diff --git a/README.md b/README.md
index 12bf69ce85099a0219fa27269fe6c7fda188e86e..e2e22cc0b46bb73f95e69f51bee61f651b2b7bd4 100644
--- a/README.md
+++ b/README.md
@@ -74,10 +74,15 @@ Run the command below and go to `http://127.0.0.1:5000`
python3 generate_schema_config.py
```
## Run Tests
-Run the command below
+Run both tests below:
+1. Test 1
```
python3 -m unittest tests/test_schemas.py
```
+2. Test 2
+```
+cd tests-js/docker; docker compose up --build
+```
## Quick Links
1. [Generated Swagger Docs (recommended to look at this)](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/blob/dev/project/soar/swagger.json)
diff --git a/examples/autonomy_engine_adapter/emergency_mission_command.json b/examples/autonomy_engine_adapter/emergency_mission_command.json
new file mode 100644
index 0000000000000000000000000000000000000000..3937af2463aa9a7192c18ff6bb476ecb4b4e00f0
--- /dev/null
+++ b/examples/autonomy_engine_adapter/emergency_mission_command.json
@@ -0,0 +1,24 @@
+{
+ "header": {
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "gui",
+ "destination": "soar.noc.autosub.alr-52.to_platform.mission_plan",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "mission_plan",
+ "platform_ID": "5-ah1",
+ "autonomy_engine_plan_ID": 1,
+ "emergency": true,
+ "plan": [
+ {
+ "action": "safety_abort",
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642
+ }
+ ]
+ }
+ }
\ No newline at end of file
diff --git a/examples/autonomy_engine_adapter/emergency_mission_plan.json b/examples/autonomy_engine_adapter/emergency_mission_plan.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ab9cd517ca78e09a57f7c696b787b2669a9ba28
--- /dev/null
+++ b/examples/autonomy_engine_adapter/emergency_mission_plan.json
@@ -0,0 +1,30 @@
+{
+ "header": {
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "gui",
+ "destination": "soar.noc.autosub.alr-52.to_platform.mission_plan",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "mission_plan",
+ "platform_ID": "5-ah1",
+ "autonomy_engine_plan_ID": 1,
+ "emergency": true,
+ "plan": [
+ {
+ "action": "move",
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642,
+ "depth": 5.0
+ },
+ {
+ "action": "safety_abort",
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642
+ }
+ ]
+ }
+ }
\ No newline at end of file
diff --git a/examples/autonomy_engine_adapter/mission_plan_AH1.json b/examples/autonomy_engine_adapter/mission_plan_AH1.json
index 01319153d42bff4442acebd4bcc1c4e0befc48ce..187ce42ef3f0e7689b62ff7280ff5d5a3896f117 100644
--- a/examples/autonomy_engine_adapter/mission_plan_AH1.json
+++ b/examples/autonomy_engine_adapter/mission_plan_AH1.json
@@ -12,6 +12,7 @@
"message_type": "mission_plan",
"platform_ID": "5-ah1",
"autonomy_engine_plan_ID": 1,
+ "emergency": false,
"plan": [
{
"action": "move",
diff --git a/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json b/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
index b9d5a8b8d927a45164edea329407ea681141a007..235cecc111c4a8cb032f359124c323df69d407e1 100644
--- a/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
+++ b/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
@@ -12,6 +12,7 @@
"message_type": "mission_plan",
"platform_ID": "ecosub-2",
"autonomy_engine_plan_ID": 1,
+ "emergency": false,
"plan": [
{
"action": "move",
diff --git a/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json b/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
index 54ffbeb0e079146190796d374dba59508d8a9b49..482c58a860571501446d8572ec5251573bf67e6e 100644
--- a/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
+++ b/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
@@ -12,6 +12,7 @@
"message_type": "mission_plan",
"platform_ID": "reav-60-1",
"autonomy_engine_plan_ID": 1,
+ "emergency": false,
"plan": [
{
"target_waypoint_latitude": -4.187143188645706,
diff --git a/examples/ecosub_adapter/mission_plan.json b/examples/ecosub_adapter/mission_plan.json
index b9d5a8b8d927a45164edea329407ea681141a007..235cecc111c4a8cb032f359124c323df69d407e1 100644
