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Commit 52b7331c authored by Trishna Saeharaseelan's avatar Trishna Saeharaseelan
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refactor(planning configuration): add endurance rating, active status, warmup time

parent c5b8f4bd
dev 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
2 merge requests!30Resolve "Release v0.2",!24add endurance rating, active status, warmup time
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examples/autonomy_engine_adapter/emergency_mission_command.json
View file @ 52b7331c
......@@ -15,7 +15,7 @@
"emergency": true,
"plan": [
{
"action": "safety_abort",
"action": "abort_now",
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
......
examples/autonomy_engine_adapter/emergency_mission_plan.json
View file @ 52b7331c
......@@ -21,7 +21,7 @@
"depth": 5.0
},
{
"action": "safety_abort",
"action": "abort_now",
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
......
examples/autonomy_engine_adapter/mission_plan_AH1.json
View file @ 52b7331c
......@@ -44,7 +44,7 @@
"timeout": 200
},
{
"action": "climb",
"action": "dive",
"start_point_latitude": 60.00000000000000,
"start_point_longitude": -0.237143188645706,
"target_waypoint_latitude": 52.37072283932642,
......
examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
View file @ 52b7331c
......@@ -44,7 +44,7 @@
"timeout": 300
},
{
"action": "climb",
"action": "dive",
"start_point_latitude": 60.00000000000000,
"start_point_longitude": -0.237143188645706,
"target_waypoint_latitude": 52.37072283932642,
......
examples/autonomy_engine_adapter/planning_configuration.json
View file @ 52b7331c
......@@ -10,7 +10,7 @@
},
"payload":{
"message_type": "planning_configuration",
"planning_config_ID": 3,
"planning_config_ID": 1,
"exclusion_zones": [
{
"geometry_coordinates": [
......@@ -87,6 +87,11 @@
"max_velocity": 0.9,
"min_velocity": 0.1,
"target_altitude": 0.0,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"additional_data": {}
}
]
......@@ -112,6 +117,11 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"swath_width": 38.0,
......@@ -139,6 +149,11 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"swath_width": 38.0,
......@@ -166,6 +181,11 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"swath_width": 38.0,
......@@ -215,7 +235,7 @@
"operator": "noc",
"platform_ID": "ah-1",
"model": "autosub",
"beacon_ID":2407,
"beacon_ID": 2407,
"emergency": {
"target_waypoint_latitude": 50.3342284629413,
"target_waypoint_longitude": -4.19759350502369,
......@@ -227,6 +247,11 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"swath_width": 38.0,
......
examples/ecosub_adapter/mission_plan.json
View file @ 52b7331c
......@@ -44,7 +44,7 @@
"timeout": 300
},
{
"action": "climb",
"action": "dive",
"start_point_latitude": 60.00000000000000,
"start_point_longitude": -0.237143188645706,
"target_waypoint_latitude": 52.37072283932642,
......
examples/gui_adapter/emergency_mission_command.json
View file @ 52b7331c
......@@ -15,7 +15,7 @@
"emergency": true,
"plan": [
{
"action": "safety_abort",
"action": "abort_now",
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
......
examples/gui_adapter/emergency_mission_plan.json
View file @ 52b7331c
......@@ -21,7 +21,7 @@
"depth": 5.0
},
{
"action": "safety_abort",
"action": "abort_now",
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
......
examples/gui_adapter/planning_configuration.json
View file @ 52b7331c
......@@ -10,7 +10,7 @@
},
"payload":{
"message_type": "planning_configuration",
"planning_config_ID": 3,
"planning_config_ID": 1,
"exclusion_zones": [
{
"geometry_coordinates": [
......@@ -87,6 +87,11 @@
"max_velocity": 0.9,
"min_velocity": 0.1,
"target_altitude": 0.0,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"additional_data": {}
}
]
......@@ -112,6 +117,11 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"swath_width": 38.0,
......@@ -139,6 +149,11 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"swath_width": 38.0,
......@@ -166,6 +181,11 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"swath_width": 38.0,
......@@ -215,7 +235,7 @@
"operator": "noc",
"platform_ID": "ah-1",
"model": "autosub",
"beacon_ID":2407,
"beacon_ID": 2407,
"emergency": {
"target_waypoint_latitude": 50.3342284629413,
"target_waypoint_longitude": -4.19759350502369,
......@@ -227,6 +247,11 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"swath_width": 38.0,
......
