diff --git a/docs/generate_swagger.py b/docs/generate_swagger.py
index bbd8765e2d2f178e62169d47efbe4ed0f93bc00e..ba5f7e3c06b280aaa56ccc6637e9fb7fae853b2e 100644
--- a/docs/generate_swagger.py
+++ b/docs/generate_swagger.py
@@ -23,47 +23,11 @@ swagger_template = dict(
},
host=LazyString(lambda: request.host),
)
-message_header_schema = api.model(
- "MessageHeader",
- {
- "timestamp": fields.DateTime(
- required=True,
- description="Timestamp of message",
- example="2022-11-16T00:00:00Z",
- ),
- "source": fields.String(
- required=True,
- description="Where is this message from",
- example="autonomy_engine",
- ),
- "destination": fields.String(
- required=True,
- description="What is the destination of this message",
- example="ah-1",
- ),
- "encoded": fields.Boolean(
- required=True,
- description="Indicate that message raw (encoded) or decoded. "
- + "Options: encoded=True, decoded=False",
- example=False,
- ),
- "type": fields.String(
- required=True,
- description="Type of message",
- example="platform_status",
- ),
- "payload": fields.Raw(required=True) # TODO: schema applicable changes according to "type"
- },
-)
+
full_message_schema = api.model(
"FullMessageSchema",
{
- "uuid": fields.DateTime( # add this
- required=True,
- description="Timestamp of message",
- example="2022-11-16T00:00:00Z",
- ),
"timestamp": fields.DateTime(
required=True,
description="Timestamp of message",
@@ -95,10 +59,9 @@ full_message_schema = api.model(
description="Content of Message",
# example="{}",
),
- }
+ },
)
-
constraints_schema = api.model(
"ConstraintsSchema",
{
@@ -147,18 +110,172 @@ platform_schema = api.model(
},
)
+action_schema = api.model(
+ "AutonomyEngineAction",
+ {
+ "action": fields.String(
+ required=True,
+ description="Autonomy Engine's action from `move`, `payload`,"
+ + " `dive`, `send_hits`, `scanline`, `scanpoint`.",
+ example="move",
+ ),
+ "flight_style": fields.String(
+ required=False,
+ description="Platform-specific modes/flight styles to perform next action",
+ example="orbit",
+ ),
+ "latitude_waypoint": fields.Float(
+ required=True,
+ description="Next waypoint, x-coordinate",
+ example=-4.187143188645706,
+ ),
+ "longitude_waypoint": fields.Float(
+ required=True,
+ description="Next waypoint, y-coordinate",
+ example=50.37072283932642,
+ ),
+ "altitude": fields.Float(
+ required=False,
+ description="Altitude of next action",
+ example=15.0,
+ ),
+ "depth": fields.Float(
+ required=False,
+ description="Depth of next action",
+ example=15.0,
+ ),
+ "activate_payload": fields.Boolean(
+ required=False,
+ description="To activate/deactivate sensor for Autosub "
+ + "Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
+ example=True,
+ ),
+ "send_environmental_data": fields.Boolean(
+ required=False,
+ description="To trigger the platform to send list of observations if any found",
+ example=False,
+ ),
+ "scanline": fields.Boolean(
+ required=False,
+ description="To trigger the platform to scan-line",
+ example=False,
+ ),
+ "scanpoint": fields.Boolean(
+ required=False,
+ description="To trigger the platform to send list of observations if any found",
+ example=False,
+ ),
+ },
+)
+
+mission_plan_schema = api.model(
+ "MissionPlan",
+ {
+ "message": fields.Nested(
+ full_message_schema,
+ required=True,
+ description="Message header",
+ ),
+ "plan_ID": fields.Integer(
+ required=True,
+ description="Identifier of given mission sequence planned",
+ example=1,
+ ),
+ "platform_serial": fields.String(
+ required=True,
+ description="Serial of target platform to send mission to",
+ example="reav-60",
+ ),
+ "plan": fields.List(
+ fields.Nested(action_schema),
+ required=True,
+ description="Sequence of actions/instructions generated by the " +
+ " Autonomy Engine that should be compiled by the respective C2.",
+ ),
+ },
+)
+
+observation_schema = api.model(
+ "Observation",
+ {
+ "message": fields.Nested(
+ full_message_schema,
+ required=True,
+ description="Message header",
+ ),
+ "platform_serial": fields.String(
+ required=True,
+ description="Serial of platform to sendign observations",
+ example="ecosub-3",
+ ),
+ # "observation_type" ==> payloads tied to different types maybe?
