From 631b96c0e8d26453920550ca6dbd8ce323abcfda Mon Sep 17 00:00:00 2001
From: Trishna Saeharaseelan <trishna.saeharaseelan@noc.ac.uk>
Date: Tue, 16 May 2023 10:24:35 +0100
Subject: [PATCH] refactor: planning configuration file
---
.../planning_configuration.json | 194 +++++++++----
.../gui_adapter/planning_configuration.json | 205 +++++++++----
formats/planning_configuration.py | 76 ++++-
project/soar/swagger.json | 166 +++++++----
tests-js/docker/output.txt | 273 ++++++++++++++++++
5 files changed, 740 insertions(+), 174 deletions(-)
create mode 100644 tests-js/docker/output.txt
diff --git a/examples/autonomy_engine_adapter/planning_configuration.json b/examples/autonomy_engine_adapter/planning_configuration.json
index c5a4fb7..977e5a2 100644
--- a/examples/autonomy_engine_adapter/planning_configuration.json
+++ b/examples/autonomy_engine_adapter/planning_configuration.json
@@ -16,111 +16,195 @@
"geometry_coordinates": [
[
[
- -4.187143188645706,
- 50.37072283932642
+ -4.1777839187560915,
+ 50.34173405662855
],
[
- -4.202697005964865,
- 50.368816892405874
+ -4.1777839187560915,
+ 50.33820949229701
],
[
- -4.203156724702808,
- 50.365640144076906
+ -4.143667777943875,
+ 50.33820949229701
],
[
- -4.19449868846155,
- 50.362267670845654
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
]
]
]
}
],
+ "region_of_interest": [
+ {
+ "geometry_coordinates": [
+ [
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ]
+ ]
+ ]
+ }
+ ],
"squads": [
{
"squad_ID": 1,
"no_of_platforms": 1,
"squad_mission_type": "tracking",
- "squad_state": "active",
"platforms": [
{
+ "operator": "hydrosurv",
"model": "reav",
"platform_ID": "reav-60-1",
"emergency": {
"additional_data": {},
- "target_waypoint_latitude": -7.432,
- "target_waypoint_longitude": 50.365,
+ "target_waypoint_latitude": -4.189772466767039,
+ "target_waypoint_longitude": 50.33611100020795,
"safe_command": "go_home",
"target_depth": 10.0
},
+ "min_altitude": 0.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 0.0,
+ "turning_radius": null,
+ "scan_sensor": null,
"additional_data": {}
}
- ],
- "region_of_interest": {
- "geometry_coordinates": [
- [
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
- ]
- ]
- }
+ ]
},
{
"squad_ID": 2,
"no_of_platforms": 3,
"squad_mission_type": "survey",
- "squad_state": "active",
"platforms": [
{
+ "operator": "planet-ocean",
"platform_ID": "ecosub-1",
"model": "ecosub",
"emergency": {
"additional_data": {},
- "target_waypoint_latitude": -7.432,
- "target_waypoint_longitude": 50.365,
+ "target_waypoint_latitude": -4.192219151149999,
+ "target_waypoint_longitude": 50.32933594228737,
"safe_command": "go_home",
"target_depth": 10.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "DVL",
- "swath_width": 10
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
},
{
+ "operator": "planet-ocean",
"platform_ID": "ecosub-2",
"model": "ecosub",
"emergency": {
"additional_data": {},
- "target_waypoint_latitude": -0.432,
- "target_waypoint_longitude": 20.365,
+ "target_waypoint_latitude": -4.192219151149999,
+ "target_waypoint_longitude": 50.32775207068519,
"safe_command": "go_home",
"target_depth": 0.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "DVL",
- "swath_width": 10
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
+ }
+ },
+ {
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-3",
+ "model": "ecosub",
+ "emergency": {
+ "additional_data": {},
+ "target_waypoint_latitude": -4.184550412882118,
+ "target_waypoint_longitude": 50.326744124905844,
+ "safe_command": "go_home",
+ "target_depth": 0.0
+ },
+ "min_altitude": 5.0,
+ "max_velocity": 0.9,
+ "min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
+ "additional_data": {
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
+ }
+ },
+ {
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-4",
+ "model": "ecosub",
+ "emergency": {
+ "additional_data": {},
+ "target_waypoint_latitude": -4.188610333142037,
+ "target_waypoint_longitude": 50.32616814629094,
+ "safe_command": "go_home",
+ "target_depth": 0.0
+ },
+ "min_altitude": 5.0,
+ "max_velocity": 0.9,
+ "min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
+ "additional_data": {
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
}
]
@@ -129,23 +213,31 @@
"squad_ID": 3,
"no_of_platforms": 1,
