From 2e630184aaf1e457cd4e646f2e13a8ab4fa8dc44 Mon Sep 17 00:00:00 2001
From: Trishna Saeharaseelan <trishna.saeharaseelan@noc.ac.uk>
Date: Wed, 15 Feb 2023 12:27:03 +0000
Subject: [PATCH] refactor(mission_plan): add start latitude and longitude
fields
---
.../mission_plan_AH1.json | 26 ++++++++++------
.../mission_plan_ECOSUB.json | 26 ++++++++++------
.../mission_plan_HYDROSURV.json | 18 +++++++----
.../planning_configuration.json | 16 +++++-----
.../platform_status.json | 2 +-
examples/ecosub_adapter/mission_plan.json | 26 ++++++++++------
.../gui_adapter/planning_configuration.json | 16 +++++-----
examples/hydrosurv_adapter/mission_plan.json | 18 +++++++----
formats/mission_plan.py | 24 +++++++++++----
formats/planning_configuration.py | 6 ++--
project/soar/swagger.json | 28 ++++++++++++-----
tests/fixtures/schemas.py | 30 +++++++++++++------
tests/fixtures/swagger.json | 16 +++++-----
.../mission_plan_AH1.json | 26 ++++++++++------
.../mission_plan_ECOSUB.json | 24 ++++++++++-----
.../mission_plan_HYDROSURV.json | 18 +++++++----
.../planning_configuration.json | 16 +++++-----
.../ecosub_adapter/mission_plan.json | 24 ++++++++++-----
.../gui_adapter/planning_configuration.json | 16 +++++-----
.../hydrosurv_adapter/mission_plan.json | 18 +++++++----
20 files changed, 251 insertions(+), 143 deletions(-)
diff --git a/examples/autonomy_engine_adapter/mission_plan_AH1.json b/examples/autonomy_engine_adapter/mission_plan_AH1.json
index 6dfe1a1..57666f6 100644
--- a/examples/autonomy_engine_adapter/mission_plan_AH1.json
+++ b/examples/autonomy_engine_adapter/mission_plan_AH1.json
@@ -16,8 +16,10 @@
{
"action": "move",
"flight_style": "go to waypoint",
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642,
+ "start_point_latitude": -3.007143188645706,
+ "start_point_longitude": 50.37072283932642,
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
@@ -25,8 +27,10 @@
{
"action": "dive",
"flight_style": "dive to depth",
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642,
+ "start_point_latitude": -3.237143188645706,
+ "start_point_longitude": 52.37072283932642,
+ "target_waypoint_latitude": -3.337143188645706,
+ "target_waypoint_longitude": 56.37072283932642,
"altitude": 10,
"activate_payload": false,
"send_environmental_data": false
@@ -34,8 +38,10 @@
{
"action": "scanline",
"flight_style": "go to waypoint",
- "latitude_waypoint": -0.237143188645706,
- "longitude_waypoint": 60.00000000000000,
+ "start_point_latitude": -3.337143188645706,
+ "start_point_longitude": 56.37072283932642,
+ "target_waypoint_latitude": -0.237143188645706,
+ "target_waypoint_longitude": 60.00000000000000,
"altitude": 10,
"activate_payload": true,
"send_environmental_data": false
@@ -43,9 +49,11 @@
{
"action": "climb",
"flight_style": "go to surface",
- "latitude_waypoint": -0.237143188645706,
- "longitude_waypoint": 52.37072283932642,
- "depth": 0.0,
+ "start_point_latitude": -0.237143188645706,
+ "start_point_longitude": 60.00000000000000,
+ "target_waypoint_latitude": -0.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642,
+ "depth": 0,
"activate_payload": false,
"send_environmental_data": true
}
diff --git a/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json b/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
index d7fd238..47becbc 100644
--- a/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
+++ b/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
@@ -10,14 +10,16 @@
},
"payload":{
"message_type": "mission_plan",
- "platform_ID": "ecosub-5",
+ "platform_ID": "ecosub-2",
"autonomy_engine_plan_ID": 1,
"plan": [
{
"action": "move",
"flight_style": "go to waypoint",