+ # properties of each observation?
+ "points_of_interest": fields.Float(
+ required=False,
+ description="Points from features of interest identified by platform if any found. DEFINE FORMAT.",
+ example="",
+ ),
+ "region_surveyed": fields.Float(
+ required=False,
+ description="Region surveyed by given platform. DEFINE FORMAT. GEOJSON?",
+ example="",
+ ),
+ "quality_of_points": fields.Float(
+ required=False,
+ description="Quality/strength of points from features of interest identified by platform. DEFINE FORMAT.",
+ example=0.98,
+ ),
+ "additional_data": fields.Raw(
+ required=False,
+ description="Placeholder field for any additional data",
+ example={"sensor_payload": False},
+ ),
+ },
+)
+
+
+region_schema = api.model(
+ "RegionSchema",
+ {
+ "region": fields.Raw(
+ required=True,
+ description="Using GEOJSON, exact region of interest in rectangle format polygon",
+ example={
+ "type": "FeatureCollection",
+ "features": [
+ {
+ "type": "Feature",
+ "properties": {},
+ "geometry": {
+ "coordinates": [
+ [
+ [-4.187143188645706, 50.37072283932642],
+ [-4.202697005964865, 50.368816892405874],
+ [-4.203156724702808, 50.365640144076906],
+ [-4.19449868846155, 50.362267670845654],
+ ]
+ ],
+ "type": "Polygon",
+ },
+ }
+ ],
+ },
+ ),
+ },
+)
+
squad_metadata_schema = api.model(
"SquadMetadataSchema",
{
"squad_ID": fields.Integer(
required=True,
description="Identifier of given squad",
- example="ah-1",
+ example=23,
),
"no_of_platforms": fields.Integer(
required=True,
- description="number of platforms",
- example="ah-1",
+ description="Number of platforms",
+ example=3,
),
"platforms": fields.List(
fields.Nested(platform_schema),
@@ -175,9 +292,43 @@ squad_metadata_schema = api.model(
description="In execution, Waiting.. <define further>",
example=False,
),
+ "region_of_interest": fields.List(
+ fields.Nested(region_schema),
+ required=False,
+ description="Region of interest and exclusion zones per squad.",
+ ),
+ "exclusion_zones": fields.List(
+ fields.Nested(region_schema),
+ required=True,
+ description="Exclusion zones exclusion zones per squad.",
+ ),
},
)
+
+planning_configuration_schema = api.model(
+ "PlanningConfigurationSchema",
+ {
+ "message": fields.Nested(
+ full_message_schema,
+ required=True,
+ description="Message header",
+ ),
+ "ID": fields.Integer(
+ required=True,
+ description="Unique identifier tagged to version of this"
+ + " configuration plan",
+ example=3,
+ ),
+ "squads": fields.Nested(
+ squad_metadata_schema,
+ required=False,
+ description="Details of each squad",
+ ),
+ },
+)
+
+
gps_schema = api.model(
"GPS",
{
@@ -216,52 +367,10 @@ gps_schema = api.model(
description="Altitude in <DEFINE UNITS>",
example="",
),
- # "gps_fix_seconds_ago": fields.Float(
- # required=False,
- # description="",
- # example="",
- # ),
+ # "gps_fix_seconds_ago"
},
)
-observation_schema = api.model(
- "Observation",
- {
- "message": fields.Nested(
- message_header_schema,
- required=True,
- description="Message header",
- ),
- "platform": fields.Nested(platform_schema),
- "time": fields.String(
- required=True,
- description="Timestamp of message",
- example="2022-11-16T00:00:00Z",
- ),
- # "observation_type" ==> payloads tied to different types maybe?
