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Commit 42a832fe authored by Trishna Saeharaseelan's avatar Trishna Saeharaseelan
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refactor: add new example json messages

parent ca8d8e59
dev 18-update-full-message-header-to-metadata 21-fix-git-raw-swagger-url 26-add-battery-endurance-for-platform-schema-in-planning-configuration 41-add-optional-operating_area-as-a-wider-zone-outside-region_of_interest 42-add-event-details-and-status-to-acknowledgement-schema 66-tag-current-dev-as-version-1 76-should-depth-and-altitude-be-coordinates 80-add-informational-type-primitive 87-remove-comment-for-platform-status-state 87-remove-todo-comment-from-platform-state action-refactor-test ci-js-test master missionmonitor v2.0.0 v2.0.0-beta.11 v2.0.0-beta.10 v2.0.0-beta.9 v2.0.0-beta.8 v2.0.0-beta.7 v2.0.0-beta.6 v2.0.0-beta.5 v2.0.0-beta.4 v2.0.0-beta.3 v2.0.0-beta.2 v2.0.0-beta.1 v1.0.0 v0.2.0 v0.1.0
1 merge request!2Create initial message schemas
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docs/generate_swagger.py
View file @ 42a832fe
...@@ -23,47 +23,11 @@ swagger_template = dict( ...@@ -23,47 +23,11 @@ swagger_template = dict(
}, },
host=LazyString(lambda: request.host), 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( full_message_schema = api.model(
"FullMessageSchema", "FullMessageSchema",
{ {
"uuid": fields.DateTime( # add this
required=True,
description="Timestamp of message",
example="2022-11-16T00:00:00Z",
),
"timestamp": fields.DateTime( "timestamp": fields.DateTime(
required=True, required=True,
description="Timestamp of message", description="Timestamp of message",
...@@ -95,10 +59,9 @@ full_message_schema = api.model( ...@@ -95,10 +59,9 @@ full_message_schema = api.model(
description="Content of Message", description="Content of Message",
# example="{}", # example="{}",
), ),
} },
) )
constraints_schema = api.model( constraints_schema = api.model(
"ConstraintsSchema", "ConstraintsSchema",
{ {
...@@ -147,18 +110,172 @@ platform_schema = api.model( ...@@ -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( squad_metadata_schema = api.model(
"SquadMetadataSchema", "SquadMetadataSchema",
{ {
"squad_ID": fields.Integer( "squad_ID": fields.Integer(
required=True, required=True,
description="Identifier of given squad", description="Identifier of given squad",
example="ah-1", example=23,
), ),
"no_of_platforms": fields.Integer( "no_of_platforms": fields.Integer(
required=True, required=True,
description="number of platforms", description="Number of platforms",
example="ah-1", example=3,
), ),
"platforms": fields.List( "platforms": fields.List(
fields.Nested(platform_schema), fields.Nested(platform_schema),
...@@ -175,9 +292,43 @@ squad_metadata_schema = api.model( ...@@ -175,9 +292,43 @@ squad_metadata_schema = api.model(
description="In execution, Waiting.. <define further>", description="In execution, Waiting.. <define further>",
example=False, 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_schema = api.model(
"GPS", "GPS",
{ {
...@@ -216,52 +367,10 @@ gps_schema = api.model( ...@@ -216,52 +367,10 @@ gps_schema = api.model(
description="Altitude in <DEFINE UNITS>", description="Altitude in <DEFINE UNITS>",
example="", example="",
), ),
# "gps_fix_seconds_ago": fields.Float( # "gps_fix_seconds_ago"
# required=False,
# description="",
# example="",
# ),
}, },
) )
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_schema = api.model(
"Sensor", "Sensor",
{ {
...@@ -280,13 +389,13 @@ sensor_schema = api.model( ...@@ -280,13 +389,13 @@ sensor_schema = api.model(
description="Add any additional sensor-related data here.", description="Add any additional sensor-related data here.",
example={"sensor_loadtime_seconds": 30.0}, example={"sensor_loadtime_seconds": 30.0},
), ),
} },
) )
platform_status_message_schema = api.model( platform_status_message_schema = api.model(
"platformStatusMessage", "platformStatusMessage",
{ {
"message": fields.Nested( "message": fields.Nested(
message_header_schema, full_message_schema,
required=True, required=True,
description="Message header", description="Message header",
), ),
...@@ -298,7 +407,7 @@ platform_status_message_schema = api.model( ...@@ -298,7 +407,7 @@ platform_status_message_schema = api.model(
+ "STOP, IDLE, ABORT.", + "STOP, IDLE, ABORT.",
example="IDLE", example="IDLE",
), ),
"autonomy_mission_ID": fields.Integer( "autonomy_plan_ID": fields.Integer(
required=False, required=False,
description="Last mission plan ID (according to Autonomy Engine's mission plan number) executed by platform", description="Last mission plan ID (according to Autonomy Engine's mission plan number) executed by platform",
example=1, example=1,
...@@ -343,9 +452,11 @@ platform_status_message_schema = api.model( ...@@ -343,9 +452,11 @@ platform_status_message_schema = api.model(
example="Warning", example="Warning",
), ),
"gps_data": fields.List( "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, required=True,
description="GPS of each platform", description="Metadata pf each platform",
), ),
"localisation_error": fields.Float( "localisation_error": fields.Float(
required=False, required=False,
...@@ -362,40 +473,36 @@ platform_status_message_schema = api.model( ...@@ -362,40 +473,36 @@ platform_status_message_schema = api.model(
description="Battery remaining capacity % provided by respective platform/C2.", description="Battery remaining capacity % provided by respective platform/C2.",
