diff --git a/formats/mission_plan.py b/formats/mission_plan.py
index 72435473eb90feb57d9e025631ba055cac1b096e..1195e9916277d2fc810ac8dd009d29205f845f0d 100644
--- a/formats/mission_plan.py
+++ b/formats/mission_plan.py
@@ -86,5 +86,5 @@ mission_plan_schema = {
"items": action_schema,
},
},
- "required": ["message_type", "plan_ID", "platform_ID", "plan"],
+ "required": ["message_type", "autonomy_engine_plan_ID", "platform_ID", "plan"],
}
diff --git a/formats/planning_configuration.py b/formats/planning_configuration.py
index b117b0460a3fc7222366e8217281b6c3fdf834de..ae2e99b8eae804125d0003ed0ae422b69eee074c 100644
--- a/formats/planning_configuration.py
+++ b/formats/planning_configuration.py
@@ -33,7 +33,6 @@ emergency_schema = {
"example": 10,
},
"additional_data": {
- "type": "null",
"description": "Any addition fields/data to be added here",
"example": {},
},
@@ -78,8 +77,7 @@ platform_schema = {
"description": "Maximum altitude set for squad.",
"example": 0.9,
},
- "additional_data": {
- "type": "null",
+ "additional_specs": {
"description": "Any addition fields/data to be added here",
"example": {"swath_width": 10.0, "scan_type": "DVL"},
},
@@ -152,7 +150,6 @@ squad_metadata_schema = {
"platforms",
"squad_mission_type",
"squad_state",
- "exclusion_zones",
],
}
@@ -182,7 +179,7 @@ planning_configuration_schema = {
},
"required": [
"message_type",
- "config_ID",
+ "planning_config_ID",
"squads",
"exclusion_zones",
],
diff --git a/formats/platform_status.py b/formats/platform_status.py
index 30622f17c4622d5afe54e2bad16f066a170d9176..d573d42362a75fdff961c05d612cb437b7ed3732 100644
--- a/formats/platform_status.py
+++ b/formats/platform_status.py
@@ -18,12 +18,10 @@ sensor_schema = {
"example": True,
},
"additional_data": {
- "type": "null",
"description": "Any addition fields/data to be added here",
"example": {"payload": [1.2, 434]},
},
},
- "required": [],
}
platform_status_message_schema = {
@@ -34,156 +32,149 @@ platform_status_message_schema = {
"description": "Type of message",
"example": "platform_status",
},
- "platform_ID": {
- "type": "integer",
- "description": "Identifier for platform",
- "example": 1,
- },
- "status_source": {
- "type": "string",
- "enum": ["usbl", "onboard_platform"],
- "description": "Indicate if this status message is from the"
- + " platform or USBL",
- "example": "usbl",
- },
- "transmission_mode": {
- "type": "string",
- "enum": ["acoustics", "iridium", "wifi", "starlink"],
- "description": "Mode in which status message was transmitted"
- + " when on the surface (i.e. iridium/wifi) or underwater"
- + " (i.e. acoustics)",
- "example": "wifi",
- },
- "platform_timestamp": {
- "type": "string",
- "format": "date-time",
- "decription": "Timestamp for onboard platform status message",
- "example": "2022-12-21T00:00:00Z",
- },
- "active": {
- "type": "boolean",
- "description": "When a platform is in deployment (executing a"
- + " mission plan) this should be True",
- "example": True,
- },
- "platform_state": {
- # TODO: Define enum with potential STATES of each platform
- "type": "string",
- "description": "Current state executed by platform. E.g. "
- + "STOP, IDLE, ABORT.",
- "example": "ABORT",
- },
- "autonomy_engine_plan_ID": {
- "type": "integer",
- "description": "Last mission plan ID (according to Autonomy"
- + " Engine's mission plan number sent) executed by platform",
- "example": 1,
- },
- "latitude": {
- "type": "number",
- "format": "float",
- "description": "Latitude in decimal degrees.",
- "example": 178.2,
- },
- "longitude": {
- "type": "number",
- "format": "float",
- "description": "Longitude in decimal degrees.",
- "example": -10.122,
- },
- "depth": {
- "type": "number",
- "format": "float",
- "description": "Target depth in metres",
- "example": 50,
- "default": 0,
- },
- "altitude": {
- "type": "number",
- "format": "float",
- "description": "Target altitude in metres",
- "example": 20,
- },
- "mission_track_ID": {
- "type": "integer",
- "description": "Track number - stage in mission (e.g. "
- + "4 --> Waypoint 3 to Waypoint 4)",
- "example": 4,
- },
- "mission_action_ID": {
- "type": "integer",
- "description": "", # TODO: Add description
- "example": 1,
- },
- "range_to_go": {
- "type": "number",
- "format": "float",
- "description": "Estimated distance to reach next waypoint",
- "example": 124.3,
- },
- "speed_over_ground": {
- "type": "number",
- "format": "float",
- "description": "", # TODO: Add description
- "example": 124.3,
- },
- "water_current_velocity": {
- "type": "number",
- "format": "float",
- "description": "", # TODO: Add description
