diff --git a/CHANGELOG.md b/CHANGELOG.md
index 65831cc093427dafc450713776342fa0becc8b09..3dcce35519081fda2d9d65500cd31008fb3ce38e 100644
--- 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
diff --git a/examples/mas-dt/instruction_set.json b/examples/mas-dt/instruction_set.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ed3e6cf8e49bc3c74c035d457be333932f2f243
--- /dev/null
+++ b/examples/mas-dt/instruction_set.json
@@ -0,0 +1,47 @@
+{
+ "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
diff --git a/examples/mas-dt/planning_configuration.json b/examples/mas-dt/planning_configuration.json
index ea4b7af462da3cfb249b4c8afd4521ea8520ddfc..cf785e3a9df6922fd2c6a6ca4012f0e13afbd653 100644
--- 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,
diff --git a/formats/instruction_set.py b/formats/instruction_set.py
new file mode 100644
index 0000000000000000000000000000000000000000..2fadbb64f9e844d37c7c7a2ca4de61047476afbf
--- /dev/null
+++ b/formats/instruction_set.py
@@ -0,0 +1,54 @@
+"""
+ 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",
+ ],
+}
diff --git a/formats/payload.py b/formats/payload.py
index 062527f48de04a9642655b9a0b7ea8caeeccff79..0868657e81a5208ed8e9a4cbe0cd278777655db7 100644
--- 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"},
diff --git a/formats/planning_configuration.py b/formats/planning_configuration.py
index 7fff4b5f7bba948add737d435766c5302501efc2..485c2ac066d36c9e44c46d4405109f26e4f65a00 100644
--- 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,
diff --git a/generate_schema_config.py b/generate_schema_config.py
index 57cadb697866fbdfe092e63a9dfc2417e5b82236..3c0f530a8635479c1af949877718cc11afa89f21 100644
--- 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,
}
},
}
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index e76d2ff1c94467e82b7a9715f077b451543ffed1..a22f75b22baab69212788648a5d970da071e333b 100644
--- 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": [