Merge branch '62-mas-dt-define-instruction-set-and-instructions' into '67-mas-dt'

Resolve "MAS-DT define instruction set and instructions" See merge request !42

Merge branch '62-mas-dt-define-instruction-set-and-instructions' into '67-mas-dt'
Resolve "MAS-DT define instruction set and instructions" See merge request !42
4fd9f7f1 · Dan Jones · 95cfc66d · da426240 · 4fd9f7f1 · 4fd9f7f1
Commit 4fd9f7f1 authored 7 months ago by Dan Jones
8 changed files
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.

 ### Added

+- Add definition of instruction_set message
 - Added optional primitives to squad schema

 ### Changed
@@ -16,10 +17,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
 - Refactor action schema to accept geojson.Points
 - Use geojson Point for platform_status
 - Add waypoint to platform_status
+- Updated header version to accept semver, branch or commit
 - Store remote schemas as committed local files
  This prevents the live runtime loading untested changes
- Updated header version to accept semver, branch or commit
- Store remote schemas as committed local files 
 - Refactored planning_configuration message definition
  - Remove region_of_interest and exclusion_zones
  - Add primitives array of classified geojson Features

--- a/examples/mas-dt/instruction_set.json
+++ b/examples/mas-dt/instruction_set.json
+{
+  "header": {
+    "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+    "timestamp": "2024-09-03T00:00:00Z",
+    "version": 1,
+    "source": "ori",
+    "destination": "internal.noc.slocum.unit_111.to_platform.instruction_set",
+    "delivery_type": "publish",
+    "encoded": false
+  },
+  "payload": {
+    "message_type": "instruction_set",
+    "categories": {
+      "speed": "slow",
+      "data_transmission": "normal"
+    },
+    "files": [
+      {
+        "name": "yo95.ma",
+        "content": "YmVoYXZpb3JfbmFtZT15bw0KIyB5bzM1Lm1hDQojIFN0YW5kYXJkIFlPIEZpbGUgZmlsZSBnMiBvciBnMyBOT0MgZ2xpZGVycw0KIyAgMSBZTw0KIyAgMzBtIGRlcHRoDQojICBBbHRpbWV0ZXIgT24gYXQgbWF4aW11biBzcGVlZA0KIyAgQXV0b2JhbGxhc3Qgb24gLSBGdWxsIEJ1b3lhbmN5DQojICBCYXR0ZXJ5IE1vZGUgU2Vydm8gMjYgZGVlZ3JlZXMNCiMgU2VlIC9kb2NvL2h3LWl0LXdvcmtzL2F1dG9iYWxsYXN0LnR4dCBhbmQgbWFzdGVyZGF0YSBmb3IgZnVsbCBsaXN0IG9mIGJfYXJncy4NCiMgMjIgLSBBdWd1c3QgMjAxNiBhbHZhcm8ubG9yZW56b0Bub2MuYWMudWsNCiMgMDIgLSBEZWMgMjAyMSBiZW4uYWxsc3VwQG5vYyBjbGVhbiB1cCBmb3IgZzMgYW5kIHRocnVzdGVyIHVzYWdlDQoNCjxzdGFydDpiX2FyZz4JDQojICAgIGJfYXJnOiBudW1faGFsZl9jeWNsZXNfdG9fZG8obm9kaW0pIDIgCQkJIyBOdW1iZXIgb2YgZGl2ZS9jbGltYnMgdG8gcGVyZm9ybQ0KCQkJCQkJCQkJCQkJCQ0KICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgDQojIGFyZ3VtZW50cyBmb3IgZGl2ZV90bw0KICAgIGJfYXJnOiBkX2JwdW1wX3ZhbHVlKFgpIAkgICAgICAJMzAwLjAgCQkjIHRvdGFsIGRyaXZlIHZvbHVtZSBmb3IgYXV0b2JhbGxhc3QNCiAgICBiX2FyZzogZF9waXRjaF92YWx1ZShYKSAgIAkgICAgICAJLTAuMzQ5ICAJIyAtMjAgZGVnDQogICANCiMgYXJndW1lbnRzIGZvciBjbGltYl90bw0KICAgIGJfYXJnOiBjX3BpdGNoX3ZhbHVlKFgpICAgICAJCTAuMzQ5ICAgICAgICMgKzIwIGRlZw0KDQo8ZW5kOmJfYXJnPg0K",
+        "static": {
+          "no_half_cycles_to_do": 2,
+          "d_bpump_value": 300.0,
+          "d_pitch_value": -0.349,
+          "c_pitch_value": 0.349
+        }
+      },
+      {
+        "name": "tbdlist.dat",
+        "content": "IyMjIG1hbmRhdG9yeSB0aW1lIGluZm9ybWF0aW9uIGF0IGZ1bGwgcmVzb2x1dGlvbg0KU0NJX01fUFJFU0VOVF9USU1FDQpTQ0lfTV9QUkVTRU5UX1NFQ1NfSU5UT19NSVNTSU9ODQoNCiMjIyMjIyMjIyBzdGFuZGFyZCBDVEQgaW5mb3JtYXRpb24gIyMjIyMjIyMjIyMjIyMjIyMNCiMjIyByZWNvbW1lbmRlZCBzYW1wbGUgcmF0ZSA6IDwgMTAgc2Vjb25kcw0KU0NJX1dBVEVSX0NPTkQgICAgICAgICAxMCAjIHRvIHNhbXBsZSBldmVyeSBvdGhlciB5byBvbiBkb3duY2FzdCBvbmx5LCB1c2UgMTAgMSAtMSAyDQpTQ0lfV0FURVJfVEVNUCAgICAgICAgIDEwDQpTQ0lfV0FURVJfUFJFU1NVUkUgICAgIDEwDQojU0NJX0NURDQxQ1BfVElNRVNUQU1QICAxMA==",