- # properties of each observation?
- "points_of_interest": fields.Float(
- required=False,
- description="Points from features of interest identified by platform if any found. DEFINE FORMAT.",
- example="",
- ),
- "region_surveyed": fields.Float(
- required=False,
- description="Region surveyed by given platform. DEFINE FORMAT. GEOJSON?",
- example="",
- ),
- "quality_of_points": fields.Float(
- required=False,
- description="Quality/strength of points from features of interest identified by platform. DEFINE FORMAT.",
- example=0.98,
- ),
- "additional_data": fields.Raw(
- required=False,
- description="Placeholder field for any additional data",
- example={"sensor_payload": False},
- ),
- }
-)
sensor_schema = api.model(
"Sensor",
{
@@ -280,13 +389,13 @@ sensor_schema = api.model(
description="Add any additional sensor-related data here.",
example={"sensor_loadtime_seconds": 30.0},
),
- }
+ },
)
platform_status_message_schema = api.model(
"platformStatusMessage",
{
"message": fields.Nested(
- message_header_schema,
+ full_message_schema,
required=True,
description="Message header",
),
@@ -298,7 +407,7 @@ platform_status_message_schema = api.model(
+ "STOP, IDLE, ABORT.",
example="IDLE",
),
- "autonomy_mission_ID": fields.Integer(
+ "autonomy_plan_ID": fields.Integer(
required=False,
description="Last mission plan ID (according to Autonomy Engine's mission plan number) executed by platform",
example=1,
@@ -343,9 +452,11 @@ platform_status_message_schema = api.model(
example="Warning",
),
"gps_data": fields.List(
- fields.Nested(gps_schema), # TODO: TBD Do we want a list of gps readings to allow > 1 reading i.e. platform + usbl
+ fields.Nested(
+ gps_schema
+ ), # TODO: TBD Do we want a list of gps readings to allow > 1 reading i.e. platform + usbl
required=True,
- description="GPS of each platform",
+ description="Metadata pf each platform",
),
"localisation_error": fields.Float(
required=False,
@@ -362,40 +473,36 @@ platform_status_message_schema = api.model(
description="Battery remaining capacity % provided by respective platform/C2.",
example=80.0,
),
- "sensor_config": fields.Nested(sensor_schema), # TODO: TBD Do we want a list of sensors to allow > 1 sensor
+ "sensor_config": fields.Nested(
+ sensor_schema
+ ), # TODO: TBD Do we want a list of sensors to allow > 1 sensor
},
)
-mission_plan_schema = api.model(
- "MissionPlan",
+acknowledgement_schema = api.model(
+ "Acknowledgement",
{
"message": fields.Nested(
- message_header_schema,
+ full_message_schema,
required=True,
description="Message header",
),
- "ID": fields.Integer(
+ "message_ID": fields.Integer(
required=True,
- description="Unique identifier tagged to version of this"
- + " configuration plan",
- example=3,
+ description="Identifier of message received and executed with "
+ + "success for mission plans sent by the Autonomy Engine.",
+ example=202,
),
- "time": fields.String(
+ "status": fields.String(
required=True,
- description="",
- example="",
