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Commit 36a44fff authored by Trishna Saeharaseelan's avatar Trishna Saeharaseelan
Browse files

refactor: examples and platform_ID type to string

parent 316a1b7a
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Showing with 529 additions and 194 deletions
examples/autonomy_engine_adapter/mission_plan_AH1.json 0 → 100644
View file @ 36a44fff
{
"header": {
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "noc_c2",
"delivery_type": "publish",
"encoded": false
},
"payload":{
"message_type": "mission_plan",
"platform_ID": "5-ah1",
"autonomy_engine_mission_plan_ID": 1,
"plan": [
{
"action": "move",
"flight_style": "go to waypoint",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": null,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
},
{
"action": "dive",
"flight_style": "dive to depth",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": 10,
"depth": null,
"activate_payload": false,
"send_environmental_data": false
},
{
"action": "scanline",
"flight_style": "go to waypoint",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 60.00000000000000,
"altitude": 10,
"depth": null,
"activate_payload": true,
"send_environmental_data": false
},
{
"action": "climb",
"flight_style": "go to surface",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": null,
"depth": 0,
"activate_payload": false,
"send_environmental_data": true
}
]
}
}
\ No newline at end of file
examples/autonomy_engine_adapter/mission_plan_ECOSUB.json 0 → 100644
View file @ 36a44fff
{
"header": {
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "ecosub_c2",
"delivery_type": "publish",
"encoded": false
},
"payload":{
"message_type": "mission_plan",
"platform_ID": "ecosub-5",
"autonomy_engine_mission_plan_ID": 1,
"plan": [
{
"action": "move",
"flight_style": "go to waypoint",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": null,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
},
{
"action": "dive",
"flight_style": "dive to depth",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": 10,
"depth": null,
"activate_payload": false,
"send_environmental_data": false
},
{
"action": "scanline",
"flight_style": "go to waypoint",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 60.00000000000000,
"altitude": 10,
"depth": null,
"activate_payload": true,
"send_environmental_data": false
},
{
"action": "climb",
"flight_style": "go to surface",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": null,
"depth": 0,
"activate_payload": false,
"send_environmental_data": true
}
]
}
}
\ No newline at end of file
examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json 0 → 100644
View file @ 36a44fff
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "hydrosurv_adapter",
"delivery_type": "publish",
"encoded": false,
"message_type": "mission_plan",
"platform_ID": "reav-60-1",
"autonomy_engine_plan_ID": 1,
"plan": [
{
"latitude_waypoint": -4.187143188645706,
"longitude_waypoint": 50.37072283932642
},
{
"latitude_waypoint": -3.187143188645706,
"longitude_waypoint": 51.37072283932642
},
{
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642
}
]
}
\ No newline at end of file
examples/autonomy_engine_adapter/planning_configuration.json 0 → 100644
View file @ 36a44fff
{
"header":{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "ecosub_c2",
"destination": "autonomy_engine",
"delivery_type": "publish",
"encoded": false
},
"payload":{
"message_type": "platform_status",
"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",
"squad_state": false,
"platforms": [
{
"model": "reav",
"platform_ID": "reav-60-1",
"serial": "reav-60",
"emergency": {
"additional_data": {},
"latitude_waypoint": -7.432,
"longitude_waypoint": 50.365,
"safe_command": "go_home",
"target_depth": 10
},
"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",
"squad_state": true,
"platforms": [
{
"platform_ID": "ecosub-1",
"serial": "ecosub-2",
"model": "ecosub",
"emergency": {
"additional_data": {},
"latitude_waypoint": -7.432,
"longitude_waypoint": 50.365,
"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
}
},
{
"platform_ID": "ecosub-2",
"serial": "ecosubxyz-5",
"model": "ecosub",
"emergency": {
"additional_data": {},
"latitude_waypoint": -0.432,
"longitude_waypoint": 20.365,
"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
}
}
],
"region_of_interest": {}
},
{
"squad_ID": 3,
