From 04128aa8bb1a84cc829b3453b71526d43c7ca168 Mon Sep 17 00:00:00 2001
From: Trishna Saeharaseelan <trishna.saeharaseelan@noc.ac.uk>
Date: Thu, 16 Mar 2023 15:47:46 +0000
Subject: [PATCH] feat: support binary payload
---
.../mission_plan_encoded.json | 17 +
.../observation_encoded.json | 17 +
.../platform_status_encoded.json | 17 +
.../ecosub_adapter/observation_encoded.json | 17 +
formats/encoded.py | 45 +
generate_schema_config.py | 13 +
project/soar/swagger.json | 1521 +++++++++--------
7 files changed, 956 insertions(+), 691 deletions(-)
create mode 100644 examples/autonomy_engine_adapter/mission_plan_encoded.json
create mode 100644 examples/autonomy_engine_adapter/observation_encoded.json
create mode 100644 examples/autonomy_engine_adapter/platform_status_encoded.json
create mode 100644 examples/ecosub_adapter/observation_encoded.json
create mode 100644 formats/encoded.py
diff --git a/examples/autonomy_engine_adapter/mission_plan_encoded.json b/examples/autonomy_engine_adapter/mission_plan_encoded.json
new file mode 100644
index 0000000..e0a213a
--- /dev/null
+++ b/examples/autonomy_engine_adapter/mission_plan_encoded.json
@@ -0,0 +1,17 @@
+{
+ "header": {
+ "message_ID": "t1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2023-03-16T00:00:00Z",
+ "version": 2,
+ "source": "autonomy_engine",
+ "destination": "soar.hermes.autosub.alr-52.send.mission_plan_encoded",
+ "delivery_type": "publish",
+ "encoded": true
+ },
+ "payload": {
+ "message_type": "mission_plan_encoded",
+ "data": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBlB/tRYQW3nez5HWYFBAAD+zwBySUAAAADVek72v1N2lUQAAAABAQAAAAAAAAAAAAAAAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "file_name": "ah1_03837434286438.sbd",
+ "is_binary": true
+ }
+}
diff --git a/examples/autonomy_engine_adapter/observation_encoded.json b/examples/autonomy_engine_adapter/observation_encoded.json
new file mode 100644
index 0000000..5305a1f
--- /dev/null
+++ b/examples/autonomy_engine_adapter/observation_encoded.json
@@ -0,0 +1,17 @@
+{
+ "header": {
+ "message_ID": "e1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2023-03-16T00:00:00Z",
+ "version": 2,
+ "source": "hermes.ecosub2",
+ "destination": "soar.planet-ocean.ecosub.ecosub-2.receive.observation_encoded",
+ "delivery_type": "publish",
+ "encoded": true
+ },
+ "payload": {
+ "message_type": "observation_encoded",
+ "data": "T1N2lUQAAAABAQAAAAAAAAAAAAAAAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "file_name": "ecosub1_200002114.txt",
+ "is_binary": true
+ }
+}
diff --git a/examples/autonomy_engine_adapter/platform_status_encoded.json b/examples/autonomy_engine_adapter/platform_status_encoded.json
new file mode 100644
index 0000000..52ec489
--- /dev/null
+++ b/examples/autonomy_engine_adapter/platform_status_encoded.json
@@ -0,0 +1,17 @@
+{
+ "header": {
+ "message_ID": "t1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2023-03-16T00:00:00Z",
+ "version": 2,
+ "source": "hermes.ah1",
+ "destination": "soar.noc.autosub.alr-52.receive.platform_status_encoded",
+ "delivery_type": "publish",
+ "encoded": true
+ },
+ "payload": {
+ "message_type": "platform_status_encoded",
+ "data": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBlB/tRYQW3nez5HWYFBAAD+zwBySUAAAADVek72v1N2lUQAAAABAQAAAAAAAAAAAAAAAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "file_name": "ah1_03837434286438.sbd",
+ "is_binary": true
+ }
+}
diff --git a/examples/ecosub_adapter/observation_encoded.json b/examples/ecosub_adapter/observation_encoded.json
new file mode 100644
index 0000000..5305a1f
--- /dev/null
+++ b/examples/ecosub_adapter/observation_encoded.json
@@ -0,0 +1,17 @@
+{
+ "header": {
+ "message_ID": "e1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2023-03-16T00:00:00Z",
+ "version": 2,
+ "source": "hermes.ecosub2",
+ "destination": "soar.planet-ocean.ecosub.ecosub-2.receive.observation_encoded",
+ "delivery_type": "publish",
+ "encoded": true
+ },
+ "payload": {
+ "message_type": "observation_encoded",
+ "data": "T1N2lUQAAAABAQAAAAAAAAAAAAAAAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "file_name": "ecosub1_200002114.txt",
+ "is_binary": true
+ }
+}
diff --git a/formats/encoded.py b/formats/encoded.py
new file mode 100644
index 0000000..0b93dbc
--- /dev/null
+++ b/formats/encoded.py
@@ -0,0 +1,45 @@
+"""
+ schemas: Encoded (compiled) type messages that are applicable to compiled
+ platform statuses and observations (from the platform), and compiled
+ mission plans (to the platform). This encoded schema is applicable to the
+ different message types: mission_plan_encoded, observation_encoded, and
+ platform_status_encoded.