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642,
+ "start_point_latitude": -3.007143188645706,
+ "start_point_longitude": 50.37072283932642,
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
@@ -25,8 +27,10 @@
{
"action": "dive",
"flight_style": "dive to depth",
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642,
+ "start_point_latitude": -3.237143188645706,
+ "start_point_longitude": 52.37072283932642,
+ "target_waypoint_latitude": -3.337143188645706,
+ "target_waypoint_longitude": 56.37072283932642,
"altitude": 10,
"activate_payload": false,
"send_environmental_data": false
@@ -34,8 +38,10 @@
{
"action": "scanline",
"flight_style": "go to waypoint",
- "latitude_waypoint": -0.237143188645706,
- "longitude_waypoint": 60.00000000000000,
+ "start_point_latitude": -3.337143188645706,
+ "start_point_longitude": 56.37072283932642,
+ "target_waypoint_latitude": -0.237143188645706,
+ "target_waypoint_longitude": 60.00000000000000,
"altitude": 10,
"activate_payload": true,
"send_environmental_data": false
@@ -43,8 +49,10 @@
{
"action": "climb",
"flight_style": "go to surface",
- "latitude_waypoint": -0.237143188645706,
- "longitude_waypoint": 52.37072283932642,
+ "start_point_latitude": -0.237143188645706,
+ "start_point_longitude": 60.00000000000000,
+ "target_waypoint_latitude": -0.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642,
"depth": 0,
"activate_payload": false,
"send_environmental_data": true
diff --git a/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json b/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
index f5c1c0d..6aec0c6 100644
--- a/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
+++ b/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
@@ -14,16 +14,22 @@
"autonomy_engine_plan_ID": 1,
"plan": [
{
- "latitude_waypoint": -4.187143188645706,
- "longitude_waypoint": 50.37072283932642
+ "start_point_latitude": -4.007143188645706,
+ "start_point_longitude": 50.37072283932642,
+ "target_waypoint_latitude": -4.187143188645706,
+ "target_waypoint_longitude": 50.37072283932642
},
{
- "latitude_waypoint": -3.187143188645706,
- "longitude_waypoint": 51.37072283932642
+ "start_point_latitude": -4.187143188645706,
+ "start_point_longitude": 50.37072283932642,
+ "target_waypoint_latitude": -3.187143188645706,
+ "target_waypoint_longitude": 51.37072283932642
},
{
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642
+ "start_point_latitude": -3.187143188645706,
+ "start_point_longitude": 51.37072283932642,
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642
}
]
}
diff --git a/examples/autonomy_engine_adapter/planning_configuration.json b/examples/autonomy_engine_adapter/planning_configuration.json
index f119183..e3f18a3 100644
--- a/examples/autonomy_engine_adapter/planning_configuration.json
+++ b/examples/autonomy_engine_adapter/planning_configuration.json
@@ -48,8 +48,8 @@
"serial": "reav-60",
"emergency": {
"additional_data": {},
- "latitude_waypoint": -7.432,
- "longitude_waypoint": 50.365,
+ "target_waypoint_latitude": -7.432,
+ "target_waypoint_longitude": 50.365,
"safe_command": "go_home",
"target_depth": 10
},
@@ -94,8 +94,8 @@
"model": "ecosub",
"emergency": {
"additional_data": {},
- "latitude_waypoint": -7.432,
- "longitude_waypoint": 50.365,
+ "target_waypoint_latitude": -7.432,
+ "target_waypoint_longitude": 50.365,
"safe_command": "go_home",
"target_depth": 10.0
},
@@ -113,8 +113,8 @@
"model": "ecosub",
"emergency": {
"additional_data": {},
- "latitude_waypoint": -0.432,
- "longitude_waypoint": 20.365,
+ "target_waypoint_latitude": -0.432,
+ "target_waypoint_longitude": 20.365,
"safe_command": "go_home",
"target_depth": 0.0
},
@@ -141,8 +141,8 @@