--- a/examples/ecosub_adapter/mission_plan.json
+++ b/examples/ecosub_adapter/mission_plan.json
@@ -12,6 +12,7 @@
"message_type": "mission_plan",
"platform_ID": "ecosub-2",
"autonomy_engine_plan_ID": 1,
+ "emergency": false,
"plan": [
{
"action": "move",
diff --git a/examples/gui_adapter/emergency_mission_command.json b/examples/gui_adapter/emergency_mission_command.json
new file mode 100644
index 0000000000000000000000000000000000000000..3937af2463aa9a7192c18ff6bb476ecb4b4e00f0
--- /dev/null
+++ b/examples/gui_adapter/emergency_mission_command.json
@@ -0,0 +1,24 @@
+{
+ "header": {
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "gui",
+ "destination": "soar.noc.autosub.alr-52.to_platform.mission_plan",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "mission_plan",
+ "platform_ID": "5-ah1",
+ "autonomy_engine_plan_ID": 1,
+ "emergency": true,
+ "plan": [
+ {
+ "action": "safety_abort",
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642
+ }
+ ]
+ }
+ }
\ No newline at end of file
diff --git a/examples/gui_adapter/emergency_mission_plan.json b/examples/gui_adapter/emergency_mission_plan.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ab9cd517ca78e09a57f7c696b787b2669a9ba28
--- /dev/null
+++ b/examples/gui_adapter/emergency_mission_plan.json
@@ -0,0 +1,30 @@
+{
+ "header": {
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "gui",
+ "destination": "soar.noc.autosub.alr-52.to_platform.mission_plan",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "mission_plan",
+ "platform_ID": "5-ah1",
+ "autonomy_engine_plan_ID": 1,
+ "emergency": true,
+ "plan": [
+ {
+ "action": "move",
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642,
+ "depth": 5.0
+ },
+ {
+ "action": "safety_abort",
+ "target_waypoint_latitude": -3.237143188645706,
+ "target_waypoint_longitude": 52.37072283932642
+ }
+ ]
+ }
+ }
\ No newline at end of file
diff --git a/formats/mission_plan.py b/formats/mission_plan.py
index 4a97375a42b304a73a026bc9de8a4add7b5e0fcd..ddd9b04f5323379c8e7a417ab0ac2e556aa58784 100644
--- a/formats/mission_plan.py
+++ b/formats/mission_plan.py
@@ -88,6 +88,12 @@ mission_plan_schema = {
"description": "Unique identifier for this platform",
"example": "reav-x-1",
},
+ "emergency": {
+ "type": "boolean",
+ "description": "To indicate if this is an emergency. 1 = emergency and 0 = no emergency",
+ "default": False,
+ "example": False,
+ },
"plan": {
"type": "array",
"items": action_schema,
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index 21820ba31d36ee6e833382f917c4013da6f2c018..c99d7209b5603eef99b555cee565d4a4da3bcdf8 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -115,6 +115,12 @@
"example":"mission_plan",
"type":"string"
},
+ "emergency": {
+ "default": false,
+ "description": "To indicate if this is an emergency. 1 = emergency and 0 = no emergency",
+ "example": false,
+ "type": "boolean"
+ },
"plan":{
"items":{
"properties":{
diff --git a/tests/fixtures/schemas.py b/tests/fixtures/schemas.py
index dcc6ac34602bbfcfbb73ac284e7202bae6fb3b9c..d8c95f24aa6755842b50f8c8e4cca6c54bf1a6e8 100644
--- a/tests/fixtures/schemas.py
+++ b/tests/fixtures/schemas.py
@@ -165,6 +165,12 @@ mission_plan_schema = {
"description": "Unique identifier for this platform",
"example": "reav-x-1",
},
+ "emergency": {
+ "default": False,
+ "description": "To indicate if this is an emergency. 1 = emergency and 0 = no emergency",
+ "example": False,
+ "type": "boolean"
+ },
"plan": {
"type": "array",
"items": action_schema,
diff --git a/tests/fixtures/swagger.json b/tests/fixtures/swagger.json
index a1db4bff435b9686156a7372002b2bb7823302bb..b7178ad75e1f13f7f247d94a4ffe1d971fd195e4 100644
--- a/tests/fixtures/swagger.json
+++ b/tests/fixtures/swagger.json
@@ -110,6 +110,12 @@
"example": "mission_plan",
"type": "string"
},
+ "emergency": {
+ "default": false,
+ "description": "To indicate if this is an emergency. 1 = emergency and 0 = no emergency",
+ "example": false,
+ "type": "boolean"
+ },
"plan": {
"items": {
"properties": {