diff --git a/README.md b/README.md
index e2e22cc0b46bb73f95e69f51bee61f651b2b7bd4..7de0435a94a3a9144b2583f9118c5b0c742fa1c4 100644
--- a/README.md
+++ b/README.md
@@ -8,6 +8,7 @@ Each message below will be wrapped in a `payload` field and will have a `header`
* `mission_plan`: these would be two message types, i. encoded (platform-specific serialized message) and ii. parsed, human-readable message.
* `platform_status`: these would be two message types, i. encoded (platform-specific serialized message) and ii. parsed, human-readable message.
* `observation`: this would be desired scientific data sent by the platform
+* `survey`: this would be demanded track, platform actual path, and survey line
* `acknowledgement`: level of acknowledgment where an acknowledgement is sent when a message is i. received, ii. sent to the next destination (e.g. platform in the water).
* `planning_configuration`: sent from the GUI to initialise the AI model (autonomy engine).
diff --git a/examples/autonomy_engine_adapter/survey.json b/examples/autonomy_engine_adapter/survey.json
new file mode 100644
index 0000000000000000000000000000000000000000..e715942a2c7e532dd2ae7a3098c88bd6b9967634
--- /dev/null
+++ b/examples/autonomy_engine_adapter/survey.json
@@ -0,0 +1,22 @@
+{
+ "header": {
+ "message_ID": "e1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2023-03-16T00:00:00Z",
+ "version": 2,
+ "source": "ecosub.ecosub-c2",
+ "destination": "soar.planet-ocean.ecosub.ecosub-2.from_platform.survey",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload": {
+ "message_type": "survey",
+ "timestamp": "2026-12-21T00:00:00Z",
+ "latitude_A": 188.1,
+ "longitude_A": -10.122,
+ "latitude_B": 178.2,
+ "longitude_B": -10.122,
+ "platform_ID": "ecosub-2",
+ "track_ID": 12
+ }
+}
+
\ No newline at end of file
diff --git a/examples/autonomy_engine_adapter/survey_encoded.json b/examples/autonomy_engine_adapter/survey_encoded.json
new file mode 100644
index 0000000000000000000000000000000000000000..19eaf7b6c9871c3e9b503e05bcb588bb3934208b
--- /dev/null
+++ b/examples/autonomy_engine_adapter/survey_encoded.json
@@ -0,0 +1,19 @@
+{
+ "header": {
+ "message_ID": "t1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2023-03-16T00:00:00Z",
+ "version": 2,
+ "source": "hermes.ecosub-2",
+ "destination": "soar.noc.autosub.alr-52.from_platform.survey_encoded",
+ "delivery_type": "publish",
+ "encoded": true
+ },
+ "payload": {
+ "message_type": "survey_encoded",
+ "data": "HWYFBAAD+zwBySUAAAADVek72v1N2lUAAAAA9P2cP166ab+9cg==",
+ "file_name": "ecosub2-survey-data_03837434286438.sbd",
+ "mime_type": "application/gzip",
+ "is_binary": true
+ }
+ }
+
\ No newline at end of file
diff --git a/formats/survey.py b/formats/survey.py
new file mode 100644
index 0000000000000000000000000000000000000000..f5f928c4d92f669fbc36d83e7f1e8532413bf7a0
--- /dev/null
+++ b/formats/survey.py
@@ -0,0 +1,55 @@
+"""
+ schema: Survey Message that is decoded sent by platforms
+ to track progress
+"""
+
+survey_schema = {
+ "type": "object",
+ "properties": {
+ "timestamp": {
+ "type": "string",
+ "format": "date-time",
+ "description": "Timestamp for onboard message",
+ "example": "2022-12-21T00:00:00Z",
+ },
+ "latitude_A": {
+ "type": "number",
+ "format": "float",
+ "description": ("Latitude of point A(intersection of normal)"
+ + "from waypoint A to survey line"),
+ "example": 178.2,
+ },
+ "longitude_A": {
+ "type": "number",
+ "format": "float",
+ "description": ("Longitude of point A(intersection of normal)"
+ + "from waypoint A to survey line"),
+ "example": -10.122,
+ },
+ "latitude_B": {
+ "type": "number",
+ "format": "float",
+ "description": ("Latitude of point B(intersection of normal)"
+ + "from waypoint B to survey line"),
+ "example": 178.2,
+ },
+ "longitude_B": {
+ "type": "number",
+ "format": "float",
+ "description": ("Longitude of point B(intersection of normal)"
+ + "from waypoint B to survey line"),