"model": "autosub",
"emergency": {
"additional_data": {},
- "latitude_waypoint": 20.432,
- "longitude_waypoint": 50.365,
+ "target_waypoint_latitude": 20.432,
+ "target_waypoint_longitude": 50.365,
"safe_command": "abort_now",
"target_depth": 0.0
},
diff --git a/examples/autonomy_engine_adapter/platform_status.json b/examples/autonomy_engine_adapter/platform_status.json
index b82beba..26cd4fa 100644
--- a/examples/autonomy_engine_adapter/platform_status.json
+++ b/examples/autonomy_engine_adapter/platform_status.json
@@ -17,7 +17,7 @@
"battery_remaining_capacity": 80.2,
"active": true,
"platform_state": "ABORT",
- "mission_action_ID": 1,
+ "mission_plan_ID": 1,
"mission_track_ID": 4,
"latitude": 178.2,
"longitude": -10.122,
diff --git a/examples/ecosub_adapter/mission_plan.json b/examples/ecosub_adapter/mission_plan.json
index 83e836a..47becbc 100644
--- a/examples/ecosub_adapter/mission_plan.json
+++ b/examples/ecosub_adapter/mission_plan.json
@@ -16,8 +16,10 @@
{
"action": "move",
"flight_style": "go to waypoint",
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642,
+ "start_point_latitude": -3.007143188645706,
+ "start_point_longitude": 50.37072283932642,
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
@@ -25,8 +27,10 @@
{
"action": "dive",
"flight_style": "dive to depth",
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642,
+ "start_point_latitude": -3.237143188645706,
+ "start_point_longitude": 52.37072283932642,
+ "target_waypoint_latitude": -3.337143188645706,
+ "target_waypoint_longitude": 56.37072283932642,
"altitude": 10,
"activate_payload": false,
"send_environmental_data": false
@@ -34,8 +38,10 @@
{
"action": "scanline",
"flight_style": "go to waypoint",
- "latitude_waypoint": -0.237143188645706,
- "longitude_waypoint": 60.00000000000000,
+ "start_point_latitude": -3.337143188645706,
+ "start_point_longitude": 56.37072283932642,
+ "target_waypoint_latitude": -0.237143188645706,
+ "target_waypoint_longitude": 60.00000000000000,
"altitude": 10,
"activate_payload": true,
"send_environmental_data": false
@@ -43,9 +49,11 @@
{
"action": "climb",
"flight_style": "go to surface",
- "latitude_waypoint": -0.237143188645706,
- "longitude_waypoint": 52.37072283932642,
- "depth": 0.0,
+ "start_point_latitude": -0.237143188645706,
+ "start_point_longitude": 60.00000000000000,
+ "target_waypoint_latitude": -0.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642,
+ "depth": 0,
"activate_payload": false,
"send_environmental_data": true
}
diff --git a/examples/gui_adapter/planning_configuration.json b/examples/gui_adapter/planning_configuration.json
index 0f72c8a..f1d83ea 100644
--- a/examples/gui_adapter/planning_configuration.json
+++ b/examples/gui_adapter/planning_configuration.json
@@ -48,8 +48,8 @@
"serial": "reav-60",
"emergency": {
"additional_data": {},
- "latitude_waypoint": -7.432,
- "longitude_waypoint": 50.365,
+ "target_waypoint_latitude": -7.432,
+ "target_waypoint_longitude": 50.365,
"safe_command": "go_home",
"target_depth": 10
},
@@ -94,8 +94,8 @@
"model": "ecosub",
"emergency": {
"additional_data": {},
- "latitude_waypoint": -7.432,
- "longitude_waypoint": 50.365,
+ "target_waypoint_latitude": -7.432,
+ "target_waypoint_longitude": 50.365,
"safe_command": "go_home",
"target_depth": 10.0
},
@@ -113,8 +113,8 @@
"model": "ecosub",
"emergency": {
"additional_data": {},
- "latitude_waypoint": -0.432,
- "longitude_waypoint": 20.365,
+ "target_waypoint_latitude": -0.432,
+ "target_waypoint_longitude": 20.365,
"safe_command": "go_home",
"target_depth": 0.0
},
@@ -141,8 +141,8 @@
"model": "autosub",
"emergency": {
"additional_data": {},
- "latitude_waypoint": 20.432,