+"""
+
+encoded_schema = {
+ "type": "object",
+ "properties": {
+ "message_type": {
+ "type": "string",
+ "description": "Type of message",
+ "example": "mission_plan",
+ "enum": [
+ "mission_plan_encoded",
+ "observation_encoded",
+ "platform_status_encoded",
+ ],
+ },
+ "data": {
+ "type": "string",
+ "description": "Base64 encoded string",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcB"
+ + "AAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ },
+ "file_name": {
+ "type": "string",
+ "description": "Name of file",
+ "example": "ah1-0238126349247372.bin",
+ },
+ "mime_type": {
+ "type": "string",
+ "description": "MIME type",
+ "example": "", # TODO: Add example
+ },
+ "is_binary": {
+ "type": "boolean",
+ "description": "Base64 encrypted binary data",
+ "example": True,
+ },
+ },
+ "required": ["data", "is_binary"],
+}
diff --git a/generate_schema_config.py b/generate_schema_config.py
index 68e3992..51f081f 100644
--- a/generate_schema_config.py
+++ b/generate_schema_config.py
@@ -1,4 +1,5 @@
from formats import message_header
+from formats.encoded import encoded_schema
from formats.mission_plan import mission_plan_schema
from formats.observation import observation_schema
from formats.planning_configuration import planning_configuration_schema
@@ -51,26 +52,38 @@ swagger_config = {
"propertyName": "message_type",
"mapping": {
"mission_plan": "#/components/schemas/mission_plan",
+ "mission_plan_encoded": "#/components/schemas/"
+ + "mission_plan_encoded",
"observation": "#/components/schemas/observation",
+ "observation_encoded": "#/components/schemas/"
+ + "observation_encoded",
"planning_configuration": "#/components/schemas/"
+ "planning_configuration",
"platform_status": "#/components/schemas/platform_status",
+ "platform_status_encoded": "#/components/schemas/"
+ + "platform_status_encoded",
"acknowledgement": "#/components/schemas/acknowledgement",
},
},
"oneOf": [
{"$ref": "#/components/schemas/acknowledgement"},
{"$ref": "#/components/schemas/mission_plan"},
+ {"$ref": "#/components/schemas/mission_plan_encoded"},
{"$ref": "#/components/schemas/observation"},
+ {"$ref": "#/components/schemas/observation_encoded"},
{"$ref": "#/components/schemas/planning_configuration"},
{"$ref": "#/components/schemas/platform_status"},
+ {"$ref": "#/components/schemas/platform_status_encoded"},
],
},
"header": message_header,
"mission_plan": mission_plan_schema,
+ "mission_plan_encoded": encoded_schema,
"observation": observation_schema,
+ "observation_encoded": encoded_schema,
"planning_configuration": planning_configuration_schema,
"platform_status": platform_status_schema,
+ "platform_status_encoded": encoded_schema,
"acknowledgement": acknowledgement_schema,
}
},
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index e9fc054..d11b8f2 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -1,693 +1,832 @@
{
- "components":{
- "schemas":{
- "MESSAGE":{
- "description":"Full message definition with message-metadata in `header` and different message type schemas under `payload`",
- "properties":{
- "header":{
- "$ref":"#/components/schemas/header"
- },
- "payload":{
- "$ref":"#/components/schemas/payload"
- }
- },
- "required":[
- "header",
- "payload"
- ],
- "type":"object"
- },
- "acknowledgement":{
- "properties":{
- "approved":{
- "description":"Human-in-the-loop approval.1 - Plan approved; 0 - Plan Rejected",
- "type":"boolean"
- },
- "autonomy_engine_plan_ID":{
- "description":"Mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
- "example":1,
- "type":"integer"
- },
- "message_type":{
- "description":"Type of message",
- "example":"acknowledgement",
- "type":"string",
- "enum": ["acknowledgement"]
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
- }
- },
- "required":[
- "message_type",
- "autonomy_engine_plan_ID",
- "platform_ID",
- "approved"
- ],
- "type":"object"
- },
- "header":{
- "discriminator":{
- "propertyName":"message_type"
- },
- "properties":{
- "delivery_type":{
- "default":"publish",
- "description":"To publish or broadcast this message.",
- "enum":[
- "broadcast",
- "publish"
- ],
- "example":"publish",
- "type":"string"
- },
- "destination":{
- "description":"Publisher topic; What is the destination of this message",
- "example":"ah1",
- "type":"string"
- },
- "encoded":{
- "description":"Indicate that message raw (encoded) or decoded. Options: encoded=True, decoded=False",
- "example":false,
- "type":"boolean"
- },
- "message_ID":{
- "description":"An identifier for the type of message received.",
- "example":"b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
- "type":"string"
- },
- "source":{
- "description":"The sender; Where is this message from",
- "example":"autonomy_engine",
- "type":"string"
- },