- "example": 124.3,
- },
- "thrust_applied": {
- "type": "number",
- "format": "float",
- "description": "", # TODO: Add description
- "example": 124.3,
- },
- "heading": {
- "type": "number",
- "format": "float",
- "description": "Angular distance relative to north, usually 000°"
- + " at north, clockwise through 359°, in degrees",
- "example": 124.3,
- },
- "health_status": {
- "type": "string",
- "description": "Health status extracted by respective platform "
- + "if any diagnosis is available to check sensors",
- "example": "Warning",
- },
- "localisation_error": {
- "type": "number",
- "format": "float",
- "description": "Localisation error at last USBL update.",
- "example": 0.000129,
- },
- "usbl_fix_seconds_ago": {
- "type": "number",
- "format": "float",
- "description": "USBL Fix received x second ago.",
- "example": 10.0,
- },
- "battery_remaining_capacity": {
- "type": "number",
- "format": "float",
- "description": "Battery remaining % provided by respective C2",
- "example": 80.2,
- },
- "current_pitch": {
- "type": "number",
- "format": "float",
- "description": "Current pitch of platform",
- "example": -4.0,
- },
+ # "platform_ID": {
+ # "type": "integer",
+ # "description": "Identifier for platform",
+ # "example": 1,
+ # },
+ # "status_source": {
+ # "type": "string",
+ # "enum": ["usbl", "onboard_platform"],
+ # "description": "Indicate if this status message is from the"
+ # + " platform or USBL",
+ # "example": "usbl",
+ # },
+ # "transmission_mode": {
+ # "type": "string",
+ # "enum": ["acoustics", "iridium", "wifi", "starlink"],
+ # "description": "Mode in which status message was transmitted"
+ # + " when on the surface (e.g. iridium/wifi) or underwater"
+ # + " (e.g. acoustics)",
+ # "example": "wifi",
+ # },
+ # "platform_timestamp": {
+ # "type": "string",
+ # "format": "date-time",
+ # "description": "Timestamp for onboard platform status message",
+ # "example": "2022-12-21T00:00:00Z",
+ # },
+ # "platform_state": {
+ # "type": "string", # TODO: Define enum with potential STATES of each platform
+ # "description": "Current state executed by platform. E.g. "
+ # + "STOP, IDLE, ABORT.",
+ # "example": "ABORT",
+ # },
+ # "autonomy_engine_plan_ID": {
+ # "type": "integer",
+ # "description": "Last mission plan ID (according to Autonomy"
+ # + " Engine's mission plan number sent) executed by platform",
+ # "example": 1,
+ # },
+ # "latitude": {
+ # "type": "number",
+ # "format": "float",
+ # "description": "Latitude in decimal degrees.",
+ # "example": 178.2,
+ # },
+ # "longitude": {
+ # "type": "number",
+ # "format": "float",
+ # "description": "Longitude in decimal degrees.",
+ # "example": -10.122,
+ # },
+ # "depth": {
+ # "type": "number",
+ # "format": "float",
+ # "description": "Target depth in metres",
+ # "example": 50,
+ # "default": 0,
+ # },
+ # "altitude": {
+ # "type": "number",
+ # "format": "float",
+ # "description": "Target altitude in metres",
+ # "example": 20,
+ # },
+ # "mission_track_ID": {
+ # "type": "integer",
+ # "description": "Track number - stage in mission (e.g. "
+ # + "4 --> Waypoint 3 to Waypoint 4)",
+ # "example": 4,
+ # },
+ # "mission_action_ID": {
+ # "type": "integer",
+ # "description": "", # TODO: Add description
+ # "example": 1,
+ # },
+ # "range_to_go": {
+ # "type": "number",
+ # "format": "float",
+ # "description": "Estimated distance to reach next waypoint",
+ # "example": 124.3,
+ # },
+ # "speed_over_ground": {
+ # "type": "number",
+ # "format": "float",
+ # "description": "", # TODO: Add description
+ # "example": 124.3,
+ # },
+ # "water_current_velocity": {
+ # "type": "number",
+ # "format": "float",
+ # "description": "", # TODO: Add description
+ # "example": 124.3,
+ # },
+ # "thrust_applied": {
+ # "type": "number",
+ # "format": "float",
+ # "description": "", # TODO: Add description
+ # "example": 124.3,
+ # },
+ # "heading": {
+ # "type": "number",
+ # "format": "float",
+ # "description": "Angular distance relative to north, usually 000°"
+ # + " at north, clockwise through 359°, in degrees",
+ # "example": 124.3,
+ # },
+ # "health_status": {
+ # "type": "string",
+ # "description": "Health status extracted by respective platform "
+ # + "if any diagnosis is available to check sensors",
+ # "example": "Warning",
+ # },
+ # "localisation_error": {
+ # "type": "number",
+ # "format": "float",
+ # "description": "Localisation error at last USBL update.",
+ # "example": 0.000129,
+ # },
+ # "usbl_fix_seconds_ago": {
+ # "type": "number",
+ # "format": "float",
+ # "description": "USBL Fix received x second ago.",