- "longitude_waypoint": 50.365,
+ "target_waypoint_latitude": 20.432,
+ "target_waypoint_longitude": 50.365,
"safe_command": "abort_now",
"target_depth": 0.0
},
diff --git a/examples/hydrosurv_adapter/mission_plan.json b/examples/hydrosurv_adapter/mission_plan.json
index f5c1c0d..6aec0c6 100644
--- a/examples/hydrosurv_adapter/mission_plan.json
+++ b/examples/hydrosurv_adapter/mission_plan.json
@@ -14,16 +14,22 @@
"autonomy_engine_plan_ID": 1,
"plan": [
{
- "latitude_waypoint": -4.187143188645706,
- "longitude_waypoint": 50.37072283932642
+ "start_point_latitude": -4.007143188645706,
+ "start_point_longitude": 50.37072283932642,
+ "target_waypoint_latitude": -4.187143188645706,
+ "target_waypoint_longitude": 50.37072283932642
},
{
- "latitude_waypoint": -3.187143188645706,
- "longitude_waypoint": 51.37072283932642
+ "start_point_latitude": -4.187143188645706,
+ "start_point_longitude": 50.37072283932642,
+ "target_waypoint_latitude": -3.187143188645706,
+ "target_waypoint_longitude": 51.37072283932642
},
{
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642
+ "start_point_latitude": -3.187143188645706,
+ "start_point_longitude": 51.37072283932642,
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642
}
]
}
diff --git a/formats/mission_plan.py b/formats/mission_plan.py
index b1c4116..1ad0e58 100644
--- a/formats/mission_plan.py
+++ b/formats/mission_plan.py
@@ -19,16 +19,28 @@ action_schema = {
+ " next action",
"example": "orbit",
},
- "latitude_waypoint": {
+ "start_point_latitude": {
"type": "number",
"format": "float",
- "description": "Next waypoint, x-coordinate",
+ "description": "Start point, x-coordinate",
"example": -4.187143188645706,
},
- "longitude_waypoint": {
+ "start_point_longitude": {
"type": "number",
"format": "float",
- "description": "Next waypoint, y-coordinate",
+ "description": "Start point, y-coordinate",
+ "example": 50.37072283932642,
+ },
+ "target_waypoint_latitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target waypoint, x-coordinate",
+ "example": -4.187143188645706,
+ },
+ "target_waypoint_longitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target waypoint, y-coordinate",
"example": 50.37072283932642,
},
"altitude": {
@@ -57,8 +69,8 @@ action_schema = {
},
},
"required": [
- "latitude_waypoint",
- "longitude_waypoint",
+ "target_waypoint_latitude",
+ "target_waypoint_longitude",
],
}
diff --git a/formats/planning_configuration.py b/formats/planning_configuration.py
index 1138715..e7ed4e9 100644
--- a/formats/planning_configuration.py
+++ b/formats/planning_configuration.py
@@ -13,13 +13,13 @@ emergency_schema = {
+ " partner's platform/C2",
"example": "go_home",
},
- "latitude_waypoint": {
+ "target_waypoint_latitude": {
"type": "number",
"format": "float",
"description": "X-coordinate safe place for respective platform",
"example": -7.432,
},
- "longitude_waypoint": {
+ "target_waypoint_longitude": {
"type": "number",
"format": "float",
"description": "Y-coordinate safe place for respective platform",
@@ -37,7 +37,7 @@ emergency_schema = {
"example": {},
},
},
- "required": ["latitude_waypoint", "longitude_waypoint", "target_depth"],
+ "required": ["target_waypoint_latitude", "target_waypoint_longitude", "target_depth"],
}
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index b60d60b..b409369 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -139,13 +139,25 @@
"example": "orbit",
"type": "string"
},
- "latitude_waypoint": {
+ "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": "Next waypoint, x-coordinate",
"example": -4.187143188645706,
"format": "float",
"type": "number"
},
- "longitude_waypoint": {
+ "target_waypoint_longitude": {
