From 46142c3564b7f743926256c6cc2eb84bd52033c4 Mon Sep 17 00:00:00 2001
From: Trishna Saeharaseelan <trishna.saeharaseelan@noc.ac.uk>
Date: Tue, 10 Jan 2023 16:55:30 +0800
Subject: [PATCH] fix(acknowledgement): schema for swagger, update hydrosurv
egs#
---
README.md | 7 ++
examples/all/acknowledgement.json | 17 +++--
examples/all/mission_plan.json | 39 +++++------
examples/all/platform_status.json | 70 +++++++++----------
.../hydrosurv_adapter/acknowledgement.json | 17 +++--
examples/hydrosurv_adapter/mission_plan.json | 39 +++++------
.../hydrosurv_adapter/platform_status.json | 70 +++++++++----------
formats/acknowledgement.py | 8 ++-
formats/message_wrapper.py | 2 +-
formats/observation.py | 2 +-
generate_swagger.py | 4 +-
project/SOAR_README.md | 7 ++
12 files changed, 148 insertions(+), 134 deletions(-)
diff --git a/README.md b/README.md
index 56bbe31..28e9ef8 100644
--- a/README.md
+++ b/README.md
@@ -8,7 +8,14 @@ Each message below will be wrapped in a `message_wrapper`:
* `platform_status`: these would be two message types, i. encoded (platform-specific serialized message) and ii. parsed, human-readable message.
* `observation`: this would be desired scientific data sent by the platform
* `acknowledgement`: level of acknowledgment where an acknowledgement is sent when a message is i. received, ii. sent to the next destination (e.g. platform in the water).
+* `planning_configuration`: sent from the GUI to initialise the AI model (autonomy engine).
+# Run Docs
+1. Run the command below
+```
+python3 generate_swagger.py
+```
+2. Go to `http://127.0.0.1:5000/soardocs/`
# Quick Links
1. [Schema Fields Definitions](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/tree/7-message-formats-initial/formats)
diff --git a/examples/all/acknowledgement.json b/examples/all/acknowledgement.json
index 4052202..e8ca460 100644
--- a/examples/all/acknowledgement.json
+++ b/examples/all/acknowledgement.json
@@ -1,13 +1,12 @@
{
- "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
- "version": 1,
- "source": "hydrosurv_adapter",
- "destination": "autonomy_engine",
+ "version": 2,
+ "source": "autonomy_engine",
+ "destination": "ah1",
+ "delivery_type": "publish",
"encoded": false,
- "type": "acknowledgement",
- "payload": {
- "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac999999",
- "status": "executed"
- }
+ "message_type": "platform_status",
+ "acknowledged_message_ID": "02125022255-7bc8-11ed-a1eb-0242ac999999",
+ "status": "executed by platform"
}
\ No newline at end of file
diff --git a/examples/all/mission_plan.json b/examples/all/mission_plan.json
index add7383..c99d52b 100644
--- a/examples/all/mission_plan.json
+++ b/examples/all/mission_plan.json
@@ -1,25 +1,24 @@
{
- "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
- "destination": "ah-1",
+ "destination": "hydrosurv_adapter",
+ "delivery_type": "publish",
"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
- }
- ]
- }
-}
\ No newline at end of file
+ "message_type": "mission_plan",
+ "plan_ID": 1,
+ "plan": [
+ {
+ "action": "move",
+ "flight_style": "orbit",
+ "activate_payload": true,
+ "altitude": 15,
+ "depth": 15,
+ "latitude_waypoint": -4.187143188645706,
+ "longitude_waypoint": 50.37072283932642,
+ "send_environmental_data": false
+ }
+ ],
+ "platform_serial": "reav-60"
+}
diff --git a/examples/all/platform_status.json b/examples/all/platform_status.json
index b459ecb..8a24e98 100644
--- a/examples/all/platform_status.json
+++ b/examples/all/platform_status.json
@@ -1,41 +1,41 @@
{
- "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
- "version": 1,
+ "version": 2,
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
+ "delivery_type": "publish",
"encoded": false,
- "type": "platform_status",
- "payload": {
- "platform_ID": 1,
- "active": true,
- "platform_state": "ORBIT",
- "autonomy_plan_ID": 1,
- "mission_track_ID": 4,
- "mission_action_ID": 1,
- "range_to_go": 0.3,
- "speed_over_ground": 0.3,
- "water_current_velocity": 0.3,
- "thrust_applied": 0.3,
- "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": null,
- "usbl_fix_seconds_ago": null,
- "battery_remaining_capacity": 80,
- "sensor_config": {
- "sensor_name": null,
- "sensor_status": false,
- "additional_data": null
+ "message_type": "platform_status",
+ "active": true,
+ "autonomy_plan_ID": 1,
+ "battery_remaining_capacity": 80.2,