+ "example": -10.122,
+ },
+ "platform_ID": {
+ "type": "string",
+ "description": "Unique identifier for this platform",
+ "example": "ecosub-2",
+ },
+ "track_ID": {
+ "type": "integer",
+ "description": "Track number of action(s) currently executed by platform",
+ "example": 1,
+ },
+ },
+ "required": ["latitude_A", "longitude_A", "latitude_B", "longitude_B", "platform_ID"],
+}
diff --git a/formats/survey_encoded.py b/formats/survey_encoded.py
new file mode 100644
index 0000000000000000000000000000000000000000..88081e3285deb4266389e017f8aba98706359816
--- /dev/null
+++ b/formats/survey_encoded.py
@@ -0,0 +1,15 @@
+"""
+ schema: Survey Message that is encoded sent by platforms
+ to track progress
+"""
+from formats.encoded import encoded_schema
+from copy import deepcopy
+
+survey_encoded_schema = deepcopy(encoded_schema)
+
+survey_encoded_schema["properties"]["message_type"]["enum"] = [
+ "survey_encoded"
+]
+survey_encoded_schema["properties"]["message_type"][
+ "example"
+] = "survey_encoded"
diff --git a/generate_schema_config.py b/generate_schema_config.py
index 52fd78655834b32c75115b766d97cb664bde9712..2204b14be0271a35b483afecc0c699cd5163dba2 100644
--- a/generate_schema_config.py
+++ b/generate_schema_config.py
@@ -6,6 +6,8 @@ from formats.observation_encoded import observation_encoded_schema
from formats.planning_configuration import planning_configuration_schema
from formats.platform_status import platform_status_schema
from formats.platform_status_encoded import platform_status_encoded_schema
+from formats.survey import survey_schema
+from formats.survey_encoded import survey_encoded_schema
from formats.acknowledgement import acknowledgement_schema
from flasgger import Swagger
@@ -65,6 +67,9 @@ swagger_config = {
"platform_status_encoded": "#/components/schemas/"
+ "platform_status_encoded",
"acknowledgement": "#/components/schemas/acknowledgement",
+ "survey": "#/components/schemas/survey",
+ "survey_encoded": "#/components/schemas/"
+ + "survey_encoded",
},
},
"oneOf": [
@@ -76,6 +81,8 @@ swagger_config = {
{"$ref": "#/components/schemas/planning_configuration"},
{"$ref": "#/components/schemas/platform_status"},
{"$ref": "#/components/schemas/platform_status_encoded"},
+ {"$ref": "#/components/schemas/survey"},
+ {"$ref": "#/components/schemas/survey_encoded"},
],
},
"header": message_header,
@@ -86,6 +93,8 @@ swagger_config = {
"planning_configuration": planning_configuration_schema,
"platform_status": platform_status_schema,
"platform_status_encoded": platform_status_encoded_schema,
+ "survey": survey_schema,
+ "survey_encoded": survey_encoded_schema,
"acknowledgement": acknowledgement_schema,
}
},
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index 1bd3a36a64ca37c426a5c09f282d4a59e13aa572..01f985f1d91cee1b6489f4931e523c6b22b7e6b6 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -147,26 +147,26 @@
"type":"number"
},
"start_point_latitude":{
- "description":"Start point, x-coordinate",
- "example":-4.187143188645706,
+ "description":"Start point, y-coordinate",
+ "example":50.37072283932642,
"format":"float",
"type":"number"
},
"start_point_longitude":{
- "description":"Start point, y-coordinate",
- "example":50.37072283932642,
+ "description":"Start point, x-coordinate",
+ "example":-4.187143188645706,
"format":"float",
"type":"number"
},
"target_waypoint_latitude":{
- "description":"Target waypoint, x-coordinate",
- "example":-4.187143188645706,
+ "description":"Target waypoint, y-coordinate",
+ "example":50.37072283932642,
"format":"float",
"type":"number"
},
"target_waypoint_longitude":{
- "description":"Target waypoint, y-coordinate",
- "example":50.37072283932642,
+ "description":"Target waypoint, x-coordinate",
+ "example":-4.187143188645706,
"format":"float",
"type":"number"
},
@@ -262,13 +262,13 @@
"items":{
"properties":{
"latitude":{
- "description":"Identified x-coordinate of point of interest",