"description": "Next waypoint, y-coordinate",
"example": 50.37072283932642,
"format": "float",
@@ -158,8 +170,8 @@
}
},
"required": [
- "latitude_waypoint",
- "longitude_waypoint"
+ "target_waypoint_latitude",
+ "target_waypoint_longitude"
],
"type": "object"
},
@@ -339,13 +351,13 @@
"description": "Any addition fields/data to be added here",
"example": {}
},
- "latitude_waypoint": {
+ "target_waypoint_latitude": {
"description": "X-coordinate safe place for respective platform",
"example": -7.432,
"format": "float",
"type": "number"
},
- "longitude_waypoint": {
+ "target_waypoint_longitude": {
"description": "Y-coordinate safe place for respective platform",
"example": 50.365,
"format": "float",
@@ -369,8 +381,8 @@
}
},
"required": [
- "latitude_waypoint",
- "longitude_waypoint",
+ "target_waypoint_latitude",
+ "target_waypoint_longitude",
"target_depth"
],
"type": "object"
diff --git a/tests/fixtures/schemas.py b/tests/fixtures/schemas.py
index d9633d1..33a1320 100644
--- a/tests/fixtures/schemas.py
+++ b/tests/fixtures/schemas.py
@@ -91,16 +91,28 @@ action_schema = {
+ " next action",
"example": "orbit",
},
- "latitude_waypoint": {
+ "start_point_latitude": {
"type": "number",
"format": "float",
- "description": "Next waypoint, x-coordinate",
+ "description": "Start point, x-coordinate",
"example": -4.187143188645706,
},
- "longitude_waypoint": {
+ "start_point_longitude": {
"type": "number",
"format": "float",
- "description": "Next waypoint, y-coordinate",
+ "description": "Start point, y-coordinate",
+ "example": 50.37072283932642,
+ },
+ "target_waypoint_latitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target waypoint, x-coordinate",
+ "example": -4.187143188645706,
+ },
+ "target_waypoint_longitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target waypoint, y-coordinate",
"example": 50.37072283932642,
},
"altitude": {
@@ -129,8 +141,8 @@ action_schema = {
},
},
"required": [
- "latitude_waypoint",
- "longitude_waypoint",
+ "target_waypoint_latitude",
+ "target_waypoint_longitude",
],
}
@@ -236,13 +248,13 @@ emergency_schema = {
+ " partner's platform/C2",
"example": "go_home",
},
- "latitude_waypoint": {
+ "target_waypoint_latitude": {
"type": "number",
"format": "float",
"description": "X-coordinate safe place for respective platform",
"example": -7.432,
},
- "longitude_waypoint": {
+ "target_waypoint_longitude": {
"type": "number",
"format": "float",
"description": "Y-coordinate safe place for respective platform",
@@ -260,7 +272,7 @@ emergency_schema = {
"example": {},
},
},
- "required": ["latitude_waypoint", "longitude_waypoint", "target_depth"],
+ "required": ["target_waypoint_latitude", "target_waypoint_longitude", "target_depth"],
}
diff --git a/tests/fixtures/swagger.json b/tests/fixtures/swagger.json
index 31d4c95..4d5bf1d 100644
--- a/tests/fixtures/swagger.json
+++ b/tests/fixtures/swagger.json
@@ -139,13 +139,13 @@
"example": "orbit",
"type": "string"
},
- "latitude_waypoint": {
+ "target_waypoint_latitude": {
"description": "Next waypoint, x-coordinate",
"example": -4.187143188645706,
"format": "float",
"type": "number"
},
- "longitude_waypoint": {
+ "target_waypoint_longitude": {
"description": "Next waypoint, y-coordinate",
"example": 50.37072283932642,
"format": "float",
@@ -158,8 +158,8 @@
}
},
"required": [
- "latitude_waypoint",
- "longitude_waypoint"
+ "target_waypoint_latitude",
+ "target_waypoint_longitude"
],
"type": "object"
},
@@ -338,13 +338,13 @@
"description": "Any addition fields/data to be added here",
"example": {}
},
- "latitude_waypoint": {
+ "target_waypoint_latitude": {
"description": "X-coordinate safe place for respective platform",