+ # "example": 10.0,
+ # },
+ # "battery_remaining_capacity": {
+ # "type": "number",
+ # "format": "float",
+ # "description": "Battery remaining % provided by respective C2",
+ # "example": 80.2,
+ # },
+ # "current_pitch": {
+ # "type": "number",
+ # "format": "float",
+ # "description": "Current pitch of platform",
+ # "example": -4.0,
+ # },
"sensor_config": sensor_schema,
},
"required": [
"message_type",
- "platform_ID",
- "status_source",
- "platform_timestamp",
- "latitude",
- "longitude",
+ # "platform_ID",
+ # "status_source",
+ # "platform_timestamp",
+ # "latitude",
+ # "longitude",
],
}
diff --git a/generate_schema_config.py b/generate_schema_config.py
index 2587f257f8d417a184939769040065f84a26ea00..b7c60a24370a63df2ddca88b0c22b15c1fbd3586 100644
--- a/generate_schema_config.py
+++ b/generate_schema_config.py
@@ -46,11 +46,11 @@ swagger_config = {
"discriminator": {
"propertyName": "message_type",
"mapping":{
- "MissionPlan": "#/components/schemas/mission_plan",
- "Observation": "#/components/schemas/observation",
- "PlanningConfiguration": "#/components/schemas/planning_configuration",
- "PlatformStatus": "#/components/schemas/platform_status",
- "Acknowledgement": "#/components/schemas/acknowledgement",
+ "mission_plan": "#/components/schemas/mission_plan",
+ "observation": "#/components/schemas/observation",
+ "planning_configuration": "#/components/schemas/planning_configuration",
+ "platform_status": "#/components/schemas/platform_status",
+ "acknowledgement": "#/components/schemas/acknowledgement",
},
},
"oneOf":[
diff --git a/project/soar/soar_protocol.json b/project/soar/soar_protocol.json
index 5367b43f4db26cb344a3667724f99ae704cedf55..313c0fb79555d5a67a507a0a49362a3d97e68ebc 100644
--- a/project/soar/soar_protocol.json
+++ b/project/soar/soar_protocol.json
@@ -1,697 +1,547 @@
{
- "openapi": "3.0.2",
- "info": {
- "description": "SoAR message protocol in schemas",
- "title": "SoAR Backbone Message Formats",
- "version": "1.0"
- },
- "definitions": {},
- "paths": {},
- "components": {
- "schemas": {
- "acknowledgement": {
- "properties": {
- "acknowledged_message_ID": {
- "description": "Identifier of message received and executed with success for mission plans sent by the Autonomy Engine.",
- "example": "02125022255-7bc8-11ed-a1eb-0242ac999999",
- "type": "string"
- },
- "message_type": {
- "description": "Type of message",
- "example": "acknowledgement",
- "type": "string"
- },
- "status": {
- "description": "Highest level of acknowledgement. I.e. `c2_received`: Received by C2, `operator_approved_and_sent` : Approved by operator and sent from C2->Platform, `executed`: Executed by platform",
- "enum": [
- "c2_received",
- "operator_approved_and_sent",
- "executed"
- ],
- "example": "executed by platform",
- "type": "string"
- }
+ "openapi": "3.0.2",
+ "info": {
+ "description": "SoAR message protocol in schemas",
+ "title": "SoAR Backbone Message Formats",
+ "version": "1.0"
+ },
+ "paths": {},
+ "components": {
+ "schemas": {
+ "MESSAGE": {
+ "description": "Full message definition with message-metadata in `header` and different message type schemas under `payload`",
+ "properties": {
+ "header": {
+ "$ref": "#/components/schemas/header"
},
- "required": [
- "message_type",
- "acknowledged_message_ID",
- "status"
- ],
- "type": "object"
+ "payload": {
+ "$ref": "#/components/schemas/payload"
+ }
},
- "header": {
- "discriminator": {
- "propertyName": "message_type"
+ "required": [
+ "header",
+ "payload"
+ ],
+ "type": "object"
+ },
+ "acknowledgement": {
+ "properties": {
+ "acknowledged_message_ID": {
+ "description": "Identifier of message received and executed with success for mission plans sent by the Autonomy Engine.",
+ "example": "02125022255-7bc8-11ed-a1eb-0242ac999999",
+ "type": "string"
},
- "properties": {
- "delivery_type": {
- "default": "publish",
- "description": "To publish or broadcast this message.",
- "enum": [
- "broadcast",
- "publish"
- ],
- "example": "publish",
- "type": "string"
- },
- "destination": {
- "description": "Publisher topic; What is the destination of this message",
- "example": "ah1",
- "type": "string"
- },
- "encoded": {
- "description": "Indicate that message raw (encoded) or decoded. Options: encoded=True, decoded=False",
- "example": false,
- "type": "boolean"
- },
- "message_ID": {
- "description": "An identifier for the type of message received.",
- "example": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
- "type": "string"
- },
- "source": {
- "description": "The sender; Where is this message from",