"no_of_platforms": 1,
"squad_mission_type": "inspection",
"squad_state": false,
"platforms": [
{
"platform_ID": "ah-1",
"serial": "autosubhover-1",
"model": "autosub",
"emergency": {
"additional_data": {},
"latitude_waypoint": 20.432,
"longitude_waypoint": 50.365,
"safe_command": "safety_abort",
"target_depth": 0.0
},
"max_velocity": 0.9,
"min_altitude": 15.2,
"min_velocity": 0.1,
"additional_data": {
"scan_type": "MBES"
}
}
],
"region_of_interest": {}
}
]
}
}
\ No newline at end of file
examples/ecosub_adapter/mission_plan.json 0 → 100644
View file @ 36a44fff
{
"header": {
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "ecosub_c2",
"delivery_type": "publish",
"encoded": false
},
"payload":{
"message_type": "mission_plan",
"platform_ID": "ecosub-2",
"autonomy_engine_mission_plan_ID": 1,
"plan": [
{
"action": "move",
"flight_style": "go to waypoint",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": null,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
},
{
"action": "dive",
"flight_style": "dive to depth",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": 10,
"depth": null,
"activate_payload": false,
"send_environmental_data": false
},
{
"action": "scanline",
"flight_style": "go to waypoint",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 60.00000000000000,
"altitude": 10,
"depth": null,
"activate_payload": true,
"send_environmental_data": false
},
{
"action": "climb",
"flight_style": "go to surface",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": null,
"depth": 0,
"activate_payload": false,
"send_environmental_data": true
}
]
}
}
\ No newline at end of file
examples/ecosub_adapter/observation.json 0 → 100644
View file @ 36a44fff
{
"header":{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "ecosub_c2",
"destination": "autonomy_engine",
"delivery_type": "publish",
"encoded": false
},
"payload":{
"message_type": "observation",
"platform_ID": "ecosub-2",
"points_of_interest": [
{
"latitude": 178.2,
"longitude": -10.122,
"quality_of_point": 0.98
},
{
"latitude": 50.1382,
"longitude": -11.122,
"quality_of_point": 0.50
}
],
"region_surveyed": ""
}
}
\ No newline at end of file
examples/ecosub_adapter/platform_status-from_usbl_example.json 0 → 100644
View file @ 36a44fff
{
"header":{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "hermes",
"destination": "autonomy_engine",
"delivery_type": "publish",
"encoded": false
},
"payload":{
"message_type": "platform_status",
"platform_ID": "ecosub-5",
"platform_timestamp": "2022-12-21T00:00:00Z",
"status_source": "usbl",
"latitude": 178.2,
"longitude": -10.122,
"depth": 50,
"altitude": 20
}
}
examples/ecosub_adapter/platform_status.json 0 → 100644
View file @ 36a44fff
{
"header":{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "ecosub_c2",
"destination": "autonomy_engine",
"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,
"active": true,
"platform_state": "ABORT",
"mission_action_ID": 1,
"mission_track_ID": 4,
"latitude": 178.2,
"longitude": -10.122,
"depth": 50,
"altitude": 20,
"heading": 90.0,
"health_status": "Warning",
"localisation_error": null,
"usbl_fix_seconds_ago": null,
"range_to_go": 124.3,
"sensor_config": {
"sensor_ID": 22,
"serial": "sidescan-2x",
"sensor_on": true,
"additional_data": {
"whiskers_on": true
}
},
"current_pitch": -4,
"speed_over_ground": 4.3,
"thrust_applied": 124.3,
"water_current_velocity": 124.3
}
}
examples/ecosub_c2/mission_plan.json deleted 100644 → 0
View file @ 316a1b7a
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "ecosub_c2",
"delivery_type": "publish",
"encoded": false,
"message_type": "mission_plan",
"platform_ID": 1,
"autonomy_engine_mission_plan_ID": 1,
"plan": [
{
"action": "move",
"flight_style": "go to waypoint",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": null,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
},
{
"action": "dive",
"flight_style": "dive to depth",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": 10,
"depth": null,
"activate_payload": false,
"send_environmental_data": false
},
{
"action": "scanline",
"flight_style": "go to waypoint",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 60.00000000000000,
"altitude": 10,
"depth": null,
"activate_payload": true,
"send_environmental_data": false
},
{
"action": "climb",
"flight_style": "go to surface",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": null,
