diff --git a/examples/geojson/platform_status.json b/examples/geojson/platform_status.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea61efef3799cbe9bd218df9e0cd00d3c938c5ea
--- /dev/null
+++ b/examples/geojson/platform_status.json
@@ -0,0 +1,54 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "ecosub_c2",
+ "destination": "soar.planet-ocean.ecosub.ecosub-2.from_platform.platform_status",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "platform_status",
+ "platform_ID": "ecosub-2",
+ "platform_timestamp": "2022-12-21T00:00:00Z",
+ "status_source": "onboard_platform",
+ "autonomy_engine_plan_ID": 1,
+ "battery_remaining_capacity": 80.2,
+ "platform_state": "ABORT",
+ "mission_plan_ID": 1,
+ "mission_track_ID": 4,
+ "position": {
+ "type": "Point",
+ "coordinates": [
+ -10.122,
+ 178.2,
+ 50.0,
+ 20
+ ]
+ },
+ "waypoint": {
+ "type": "Point",
+ "coordinates": [
+ -10.5,
+ 178.5
+ ]
+ },
+ "heading": 90.0,
+ "health_status": false,
+ "localisation_north_error": 0,
+ "localisation_east_error": 0,
+ "usbl_fix_seconds_ago": 0,
+ "range_to_go": 124.3,
+ "sensor_config": {
+ "sensor_serial": "sidescan-2x",
+ "sensor_on": true,
+ "additional_data": {
+ "whiskers_on": true
+ }
+ },
+ "speed_over_ground": 4.3,
+ "thrust_applied": 124.3,
+ "water_current_velocity": "124.3NE"
+ }
+}
diff --git a/formats/platform_status.py b/formats/platform_status.py
index df4f047e90238b6e854272c1d2b3a88c10238034..47807805ec41636fc35064f96560015644c549b1 100644
--- a/formats/platform_status.py
+++ b/formats/platform_status.py
@@ -171,82 +171,82 @@ platform_status_schema = {
"example": 7.4,
},
"sensor_config": sensor_schema,
- "oneOf": [
- {
- "type": "object",
- "properties": {
- "position": {
- "$ref": "https://geojson.org/schema/Point.json",
- },
- "waypoint": {
- "$ref": "https://geojson.org/schema/Point.json",
- },
+ },
+ "oneOf": [
+ {
+ "type": "object",
+ "properties": {
+ "position": {
+ "$ref": "https://geojson.org/schema/Point.json",
+ },
+ "waypoint": {
+ "$ref": "https://geojson.org/schema/Point.json",
},
- "required": [
- "position",
- ],
},
- {
- "type": "object",
- "properties": {
- "latitude": {
- "type": "number",
- "format": "float",
- "description": "Latitude (Y-coordinate) in decimal degrees.",
- "example": 178.2,
- },
- "longitude": {
- "type": "number",
- "format": "float",
- "description": "Longitude (X-coordinate) in decimal degrees.",
- "example": -10.122,
- },
- "depth": {
- "type": "number",
- "format": "float",
- "description": "Target depth in metres",
- "example": 50.0,
- "default": 0.0,
- },
- "altitude": {
- "type": "number",
- "format": "float",
- "description": "Target altitude in metres",
- "example": 20.0,
- },
- "waypoint_latitude": {
- "type": "number",
- "format": "float",
- "description": "Latitude (Y-coordinate) in decimal degrees.",
- "example": 178.2,
- },
- "waypoint_longitude": {
- "type": "number",
- "format": "float",
- "description": "Longitude (X-coordinate) in decimal degrees.",
- "example": -10.122,
- },
- "waypoint_depth": {
- "type": "number",
- "format": "float",
- "description": "Target depth in metres",
- "example": 50.0,
- "default": 0.0,
- },
- "waypoint_altitude": {
- "type": "number",
- "format": "float",
- "description": "Target altitude in metres",
- "example": 20.0,
- },
+ "required": [
+ "position",
+ ],
+ },
+ {
+ "type": "object",
+ "properties": {
+ "latitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ },
+ "longitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ },
+ "depth": {
+ "type": "number",
+ "format": "float",
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "default": 0.0,
+ },
+ "altitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target altitude in metres",
+ "example": 20.0,