- "timestamp":{
- "description":"Timestamp of message",
- "example":"2022-11-16T00:00:00Z",
- "format":"date-time",
- "type":"string"
- },
- "version":{
- "description":"Version of comms backbone message format protocol",
- "example":2.0,
- "format":"float",
- "type":"number"
- }
- },
- "type":"object"
- },
- "mission_plan":{
- "properties":{
- "autonomy_engine_plan_ID":{
- "description":"Unique identifier for this plangenerated by the Autonomy Engine",
- "example":3,
- "type":"integer"
- },
- "message_type":{
- "description":"Type of message",
- "example":"mission_plan",
- "type":"string",
- "enum": ["mission_plan"]
- },
- "plan":{
- "items":{
- "properties":{
- "action":{
- "description":"Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
- "example":"move",
- "type":"string"
- },
- "activate_payload":{
- "description":"To activate/deactivate sensor for Autosub Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
- "example":true,
- "type":"boolean"
- },
- "timeout": {
- "description": "Timeout set to perform action",
- "example": 1800.0,
- "format": "float",
- "type": "number"
- },
- "altitude":{
- "description":"Altitude of next action",
- "example":15.0,
- "format":"float",
- "type":"number"
- },
- "depth":{
- "description":"Depth of next action",
- "example":15.0,
- "format":"float",
- "type":"number"
- },
- "start_point_latitude":{
- "description":"Start point, x-coordinate",
- "example":-4.187143188645706,
- "format":"float",
- "type":"number"
- },
- "start_point_longitude":{
- "description":"Start point, y-coordinate",
- "example":50.37072283932642,
- "format":"float",
- "type":"number"
- },
- "target_waypoint_latitude":{
- "description":"Target waypoint, x-coordinate",
- "example":-4.187143188645706,
- "format":"float",
- "type":"number"
- },
- "target_waypoint_longitude":{
- "description":"Target waypoint, y-coordinate",
- "example":50.37072283932642,
- "format":"float",
- "type":"number"
- }
- },
- "required":[
- "target_waypoint_latitude",
- "target_waypoint_longitude"
- ],
- "type":"object"
- },
- "type":"array"
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
- }
- },
- "required":[
- "message_type",
- "autonomy_engine_plan_ID",
- "platform_ID",
- "plan"
- ],
- "type":"object"
- },
- "observation":{
- "properties":{
- "additional_data":{
- "description":"Placeholder field for any additional data",
- "example":{
- "sensor_payload":false
- }
- },
- "message_type":{
- "description":"Type of message",
- "example":"observation",
- "type":"string",
- "enum": ["observation"]
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
- },
- "points_of_interest":{
- "description":"Points from features of interest identified by platform if any found.",
- "items":{
- "properties":{
- "latitude":{
- "description":"Identified x-coordinate of point of interest",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "longitude":{
- "description":"Identified y-coordinate of point of interest",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "quality_of_point":{
- "description":"Quality/strength of points from features of interest identified by platform.",
- "example":0.98,
- "format":"float",
- "type":"number"
- }
- },
- "required":[
- "latitude",
- "longitude"
- ],
- "type":"object"
- },
- "type":"array"
- },
- "region_surveyed":{
- "description":"Region surveyed by given platform. GEOJSON",
- "example":"",
- "nullable":true
- }
- },
- "required":[
- "message_type",
- "platform_ID"
- ],
- "type":"object"
- },
- "payload":{
- "discriminator":{
- "mapping":{
- "acknowledgement":"#/components/schemas/acknowledgement",
- "mission_plan":"#/components/schemas/mission_plan",
- "observation":"#/components/schemas/observation",
- "planning_configuration":"#/components/schemas/planning_configuration",
- "platform_status":"#/components/schemas/platform_status"
- },
- "propertyName":"message_type"
- },
- "oneOf":[
- {
- "$ref":"#/components/schemas/acknowledgement"
- },
- {
- "$ref":"#/components/schemas/mission_plan"
- },
- {
- "$ref":"#/components/schemas/observation"
- },
- {
- "$ref":"#/components/schemas/planning_configuration"
- },
- {
- "$ref":"#/components/schemas/platform_status"
- }
- ]
- },
- "planning_configuration":{
- "properties":{
- "exclusion_zones":{
- "description":"Exclusion zones for all platforms",
- "items":{
- "description":"Using GEOJSON, exact 4-point region (rectangle shaped)",
- "properties":{
- "geometry_coordinates":{
- "example":[
- [
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
- ]
- ],
- "type":"array"
- }
- },
- "type":"object"
- },
- "type":"array"
- },
- "message_type":{
- "description":"Type of message",
- "example":"planning_configuration",
- "type":"string",
- "enum": ["planning_configuration"]
- },
- "planning_config_ID":{