"depth": 0,
"activate_payload": false,
"send_environmental_data": true
}
]
}
\ No newline at end of file
examples/ecosub_c2/observation.json deleted 100644 → 0
View file @ 316a1b7a
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "ecosub_c2",
"destination": "autonomy_engine",
"delivery_type": "publish",
"encoded": false,
"message_type": "observation",
"platform_ID": 3,
"points_of_interest": [
{
"latitude": 178.2,
"longitude": -10.122,
"quality_of_point": 0.98
},
{
"latitude": 50.1382,
"longitude": -11.122,
"quality_of_point": 0.50
}
],
"region_surveyed": ""
}
\ No newline at end of file
examples/ecosub_c2/platform_status-from_usbl_example.json deleted 100644 → 0
View file @ 316a1b7a
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "hermes",
"destination": "autonomy_engine",
"delivery_type": "publish",
"encoded": false,
"message_type": "platform_status",
"platform_ID": 1,
"platform_timestamp": "2022-12-21T00:00:00Z",
"status_source": "usbl",
"latitude": 178.2,
"longitude": -10.122,
"depth": 50,
"altitude": 20
}
examples/ecosub_c2/platform_status.json deleted 100644 → 0
View file @ 316a1b7a
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "ecosub_c2",
"destination": "autonomy_engine",
"delivery_type": "publish",
"encoded": false,
"message_type": "platform_status",
"platform_ID": 1,
"platform_timestamp": "2022-12-21T00:00:00Z",
"status_source": "onboard_platform",
"autonomy_engine_plan_ID": 1,
"battery_remaining_capacity": 80.2,
"active": true,
"platform_state": "ABORT",
"mission_action_ID": 1,
"mission_track_ID": 4,
"latitude": 178.2,
"longitude": -10.122,
"depth": 50,
"altitude": 20,
"heading": 90.0,
"health_status": "Warning",
"localisation_error": null,
"usbl_fix_seconds_ago": null,
"range_to_go": 124.3,
"sensor_config": {
"sensor_ID": 22,
"serial": "sidescan-2x",
"sensor_on": true,
"additional_data": {
"whiskers_on": true
}
},
"current_pitch": -4,
"speed_over_ground": 4.3,
"thrust_applied": 124.3,
"water_current_velocity": 124.3
}
examples/gui/planning_configuration.json → examples/gui_adapter/planning_configuration.json
View file @ 36a44fff
{ {
"header":{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd", "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z", "timestamp": "2022-11-16T00:00:00Z",
"version": 2, "version": 2,
"source": "ecosub_c2", "source": "ecosub_c2",
"destination": "autonomy_engine", "destination": "autonomy_engine",
"delivery_type": "publish", "delivery_type": "publish",
"encoded": false, "encoded": false
},
"payload":{
"message_type": "platform_status", "message_type": "platform_status",
"planning_config_ID": 3, "planning_config_ID": 3,
"exclusion_zones": [ "exclusion_zones": [
...@@ -41,7 +44,7 @@ ...@@ -41,7 +44,7 @@
"platforms": [ "platforms": [
{ {
"model": "reav", "model": "reav",
"platform_ID": 23, "platform_ID": "reav-60-1",
"serial": "reav-60", "serial": "reav-60",
"emergency": { "emergency": {
"additional_data": {}, "additional_data": {},
...@@ -86,7 +89,7 @@ ...@@ -86,7 +89,7 @@
"squad_state": true, "squad_state": true,
"platforms": [ "platforms": [
{ {
"platform_ID": 23, "platform_ID": "ecosub-2",
"serial": "ecosub-2", "serial": "ecosub-2",
"model": "ecosub", "model": "ecosub",
"emergency": { "emergency": {
...@@ -105,7 +108,7 @@ ...@@ -105,7 +108,7 @@
} }
}, },
{ {
"platform_ID": 10, "platform_ID": "ecosub-5",
"serial": "ecosub-5", "serial": "ecosub-5",
"model": "ecosub", "model": "ecosub",
"emergency": { "emergency": {
...@@ -133,7 +136,7 @@ ...@@ -133,7 +136,7 @@
"squad_state": false, "squad_state": false,
"platforms": [ "platforms": [
{ {
"platform_ID": 23, "platform_ID": "139-ah-1",
"serial": "ah-1", "serial": "ah-1",
"model": "autosub", "model": "autosub",
"emergency": { "emergency": {
...@@ -154,4 +157,5 @@ ...@@ -154,4 +157,5 @@
"region_of_interest": {} "region_of_interest": {}
} }
] ]
} }
\ No newline at end of file }
\ No newline at end of file
examples/hydrosurv_adapter/acknowledgement.json
View file @ 36a44fff
{ {
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd", "header":{
"timestamp": "2022-11-16T00:00:00Z", "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"version": 1, "timestamp": "2022-11-16T00:00:00Z",
"source": "hydrosurv_adapter", "version": 1,
"destination": "autonomy_engine", "source": "hydrosurv_adapter",
"delivery_type": "publish", "destination": "autonomy_engine",
"encoded": false, "delivery_type": "publish",