+ description="Highest level of acknowledgement. I.e. `c2_received`: Received by C2,"
+ + " `c2_sent`: Sent from C2->Platform, `executed`: Executed by platform",
),
- "platform_ID": fields.Integer(
- required=False,
- description="Details of each squad",
- ),
- "payload": fields.Raw(
- required=True,
- )
},
)
+
swagger_config = {
"headers": [],
"specs": [
@@ -420,94 +527,6 @@ swagger_config = {
"consumes": ["application/json"],
}
-autonomy_configuration_schema = api.model(
- "SquadConfigurationSchema",
- {
- "message": fields.Nested(
- message_header_schema,
- required=True,
- description="Message header",
- ),
- "ID": fields.Integer(
- required=True,
- description="Unique identifier tagged to version of this"
- + " configuration plan",
- example=3,
- ),
- "time": fields.String(
- required=True,
- description="",
- example="",
- ),
- "squads": fields.Nested(
- squad_metadata_schema,
- required=False,
- description="Details of each squad",
- ),
- "region_of_operation": fields.Raw(
- required=True,
- description="Using GEOJSON, exact region of interest EXCLUDING exclusion zone",
- example={
- "type": "FeatureCollection",
- "features": [
- {
- "type": "Feature",
- "properties": {},
- "geometry": {
- "coordinates": [
- [
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ],
- [
- -4.187373048015246,
- 50.35933489062816
- ],
- [
- -4.1859938917992565,
- 50.36207215780212
- ],
- [
- -4.188598964651192,
- 50.36471151593676
- ],
- [
- -4.192506573927574,
- 50.367350727294706
- ],
- [
- -4.188675584440716,
- 50.36837704762925
- ],
- [
- -4.187143188645706,
- 50.37072283932642
- ]
- ]
- ],
- "type": "Polygon"
- # "projection": coordinate system used
- }
- }
- ]
- }
- ),
- },
-)
-
swagger = Swagger(app, template=swagger_template, config=swagger_config)
@@ -528,12 +547,12 @@ class platformStatus(Resource):
ns3 = api.namespace(
- "autonomy_configuration", description="Autonomy Configuration Format. Do we want region of interest to be per squad, per platform or in the main schema?"
+ "planning_configuration", description="Planning Configuration Format. Do we want region of interest to be per squad, per platform or in the main schema?"
)
@ns3.route("")
-class AutonomyConfiguration(Resource):
- @ns3.response(200, "Success", autonomy_configuration_schema)
+class PlanningConfiguration(Resource):
+ @ns3.response(200, "Success", planning_configuration_schema)
def get(self):
pass
@@ -548,28 +567,18 @@ class MissionPlan(Resource):
def get(self):
pass
-@ns4.route("/ecosub")
-class MissionPlanEcosub(Resource):
- @ns4.response(200, "Success", mission_plan_schema)
- def get(self):
- pass
-@ns4.route("/reav")
-class MissionPlanReav(Resource):
- @ns4.response(200, "Success", mission_plan_schema)
- def get(self):
- pass
-@ns4.route("/autosubhover")
-class MissionPlanAutosubHover(Resource):
- @ns4.response(200, "Success", mission_plan_schema)
- def get(self):
- pass
-
ns5 = api.namespace("observation", description="Observation Format --> Per platform or generic?")