- "description":"Unique identifier tagged to version of this configuration plan",
- "example":3,
- "type":"integer"
- },
- "squads":{
- "items":{
- "properties":{
- "no_of_platforms":{
- "description":"Number of platforms",
- "example":3,
- "type":"integer"
- },
- "platforms":{
- "description":"Squad consists of these platforms",
- "items":{
- "properties":{
- "additional_specs":{
- "description":"Any addition fields/data to be added here",
- "example":{
- "scan_type":"DVL",
- "swath_width":10.0
- }
- },
- "emergency":{
- "properties":{
- "additional_data":{
- "description":"Any addition fields/data to be added here",
- "example":{
-
- },
- "type":"object"
- },
- "safe_command":{
- "description":"Command/Action that is native to respective partner's platform/C2",
- "enum":[
- "go_home",
- "abort_now",
- "stop_mission"
- ],
- "example":"go_home",
- "type":"string"
- },
- "target_depth":{
- "description":"Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
- "example":10.0,
- "format":"float",
- "type":"number"
- },
- "target_waypoint_latitude":{
- "description":"X-coordinate safe place for respective platform",
- "example":-7.432,
- "format":"float",
- "type":"number"
- },
- "target_waypoint_longitude":{
- "description":"Y-coordinate safe place for respective platform",
- "example":50.365,
- "format":"float",
- "type":"number"
- }
- },
- "required":[
- "target_waypoint_latitude",
- "target_waypoint_longitude",
- "target_depth"
- ],
- "type":"object"
- },
- "max_velocity":{
- "description":"Maximum altitude set for squad.",
- "example":0.9,
- "format":"float",
- "type":"number"
- },
- "min_altitude":{
- "description":"Minimum altitude set for squad.",
- "example":15.2,
- "format":"float",
- "type":"number"
- },
- "min_velocity":{
- "description":"Minimum velocity set for squad.",
- "example":0.1,
- "format":"float",
- "type":"number"
- },
- "model":{
- "example":"reav",
- "type":"string"
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
- }
- },
- "required":[
- "platform_ID",
- "model",
- "emergency",
- "min_altitude",
- "min_velocity",
- "max_velocity"
- ],
- "type":"object"
- },
- "type":"array"
- },
- "region_of_interest":{
- "description":"Using GEOJSON, exact 4-point region (rectangle shaped)",
- "properties":{
- "geometry_coordinates":{
- "example":[
- [
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
- ]
- ],
- "type":"array"
- }
- },
- "type":"object"
- },
- "squad_ID":{
- "description":"Identifier of given squad",
- "example":23,
- "type":"integer"
- },
- "squad_mission_type":{
- "description":"Mission of given squad: `tracking`, `survey`, `inspection`",
- "enum":[
- "tracking",
- "survey",
- "inspection"
- ],
- "example":"survey",
- "type":"string"
- },
- "squad_state":{
- "description":"In execution, Waiting.. <define further>",
- "example":false,
- "type":"string"
- }
- },
- "required":[
- "squad_ID",
- "no_of_platforms",
- "platforms",
- "squad_mission_type",
- "squad_state"
- ],
- "type":"object"
- },
- "type":"array"
- }
- },
- "required":[
- "message_type",
- "planning_config_ID",
- "squads",
- "exclusion_zones"
- ],
- "type":"object"
- },
- "platform_status":{
- "properties":{
- "altitude":{
- "description":"Target altitude in metres",
- "example":20.0,
- "format":"float",
- "type":"number"
- },
- "autonomy_engine_plan_ID":{
- "description":"Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
- "example":1,
- "type":"integer"
- },
- "battery_remaining_capacity":{
- "description":"Battery remaining % provided by respective C2",
- "example":80.2,
- "format":"float",
- "type":"number"
- },
- "depth":{
- "default":0.0,
- "description":"Target depth in metres",
- "example":50.0,
- "format":"float",
- "type":"number"
- },
- "heading":{
- "description":"Angular distance relative to north, usually 000\u00b0 at north, clockwise through 359\u00b0, in degrees",
- "example":124.3,
- "format":"float",
- "type":"number"
- },
- "health_status":{
- "description":"Health status where 0 is OK, 1 is platform has an ERROR",
- "example":false,
- "type":"boolean"
- },
- "latitude":{
- "description":"Latitude in decimal degrees.",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "localisation_east_error":{
- "description":"Difference in EAST between deadreckoningand USBL update.",
- "example":0.000129,
- "format":"float",
- "type":"number"
- },
- "localisation_north_error":{
- "description":"Difference in NORTH between deadreckoning and USBL update.",
- "example":0.000129,
- "format":"float",
- "type":"number"
- },
- "longitude":{
- "description":"Longitude in decimal degrees.",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "message_type":{
- "description":"Type of message",
- "example":"platform_status",
- "type":"string",