- "example": "autonomy_engine",
- "type": "string"
- },
- "timestamp": {
- "description": "Timestamp of message",
- "example": "2022-11-16T00:00:00Z",
- "format": "date-time",
- "type": "string"
- },
- "version": {
- "description": "Version of comms backbone message format protocol",
- "example": 2.0,
- "format": "float",
- "type": "number"
- }
+ "message_type": {
+ "description": "Type of message",
+ "example": "acknowledgement",
+ "type": "string"
},
- "type": "object"
+ "status": {
+ "description": "Highest level of acknowledgement. I.e. `c2_received`: Received by C2, `operator_approved_and_sent` : Approved by operator and sent from C2->Platform, `executed`: Executed by platform",
+ "enum": [
+ "c2_received",
+ "operator_approved_and_sent",
+ "executed"
+ ],
+ "example": "executed by platform",
+ "type": "string"
+ }
},
- "message": {
- "properties": {
- "header": {
- "$ref": "#/components/schemas/header"
- },
- "payload": {
- "$ref": "#/components/schemas/payload"
- }
+ "required": [
+ "message_type",
+ "acknowledged_message_ID",
+ "status"
+ ],
+ "type": "object"
+ },
+ "header": {
+ "discriminator": {
+ "propertyName": "message_type"
+ },
+ "properties": {
+ "delivery_type": {
+ "default": "publish",
+ "description": "To publish or broadcast this message.",
+ "enum": [
+ "broadcast",
+ "publish"
+ ],
+ "example": "publish",
+ "type": "string"
+ },
+ "destination": {
+ "description": "Publisher topic; What is the destination of this message",
+ "example": "ah1",
+ "type": "string"
+ },
+ "encoded": {
+ "description": "Indicate that message raw (encoded) or decoded. Options: encoded=True, decoded=False",
+ "example": false,
+ "type": "boolean"
+ },
+ "message_ID": {
+ "description": "An identifier for the type of message received.",
+ "example": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "type": "string"
},
- "required": [
- "header",
- "payload"
- ],
- "type": "object"
+ "source": {
+ "description": "The sender; Where is this message from",
+ "example": "autonomy_engine",
+ "type": "string"
+ },
+ "timestamp": {
+ "description": "Timestamp of message",
+ "example": "2022-11-16T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "version": {
+ "description": "Version of comms backbone message format protocol",
+ "example": 2.0,
+ "format": "float",
+ "type": "number"
+ }
},
- "mission_plan": {
- "properties": {
- "autonomy_engine_plan_ID": {
- "description": "Unique identifier for this plangenerated by the Autonomy Engine",
- "example": 3,
- "type": "integer"
- },
- "message_type": {
- "description": "Type of message",
- "example": "mission_plan",
- "type": "string"
- },
- "plan": {
- "items": {
- "properties": {
- "action": {
- "description": "Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
- "example": "move",
- "type": "string"
- },
- "activate_payload": {
- "description": "To activate/deactivate sensor for Autosub Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
- "example": true,
- "type": "boolean"
- },
- "altitude": {
- "description": "Altitude of next action",
- "example": 15.0,
- "format": "float",
- "type": "number"
- },
- "depth": {
- "description": "Depth of next action",
- "example": 15.0,
- "format": "float",
- "type": "number"
- },
- "flight_style": {
- "description": "Platform-specific modes/flight styles to perform next action",
- "example": "orbit",
- "type": "string"
- },
- "latitude_waypoint": {
- "description": "Next waypoint, x-coordinate",
- "example": -4.187143188645706,
- "format": "float",
- "type": "number"
- },
- "longitude_waypoint": {
- "description": "Next waypoint, y-coordinate",
- "example": 50.37072283932642,
- "format": "float",
- "type": "number"
- },
- "send_environmental_data": {
- "description": "To trigger the platform to send list of observations if any found",
- "example": false,
- "type": "boolean"
- }
+ "type": "object"
+ },
+ "mission_plan": {
+ "properties": {
+ "autonomy_engine_plan_ID": {
+ "description": "Unique identifier for this plangenerated by the Autonomy Engine",
+ "example": 3,
+ "type": "integer"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "example": "mission_plan",
+ "type": "string"
+ },
+ "plan": {
+ "items": {
+ "properties": {
+ "action": {
+ "description": "Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
+ "example": "move",
+ "type": "string"
+ },
+ "activate_payload": {
+ "description": "To activate/deactivate sensor for Autosub Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
+ "example": true,
+ "type": "boolean"
},
- "required": [
- "latitude_waypoint",
- "longitude_waypoint"
- ],