example=80.0, 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( acknowledgement_schema = api.model(
"MissionPlan", "Acknowledgement",
{ {
"message": fields.Nested( "message": fields.Nested(
message_header_schema, full_message_schema,
required=True, required=True,
description="Message header", description="Message header",
), ),
"ID": fields.Integer( "message_ID": fields.Integer(
required=True, required=True,
description="Unique identifier tagged to version of this" description="Identifier of message received and executed with "
+ " configuration plan", + "success for mission plans sent by the Autonomy Engine.",
example=3, example=202,
), ),
"time": fields.String( "status": fields.String(
required=True, required=True,
description="", description="Highest level of acknowledgement. I.e. `c2_received`: Received by C2,"
example="", + " `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 = { swagger_config = {
"headers": [], "headers": [],
"specs": [ "specs": [
...@@ -420,94 +527,6 @@ swagger_config = { ...@@ -420,94 +527,6 @@ swagger_config = {
"consumes": ["application/json"], "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) swagger = Swagger(app, template=swagger_template, config=swagger_config)
...@@ -528,12 +547,12 @@ class platformStatus(Resource): ...@@ -528,12 +547,12 @@ class platformStatus(Resource):
ns3 = api.namespace( 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("") @ns3.route("")
class AutonomyConfiguration(Resource): class PlanningConfiguration(Resource):
@ns3.response(200, "Success", autonomy_configuration_schema) @ns3.response(200, "Success", planning_configuration_schema)
def get(self): def get(self):
pass pass
...@@ -548,28 +567,18 @@ class MissionPlan(Resource): ...@@ -548,28 +567,18 @@ class MissionPlan(Resource):
def get(self): def get(self):
pass 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 = api.namespace("observation", description="Observation Format --> Per platform or generic?")
@ns5.route("") @ns5.route("")
class Observation(Resource): class Observation(Resource):
@ns5.response(200, "Success", observation_schema) @ns5.response(200, "Success", observation_schema)
def get(self): def get(self):
pass 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__": if __name__ == "__main__":
app.run() app.run()
examples/all/acknowledgment.json 0 → 100644
View file @ 42a832fe
{
"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
examples/all/mission_plan.json 0 → 100644
View file @ 42a832fe
{
"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
examples/all/observation.json 0 → 100644
View file @ 42a832fe
{
"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
examples/all/planning_configuration.json 0 → 100644
View file @ 42a832fe
{
"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
examples/all/platform_status.json 0 → 100644
View file @ 42a832fe
{
"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
examples/autonomy_engine/mission_plan.json
View file @ 42a832fe
{
"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
examples/autonomy_engine/observation.json 0 → 100644
View file @ 42a832fe
{
"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
examples/autonomy_engine/planning_configuration.json
View file @ 42a832fe
{
"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
examples/autonomy_engine/platform_status.json 0 → 100644
View file @ 42a832fe
{
"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
examples/hydrosurv_adapter/acknowledgment.json 0 → 100644
View file @ 42a832fe
{
"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
examples/hydrosurv_adapter/mission_plan.json 0 → 100644
View file @ 42a832fe
{
"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
examples/hydrosurv_adapter/platform_status.json 0 → 100644
View file @ 42a832fe
{
"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
formats/mission_plan.py
View file @ 42a832fe
...@@ -86,8 +86,8 @@ mission_plan_schema = api.model( ...@@ -86,8 +86,8 @@ mission_plan_schema = api.model(
"plan": fields.List( "plan": fields.List(
fields.Nested(action_schema), fields.Nested(action_schema),
required=True, required=True,
description="Sequence of actions/instructions generated by the " + description="Sequence of actions/instructions generated by the "
" Autonomy Engine that should be compiled by the respective C2.", + " Autonomy Engine that should be compiled by the respective C2.",
), ),
}, },
) )
formats/observation.py
View file @ 42a832fe
""" """
schema: platform-specific decoded status message (DRAFT) 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 from flask_restx import fields
...@@ -9,15 +9,14 @@ observation_schema = api.model( ...@@ -9,15 +9,14 @@ observation_schema = api.model(
"Observation", "Observation",
{ {
"message": fields.Nested( "message": fields.Nested(
message_header_schema, full_message_schema,
required=True, required=True,
description="Message header", description="Message header",
), ),
"platform": fields.Nested(platform_schema), "platform_serial": fields.String(
"time": fields.String(
required=True, required=True,
description="Timestamp of message", description="Serial of platform to sendign observations",
example="2022-11-16T00:00:00Z", example="ecosub-3",
), ),
# "observation_type" ==> payloads tied to different types maybe? # "observation_type" ==> payloads tied to different types maybe?
# properties of each observation? # properties of each observation?
......
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