary>		/// </summary>
	public override IActionResult GetWorldLinks([FromHeader] string token)		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)		// Access other service(s)
	TrackableService _trackableService = TrackableService.Singleton as TrackableService;		TrackableService _trackableService = TrackableService.Singleton as TrackableService;
	WorldAnchorService _worldAnchorService = WorldAnchorService.Singleton as WorldAnchorService;		WorldAnchorService _worldAnchorService = WorldAnchorService.Singleton as WorldAnchorService;

	List<WorldLink> worldlinklist = _worldLinkService.Get();		response.WorldLinks = _worldLinkService.Get();
	foreach (WorldLink myworldlink in worldlinklist)		foreach (WorldLink myworldlink in response.WorldLinks)
	{		{
	// check TypeFrom		// check TypeFrom
	if (myworldlink.TypeFrom == TypeWorldStorage.TRACKABLEEnum)		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>		/// </summary>
	public override IActionResult ModifyWorldLink([FromBody] WorldLink worldLink, [FromHeader] string token)		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);		long count = _worldLinkService.Replace(worldLink);
	if (count == 0)		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		else
	{		{
	return StatusCode(200, worldLink.UUID.ToString());		return StatusCode(200, new Success() { Message = worldLink.UUID.ToString() });
	}		}
	}		}
	}		}