formats/mission_plan.py
View file @ 52b7331c
......@@ -11,6 +11,18 @@ action_schema = {
"type": "string",
"description": "Autonomy Engine's action from `move`, `payload`,"
+ " `dive`, `send_hits`, `scanline`, `scanpoint`.",
"enum": [
"move",
"payload",
"dive",
"send_hits",
"scanline",
"scanpoint",
"go_home",
"surface_now",
"stop_mission",
"abort_now",
],
"example": "move",
},
"start_point_latitude": {
......
formats/planning_configuration.py
View file @ 52b7331c
......@@ -40,6 +40,30 @@ emergency_schema = {
],
}
endurance_relative_water_speed_schema = {
"type": "object",
"properties": {
"min_battery_rating": {
"type": "number",
"format": "float",
"description": "Battery endurance rating during maximum speed usage (m/s)",
"example": 3.32,
},
"max_battery_rating": {
"type": "number",
"format": "float",
"description": "Battery endurance rating during maximum speed usage (m/s)",
"example": 1.23,
},
"avg_battery_rating": {
"type": "number",
"format": "float",
"description": "Battery endurance rating during standard operational speed usage (m/s)",
"example": 1.9,
},
},
}
scan_sensor_schema = {
"type": "object",
......@@ -50,6 +74,12 @@ scan_sensor_schema = {
"example": "MBES",
"enum": ["SIDESCAN", "MBES"],
},
"warmup_time": {
"type": "number",
"format": "float",
"description": "Warmup time (seconds) for sensor to start up.",
"example": 180.0,
},
"swath_width": {
"type": "number",
"format": "float",
......@@ -96,6 +126,11 @@ platform_schema = {
+ "associated to this platform",
"example": 2407,
},
"active": {
"type": "boolean",
"description": "If platform is active = True, and inactive = False",
"example": True,
},
"emergency": emergency_schema,
"min_altitude": {
"type": "number",
......@@ -127,6 +162,7 @@ platform_schema = {
"description": "Turning radius of platform (in metres)",
"example": 1.0,
},
"battery_endurance_relative_to_water_speed": endurance_relative_water_speed_schema,
"scan_sensor": scan_sensor_schema,
"additional_data": {
"description": "Any addition fields/data to be added here",
......
project/soar/swagger.json
View file @ 52b7331c
......@@ -126,6 +126,18 @@
"properties":{
"action":{
"description":"Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
"enum":[
"move",
"payload",
"dive",
"send_hits",
"scanline",
"scanpoint",
"go_home",
"surface_now",
"stop_mission",
"abort_now"
],
"example":"move",
"type":"string"
},
......@@ -487,6 +499,11 @@
"description":"Squad consists of these platforms",
"items":{
"properties":{
"active":{
"description":"If platform is active = True, and inactive = False",
"example":true,
"type":"boolean"
},
"additional_data":{
"description":"Any addition fields/data to be added here",
"example":{
......@@ -495,6 +512,29 @@
},
"type":"object"
},
"battery_endurance_relative_to_water_speed":{
"properties":{
"avg_battery_rating":{
"description":"Battery endurance rating during standard operational speed usage (m/s)",
"example":1.9,
"format":"float",
"type":"number"
},
"max_battery_rating":{
"description":"Battery endurance rating during maximum speed usage (m/s)",
"example":1.23,
"format":"float",
"type":"number"
},
"min_battery_rating":{
"description":"Battery endurance rating during maximum speed usage (m/s)",
"example":3.32,
"format":"float",
"type":"number"
}
},
"type":"object"
},
"beacon_ID":{
"description":"Unique identifier (number) for the beacon associated to this platform",
"example":2407,
......@@ -598,6 +638,12 @@
"example":38.0,
"format":"float",
"type":"number"
},
"warmup_time":{
"description":"Warmup time (seconds) for sensor to start up.",
"example":180.0,
"format":"float",
"type":"number"
}
},
"type":"object"
......
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