- "enum": ["platform_status"]
- },
- "mission_plan_ID":{
- "description":"Mission plan ID according to platform-C2 system",
- "example":1,
- "type":"integer"
- },
- "mission_track_ID":{
- "description":"Track number - stage in mission (e.g. 4 --> Waypoint 3 to Waypoint 4)",
- "example":4,
- "type":"integer"
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
- },
- "platform_state":{
- "description":"Current state executed by platform. E.g. STOP, IDLE, ABORT.",
- "example":"ABORT",
- "type":"string"
- },
- "platform_timestamp":{
- "description":"Timestamp for onboard platform status message",
- "example":"2022-12-21T00:00:00Z",
- "format":"date-time",
- "type":"string"
- },
- "range_to_go":{
- "description":"Estimated distance to reach next waypoint",
- "example":124.3,
- "format":"float",
- "type":"number"
- },
- "sensor_config":{
- "description":"Scanning sensor on platform available to be controlled by the Autonomy Engine",
- "properties":{
- "additional_data":{
- "description":"Any addition fields/data to be added here",
- "example":{
- "payload":[
- 1.2,
- 434
- ]
- },
- "type":"object"
- },
- "sensor_on":{
- "description":"Sensor switched on (True) or off (False)",
- "example":true,
- "type":"boolean"
- },
- "sensor_serial":{
- "description":"serial number of sensor",
- "example":"mbes-002a",
- "type":"string"
- }
- },
- "type":"object"
- },
- "speed_over_ground":{
- "description":"Speed over ground",
- "example":124.3,
- "format":"float",
- "type":"number"
- },
- "status_source":{
- "description":"Indicate if this status message is from the platform or USBL",
- "enum":[
- "usbl",
- "onboard_platform"
- ],
- "example":"usbl",
- "type":"string"
- },
- "thrust_applied":{
- "description":"Thrust applied",
- "example":124.3,
- "format":"float",
- "type":"number"
- },
- "transmission_mode":{
- "description":"Mode in which status message was transmitted when on the surface (e.g. iridium/wifi) or underwater (e.g. acoustics)",
- "enum":[
- "acoustics",
- "iridium",
- "wifi",
- "starlink"
- ],
- "example":"wifi",
- "type":"string"
- },
- "usbl_fix_seconds_ago":{
- "description":"USBL Fix received x second ago.",
- "example":10.0,
- "format":"float",
- "type":"number"
- },
- "water_current_velocity":{
- "description":"Water current magnitude and direction",
- "example":"124.3NE",
- "type":"string"
- }
- },
- "required":[
- "message_type",
- "platform_ID",
- "status_source",
- "platform_timestamp",
- "latitude",
- "longitude"
- ],
- "type":"object"
- }
- }
- },
- "info":{
- "description":"SoAR message protocol in schemas",
- "title":"SoAR Backbone Message Formats",
- "version":"1.0"
- },
- "openapi":"3.0.2",
- "paths":{
-
- }
+ "components":{
+ "schemas":{
+ "MESSAGE":{
+ "description":"Full message definition with message-metadata in `header` and different message type schemas under `payload`",
+ "properties":{
+ "header":{
+ "$ref":"#/components/schemas/header"
+ },
+ "payload":{
+ "$ref":"#/components/schemas/payload"
+ }
+ },
+ "required":[
+ "header",
+ "payload"
+ ],
+ "type":"object"
+ },
+ "acknowledgement":{
+ "properties":{
+ "approved":{
+ "description":"Human-in-the-loop approval.1 - Plan approved; 0 - Plan Rejected",
+ "type":"boolean"
+ },
+ "autonomy_engine_plan_ID":{
+ "description":"Mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
+ "example":1,
+ "type":"integer"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "acknowledgement"
+ ],
+ "example":"acknowledgement",
+ "type":"string"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ }
+ },
+ "required":[
+ "message_type",
+ "autonomy_engine_plan_ID",
+ "platform_ID",
+ "approved"
+ ],
+ "type":"object"
+ },
+ "header":{
+ "discriminator":{
+ "propertyName":"message_type"
+ },
+ "properties":{
+ "delivery_type":{
+ "default":"publish",
+ "description":"To publish or broadcast this message.",
+ "enum":[
+ "broadcast",
+ "publish"
+ ],
+ "example":"publish",
+ "type":"string"
+ },
+ "destination":{
+ "description":"Publisher topic; What is the destination of this message",
+ "example":"ah1",
+ "type":"string"
+ },
+ "encoded":{
+ "description":"Indicate that message raw (encoded) or decoded. Options: encoded=True, decoded=False",
+ "example":false,
+ "type":"boolean"
+ },
+ "message_ID":{
+ "description":"An identifier for the type of message received.",
+ "example":"b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "type":"string"
+ },
+ "source":{
+ "description":"The sender; Where is this message from",
+ "example":"autonomy_engine",
+ "type":"string"
+ },
+ "timestamp":{
+ "description":"Timestamp of message",
+ "example":"2022-11-16T00:00:00Z",
+ "format":"date-time",
+ "type":"string"
+ },
+ "version":{
+ "description":"Version of comms backbone message format protocol",