@ns5.route("")
class Observation(Resource):
@ns5.response(200, "Success", observation_schema)
def get(self):
pass
+ns6 = api.namespace("acknowledgement", description="Acknowledgment Format")
+@ns6.route("")
+class Acknowledgment(Resource):
+ @ns6.response(200, "Success", acknowledgement_schema)
+ def get(self):
+ pass
if __name__ == "__main__":
app.run()
diff --git a/examples/all/acknowledgment.json b/examples/all/acknowledgment.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c7b91f199418f617aafff6705bb646f38d3eae4
--- /dev/null
+++ b/examples/all/acknowledgment.json
@@ -0,0 +1,11 @@
+{
+ "timestamp": "2022-11-16T00:00:00Z",
+ "source": "hydrosurv_adapter",
+ "destination": "autonomy_engine",
+ "encoded": false,
+ "type": "platform_status",
+ "payload": {
+ "message_ID": 202,
+ "status": "executed"
+ }
+}
\ No newline at end of file
diff --git a/examples/all/mission_plan.json b/examples/all/mission_plan.json
new file mode 100644
index 0000000000000000000000000000000000000000..e97e553affd9564d434a271a236a110a9c80781c
--- /dev/null
+++ b/examples/all/mission_plan.json
@@ -0,0 +1,25 @@
+{
+ "timestamp": "2022-11-16T00:00:00Z",
+ "source": "hydrosurv_adapter",
+ "destination": "autonomy_engine",
+ "encoded": false,
+ "type": "platform_status",
+ "payload": {
+ "plan_ID": 1,
+ "platform_serial": "reav-60",
+ "plan": [
+ {
+ "action": "move",
+ "flight_style": "orbit",
+ "latitude_waypoint": -4.187143188645706,
+ "longitude_waypoint": 50.37072283932642,
+ "altitude": 0,
+ "depth": 0,
+ "activate_payload": false,
+ "send_environmental_data": false,
+ "scanline": false,
+ "scanpoint": false
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/examples/all/observation.json b/examples/all/observation.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbbde9986a268df63b6eb44bc564927a863ac0ec
--- /dev/null
+++ b/examples/all/observation.json
@@ -0,0 +1,16 @@
+{
+ "timestamp": "2022-11-16T00:00:00Z",
+ "source": "hydrosurv_adapter",
+ "destination": "autonomy_engine",
+ "encoded": false,
+ "type": "platform_status",
+ "payload": {
+ "platform_serial":"ecosub-3",
+ "points_of_interest": "",
+ "region_surveyed": "",
+ "quality_of_points": 0.98,
+ "additional_data": {
+ "sensor_x": false
+ }
+ }
+}
\ No newline at end of file
diff --git a/examples/all/planning_configuration.json b/examples/all/planning_configuration.json
new file mode 100644
index 0000000000000000000000000000000000000000..df6042179988319c5ea8bce403705892a09ec2b7
--- /dev/null
+++ b/examples/all/planning_configuration.json
@@ -0,0 +1,101 @@
+{
+ "timestamp": "2022-11-16T00:00:00Z",
+ "source": "gui",
+ "destination": "autonomy_engine",
+ "encoded": false,
+ "type": "platform_status",
+ "payload": {
+ "ID": 3,
+ "squads": {
+ "squad_ID": 23,
+ "no_of_platforms": 3,
+ "platforms": [
+ {
+ "platform_ID": 1,
+ "serial": "ah-1",
+ "model": "ah-1",
+ "constraints": {
+ "min_altitude": 15.2,
+ "min_velocity": 0.1,
+ "max_velocity": 0.9
+ },
+ "active": true
+ }
+ ],
+ "squad_mission_type": "survey",
+ "squad_state": false,
+ "region_of_interest": [
+ {
+ "region": {
+ "type": "FeatureCollection",
+ "features": [
+ {
+ "type": "Feature",
+ "properties": {},
+ "geometry": {
+ "coordinates": [
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ]
+ ]
+ ],
+ "type": "Polygon"
+ }
+ }
+ ]
+ }
+ }
+ ],
+ "exclusion_zones": [
+ {
+ "region": {
+ "type": "FeatureCollection",
+ "features": [
+ {