"example": -7.432,
"format": "float",
"type": "number"
},
- "longitude_waypoint": {
+ "target_waypoint_longitude": {
"description": "Y-coordinate safe place for respective platform",
"example": 50.365,
"format": "float",
@@ -368,8 +368,8 @@
}
},
"required": [
- "latitude_waypoint",
- "longitude_waypoint",
+ "target_waypoint_latitude",
+ "target_waypoint_longitude",
"target_depth"
],
"type": "object"
diff --git a/tests/mock_data/autonomy_engine_adapter/mission_plan_AH1.json b/tests/mock_data/autonomy_engine_adapter/mission_plan_AH1.json
index 6dfe1a1..57666f6 100644
--- a/tests/mock_data/autonomy_engine_adapter/mission_plan_AH1.json
+++ b/tests/mock_data/autonomy_engine_adapter/mission_plan_AH1.json
@@ -16,8 +16,10 @@
{
"action": "move",
"flight_style": "go to waypoint",
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642,
+ "start_point_latitude": -3.007143188645706,
+ "start_point_longitude": 50.37072283932642,
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
@@ -25,8 +27,10 @@
{
"action": "dive",
"flight_style": "dive to depth",
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642,
+ "start_point_latitude": -3.237143188645706,
+ "start_point_longitude": 52.37072283932642,
+ "target_waypoint_latitude": -3.337143188645706,
+ "target_waypoint_longitude": 56.37072283932642,
"altitude": 10,
"activate_payload": false,
"send_environmental_data": false
@@ -34,8 +38,10 @@
{
"action": "scanline",
"flight_style": "go to waypoint",
- "latitude_waypoint": -0.237143188645706,
- "longitude_waypoint": 60.00000000000000,
+ "start_point_latitude": -3.337143188645706,
+ "start_point_longitude": 56.37072283932642,
+ "target_waypoint_latitude": -0.237143188645706,
+ "target_waypoint_longitude": 60.00000000000000,
"altitude": 10,
"activate_payload": true,
"send_environmental_data": false
@@ -43,9 +49,11 @@
{
"action": "climb",
"flight_style": "go to surface",
- "latitude_waypoint": -0.237143188645706,
- "longitude_waypoint": 52.37072283932642,
- "depth": 0.0,
+ "start_point_latitude": -0.237143188645706,
+ "start_point_longitude": 60.00000000000000,
+ "target_waypoint_latitude": -0.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642,
+ "depth": 0,
"activate_payload": false,
"send_environmental_data": true
}
diff --git a/tests/mock_data/autonomy_engine_adapter/mission_plan_ECOSUB.json b/tests/mock_data/autonomy_engine_adapter/mission_plan_ECOSUB.json
index d7fd238..fb2a83d 100644
--- a/tests/mock_data/autonomy_engine_adapter/mission_plan_ECOSUB.json
+++ b/tests/mock_data/autonomy_engine_adapter/mission_plan_ECOSUB.json
@@ -16,8 +16,10 @@
{
"action": "move",
"flight_style": "go to waypoint",
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642,
+ "start_point_latitude": -3.007143188645706,
+ "start_point_longitude": 50.37072283932642,
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
@@ -25,8 +27,10 @@
{
"action": "dive",
"flight_style": "dive to depth",
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642,
+ "start_point_latitude": -3.237143188645706,
+ "start_point_longitude": 52.37072283932642,
+ "target_waypoint_latitude": -3.337143188645706,
+ "target_waypoint_longitude": 56.37072283932642,
"altitude": 10,
"activate_payload": false,
"send_environmental_data": false
@@ -34,8 +38,10 @@
{
"action": "scanline",
"flight_style": "go to waypoint",
- "latitude_waypoint": -0.237143188645706,
- "longitude_waypoint": 60.00000000000000,
+ "start_point_latitude": -3.337143188645706,
+ "start_point_longitude": 56.37072283932642,
+ "target_waypoint_latitude": -0.237143188645706,
+ "target_waypoint_longitude": 60.00000000000000,
"altitude": 10,
"activate_payload": true,