+ "example":2.0,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "type":"object"
+ },
+ "mission_plan":{
+ "properties":{
+ "autonomy_engine_plan_ID":{
+ "description":"Unique identifier for this plangenerated by the Autonomy Engine",
+ "example":3,
+ "type":"integer"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "mission_plan"
+ ],
+ "example":"mission_plan",
+ "type":"string"
+ },
+ "plan":{
+ "items":{
+ "properties":{
+ "action":{
+ "description":"Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
+ "example":"move",
+ "type":"string"
+ },
+ "activate_payload":{
+ "description":"To activate/deactivate sensor for Autosub Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
+ "example":true,
+ "type":"boolean"
+ },
+ "altitude":{
+ "description":"Altitude of next action",
+ "example":15.0,
+ "format":"float",
+ "type":"number"
+ },
+ "depth":{
+ "description":"Depth of next action",
+ "example":15.0,
+ "format":"float",
+ "type":"number"
+ },
+ "start_point_latitude":{
+ "description":"Start point, x-coordinate",
+ "example":-4.187143188645706,
+ "format":"float",
+ "type":"number"
+ },
+ "start_point_longitude":{
+ "description":"Start point, y-coordinate",
+ "example":50.37072283932642,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_latitude":{
+ "description":"Target waypoint, x-coordinate",
+ "example":-4.187143188645706,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_longitude":{
+ "description":"Target waypoint, y-coordinate",
+ "example":50.37072283932642,
+ "format":"float",
+ "type":"number"
+ },
+ "timeout":{
+ "description":"Timeout set to perform action",
+ "example":1800.0,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "target_waypoint_latitude",
+ "target_waypoint_longitude"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ }
+ },
+ "required":[
+ "message_type",
+ "autonomy_engine_plan_ID",
+ "platform_ID",
+ "plan"
+ ],
+ "type":"object"
+ },
+ "mission_plan_encoded":{
+ "properties":{
+ "data":{
+ "description":"Base64 encoded string",
+ "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type":"string"
+ },
+ "file_name":{
+ "description":"Name of file",
+ "example":"ah1-0238126349247372.bin",
+ "type":"string"
+ },
+ "is_binary":{
+ "description":"Base64 encrypted binary data",
+ "example":true,
+ "type":"boolean"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "mission_plan_encoded",
+ "observation_encoded",
+ "platform_status_encoded"
+ ],
+ "example":"mission_plan",
+ "type":"string"
+ },
+ "mime_type":{
+ "description":"MIME type",
+ "example":"",
+ "type":"string"
+ }
+ },
+ "required":[
+ "data",
+ "is_binary"
+ ],
+ "type":"object"
+ },
+ "observation":{
+ "properties":{
+ "additional_data":{
+ "description":"Placeholder field for any additional data",
+ "example":{
+ "sensor_payload":false
+ }
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "observation"
+ ],
+ "example":"observation",
+ "type":"string"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ },
+ "points_of_interest":{
+ "description":"Points from features of interest identified by platform if any found.",
+ "items":{
+ "properties":{
+ "latitude":{
+ "description":"Identified x-coordinate of point of interest",
+ "example":178.2,
+ "format":"float",
+ "type":"number"
+ },
+ "longitude":{
+ "description":"Identified y-coordinate of point of interest",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "quality_of_point":{
+ "description":"Quality/strength of points from features of interest identified by platform.",
+ "example":0.98,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "latitude",
+ "longitude"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "region_surveyed":{
+ "description":"Region surveyed by given platform. GEOJSON",
+ "example":"",
+ "nullable":true
+ }
+ },
+ "required":[
+ "message_type",
+ "platform_ID"
+ ],
+ "type":"object"
+ },
+ "observation_encoded":{
+ "properties":{
+ "data":{
+ "description":"Base64 encoded string",
+ "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type":"string"
+ },
+ "file_name":{
+ "description":"Name of file",
+ "example":"ah1-0238126349247372.bin",
+ "type":"string"
+ },
+ "is_binary":{
+ "description":"Base64 encrypted binary data",
+ "example":true,
+ "type":"boolean"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "mission_plan_encoded",
+ "observation_encoded",
+ "platform_status_encoded"
+ ],
+ "example":"mission_plan",
+ "type":"string"
+ },
+ "mime_type":{
+ "description":"MIME type",
+ "example":"",
+ "type":"string"
+ }
+ },
+ "required":[
+ "data",
+ "is_binary"
+ ],
+ "type":"object"
+ },
+ "payload":{
+ "discriminator":{
+ "mapping":{
+ "acknowledgement":"#/components/schemas/acknowledgement",
+ "mission_plan":"#/components/schemas/mission_plan",