"message_type": "acknowledgement", "encoded": false
"acknowledged_message_ID": "11111111-7bc8-11ed-a1eb-0242ac999999", },
"status": "c2_received" "payload":{
"message_type": "acknowledgement",
"acknowledged_message_ID": "11111111-7bc8-11ed-a1eb-0242ac999999",
"status": "c2_received"
}
} }
\ No newline at end of file
examples/hydrosurv_adapter/mission_plan.json
View file @ 36a44fff
{ {
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd", "header":{
"timestamp": "2022-11-16T00:00:00Z", "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"version": 2, "timestamp": "2022-11-16T00:00:00Z",
"source": "autonomy_engine", "version": 2,
"destination": "hydrosurv_adapter", "source": "autonomy_engine",
"delivery_type": "publish", "destination": "hydrosurv_adapter",
"encoded": false, "delivery_type": "publish",
"message_type": "mission_plan", "encoded": false
"platform_ID": 5, },
"autonomy_engine_plan_ID": 1, "payload":{
"plan": [ "message_type": "mission_plan",
"platform_ID": "reav-60-1",
"autonomy_engine_plan_ID": 1,
"plan": [
{ {
"latitude_waypoint": -4.187143188645706, "latitude_waypoint": -4.187143188645706,
"longitude_waypoint": 50.37072283932642 "longitude_waypoint": 50.37072283932642
...@@ -23,4 +26,5 @@ ...@@ -23,4 +26,5 @@
"longitude_waypoint": 52.37072283932642 "longitude_waypoint": 52.37072283932642
} }
] ]
}
} }
\ No newline at end of file
examples/hydrosurv_adapter/platform_status.json
View file @ 36a44fff
{ {
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd", "header":{
"timestamp": "2022-11-16T00:00:00Z", "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"version": 2, "timestamp": "2022-11-16T00:00:00Z",
"source": "hydrosurv_adapter", "version": 2,
"destination": "autonomy_engine", "source": "hydrosurv_adapter",
"delivery_type": "publish", "destination": "autonomy_engine",
"encoded": false, "delivery_type": "publish",
"message_type": "platform_status", "encoded": false
"autonomy_engine_plan_ID": 1, },
"active": true, "payload":{
"status_source": "onboard_platform", "message_type": "platform_status",
"battery_remaining_capacity": 80.2, "autonomy_engine_plan_ID": 1,
"heading": 310.0, "active": true,
"health_status": "Lost Connection", "status_source": "onboard_platform",
"latitude": 178.2, "battery_remaining_capacity": 80.2,
"longitude": -10.122, "heading": 310.0,
"mission_action_ID": 1, "health_status": "Lost Connection",
"mission_track_ID": 4, "latitude": 178.2,
"platform_ID": 1, "longitude": -10.122,
"platform_state": "ABORT", "mission_action_ID": 1,
"platform_timestamp": "2022-12-21T00:00:00Z", "mission_track_ID": 4,
"speed_over_ground": 4.5, "platform_ID": "reav-60-1",
"range_to_go": null, "platform_state": "ABORT",
"thrust_applied": null "platform_timestamp": "2022-12-21T00:00:00Z",
"speed_over_ground": 4.5,
"range_to_go": null,
"thrust_applied": null
}
} }
\ No newline at end of file
formats/mission_plan.py
View file @ 36a44fff
...@@ -77,9 +77,9 @@ mission_plan_schema = { ...@@ -77,9 +77,9 @@ mission_plan_schema = {
"example": 3, "example": 3,
}, },
"platform_ID": { "platform_ID": {
"type": "integer", "type": "string",
"description": "Unique identifier for this platform", "description": "Unique identifier for this platform",
"example": 1, "example": "reav-x-1",
}, },
"plan": { "plan": {
"type": "array", "type": "array",
......
formats/observation.py
View file @ 36a44fff
...@@ -38,9 +38,9 @@ observation_schema = { ...@@ -38,9 +38,9 @@ observation_schema = {
"example": "observation", "example": "observation",
}, },
"platform_ID": { "platform_ID": {
"type": "integer", "type": "string",
"description": "ID of platform to sending observations", "description": "Unique identifier for this platform",
"example": 2, "example": "reav-x-1",
}, },
"points_of_interest": { "points_of_interest": {
"type": "array", "type": "array",
......
formats/planning_configuration.py
View file @ 36a44fff
...@@ -45,9 +45,9 @@ platform_schema = { ...@@ -45,9 +45,9 @@ platform_schema = {
"type": "object", "type": "object",
"properties": { "properties": {
"platform_ID": { "platform_ID": {
"type": "integer", "type": "string",
"description": "Identifier for platform", "description": "Unique identifier for this platform",
"example": 23, "example": "reav-x-1",
}, },
"serial": { "serial": {
"type": "string", "type": "string",
......
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