"send_environmental_data": false
@@ -43,8 +49,10 @@
{
"action": "climb",
"flight_style": "go to surface",
- "latitude_waypoint": -0.237143188645706,
- "longitude_waypoint": 52.37072283932642,
+ "start_point_latitude": -0.237143188645706,
+ "start_point_longitude": 60.00000000000000,
+ "target_waypoint_latitude": -0.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642,
"depth": 0,
"activate_payload": false,
"send_environmental_data": true
diff --git a/tests/mock_data/autonomy_engine_adapter/mission_plan_HYDROSURV.json b/tests/mock_data/autonomy_engine_adapter/mission_plan_HYDROSURV.json
index f5c1c0d..6aec0c6 100644
--- a/tests/mock_data/autonomy_engine_adapter/mission_plan_HYDROSURV.json
+++ b/tests/mock_data/autonomy_engine_adapter/mission_plan_HYDROSURV.json
@@ -14,16 +14,22 @@
"autonomy_engine_plan_ID": 1,
"plan": [
{
- "latitude_waypoint": -4.187143188645706,
- "longitude_waypoint": 50.37072283932642
+ "start_point_latitude": -4.007143188645706,
+ "start_point_longitude": 50.37072283932642,
+ "target_waypoint_latitude": -4.187143188645706,
+ "target_waypoint_longitude": 50.37072283932642
},
{
- "latitude_waypoint": -3.187143188645706,
- "longitude_waypoint": 51.37072283932642
+ "start_point_latitude": -4.187143188645706,
+ "start_point_longitude": 50.37072283932642,
+ "target_waypoint_latitude": -3.187143188645706,
+ "target_waypoint_longitude": 51.37072283932642
},
{
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642
+ "start_point_latitude": -3.187143188645706,
+ "start_point_longitude": 51.37072283932642,
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642
}
]
}
diff --git a/tests/mock_data/autonomy_engine_adapter/planning_configuration.json b/tests/mock_data/autonomy_engine_adapter/planning_configuration.json
index f119183..e3f18a3 100644
--- a/tests/mock_data/autonomy_engine_adapter/planning_configuration.json
+++ b/tests/mock_data/autonomy_engine_adapter/planning_configuration.json
@@ -48,8 +48,8 @@
"serial": "reav-60",
"emergency": {
"additional_data": {},
- "latitude_waypoint": -7.432,
- "longitude_waypoint": 50.365,
+ "target_waypoint_latitude": -7.432,
+ "target_waypoint_longitude": 50.365,
"safe_command": "go_home",
"target_depth": 10
},
@@ -94,8 +94,8 @@
"model": "ecosub",
"emergency": {
"additional_data": {},
- "latitude_waypoint": -7.432,
- "longitude_waypoint": 50.365,
+ "target_waypoint_latitude": -7.432,
+ "target_waypoint_longitude": 50.365,
"safe_command": "go_home",
"target_depth": 10.0
},
@@ -113,8 +113,8 @@
"model": "ecosub",
"emergency": {
"additional_data": {},
- "latitude_waypoint": -0.432,
- "longitude_waypoint": 20.365,
+ "target_waypoint_latitude": -0.432,
+ "target_waypoint_longitude": 20.365,
"safe_command": "go_home",
"target_depth": 0.0
},
@@ -141,8 +141,8 @@
"model": "autosub",
"emergency": {
"additional_data": {},
- "latitude_waypoint": 20.432,
- "longitude_waypoint": 50.365,
+ "target_waypoint_latitude": 20.432,
+ "target_waypoint_longitude": 50.365,
"safe_command": "abort_now",
"target_depth": 0.0
},
diff --git a/tests/mock_data/ecosub_adapter/mission_plan.json b/tests/mock_data/ecosub_adapter/mission_plan.json
index 1b49981..47becbc 100644
--- a/tests/mock_data/ecosub_adapter/mission_plan.json
+++ b/tests/mock_data/ecosub_adapter/mission_plan.json
@@ -16,8 +16,10 @@
{
"action": "move",
"flight_style": "go to waypoint",
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642,
+ "start_point_latitude": -3.007143188645706,
+ "start_point_longitude": 50.37072283932642,
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
@@ -25,8 +27,10 @@
{
"action": "dive",
"flight_style": "dive to depth",
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642,
