planning_configuration.json 4.13 KB
Newer Older
1
{
2
  "header":{
3 4 5 6 7 8
    "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
    "timestamp": "2022-11-16T00:00:00Z",
    "version": 2,
    "source": "ecosub_c2",
    "destination": "autonomy_engine",
    "delivery_type": "publish",
9 10 11
    "encoded": false
  },
  "payload":{
12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42
    "message_type": "platform_status",
    "planning_config_ID": 3,
    "exclusion_zones": [
      {
        "geometry_coordinates": [
          [
            [
              -4.187143188645706,
              50.37072283932642
            ],
            [
              -4.202697005964865,
              50.368816892405874
            ],
            [
              -4.203156724702808,
              50.365640144076906
            ],
            [
              -4.19449868846155,
              50.362267670845654
            ]
          ]
        ]
      }
    ],
    "squads": [
      {
        "squad_ID": 1,
        "no_of_platforms": 1,
        "squad_mission_type": "tracking",
43
        "squad_state": "active",
44 45 46
        "platforms": [
          {
            "model": "reav",
47
            "platform_ID": "reav-60-1",
48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88
            "serial": "reav-60",
            "emergency": {
              "additional_data": {},
              "latitude_waypoint": -7.432,
              "longitude_waypoint": 50.365,
              "safe_command": "go_home",
              "target_depth": 10
            },
            "max_velocity": 0.9,
            "min_altitude": 15.2,
            "min_velocity": 0.1,
            "additional_data": {}
          }
        ],
        "region_of_interest": {
          "geometry_coordinates": [
            [
              [
                -4.187143188645706,
                50.37072283932642
              ],
              [
                -4.202697005964865,
                50.368816892405874
              ],
              [
                -4.203156724702808,
                50.365640144076906
              ],
              [
                -4.19449868846155,
                50.362267670845654
              ]
            ]
          ]
        }
      },
      {
        "squad_ID": 2,
        "no_of_platforms": 3,
        "squad_mission_type": "survey",
89
        "squad_state": "active",
90 91
        "platforms": [
          {
92
            "platform_ID": "ecosub-1",
93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110
            "serial": "ecosub-2",
            "model": "ecosub",
            "emergency": {
              "additional_data": {},
              "latitude_waypoint": -7.432,
              "longitude_waypoint": 50.365,
              "safe_command": "go_home",
              "target_depth": 10.0
            },
            "max_velocity": 0.9,
            "min_altitude": 15.2,
            "min_velocity": 0.1,
            "additional_data": {
                "scan_type": "DVL",
                "swath_width": 10
            }
          },
          {
111 112
            "platform_ID": "ecosub-2",
            "serial": "ecosubxyz-5",
113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135
            "model": "ecosub",
            "emergency": {
              "additional_data": {},
              "latitude_waypoint": -0.432,
              "longitude_waypoint": 20.365,
              "safe_command": "go_home",
              "target_depth": 0.0
            },
            "max_velocity": 0.9,
            "min_altitude": 15.2,
            "min_velocity": 0.1,
            "additional_data": {
                "scan_type": "DVL",
                "swath_width": 10
            }
          }
        ],
        "region_of_interest": {}
      },
      {
        "squad_ID": 3,
        "no_of_platforms": 1,
        "squad_mission_type": "inspection",
136
        "squad_state": "active",
137 138
        "platforms": [
          {
139 140
            "platform_ID": "ah-1",
            "serial": "autosubhover-1",
141 142 143 144 145
            "model": "autosub",
            "emergency": {
              "additional_data": {},
              "latitude_waypoint": 20.432,
              "longitude_waypoint": 50.365,
146
              "safe_command": "abort_now",
147 148 149 150 151 152 153 154 155 156 157 158 159
              "target_depth": 0.0
            },
            "max_velocity": 0.9,
            "min_altitude": 15.2,
            "min_velocity": 0.1,
            "additional_data": {
                "scan_type": "MBES"
            }
          }
        ],
        "region_of_interest": {}
      }
    ]
160 161
  }
}