+ },
+ "waypoint_latitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ },
+ "waypoint_longitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ },
+ "waypoint_depth": {
+ "type": "number",
+ "format": "float",
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "default": 0.0,
+ },
+ "waypoint_altitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target altitude in metres",
+ "example": 20.0,
},
- "required": [
- "latitude",
- "longitude",
- ],
},
- ],
- },
+ "required": [
+ "latitude",
+ "longitude",
+ ],
+ },
+ ],
"required": [
"message_type",
"platform_ID",
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index 9c39c8e671d213765e1f83c68759a330969ac88c..2296040560007075f67cb947f325f5499f1f0fb2 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -2010,6 +2010,81 @@
"type": "object"
},
"platform_status": {
+ "oneOf": [
+ {
+ "properties": {
+ "position": {
+ "$ref": "#/components/schemas/geojson.org.schema.Point.json"
+ },
+ "waypoint": {
+ "$ref": "#/components/schemas/geojson.org.schema.Point.json"
+ }
+ },
+ "required": [
+ "position"
+ ],
+ "type": "object"
+ },
+ {
+ "properties": {
+ "altitude": {
+ "description": "Target altitude in metres",
+ "example": 20.0,
+ "format": "float",
+ "type": "number"
+ },
+ "depth": {
+ "default": 0.0,
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude": {
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude": {
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "waypoint_altitude": {
+ "description": "Target altitude in metres",
+ "example": 20.0,
+ "format": "float",
+ "type": "number"
+ },
+ "waypoint_depth": {
+ "default": 0.0,
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "format": "float",
+ "type": "number"
+ },
+ "waypoint_latitude": {
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "waypoint_longitude": {
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "required": [
+ "latitude",
+ "longitude"
+ ],
+ "type": "object"
+ }
+ ],
"properties": {
"autonomy_engine_plan_ID": {
"description": "Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
@@ -2087,81 +2162,6 @@
"example": 4,
"type": "integer"
},
- "oneOf": [
- {
- "properties": {
- "position": {
- "$ref": "https://geojson.org/schema/Point.json"
- },
- "waypoint": {
- "$ref": "https://geojson.org/schema/Point.json"
- }
- },
- "required": [
- "position"
- ],
- "type": "object"
- },
- {
- "properties": {
- "altitude": {
- "description": "Target altitude in metres",
- "example": 20.0,
- "format": "float",
- "type": "number"
- },
- "depth": {
- "default": 0.0,
- "description": "Target depth in metres",
- "example": 50.0,
- "format": "float",
- "type": "number"
- },
- "latitude": {
- "description": "Latitude (Y-coordinate) in decimal degrees.",
- "example": 178.2,
- "format": "float",
- "type": "number"
- },
- "longitude": {
- "description": "Longitude (X-coordinate) in decimal degrees.",
- "example": -10.122,
- "format": "float",
- "type": "number"
- },
- "waypoint_altitude": {
- "description": "Target altitude in metres",
- "example": 20.0,
- "format": "float",
- "type": "number"
- },
- "waypoint_depth": {
- "default": 0.0,
- "description": "Target depth in metres",
- "example": 50.0,
- "format": "float",
- "type": "number"
- },
- "waypoint_latitude": {
- "description": "Latitude (Y-coordinate) in decimal degrees.",
- "example": 178.2,
- "format": "float",
- "type": "number"
- },
- "waypoint_longitude": {
- "description": "Longitude (X-coordinate) in decimal degrees.",
- "example": -10.122,
- "format": "float",
- "type": "number"
- }
- },
- "required": [
- "latitude",
- "longitude"
- ],
- "type": "object"
- }
- ],
"platform_ID": {
"description": "Unique identifier for this platform",
"example": "reav-x-1",