planning_configuration.json 4.02 KB
Newer Older
1
{
2
  "header":{
3 4 5
    "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
    "timestamp": "2022-11-16T00:00:00Z",
    "version": 2,
6
    "source": "gui",
7
    "destination": "soar.all.all.all.from_platform.planning_configuration",
8
    "delivery_type": "publish",
9 10 11
    "encoded": false
  },
  "payload":{
Trishna Saeharaseelan's avatar
Trishna Saeharaseelan committed
12
    "message_type": "planning_configuration",
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
    "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
            "emergency": {
              "additional_data": {},
50 51
              "target_waypoint_latitude": -7.432,
              "target_waypoint_longitude": 50.365,
52
              "safe_command": "go_home",
53
              "target_depth": 10.0
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
            },
            "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",
88
        "squad_state": "active",
89 90
        "platforms": [
          {
91
            "platform_ID": "ecosub-1",
92 93 94
            "model": "ecosub",
            "emergency": {
              "additional_data": {},
95 96
              "target_waypoint_latitude": -7.432,
              "target_waypoint_longitude": 50.365,
97 98 99 100 101 102 103 104 105 106 107 108
              "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
            }
          },
          {
109
            "platform_ID": "ecosub-2",
110 111 112
            "model": "ecosub",
            "emergency": {
              "additional_data": {},
113 114
              "target_waypoint_latitude": -0.432,
              "target_waypoint_longitude": 20.365,
115 116 117 118 119 120 121 122 123 124 125
              "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
            }
          }
126
        ]
127 128 129 130 131
      },
      {
        "squad_ID": 3,
        "no_of_platforms": 1,
        "squad_mission_type": "inspection",
132
        "squad_state": "active",
133 134
        "platforms": [
          {
135
            "platform_ID": "ah-1",
136 137 138
            "model": "autosub",
            "emergency": {
              "additional_data": {},
139 140
              "target_waypoint_latitude": 20.432,
              "target_waypoint_longitude": 50.365,
141
              "safe_command": "abort_now",
142 143 144 145 146 147 148 149 150
              "target_depth": 0.0
            },
            "max_velocity": 0.9,
            "min_altitude": 15.2,
            "min_velocity": 0.1,
            "additional_data": {
                "scan_type": "MBES"
            }
          }
151
        ]
152 153
      }
    ]
154 155
  }
}