- "type": "object"
+ "altitude": {
+ "description": "Altitude of next action",
+ "example": 15.0,
+ "format": "float",
+ "type": "number"
+ },
+ "depth": {
+ "description": "Depth of next action",
+ "example": 15.0,
+ "format": "float",
+ "type": "number"
+ },
+ "flight_style": {
+ "description": "Platform-specific modes/flight styles to perform next action",
+ "example": "orbit",
+ "type": "string"
+ },
+ "latitude_waypoint": {
+ "description": "Next waypoint, x-coordinate",
+ "example": -4.187143188645706,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_waypoint": {
+ "description": "Next waypoint, y-coordinate",
+ "example": 50.37072283932642,
+ "format": "float",
+ "type": "number"
+ },
+ "send_environmental_data": {
+ "description": "To trigger the platform to send list of observations if any found",
+ "example": false,
+ "type": "boolean"
+ }
},
- "type": "array"
+ "required": [
+ "latitude_waypoint",
+ "longitude_waypoint"
+ ],
+ "type": "object"
},
- "platform_ID": {
- "description": "Unique identifier for this platform",
- "example": 1,
- "type": "integer"
- }
+ "type": "array"
},
- "required": [
- "message_type",
- "plan_ID",
- "platform_ID",
- "plan"
- ],
- "type": "object"
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": 1,
+ "type": "integer"
+ }
},
- "observation": {
- "properties": {
- "additional_data": {
- "description": "Placeholder field for any additional data",
- "example": {
- "sensor_payload": false
- }
- },
- "message_type": {
- "description": "Type of message",
- "example": "observation",
- "type": "string"
- },
- "platform_ID": {
- "description": "ID of platform to sending observations",
- "example": 2,
- "type": "integer"
- },
- "points_of_interest": {
- "description": "Points from features of interest identified by platform if any found.",
- "items": {
- "properties": {
- "latitude": {
- "description": "Identified x-coordinate of point of interest",
- "example": 178.2,
- "format": "float",
- "type": "number"
- },
- "longitude": {
- "description": "Identified y-coordinate of point of interest",
- "example": -10.122,
- "format": "float",
- "type": "number"
- },
- "quality_of_point": {
- "description": "Quality/strength of points from features of interest identified by platform.",
- "example": 0.98,
- "format": "float",
- "type": "number"
- }
+ "required": [
+ "message_type",
+ "autonomy_engine_plan_ID",
+ "platform_ID",
+ "plan"
+ ],
+ "type": "object"
+ },
+ "observation": {
+ "properties": {
+ "additional_data": {
+ "description": "Placeholder field for any additional data",
+ "example": {
+ "sensor_payload": false
+ }
+ },
+ "message_type": {
+ "description": "Type of message",
+ "example": "observation",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "ID of platform to sending observations",
+ "example": 2,
+ "type": "integer"
+ },
+ "points_of_interest": {
+ "description": "Points from features of interest identified by platform if any found.",
+ "items": {
+ "properties": {
+ "latitude": {
+ "description": "Identified x-coordinate of point of interest",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude": {
+ "description": "Identified y-coordinate of point of interest",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
},
- "required": [
- "latitude",
- "longitude"
- ],
- "type": "object"
+ "quality_of_point": {
+ "description": "Quality/strength of points from features of interest identified by platform.",
+ "example": 0.98,
+ "format": "float",
+ "type": "number"
+ }
},
- "type": "array"
+ "required": [
+ "latitude",
+ "longitude"
+ ],
+ "type": "object"
},
- "region_surveyed": {
- "description": "Region surveyed by given platform. GEOJSON",
- "example": "",
- "nullable": true
- }
+ "type": "array"
},
- "required": [
- "message_type",
- "platform_ID"
- ],
- "type": "object"
+ "region_surveyed": {
+ "description": "Region surveyed by given platform. GEOJSON",
+ "example": "",
+ "nullable": true
+ }
},
- "payload": {
- "discriminator": {
- "mapping": {
- "Acknowledgement": "#/components/schemas/acknowledgement",
- "MissionPlan": "#/components/schemas/mission_plan",
- "Observation": "#/components/schemas/observation",
- "PlanningConfiguration": "#/components/schemas/planning_configuration",
- "PlatformStatus": "#/components/schemas/platform_status"
- },
- "propertyName": "message_type"
+ "required": [
+ "message_type",
+ "platform_ID"
+ ],
+ "type": "object"
+ },
+ "payload": {
+ "discriminator": {
+ "mapping": {
+ "acknowledgement": "#/components/schemas/acknowledgement",
+ "mission_plan": "#/components/schemas/mission_plan",