+ "start_point_latitude": -3.237143188645706,
+ "start_point_longitude": 52.37072283932642,
+ "target_waypoint_latitude": -3.337143188645706,
+ "target_waypoint_longitude": 56.37072283932642,
"altitude": 10,
"activate_payload": false,
"send_environmental_data": false
@@ -34,8 +38,10 @@
{
"action": "scanline",
"flight_style": "go to waypoint",
- "latitude_waypoint": -0.237143188645706,
- "longitude_waypoint": 60.00000000000000,
+ "start_point_latitude": -3.337143188645706,
+ "start_point_longitude": 56.37072283932642,
+ "target_waypoint_latitude": -0.237143188645706,
+ "target_waypoint_longitude": 60.00000000000000,
"altitude": 10,
"activate_payload": true,
"send_environmental_data": false
@@ -43,8 +49,10 @@
{
"action": "climb",
"flight_style": "go to surface",
- "latitude_waypoint": -0.237143188645706,
- "longitude_waypoint": 52.37072283932642,
+ "start_point_latitude": -0.237143188645706,
+ "start_point_longitude": 60.00000000000000,
+ "target_waypoint_latitude": -0.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642,
"depth": 0,
"activate_payload": false,
"send_environmental_data": true
diff --git a/tests/mock_data/gui_adapter/planning_configuration.json b/tests/mock_data/gui_adapter/planning_configuration.json
index 7ce3766..a04cded 100644
--- a/tests/mock_data/gui_adapter/planning_configuration.json
+++ b/tests/mock_data/gui_adapter/planning_configuration.json
@@ -48,8 +48,8 @@
"serial": "reav-60",
"emergency": {
"additional_data": {},
- "latitude_waypoint": -7.432,
- "longitude_waypoint": 50.365,
+ "target_waypoint_latitude": -7.432,
+ "target_waypoint_longitude": 50.365,
"safe_command": "go_home",
"target_depth": 10
},
@@ -94,8 +94,8 @@
"model": "ecosub",
"emergency": {
"additional_data": {},
- "latitude_waypoint": -7.432,
- "longitude_waypoint": 50.365,
+ "target_waypoint_latitude": -7.432,
+ "target_waypoint_longitude": 50.365,
"safe_command": "go_home",
"target_depth": 10.0
},
@@ -113,8 +113,8 @@
"model": "ecosub",
"emergency": {
"additional_data": {},
- "latitude_waypoint": -0.432,
- "longitude_waypoint": 20.365,
+ "target_waypoint_latitude": -0.432,
+ "target_waypoint_longitude": 20.365,
"safe_command": "go_home",
"target_depth": 0.0
},
@@ -140,8 +140,8 @@
"model": "autosub",
"emergency": {
"additional_data": {},
- "latitude_waypoint": 20.432,
- "longitude_waypoint": 50.365,
+ "target_waypoint_latitude": 20.432,
+ "target_waypoint_longitude": 50.365,
"safe_command": "abort_now",
"target_depth": 0.0
},
diff --git a/tests/mock_data/hydrosurv_adapter/mission_plan.json b/tests/mock_data/hydrosurv_adapter/mission_plan.json
index f5c1c0d..6aec0c6 100644
--- a/tests/mock_data/hydrosurv_adapter/mission_plan.json
+++ b/tests/mock_data/hydrosurv_adapter/mission_plan.json
@@ -14,16 +14,22 @@
"autonomy_engine_plan_ID": 1,
"plan": [
{
- "latitude_waypoint": -4.187143188645706,
- "longitude_waypoint": 50.37072283932642
+ "start_point_latitude": -4.007143188645706,
+ "start_point_longitude": 50.37072283932642,
+ "target_waypoint_latitude": -4.187143188645706,
+ "target_waypoint_longitude": 50.37072283932642
},
{
- "latitude_waypoint": -3.187143188645706,
- "longitude_waypoint": 51.37072283932642
+ "start_point_latitude": -4.187143188645706,
+ "start_point_longitude": 50.37072283932642,
+ "target_waypoint_latitude": -3.187143188645706,
+ "target_waypoint_longitude": 51.37072283932642
},
{
- "latitude_waypoint": -3.237143188645706,
- "longitude_waypoint": 52.37072283932642
+ "start_point_latitude": -3.187143188645706,
+ "start_point_longitude": 51.37072283932642,
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642
}
]
}
--
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