+ "type": "Feature",
+ "properties": {},
+ "geometry": {
+ "coordinates": [
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ]
+ ]
+ ],
+ "type": "Polygon"
+ }
+ }
+ ]
+ }
+ }
+ ]
+ }
+ }
+}
\ No newline at end of file
diff --git a/examples/all/platform_status.json b/examples/all/platform_status.json
new file mode 100644
index 0000000000000000000000000000000000000000..78a156befca10f0dbbd9b9256e9d016e5f1bc459
--- /dev/null
+++ b/examples/all/platform_status.json
@@ -0,0 +1,51 @@
+{
+ "timestamp": "2022-11-16T00:00:00Z",
+ "source": "hydrosurv_adapter",
+ "destination": "autonomy_engine",
+ "encoded": false,
+ "type": "platform_status",
+ "payload": {
+ "platform": {
+ "platform_ID": 2,
+ "serial": "ah-1",
+ "model": "ah-1",
+ "constraints": {
+ "min_altitude": 15.2,
+ "min_velocity": 0.1,
+ "max_velocity": 0.9
+ },
+ "active": true
+ },
+ "platform_state": "IDLE",
+ "autonomy_plan_ID": 1,
+ "mission_track_ID": 4,
+ "mission_action_ID": 1,
+ "range_to_go": 124.3,
+ "speed_over_ground": 124.3,
+ "water_current_velocity": 124.3,
+ "thrust_applied": 124.3,
+ "health_status": "Warning",
+ "gps_data": [
+ {
+ "gps_source": "internal",
+ "latitude_type": "",
+ "longitude_type": "",
+ "latitude": -7.432,
+ "longitude": 50.365,
+ "depth": 0.0,
+ "altitude": 0.0
+ }
+ ],
+ "localisation_error": 0.008,
+ "usbl_fix_seconds_ago": 20.3,
+ "battery_remaining_capacity": 80,
+ "sensor_config": {
+ "sensor_name": "MBES",
+ "sensor_status": false,
+ "additional_data": {
+ "sensor_loadtime_seconds": 30
+ }
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/examples/autonomy_engine/mission_plan.json b/examples/autonomy_engine/mission_plan.json
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..e97e553affd9564d434a271a236a110a9c80781c 100644
--- a/examples/autonomy_engine/mission_plan.json
+++ b/examples/autonomy_engine/mission_plan.json
@@ -0,0 +1,25 @@
+{
+ "timestamp": "2022-11-16T00:00:00Z",
+ "source": "hydrosurv_adapter",
+ "destination": "autonomy_engine",
+ "encoded": false,
+ "type": "platform_status",
+ "payload": {
+ "plan_ID": 1,
+ "platform_serial": "reav-60",
+ "plan": [
+ {
+ "action": "move",
+ "flight_style": "orbit",
+ "latitude_waypoint": -4.187143188645706,
+ "longitude_waypoint": 50.37072283932642,
+ "altitude": 0,
+ "depth": 0,
+ "activate_payload": false,
+ "send_environmental_data": false,
+ "scanline": false,
+ "scanpoint": false
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/examples/autonomy_engine/observation.json b/examples/autonomy_engine/observation.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbbde9986a268df63b6eb44bc564927a863ac0ec
--- /dev/null
+++ b/examples/autonomy_engine/observation.json
@@ -0,0 +1,16 @@
+{
+ "timestamp": "2022-11-16T00:00:00Z",
+ "source": "hydrosurv_adapter",
+ "destination": "autonomy_engine",
+ "encoded": false,
+ "type": "platform_status",
+ "payload": {
+ "platform_serial":"ecosub-3",
+ "points_of_interest": "",
+ "region_surveyed": "",
+ "quality_of_points": 0.98,
+ "additional_data": {
+ "sensor_x": false
+ }
+ }
+}
\ No newline at end of file
diff --git a/examples/autonomy_engine/planning_configuration.json b/examples/autonomy_engine/planning_configuration.json
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..df6042179988319c5ea8bce403705892a09ec2b7 100644
--- a/examples/autonomy_engine/planning_configuration.json
+++ b/examples/autonomy_engine/planning_configuration.json
@@ -0,0 +1,101 @@