+ "mission_plan_encoded":"#/components/schemas/mission_plan_encoded",
+ "observation":"#/components/schemas/observation",
+ "observation_encoded":"#/components/schemas/observation_encoded",
+ "planning_configuration":"#/components/schemas/planning_configuration",
+ "platform_status":"#/components/schemas/platform_status",
+ "platform_status_encoded":"#/components/schemas/platform_status_encoded"
+ },
+ "propertyName":"message_type"
+ },
+ "oneOf":[
+ {
+ "$ref":"#/components/schemas/acknowledgement"
+ },
+ {
+ "$ref":"#/components/schemas/mission_plan"
+ },
+ {
+ "$ref":"#/components/schemas/mission_plan_encoded"
+ },
+ {
+ "$ref":"#/components/schemas/observation"
+ },
+ {
+ "$ref":"#/components/schemas/observation_encoded"
+ },
+ {
+ "$ref":"#/components/schemas/planning_configuration"
+ },
+ {
+ "$ref":"#/components/schemas/platform_status"
+ },
+ {
+ "$ref":"#/components/schemas/platform_status_encoded"
+ }
+ ]
+ },
+ "planning_configuration":{
+ "properties":{
+ "exclusion_zones":{
+ "description":"Exclusion zones for all platforms",
+ "items":{
+ "description":"Using GEOJSON, exact 4-point region (rectangle shaped)",
+ "properties":{
+ "geometry_coordinates":{
+ "example":[
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ]
+ ]
+ ],
+ "type":"array"
+ }
+ },
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "planning_configuration"
+ ],
+ "example":"planning_configuration",
+ "type":"string"
+ },
+ "planning_config_ID":{
+ "description":"Unique identifier tagged to version of this configuration plan",
+ "example":3,
+ "type":"integer"
+ },
+ "squads":{
+ "items":{
+ "properties":{
+ "no_of_platforms":{
+ "description":"Number of platforms",
+ "example":3,
+ "type":"integer"
+ },
+ "platforms":{
+ "description":"Squad consists of these platforms",
+ "items":{
+ "properties":{
+ "additional_specs":{
+ "description":"Any addition fields/data to be added here",
+ "example":{
+ "scan_type":"DVL",
+ "swath_width":10.0
+ },
+ "type":"object"
+ },
+ "emergency":{
+ "properties":{
+ "additional_data":{
+ "description":"Any addition fields/data to be added here",
+ "example":{
+
+ }
+ },
+ "safe_command":{
+ "description":"Command/Action that is native to respective partner's platform/C2",
+ "enum":[
+ "go_home",
+ "abort_now",
+ "stop_mission"
+ ],
+ "example":"go_home",
+ "type":"string"
+ },
+ "target_depth":{
+ "description":"Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
+ "example":10.0,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_latitude":{
+ "description":"X-coordinate safe place for respective platform",
+ "example":-7.432,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_longitude":{
+ "description":"Y-coordinate safe place for respective platform",
+ "example":50.365,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "target_waypoint_latitude",
+ "target_waypoint_longitude",
+ "target_depth"
+ ],
+ "type":"object"
+ },
+ "max_velocity":{
+ "description":"Maximum altitude set for squad.",
+ "example":0.9,
+ "format":"float",
+ "type":"number"
+ },
+ "min_altitude":{
+ "description":"Minimum altitude set for squad.",
+ "example":15.2,
+ "format":"float",
+ "type":"number"
+ },
+ "min_velocity":{
+ "description":"Minimum velocity set for squad.",
+ "example":0.1,
+ "format":"float",
+ "type":"number"
+ },
+ "model":{
+ "example":"reav",
+ "type":"string"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ }
+ },
+ "required":[
+ "platform_ID",
+ "model",
+ "emergency",
+ "min_altitude",
+ "min_velocity",
+ "max_velocity"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "region_of_interest":{
+ "description":"Using GEOJSON, exact 4-point region (rectangle shaped)",
+ "properties":{
+ "geometry_coordinates":{
+ "example":[
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ]
+ ]
+ ],
+ "type":"array"
+ }
+ },
+ "type":"object"
+ },
+ "squad_ID":{
+ "description":"Identifier of given squad",
+ "example":23,
+ "type":"integer"
+ },
+ "squad_mission_type":{
+ "description":"Mission of given squad: `tracking`, `survey`, `inspection`",
+ "enum":[
+ "tracking",
+ "survey",
+ "inspection"
+ ],
+ "example":"survey",
+ "type":"string"
+ },
+ "squad_state":{
+ "description":"In execution, Waiting.. <define further>",
+ "example":false,
+ "type":"string"
+ }
+ },
+ "required":[
+ "squad_ID",
+ "no_of_platforms",
+ "platforms",
+ "squad_mission_type",
+ "squad_state"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ }
+ },
+ "required":[
+ "message_type",
+ "planning_config_ID",
+ "squads",
+ "exclusion_zones"
+ ],
+ "type":"object"
+ },
+ "platform_status":{
+ "properties":{
+ "altitude":{
+ "description":"Target altitude in metres",
+ "example":20.0,
+ "format":"float",
+ "type":"number"
+ },
+ "autonomy_engine_plan_ID":{