+ "gps_data": [
+ {
+ "altitude": 20,
+ "depth": 50,
+ "gps_source": "internal",
+ "latitude": 178.2,
+ "latitude_type": "string",
+ "longitude": -10.122,
+ "longitude_type": "string"
}
- }
- }
\ No newline at end of file
+ ],
+ "health_status": "Warning",
+ "localisation_error": null,
+ "mission_action_ID": 1,
+ "mission_track_ID": 4,
+ "platform_ID": 1,
+ "platform_state": "ABORT",
+ "platform_timestamp": "2022-12-21T00:00:00Z",
+ "range_to_go": 124.3,
+ "sensor_config": {
+ "additional_data": {},
+ "sensor_serial": null,
+ "sensor_status": null
+ },
+ "speed_over_ground": 124.3,
+ "thrust_applied": 124.3,
+ "usbl_fix_seconds_ago": null,
+ "water_current_velocity": 124.3
+ }
diff --git a/examples/hydrosurv_adapter/acknowledgement.json b/examples/hydrosurv_adapter/acknowledgement.json
index 4052202..e8ca460 100644
--- a/examples/hydrosurv_adapter/acknowledgement.json
+++ b/examples/hydrosurv_adapter/acknowledgement.json
@@ -1,13 +1,12 @@
{
- "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
- "version": 1,
- "source": "hydrosurv_adapter",
- "destination": "autonomy_engine",
+ "version": 2,
+ "source": "autonomy_engine",
+ "destination": "ah1",
+ "delivery_type": "publish",
"encoded": false,
- "type": "acknowledgement",
- "payload": {
- "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac999999",
- "status": "executed"
- }
+ "message_type": "platform_status",
+ "acknowledged_message_ID": "02125022255-7bc8-11ed-a1eb-0242ac999999",
+ "status": "executed by platform"
}
\ No newline at end of file
diff --git a/examples/hydrosurv_adapter/mission_plan.json b/examples/hydrosurv_adapter/mission_plan.json
index add7383..c99d52b 100644
--- a/examples/hydrosurv_adapter/mission_plan.json
+++ b/examples/hydrosurv_adapter/mission_plan.json
@@ -1,25 +1,24 @@
{
- "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
- "destination": "ah-1",
+ "destination": "hydrosurv_adapter",
+ "delivery_type": "publish",
"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
- }
- ]
- }
-}
\ No newline at end of file
+ "message_type": "mission_plan",
+ "plan_ID": 1,
+ "plan": [
+ {
+ "action": "move",
+ "flight_style": "orbit",
+ "activate_payload": true,
+ "altitude": 15,
+ "depth": 15,
+ "latitude_waypoint": -4.187143188645706,
+ "longitude_waypoint": 50.37072283932642,
+ "send_environmental_data": false
+ }
+ ],
+ "platform_serial": "reav-60"
+}
diff --git a/examples/hydrosurv_adapter/platform_status.json b/examples/hydrosurv_adapter/platform_status.json
index b459ecb..8a24e98 100644
--- a/examples/hydrosurv_adapter/platform_status.json
+++ b/examples/hydrosurv_adapter/platform_status.json
@@ -1,41 +1,41 @@
{
- "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
- "version": 1,
+ "version": 2,
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
+ "delivery_type": "publish",
"encoded": false,
- "type": "platform_status",
- "payload": {
- "platform_ID": 1,
- "active": true,
- "platform_state": "ORBIT",
- "autonomy_plan_ID": 1,
- "mission_track_ID": 4,
- "mission_action_ID": 1,
- "range_to_go": 0.3,
- "speed_over_ground": 0.3,
- "water_current_velocity": 0.3,
- "thrust_applied": 0.3,
- "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": null,
- "usbl_fix_seconds_ago": null,
- "battery_remaining_capacity": 80,
- "sensor_config": {
- "sensor_name": null,
- "sensor_status": false,
- "additional_data": null
+ "message_type": "platform_status",
+ "active": true,
+ "autonomy_plan_ID": 1,
+ "battery_remaining_capacity": 80.2,
+ "gps_data": [
+ {
+ "altitude": 20,
+ "depth": 50,
+ "gps_source": "internal",
+ "latitude": 178.2,
+ "latitude_type": "string",
+ "longitude": -10.122,
+ "longitude_type": "string"
}
- }
- }
\ No newline at end of file
+ ],
+ "health_status": "Warning",
+ "localisation_error": null,
+ "mission_action_ID": 1,
+ "mission_track_ID": 4,
+ "platform_ID": 1,
+ "platform_state": "ABORT",
+ "platform_timestamp": "2022-12-21T00:00:00Z",
+ "range_to_go": 124.3,
+ "sensor_config": {
+ "additional_data": {},
+ "sensor_serial": null,
+ "sensor_status": null
+ },
+ "speed_over_ground": 124.3,
+ "thrust_applied": 124.3,
+ "usbl_fix_seconds_ago": null,
+ "water_current_velocity": 124.3
+ }
diff --git a/formats/acknowledgement.py b/formats/acknowledgement.py
index 6c6d965..5021b4f 100644
--- a/formats/acknowledgement.py
+++ b/formats/acknowledgement.py
@@ -3,12 +3,14 @@
receipt of message.