+        "static": {
+            "SCI_WATER_COND": 10,
+            "SCI_WATER_TEMP": 10,
+            "SCI_WATER_PRESSURE": 10
+        }
+      },
+      {
+        "name": "sample99.ma", 
+        "content": "YmVoYXZpb3JfbmFtZT1zYW1wbGUNCjxzdGFydDpiX2FyZz4NCiAgICBiX2FyZzogbnRoX3lvX3RvX3NhbXBsZShub2RpbSkgICAgICAgICAgICAJMiAgCSAjIENoZWNrIG1hc3RlcmRhdGENCiAgICBiX2FyZzogbWF4X2RlcHRoKG0pICAgICAgICAgICAgICAgICAgIAkgMjAwMCAgICAjIENoZWNrIG1hc3RlcmRhdGENCjxlbmQ6Yl9hcmc+DQo=",
+        "static": {
+            "nth_yo_to_sample": 2,
+            "max_depth": 2000
+        }
+      }
+    ]
+  }
+}
\ No newline at end of file
--- a/examples/mas-dt/planning_configuration.json
+++ b/examples/mas-dt/planning_configuration.json
@@ -87,6 +87,44 @@
        }
      }
    ],   
+    "instructions": [
+      {
+        "message_type": "instruction_set",
+        "categories": {
+          "speed": "slow",
+          "data_transmission": "normal"
+        },
+        "files": [
+          {
+            "name": "yo95.ma",
+            "content": "YmVoYXZpb3JfbmFtZT15bw0KIyB5bzM1Lm1hDQojIFN0YW5kYXJkIFlPIEZpbGUgZmlsZSBnMiBvciBnMyBOT0MgZ2xpZGVycw0KIyAgMSBZTw0KIyAgMzBtIGRlcHRoDQojICBBbHRpbWV0ZXIgT24gYXQgbWF4aW11biBzcGVlZA0KIyAgQXV0b2JhbGxhc3Qgb24gLSBGdWxsIEJ1b3lhbmN5DQojICBCYXR0ZXJ5IE1vZGUgU2Vydm8gMjYgZGVlZ3JlZXMNCiMgU2VlIC9kb2NvL2h3LWl0LXdvcmtzL2F1dG9iYWxsYXN0LnR4dCBhbmQgbWFzdGVyZGF0YSBmb3IgZnVsbCBsaXN0IG9mIGJfYXJncy4NCiMgMjIgLSBBdWd1c3QgMjAxNiBhbHZhcm8ubG9yZW56b0Bub2MuYWMudWsNCiMgMDIgLSBEZWMgMjAyMSBiZW4uYWxsc3VwQG5vYyBjbGVhbiB1cCBmb3IgZzMgYW5kIHRocnVzdGVyIHVzYWdlDQoNCjxzdGFydDpiX2FyZz4JDQojICAgIGJfYXJnOiBudW1faGFsZl9jeWNsZXNfdG9fZG8obm9kaW0pIDIgCQkJIyBOdW1iZXIgb2YgZGl2ZS9jbGltYnMgdG8gcGVyZm9ybQ0KCQkJCQkJCQkJCQkJCQ0KICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgDQojIGFyZ3VtZW50cyBmb3IgZGl2ZV90bw0KICAgIGJfYXJnOiBkX2JwdW1wX3ZhbHVlKFgpIAkgICAgICAJMzAwLjAgCQkjIHRvdGFsIGRyaXZlIHZvbHVtZSBmb3IgYXV0b2JhbGxhc3QNCiAgICBiX2FyZzogZF9waXRjaF92YWx1ZShYKSAgIAkgICAgICAJLTAuMzQ5ICAJIyAtMjAgZGVnDQogICANCiMgYXJndW1lbnRzIGZvciBjbGltYl90bw0KICAgIGJfYXJnOiBjX3BpdGNoX3ZhbHVlKFgpICAgICAJCTAuMzQ5ICAgICAgICMgKzIwIGRlZw0KDQo8ZW5kOmJfYXJnPg0K",
+            "static": {
+              "no_half_cycles_to_do": 2,
+              "d_bpump_value": 300.0,
+              "d_pitch_value": -0.349,
+              "c_pitch_value": 0.349
+            }
+          },
+          {
+            "name": "tbdlist.dat",
+            "content": "IyMjIG1hbmRhdG9yeSB0aW1lIGluZm9ybWF0aW9uIGF0IGZ1bGwgcmVzb2x1dGlvbg0KU0NJX01fUFJFU0VOVF9USU1FDQpTQ0lfTV9QUkVTRU5UX1NFQ1NfSU5UT19NSVNTSU9ODQoNCiMjIyMjIyMjIyBzdGFuZGFyZCBDVEQgaW5mb3JtYXRpb24gIyMjIyMjIyMjIyMjIyMjIyMNCiMjIyByZWNvbW1lbmRlZCBzYW1wbGUgcmF0ZSA6IDwgMTAgc2Vjb25kcw0KU0NJX1dBVEVSX0NPTkQgICAgICAgICAxMCAjIHRvIHNhbXBsZSBldmVyeSBvdGhlciB5byBvbiBkb3duY2FzdCBvbmx5LCB1c2UgMTAgMSAtMSAyDQpTQ0lfV0FURVJfVEVNUCAgICAgICAgIDEwDQpTQ0lfV0FURVJfUFJFU1NVUkUgICAgIDEwDQojU0NJX0NURDQxQ1BfVElNRVNUQU1QICAxMA==",
+            "static": {
+                "SCI_WATER_COND": 10,
+                "SCI_WATER_TEMP": 10,
+                "SCI_WATER_PRESSURE": 10
+            }
+          },
+          {
+            "name": "sample99.ma", 
+            "content": "YmVoYXZpb3JfbmFtZT1zYW1wbGUNCjxzdGFydDpiX2FyZz4NCiAgICBiX2FyZzogbnRoX3lvX3RvX3NhbXBsZShub2RpbSkgICAgICAgICAgICAJMiAgCSAjIENoZWNrIG1hc3RlcmRhdGENCiAgICBiX2FyZzogbWF4X2RlcHRoKG0pICAgICAgICAgICAgICAgICAgIAkgMjAwMCAgICAjIENoZWNrIG1hc3RlcmRhdGENCjxlbmQ6Yl9hcmc+DQo=",
+            "static": {
+                "nth_yo_to_sample": 2,
+                "max_depth": 2000
+            }
+          }
+        ]
+      }
+    ],
    "squads": [
      {
        "squad_ID": 1,