+{
+ "timestamp": "2022-11-16T00:00:00Z",
+ "source": "gui",
+ "destination": "autonomy_engine",
+ "encoded": false,
+ "type": "platform_status",
+ "payload": {
+ "ID": 3,
+ "squads": {
+ "squad_ID": 23,
+ "no_of_platforms": 3,
+ "platforms": [
+ {
+ "platform_ID": 1,
+ "serial": "ah-1",
+ "model": "ah-1",
+ "constraints": {
+ "min_altitude": 15.2,
+ "min_velocity": 0.1,
+ "max_velocity": 0.9
+ },
+ "active": true
+ }
+ ],
+ "squad_mission_type": "survey",
+ "squad_state": false,
+ "region_of_interest": [
+ {
+ "region": {
+ "type": "FeatureCollection",
+ "features": [
+ {
+ "type": "Feature",
+ "properties": {},
+ "geometry": {
+ "coordinates": [
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ]
+ ]
+ ],
+ "type": "Polygon"
+ }
+ }
+ ]
+ }
+ }
+ ],
+ "exclusion_zones": [
+ {
+ "region": {
+ "type": "FeatureCollection",
+ "features": [
+ {
+ "type": "Feature",
+ "properties": {},
+ "geometry": {
+ "coordinates": [
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ]
+ ]
+ ],
+ "type": "Polygon"
+ }
+ }
+ ]
+ }
+ }
+ ]
+ }
+ }
+}
\ No newline at end of file
diff --git a/examples/autonomy_engine/platform_status.json b/examples/autonomy_engine/platform_status.json
new file mode 100644
index 0000000000000000000000000000000000000000..78a156befca10f0dbbd9b9256e9d016e5f1bc459
--- /dev/null
+++ b/examples/autonomy_engine/platform_status.json
@@ -0,0 +1,51 @@
+{
+ "timestamp": "2022-11-16T00:00:00Z",
+ "source": "hydrosurv_adapter",
+ "destination": "autonomy_engine",
+ "encoded": false,
+ "type": "platform_status",
+ "payload": {
+ "platform": {
+ "platform_ID": 2,
+ "serial": "ah-1",
+ "model": "ah-1",
+ "constraints": {
+ "min_altitude": 15.2,
+ "min_velocity": 0.1,
+ "max_velocity": 0.9
+ },
+ "active": true
+ },
+ "platform_state": "IDLE",
+ "autonomy_plan_ID": 1,
+ "mission_track_ID": 4,
+ "mission_action_ID": 1,
+ "range_to_go": 124.3,
+ "speed_over_ground": 124.3,
+ "water_current_velocity": 124.3,
+ "thrust_applied": 124.3,
+ "health_status": "Warning",
+ "gps_data": [
+ {
+ "gps_source": "internal",
+ "latitude_type": "",
+ "longitude_type": "",
+ "latitude": -7.432,
+ "longitude": 50.365,
+ "depth": 0.0,
+ "altitude": 0.0
+ }
+ ],
+ "localisation_error": 0.008,
+ "usbl_fix_seconds_ago": 20.3,
+ "battery_remaining_capacity": 80,
+ "sensor_config": {
+ "sensor_name": "MBES",
+ "sensor_status": false,
+ "additional_data": {
+ "sensor_loadtime_seconds": 30
+ }
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/examples/hydrosurv_adapter/acknowledgment.json b/examples/hydrosurv_adapter/acknowledgment.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c7b91f199418f617aafff6705bb646f38d3eae4
--- /dev/null
+++ b/examples/hydrosurv_adapter/acknowledgment.json
@@ -0,0 +1,11 @@
+{
+ "timestamp": "2022-11-16T00:00:00Z",
+ "source": "hydrosurv_adapter",
+ "destination": "autonomy_engine",
+ "encoded": false,
+ "type": "platform_status",
+ "payload": {
+ "message_ID": 202,
+ "status": "executed"
+ }
+}
\ No newline at end of file
diff --git a/examples/hydrosurv_adapter/mission_plan.json b/examples/hydrosurv_adapter/mission_plan.json
new file mode 100644
index 0000000000000000000000000000000000000000..e97e553affd9564d434a271a236a110a9c80781c
--- /dev/null
+++ b/examples/hydrosurv_adapter/mission_plan.json
@@ -0,0 +1,25 @@
+{
+ "timestamp": "2022-11-16T00:00:00Z",
+ "source": "hydrosurv_adapter",
+ "destination": "autonomy_engine",
+ "encoded": false,