+ "description":"Identified y-coordinate of point of interest",
"example":178.2,
"format":"float",
"type":"number"
},
"longitude":{
- "description":"Identified y-coordinate of point of interest",
+ "description":"Identified x-coordinate of point of interest",
"example":-10.122,
"format":"float",
"type":"number"
@@ -347,7 +347,9 @@
"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"
+ "platform_status_encoded":"#/components/schemas/platform_status_encoded",
+ "survey":"#/components/schemas/survey",
+ "survey_encoded":"#/components/schemas/survey_encoded"
},
"propertyName":"message_type"
},
@@ -375,6 +377,12 @@
},
{
"$ref":"#/components/schemas/platform_status_encoded"
+ },
+ {
+ "$ref":"#/components/schemas/survey"
+ },
+ {
+ "$ref":"#/components/schemas/survey_encoded"
}
]
},
@@ -489,7 +497,7 @@
},
"beacon_ID":{
"description":"Unique identifier (number) for the beacon associated to this platform",
- "example":9407,
+ "example":2407,
"type":"number"
},
"emergency":{
@@ -511,14 +519,14 @@
"type":"number"
},
"target_waypoint_latitude":{
- "description":"X-coordinate safe place for respective platform",
- "example":-7.432,
+ "description":"Y-coordinate safe place for respective platform",
+ "example":50.365,
"format":"float",
"type":"number"
},
"target_waypoint_longitude":{
- "description":"Y-coordinate safe place for respective platform",
- "example":50.365,
+ "description":"X-coordinate safe place for respective platform",
+ "example":-7.432,
"format":"float",
"type":"number"
}
@@ -694,7 +702,7 @@
"type":"boolean"
},
"latitude":{
- "description":"Latitude in decimal degrees.",
+ "description":"Latitude (Y-coordinate) in decimal degrees.",
"example":178.2,
"format":"float",
"type":"number"
@@ -712,7 +720,7 @@
"type":"number"
},
"longitude":{
- "description":"Longitude in decimal degrees.",
+ "description":"Longitude (X-coordinate) in decimal degrees.",
"example":-10.122,
"format":"float",
"type":"number"
@@ -873,6 +881,95 @@
"is_binary"
],
"type":"object"
+ },
+ "survey":{
+ "properties":{
+ "latitude_A":{
+ "description":"Latitude of point A(intersection of normal)from waypoint A to survey line",
+ "example":178.2,
+ "format":"float",
+ "type":"number"
+ },
+ "latitude_B":{
+ "description":"Latitude of point B(intersection of normal)from waypoint B to survey line",
+ "example":178.2,
+ "format":"float",
+ "type":"number"
+ },
+ "longitude_A":{
+ "description":"Longitude of point A(intersection of normal)from waypoint A to survey line",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "longitude_B":{
+ "description":"Longitude of point B(intersection of normal)from waypoint B to survey line",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"ecosub-2",
+ "type":"string"
+ },
+ "timestamp":{
+ "description":"Timestamp for onboard message",
+ "example":"2022-12-21T00:00:00Z",
+ "format":"date-time",
+ "type":"string"
+ },
+ "track_ID":{
+ "description":"Track number of action(s) currently executed by platform",
+ "example":1,
+ "type":"integer"
+ }
+ },
+ "required":[
+ "latitude_A",
+ "longitude_A",
+ "latitude_B",
+ "longitude_B",
+ "platform_ID"
+ ],
+ "type":"object"
+ },
+ "survey_encoded":{
+ "properties":{
+ "data":{
+ "description":"encoded string. E.g. Base64 encoded",
+ "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type":"string"
+ },
+ "file_name":{
+ "description":"Name of file",
+ "example":"ah1-0238126349247372.bin",
+ "type":"string"
+ },
+ "is_binary":{
+ "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example":true,
+ "type":"boolean"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "survey_encoded"
+ ],
+ "example":"survey_encoded",
+ "type":"string"
+ },
+ "mime_type":{
+ "description":"MIME type",
+ "example":"application/gzip",
+ "type":"string"
+ }
+ },
+ "required":[
+ "data",
+ "is_binary"
+ ],
+ "type":"object"
}
}
},
@@ -885,4 +982,4 @@
"paths":{
}
- }
\ No newline at end of file
+}
\ No newline at end of file