+ "observation": "#/components/schemas/observation",
+ "planning_configuration": "#/components/schemas/planning_configuration",
+ "platform_status": "#/components/schemas/platform_status"
},
- "oneOf": [
- {
- "$ref": "#/components/schemas/acknowledgement"
- },
- {
- "$ref": "#/components/schemas/mission_plan"
- },
- {
- "$ref": "#/components/schemas/observation"
- },
- {
- "$ref": "#/components/schemas/planning_configuration"
- },
- {
- "$ref": "#/components/schemas/platform_status"
- }
- ]
+ "propertyName": "message_type"
},
- "planning_configuration": {
- "properties": {
- "exclusion_zones": {
- "description": "Exclusion zones for all platforms",
- "items": {
- "description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
- "properties": {
- "geometry_coordinates": {
- "example": [
+ "oneOf": [
+ {
+ "$ref": "#/components/schemas/acknowledgement"
+ },
+ {
+ "$ref": "#/components/schemas/mission_plan"
+ },
+ {
+ "$ref": "#/components/schemas/observation"
+ },
+ {
+ "$ref": "#/components/schemas/planning_configuration"
+ },
+ {
+ "$ref": "#/components/schemas/platform_status"
+ }
+ ]
+ },
+ "planning_configuration": {
+ "properties": {
+ "exclusion_zones": {
+ "description": "Exclusion zones for all platforms",
+ "items": {
+ "description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
+ "properties": {
+ "geometry_coordinates": {
+ "example": [
+ [
[
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
]
- ],
- "type": "array"
- }
- },
- "required": [
- "geometry_coordinates"
- ],
- "type": "object"
+ ]
+ ],
+ "type": "array"
+ }
},
- "type": "array"
- },
- "message_type": {
- "description": "Type of message",
- "example": "planning_configuration",
- "type": "string"
- },
- "planning_config_ID": {
- "description": "Unique identifier tagged to version of this configuration plan",
- "example": 3,
- "type": "integer"
+ "required": [
+ "geometry_coordinates"
+ ],
+ "type": "object"
},
- "squads": {
- "items": {
- "properties": {
- "no_of_platforms": {
- "description": "Number of platforms",
- "example": 3,
- "type": "integer"
- },
- "platforms": {
- "description": "Squad consists of these platforms",
- "items": {
- "properties": {
- "additional_data": {
- "description": "Any addition fields/data to be added here",
- "example": {
- "scan_type": "DVL",
- "swath_width": 10.0
- },
- "type": "null"
- },
- "emergency": {
- "properties": {
- "additional_data": {
- "description": "Any addition fields/data to be added here",
- "example": {},
- "type": "null"
- },
- "latitude_waypoint": {
- "description": "X-coordinate safe place for respective platform",
- "example": -7.432,
- "format": "float",
- "type": "number"
- },
- "longitude_waypoint": {
- "description": "Y-coordinate safe place for respective platform",
- "example": 50.365,
- "format": "float",
- "type": "number"
- },
- "safe_command": {
- "description": "Command/Action that is native to respective partner's platform/C2",
- "enum": [
- "go_home",
- "abort_now",
- "stop_mission"
- ],
- "example": "go_home",
- "type": "string"
- },
- "target_depth": {
- "description": "Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
- "example": 10,
- "format": "float",
- "type": "number"
- }
- },
- "required": [
- "latitude_waypoint",
- "longitude_waypoint",
- "target_depth"
- ],
- "type": "object"
- },
- "max_velocity": {
- "description": "Maximum altitude set for squad.",
- "example": 0.9,
- "format": "float",
- "type": "number"
- },
- "min_altitude": {
- "description": "Minimum altitude set for squad.",
- "example": 15.2,
- "format": "float",
- "type": "number"
- },
- "min_velocity": {
- "description": "Minimum velocity set for squad.",
- "example": 0.1,
- "format": "float",
- "type": "number"
- },
- "model": {
- "example": "reav",
- "type": "string"
- },
- "platform_ID": {
- "description": "Identifier for platform",
- "example": 23,
- "type": "integer"
- },
- "serial": {
- "description": "platform serial number",
- "example": "reav-60",
- "type": "string"
+ "type": "array"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "example": "planning_configuration",
+ "type": "string"
+ },
+ "planning_config_ID": {
+ "description": "Unique identifier tagged to version of this configuration plan",
+ "example": 3,
+ "type": "integer"
+ },
+ "squads": {
+ "items": {
+ "properties": {
+ "no_of_platforms": {
+ "description": "Number of platforms",
+ "example": 3,
+ "type": "integer"
+ },
+ "platforms": {
+ "description": "Squad consists of these platforms",
+ "items": {
+ "properties": {
+ "additional_specs": {
+ "description": "Any addition fields/data to be added here",