+ "type": "platform_status",
+ "payload": {
+ "plan_ID": 1,
+ "platform_serial": "reav-60",
+ "plan": [
+ {
+ "action": "move",
+ "flight_style": "orbit",
+ "latitude_waypoint": -4.187143188645706,
+ "longitude_waypoint": 50.37072283932642,
+ "altitude": 0,
+ "depth": 0,
+ "activate_payload": false,
+ "send_environmental_data": false,
+ "scanline": false,
+ "scanpoint": false
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/examples/hydrosurv_adapter/platform_status.json b/examples/hydrosurv_adapter/platform_status.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab1a23a2c2e9d95518fdf171c3a3cd7c04f368b5
--- /dev/null
+++ b/examples/hydrosurv_adapter/platform_status.json
@@ -0,0 +1,51 @@
+{
+ "timestamp": "2022-11-16T00:00:00Z",
+ "source": "hydrosurv_adapter",
+ "destination": "autonomy_engine",
+ "encoded": false,
+ "type": "platform_status",
+ "payload": {
+ "platform": {
+ "platform_ID": 23,
+ "serial": "ah-1",
+ "model": "ah-1",
+ "constraints": {
+ "min_altitude": 15.2,
+ "min_velocity": 0.1,
+ "max_velocity": 0.9
+ },
+ "active": true
+ },
+ "platform_state": "IDLE",
+ "autonomy_plan_ID": 1,
+ "mission_track_ID": 4,
+ "mission_action_ID": 1,
+ "range_to_go": 124.3,
+ "speed_over_ground": 124.3,
+ "water_current_velocity": 124.3,
+ "thrust_applied": 124.3,
+ "health_status": "Warning",
+ "gps_data": [
+ {
+ "gps_source": "internal",
+ "latitude_type": "",
+ "longitude_type": "",
+ "latitude": -7.432,
+ "longitude": 50.365,
+ "depth": 0.0,
+ "altitude": 0.0
+ }
+ ],
+ "localisation_error": 0.008,
+ "usbl_fix_seconds_ago": 20.3,
+ "battery_remaining_capacity": 80,
+ "sensor_config": {
+ "sensor_name": "MBES",
+ "sensor_status": false,
+ "additional_data": {
+ "sensor_loadtime_seconds": 30
+ }
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/formats/mission_plan.py b/formats/mission_plan.py
index 91bfa0347fb7eb2e939f74e97aeb8c3825c474c3..acd10e7fb4ee10fe47875f2475a3caf18ddce7d7 100644
--- a/formats/mission_plan.py
+++ b/formats/mission_plan.py
@@ -86,8 +86,8 @@ mission_plan_schema = api.model(
"plan": fields.List(
fields.Nested(action_schema),
required=True,
- description="Sequence of actions/instructions generated by the " +
- " Autonomy Engine that should be compiled by the respective C2.",
+ description="Sequence of actions/instructions generated by the "
+ + " Autonomy Engine that should be compiled by the respective C2.",
),
},
)
diff --git a/formats/observation.py b/formats/observation.py
index a759406db84779fe5993732519251c929e4943b9..88306e4e3942ffe400c80364300581b46a2b200a 100644
--- a/formats/observation.py
+++ b/formats/observation.py
@@ -1,7 +1,7 @@
"""
schema: platform-specific decoded status message (DRAFT)
"""
-from . import message_header_schema, platform_schema, api
+from . import full_message_schema, platform_schema, api
from flask_restx import fields
@@ -9,15 +9,14 @@ observation_schema = api.model(
"Observation",
{
"message": fields.Nested(
- message_header_schema,
+ full_message_schema,
required=True,
description="Message header",
),
- "platform": fields.Nested(platform_schema),
- "time": fields.String(
+ "platform_serial": fields.String(
required=True,
- description="Timestamp of message",
- example="2022-11-16T00:00:00Z",
+ description="Serial of platform to sendign observations",
+ example="ecosub-3",
),
# "observation_type" ==> payloads tied to different types maybe?
# properties of each observation?