--- a/formats/instruction_set.py
+++ b/formats/instruction_set.py
+"""
+    schemas: Instruction set message containing a collection of configuration files
+"""
+
+config_file_schema = {
+    "type": "object",
+    "properties": {
+        "name": {
+            "type": "string",
+            "description": "Name of file",
+            "example": "yo95.ma",
+        },
+        "content": {
+            "type": "string",
+            "description": "Base64 encoded file content",
+            "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcB"
+            + "AAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+        },
+        "mime_type": {
+            "type": "string",
+            "description": "MIME type",
+            "example": "text/plain",
+        },
+        "static": {
+            "type": "object",
+            "description": "list of the fixed values set by the config file",
+        },
+    },
+    "required": ["name", "content"],
+}
+
+
+instruction_set_schema = {
+    "type": "object",
+    "properties": {
+        "message_type": {
+            "type": "string",
+            "description": "Type of message",
+            "example": "instruction_set",
+            "enum": ["instruction_set"],
+        },
+        "categories": {
+            "type": "object",
+        },
+        "files": {
+            "type": "array",
+            "items": config_file_schema,
+        },
+    },
+    "required": [
+        "message_type",
+        "files",
+    ],
+}
--- a/formats/payload.py
+++ b/formats/payload.py
@@ -3,6 +3,7 @@ payload_schema = {
        "propertyName": "message_type",
        "mapping": {
            "alert": "#/components/schemas/alert",
+            "instruction_set": "#/components/schemas/instruction_set",
            "mission_plan": "#/components/schemas/mission_plan",
            "mission_plan_encoded": "#/components/schemas/" + "mission_plan_encoded",
            "observation": "#/components/schemas/observation",
@@ -20,6 +21,7 @@ payload_schema = {
    "oneOf": [
        {"$ref": "#/components/schemas/alert"},
        {"$ref": "#/components/schemas/acknowledgement"},
+        {"$ref": "#/components/schemas/instruction_set"},
        {"$ref": "#/components/schemas/mission_plan"},
        {"$ref": "#/components/schemas/mission_plan_encoded"},
        {"$ref": "#/components/schemas/observation"},