+ "example": {
+ "scan_type": "DVL",
+ "swath_width": 10.0
}
},
- "required": [
- "platform_ID",
- "serial",
- "model",
- "emergency",
- "min_altitude",
- "min_velocity",
- "max_velocity"
- ],
- "type": "object"
- },
- "type": "array"
- },
- "region_of_interest": {
- "description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
- "properties": {
- "geometry_coordinates": {
- "example": [
- [
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
+ "emergency": {
+ "properties": {
+ "additional_data": {
+ "description": "Any addition fields/data to be added here",
+ "example": {}
+ },
+ "latitude_waypoint": {
+ "description": "X-coordinate safe place for respective platform",
+ "example": -7.432,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_waypoint": {
+ "description": "Y-coordinate safe place for respective platform",
+ "example": 50.365,
+ "format": "float",
+ "type": "number"
+ },
+ "safe_command": {
+ "description": "Command/Action that is native to respective partner's platform/C2",
+ "enum": [
+ "go_home",
+ "abort_now",
+ "stop_mission"
],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
- ]
+ "example": "go_home",
+ "type": "string"
+ },
+ "target_depth": {
+ "description": "Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
+ "example": 10,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "required": [
+ "latitude_waypoint",
+ "longitude_waypoint",
+ "target_depth"
],
- "type": "array"
+ "type": "object"
+ },
+ "max_velocity": {
+ "description": "Maximum altitude set for squad.",
+ "example": 0.9,
+ "format": "float",
+ "type": "number"
+ },
+ "min_altitude": {
+ "description": "Minimum altitude set for squad.",
+ "example": 15.2,
+ "format": "float",
+ "type": "number"
+ },
+ "min_velocity": {
+ "description": "Minimum velocity set for squad.",
+ "example": 0.1,
+ "format": "float",
+ "type": "number"
+ },
+ "model": {
+ "example": "reav",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Identifier for platform",
+ "example": 23,
+ "type": "integer"
+ },
+ "serial": {
+ "description": "platform serial number",
+ "example": "reav-60",
+ "type": "string"
}
},
"required": [
- "geometry_coordinates"
+ "platform_ID",
+ "serial",
+ "model",
+ "emergency",
+ "min_altitude",
+ "min_velocity",
+ "max_velocity"
],
"type": "object"
},
- "squad_ID": {
- "description": "Identifier of given squad",
- "example": 23,
- "type": "integer"
- },
- "squad_mission_type": {
- "description": "Mission of given squad: `tracking`, `survey`, `inspection`",
- "enum": [
- "tracking",
- "survey",
- "inspection"
- ],
- "example": "survey",
- "type": "string"
- },
- "squad_state": {
- "description": "In execution, Waiting.. <define further>",
- "example": false,
- "type": "string"
- }
+ "type": "array"
},
- "required": [
- "squad_ID",
- "no_of_platforms",
- "platforms",
- "squad_mission_type",
- "squad_state",
- "exclusion_zones"
- ],
- "type": "object"
- },
- "type": "array"
- }
- },
- "required": [
- "message_type",
- "config_ID",
- "squads",
- "exclusion_zones"
- ],
- "type": "object"
- },
- "platform_status": {
- "properties": {
- "active": {
- "description": "When a platform is in deployment (executing a mission plan) this should be True",
- "example": true,
- "type": "boolean"
- },
- "altitude": {
- "description": "Target altitude in metres",
- "example": 20,
- "format": "float",
- "type": "number"
- },
- "autonomy_engine_plan_ID": {
- "description": "Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
- "example": 1,
- "type": "integer"
- },
- "battery_remaining_capacity": {
- "description": "Battery remaining % provided by respective C2",
- "example": 80.2,
- "format": "float",
- "type": "number"
- },
- "current_pitch": {
- "description": "Current pitch of platform",
- "example": -4.0,
- "format": "float",
- "type": "number"
- },
- "depth": {
- "default": 0,
- "description": "Target depth in metres",
- "example": 50,
- "format": "float",
- "type": "number"
- },
- "heading": {
- "description": "Angular distance relative to north, usually 000\u00b0 at north, clockwise through 359\u00b0, in degrees",
- "example": 124.3,
- "format": "float",
- "type": "number"
- },
- "health_status": {
- "description": "Health status extracted by respective platform if any diagnosis is available to check sensors",
- "example": "Warning",
- "type": "string"
- },
- "latitude": {
- "description": "Latitude in decimal degrees.",
- "example": 178.2,
- "format": "float",
- "type": "number"
- },
- "localisation_error": {
- "description": "Localisation error at last USBL update.",
- "example": 0.000129,