+ "description":"Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
+ "example":1,
+ "type":"integer"
+ },
+ "battery_remaining_capacity":{
+ "description":"Battery remaining % provided by respective C2",
+ "example":80.2,
+ "format":"float",
+ "type":"number"
+ },
+ "depth":{
+ "default":0.0,
+ "description":"Target depth in metres",
+ "example":50.0,
+ "format":"float",
+ "type":"number"
+ },
+ "heading":{
+ "description":"Angular distance relative to north, usually 000\u00b0 at north, clockwise through 359\u00b0, in degrees",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "health_status":{
+ "description":"Health status where 0 is OK, 1 is platform has an ERROR",
+ "example":false,
+ "type":"boolean"
+ },
+ "latitude":{
+ "description":"Latitude in decimal degrees.",
+ "example":178.2,
+ "format":"float",
+ "type":"number"
+ },
+ "localisation_east_error":{
+ "description":"Difference in EAST between deadreckoningand USBL update.",
+ "example":0.000129,
+ "format":"float",
+ "type":"number"
+ },
+ "localisation_north_error":{
+ "description":"Difference in NORTH between deadreckoning and USBL update.",
+ "example":0.000129,
+ "format":"float",
+ "type":"number"
+ },
+ "longitude":{
+ "description":"Longitude in decimal degrees.",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "platform_status"
+ ],
+ "example":"platform_status",
+ "type":"string"
+ },
+ "mission_plan_ID":{
+ "description":"Mission plan ID according to platform-C2 system",
+ "example":1,
+ "type":"integer"
+ },
+ "mission_track_ID":{
+ "description":"Track number - stage in mission (e.g. 4 --> Waypoint 3 to Waypoint 4)",
+ "example":4,
+ "type":"integer"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ },
+ "platform_state":{
+ "description":"Current state executed by platform. E.g. STOP, IDLE, ABORT.",
+ "example":"ABORT",
+ "type":"string"
+ },
+ "platform_timestamp":{
+ "description":"Timestamp for onboard platform status message",
+ "example":"2022-12-21T00:00:00Z",
+ "format":"date-time",
+ "type":"string"
+ },
+ "range_to_go":{
+ "description":"Estimated distance to reach next waypoint",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "sensor_config":{
+ "description":"Scanning sensor on platform available to be controlled by the Autonomy Engine",
+ "properties":{
+ "additional_data":{
+ "description":"Any addition fields/data to be added here",
+ "example":{
+ "payload":[
+ 1.2,
+ 434
+ ]
+ },
+ "type":"object"
+ },
+ "sensor_on":{
+ "description":"Sensor switched on (True) or off (False)",
+ "example":true,
+ "type":"boolean"
+ },
+ "sensor_serial":{
+ "description":"serial number of sensor",
+ "example":"mbes-002a",
+ "type":"string"
+ }
+ },
+ "type":"object"
+ },
+ "speed_over_ground":{
+ "description":"Speed over ground",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "status_source":{
+ "description":"Indicate if this status message is from the platform or USBL",
+ "enum":[
+ "usbl",
+ "onboard_platform"
+ ],
+ "example":"usbl",
+ "type":"string"
+ },
+ "thrust_applied":{
+ "description":"Thrust applied",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "transmission_mode":{
+ "description":"Mode in which status message was transmitted when on the surface (e.g. iridium/wifi) or underwater (e.g. acoustics)",
+ "enum":[
+ "acoustics",
+ "iridium",
+ "wifi",
+ "starlink"
+ ],
+ "example":"wifi",
+ "type":"string"
+ },
+ "usbl_fix_seconds_ago":{
+ "description":"USBL Fix received x second ago.",
+ "example":10.0,
+ "format":"float",
+ "type":"number"
+ },
+ "water_current_velocity":{
+ "description":"Water current magnitude and direction",
+ "example":"124.3NE",
+ "type":"string"
+ }
+ },
+ "required":[
+ "message_type",
+ "platform_ID",
+ "status_source",
+ "platform_timestamp",
+ "latitude",
+ "longitude"
+ ],
+ "type":"object"
+ },
+ "platform_status_encoded":{
+ "properties":{
+ "data":{
+ "description":"Base64 encoded string",
+ "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type":"string"
+ },
+ "file_name":{
+ "description":"Name of file",
+ "example":"ah1-0238126349247372.bin",
+ "type":"string"
+ },
+ "is_binary":{
+ "description":"Base64 encrypted binary data",
+ "example":true,
+ "type":"boolean"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "mission_plan_encoded",
+ "observation_encoded",
+ "platform_status_encoded"
+ ],
+ "example":"mission_plan",
+ "type":"string"
+ },
+ "mime_type":{
+ "description":"MIME type",
+ "example":"",
+ "type":"string"
+ }
+ },
+ "required":[
+ "data",
+ "is_binary"
+ ],
+ "type":"object"
+ }
+ }
+ },
+ "info":{
+ "description":"SoAR message protocol in schemas",
+ "title":"SoAR Backbone Message Formats",
+ "version":"1.0"
+ },
+ "openapi":"3.0.2",
+ "paths":{
+
+ }
}
\ No newline at end of file
--
GitLab