--- a/formats/planning_configuration.py
+++ b/formats/planning_configuration.py
@@ -2,6 +2,7 @@
    schemas: configuration sent to Autonomy Engine (i.e. during an emergency,
    if a platform needs to be removed from the mission planning)
 """
+from .instruction_set import instruction_set_schema

 emergency_schema = {
    "type": "object",
@@ -263,6 +264,10 @@ planning_configuration_schema = {
            "description": "Specification primitives "
            + "- campaign-wide such as operating area and obstacles",
        },
+        "instructions": {
+            "type": "array",
+            "items": instruction_set_schema,
+        },
        "squads": {
            "type": "array",
            "items": squad_metadata_schema,

--- a/generate_schema_config.py
+++ b/generate_schema_config.py
@@ -12,6 +12,7 @@ from formats.survey import survey_schema
 from formats.survey_encoded import survey_encoded_schema
 from formats.acknowledgement import acknowledgement_schema
 from formats.alert import alert_schema
+from formats.instruction_set import config_file_schema, instruction_set_schema

 from flasgger import Swagger
 from flask import Flask
@@ -71,6 +72,8 @@ def get_swagger_config(reload=False):
                "survey_encoded": survey_encoded_schema,
                "acknowledgement": acknowledgement_schema,
                "alert": alert_schema,
+                "instruction_set": instruction_set_schema,
+                "config_file": config_file_schema,
            }
        },
    }