"""
acknowledgement_schema = {
+ "allOf": [{"$ref": "#/components/schemas/Message"}],
+ "type": "object",
"properties": {
- "message_ID": {
+ "acknowledged_message_ID": {
"type": "string",
"description": "Identifier of message received and executed with "
+ "success for mission plans sent by the Autonomy Engine.",
- "example": "b427003c-7bc8-11ed-a1eb-0242ac999999",
+ "example": "02125022255-7bc8-11ed-a1eb-0242ac999999",
},
"status": {
"type": "string",
@@ -18,7 +20,7 @@ acknowledgement_schema = {
"example": "executed by platform",
},
},
- "required": ["message_ID", "status"],
+ "required": ["acknowledged_message_ID", "status"],
}
# acknowledgement_schema = api.model(
diff --git a/formats/message_wrapper.py b/formats/message_wrapper.py
index b9bebfa..8762dd6 100644
--- a/formats/message_wrapper.py
+++ b/formats/message_wrapper.py
@@ -13,7 +13,7 @@ message_wrapper_schema = {
"message_ID": {
"type": "string",
"description": "An identifier for the type of " + "message received.",
- "example": "PlatformStatus",
+ "example": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
},
"timestamp": {
"type": "date-time",
diff --git a/formats/observation.py b/formats/observation.py
index 8cfa412..da8cd04 100644
--- a/formats/observation.py
+++ b/formats/observation.py
@@ -1,5 +1,5 @@
"""
- schema: platform-specific decoded status message (DRAFT)
+ schema: Observation Message sent by platforms when points of interest are found.
"""
# from . import full_message_schema, api
# from flask_restx import fields
diff --git a/generate_swagger.py b/generate_swagger.py
index 678c1bb..1abd4b9 100644
--- a/generate_swagger.py
+++ b/generate_swagger.py
@@ -7,6 +7,7 @@ from formats.mission_plan import mission_plan_schema
from formats.observation import observation_schema
from formats.planning_configuration import planning_configuration_schema
from formats.platform_status import platform_status_message_schema
+from formats.acknowledgement import acknowledgement_schema
app = Flask(__name__)
@@ -35,6 +36,7 @@ swagger_config = {
"Observation": observation_schema,
"PlanningConfiguration": planning_configuration_schema,
"PlatformStatus": platform_status_message_schema,
+ "Acknowledgement": acknowledgement_schema,
},
},
"paths": {
@@ -50,7 +52,7 @@ swagger_config = {
"oneOf": [
{
"$ref": "#/components/"
- + "schemas/Coordinate"
+ + "schemas/Acknowledgement"
},
{
"$ref": "#/components/"
diff --git a/project/SOAR_README.md b/project/SOAR_README.md
index b73f417..74338d8 100644
--- a/project/SOAR_README.md
+++ b/project/SOAR_README.md
@@ -42,3 +42,10 @@ Squad of Adaptive Robots Project
| NOC (AH1) | emergency | GUI | TBD – AH1 (ABORT command via Black Box) | TBD | TBD | TBD – all platforms pre-compiled ABORT via Black box |
| NOC (GUI) | planning configuration | GUI | Autonomy Engine | Yes | No | N/A |
| NOC (GUI) | emergency | GUI | TBD | TBD | TBD | TBD |
+
+## Run Docs
+1. Run the command below
+```
+python3 generate_swagger.py
+```
+2. Go to `http://127.0.0.1:5000/soardocs/`
--
GitLab