- "format": "float",
- "type": "number"
- },
- "longitude": {
- "description": "Longitude in decimal degrees.",
- "example": -10.122,
- "format": "float",
- "type": "number"
- },
- "message_type": {
- "description": "Type of message",
- "example": "platform_status",
- "type": "string"
- },
- "mission_action_ID": {
- "description": "",
- "example": 1,
- "type": "integer"
- },
- "mission_track_ID": {
- "description": "Track number - stage in mission (e.g. 4 --> Waypoint 3 to Waypoint 4)",
- "example": 4,
- "type": "integer"
- },
- "platform_ID": {
- "description": "Identifier for platform",
- "example": 1,
- "type": "integer"
- },
- "platform_state": {
- "description": "Current state executed by platform. E.g. STOP, IDLE, ABORT.",
- "example": "ABORT",
- "type": "string"
- },
- "platform_timestamp": {
- "decription": "Timestamp for onboard platform status message",
- "example": "2022-12-21T00:00:00Z",
- "format": "date-time",
- "type": "string"
- },
- "range_to_go": {
- "description": "Estimated distance to reach next waypoint",
- "example": 124.3,
- "format": "float",
- "type": "number"
- },
- "sensor_config": {
- "description": "Scanning sensor on platform available to be controlled by the Autonomy Engine",
- "properties": {
- "additional_data": {
- "description": "Any addition fields/data to be added here",
- "example": {
- "payload": [
- 1.2,
- 434
- ]
+ "region_of_interest": {
+ "description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
+ "properties": {
+ "geometry_coordinates": {
+ "example": [
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ]
+ ]
+ ],
+ "type": "array"
+ }
},
- "type": "null"
+ "required": [
+ "geometry_coordinates"
+ ],
+ "type": "object"
},
- "sensor_on": {
- "description": "Sensor switched on (True) or off (False)",
- "example": true,
- "type": "boolean"
+ "squad_ID": {
+ "description": "Identifier of given squad",
+ "example": 23,
+ "type": "integer"
+ },
+ "squad_mission_type": {
+ "description": "Mission of given squad: `tracking`, `survey`, `inspection`",
+ "enum": [
+ "tracking",
+ "survey",
+ "inspection"
+ ],
+ "example": "survey",
+ "type": "string"
},
- "sensor_serial": {
- "description": "serial number of sensor",
- "example": "mbes-002a",
+ "squad_state": {
+ "description": "In execution, Waiting.. <define further>",
+ "example": false,
"type": "string"
}
},
- "required": [],
- "type": "object"
- },
- "speed_over_ground": {
- "description": "",
- "example": 124.3,
- "format": "float",
- "type": "number"
- },
- "status_source": {
- "description": "Indicate if this status message is from the platform or USBL",
- "enum": [
- "usbl",
- "onboard_platform"
+ "required": [
+ "squad_ID",
+ "no_of_platforms",
+ "platforms",
+ "squad_mission_type",
+ "squad_state"
],
- "example": "usbl",
- "type": "string"
- },
- "thrust_applied": {
- "description": "",
- "example": 124.3,
- "format": "float",
- "type": "number"
- },
- "transmission_mode": {
- "description": "Mode in which status message was transmitted when on the surface (i.e. iridium/wifi) or underwater (i.e. acoustics)",
- "enum": [
- "acoustics",
- "iridium",
- "wifi",
- "starlink"
- ],
- "example": "wifi",
- "type": "string"
- },
- "usbl_fix_seconds_ago": {
- "description": "USBL Fix received x second ago.",
- "example": 10.0,
- "format": "float",
- "type": "number"
+ "type": "object"
},
- "water_current_velocity": {
- "description": "",
- "example": 124.3,
- "format": "float",
- "type": "number"
- }
+ "type": "array"
+ }
+ },
+ "required": [
+ "message_type",
+ "planning_config_ID",
+ "squads",
+ "exclusion_zones"
+ ],
+ "type": "object"
+ },
+ "platform_status": {
+ "properties": {
+ "message_type": {
+ "description": "Type of message",
+ "example": "platform_status",
+ "type": "string"
},
- "required": [
- "message_type",
- "platform_ID",
- "status_source",
- "platform_timestamp",
- "latitude",
- "longitude"
- ],
- "type": "object"
- }
+ "sensor_config": {
+ "description": "Scanning sensor on platform available to be controlled by the Autonomy Engine",
+ "properties": {
+ "additional_data": {
+ "description": "Any addition fields/data to be added here",
+ "example": {
+ "payload": [
+ 1.2,
+ 434
+ ]
+ }
+ },
+ "sensor_on": {
+ "description": "Sensor switched on (True) or off (False)",
+ "example": true,
+ "type": "boolean"
+ },
+ "sensor_serial": {
+ "description": "serial number of sensor",
+ "example": "mbes-002a",
+ "type": "string"
+ }
+ },
+ "type": "object"
+ }
+ },
+ "required": [
+ "message_type"
+ ],
+ "type": "object"
}
}
- }
\ No newline at end of file
+ }
+}
\ No newline at end of file