--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -111,6 +111,34 @@
        ],
        "type": "object"
      },
+      "config_file": {
+        "properties": {
+          "content": {
+            "description": "Base64 encoded file content",
+            "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+            "type": "string"
+          },
+          "mime_type": {
+            "description": "MIME type",
+            "example": "text/plain",
+            "type": "string"
+          },
+          "name": {
+            "description": "Name of file",
+            "example": "yo95.ma",
+            "type": "string"
+          },
+          "static": {
+            "description": "list of the fixed values set by the config file",
+            "type": "object"
+          }
+        },
+        "required": [
+          "name",
+          "content"
+        ],
+        "type": "object"
+      },
      "geojson.org.schema.Feature.json": {
        "properties": {
          "bbox": {
@@ -1446,6 +1474,57 @@
        ],
        "type": "object"
      },
+      "instruction_set": {
+        "properties": {
+          "categories": {
+            "type": "object"
+          },
+          "files": {
+            "items": {
+              "properties": {
+                "content": {
+                  "description": "Base64 encoded file content",
+                  "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+                  "type": "string"
+                },
+                "mime_type": {
+                  "description": "MIME type",
+                  "example": "text/plain",
+                  "type": "string"
+                },
+                "name": {
+                  "description": "Name of file",
+                  "example": "yo95.ma",
+                  "type": "string"
+                },
+                "static": {
+                  "description": "list of the fixed values set by the config file",
+                  "type": "object"
+                }
+              },
+              "required": [
+                "name",
+                "content"
+              ],
+              "type": "object"
+            },
+            "type": "array"
+          },
+          "message_type": {
+            "description": "Type of message",
+            "enum": [
+              "instruction_set"
+            ],
+            "example": "instruction_set",
+            "type": "string"
+          }
+        },
+        "required": [
+          "message_type",
+          "files"
+        ],
+        "type": "object"
+      },
      "mission_plan": {
        "properties": {
          "autonomy_engine_plan_ID": {
@@ -1730,6 +1809,7 @@
          "mapping": {
            "acknowledgement": "#/components/schemas/acknowledgement",
            "alert": "#/components/schemas/alert",
+            "instruction_set": "#/components/schemas/instruction_set",
            "mission_plan": "#/components/schemas/mission_plan",
            "mission_plan_encoded": "#/components/schemas/mission_plan_encoded",
            "observation": "#/components/schemas/observation",
@@ -1749,6 +1829,9 @@
          {
            "$ref": "#/components/schemas/acknowledgement"
          },
+          {
+            "$ref": "#/components/schemas/instruction_set"
+          },
          {
            "$ref": "#/components/schemas/mission_plan"
          },
@@ -1780,6 +1863,60 @@
      },
      "planning_configuration": {
        "properties": {
+          "instructions": {
+            "items": {
+              "properties": {
+                "categories": {
+                  "type": "object"
+                },
+                "files": {
+                  "items": {
+                    "properties": {
+                      "content": {
+                        "description": "Base64 encoded file content",
+                        "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+                        "type": "string"
+                      },
+                      "mime_type": {
+                        "description": "MIME type",
+                        "example": "text/plain",
+                        "type": "string"
+                      },
+                      "name": {
+                        "description": "Name of file",
+                        "example": "yo95.ma",
+                        "type": "string"
+                      },
+                      "static": {
+                        "description": "list of the fixed values set by the config file",
+                        "type": "object"
+                      }
+                    },
+                    "required": [
+                      "name",
+                      "content"
+                    ],
+                    "type": "object"
+                  },
+                  "type": "array"
+                },
+                "message_type": {
+                  "description": "Type of message",
+                  "enum": [
+                    "instruction_set"
+                  ],
+                  "example": "instruction_set",
+                  "type": "string"
+                }
+              },
+              "required": [
+                "message_type",
+                "files"
+              ],
+              "type": "object"
+            },
+            "type": "array"
+          },
          "message_type": {
            "description": "Type of message",
            "enum": [