"squad_mission_type": "inspection",
- "squad_state": "active",
"platforms": [
{
"platform_ID": "ah-1",
"model": "autosub",
"emergency": {
"additional_data": {},
- "target_waypoint_latitude": 20.432,
- "target_waypoint_longitude": 50.365,
+ "target_waypoint_latitude": -4.19759350502369,
+ "target_waypoint_longitude": 50.3342284629413,
"safe_command": "abort_now",
"target_depth": 0.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "MBES"
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
}
]
diff --git a/examples/gui_adapter/planning_configuration.json b/examples/gui_adapter/planning_configuration.json
index 319d9bd..977e5a2 100644
--- a/examples/gui_adapter/planning_configuration.json
+++ b/examples/gui_adapter/planning_configuration.json
@@ -16,108 +16,195 @@
"geometry_coordinates": [
[
[
- -4.187143188645706,
- 50.37072283932642
+ -4.1777839187560915,
+ 50.34173405662855
],
[
- -4.202697005964865,
- 50.368816892405874
+ -4.1777839187560915,
+ 50.33820949229701
],
[
- -4.203156724702808,
- 50.365640144076906
+ -4.143667777943875,
+ 50.33820949229701
],
[
- -4.19449868846155,
- 50.362267670845654
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
]
]
]
}
],
+ "region_of_interest": [
+ {
+ "geometry_coordinates": [
+ [
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ]
+ ]
+ ]
+ }
+ ],
"squads": [
{
"squad_ID": 1,
"no_of_platforms": 1,
"squad_mission_type": "tracking",
- "squad_state": "active",
"platforms": [
{
+ "operator": "hydrosurv",
"model": "reav",
"platform_ID": "reav-60-1",
"emergency": {
- "target_waypoint_latitude": -7.432,
- "target_waypoint_longitude": 50.365,
+ "additional_data": {},
+ "target_waypoint_latitude": -4.189772466767039,
+ "target_waypoint_longitude": 50.33611100020795,
"safe_command": "go_home",
"target_depth": 10.0
},
+ "min_altitude": 0.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
- "min_velocity": 0.1
+ "min_velocity": 0.1,
+ "target_altitude": 0.0,
+ "turning_radius": null,
+ "scan_sensor": null,
+ "additional_data": {}
}
- ],
- "region_of_interest": {
- "geometry_coordinates": [
- [
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
- ]
- ]
- }
+ ]
},
{
"squad_ID": 2,
"no_of_platforms": 3,
"squad_mission_type": "survey",
- "squad_state": "active",
"platforms": [
{
- "platform_ID": "ecosub-2",
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-1",
"model": "ecosub",
"emergency": {
- "target_waypoint_latitude": -7.432,
- "target_waypoint_longitude": 50.365,
+ "additional_data": {},
+ "target_waypoint_latitude": -4.192219151149999,
+ "target_waypoint_longitude": 50.32933594228737,
"safe_command": "go_home",
"target_depth": 10.0
},
+ "min_altitude": 5.0,
+ "max_velocity": 0.9,
+ "min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
+ "additional_data": {
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
+ }
+ },
+ {
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-2",
+ "model": "ecosub",
+ "emergency": {
+ "additional_data": {},
+ "target_waypoint_latitude": -4.192219151149999,
+ "target_waypoint_longitude": 50.32775207068519,
+ "safe_command": "go_home",
+ "target_depth": 0.0
+ },
+ "min_altitude": 5.0,
+ "max_velocity": 0.9,
+ "min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
+ "additional_data": {
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
+ }
+ },
+ {
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-3",
+ "model": "ecosub",
+ "emergency": {
+ "additional_data": {},
+ "target_waypoint_latitude": -4.184550412882118,
+ "target_waypoint_longitude": 50.326744124905844,
+ "safe_command": "go_home",
+ "target_depth": 0.0
+ },
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "DVL",
- "swath_width": 10
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
},
{
- "platform_ID": "ecosub-5",
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-4",
"model": "ecosub",
"emergency": {
"additional_data": {},
- "target_waypoint_latitude": -0.432,
- "target_waypoint_longitude": 20.365,
+ "target_waypoint_latitude": -4.188610333142037,
+ "target_waypoint_longitude": 50.32616814629094,
"safe_command": "go_home",
"target_depth": 0.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "DVL",
- "swath_width": 10
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
}
]
@@ -126,23 +213,31 @@
"squad_ID": 3,
"no_of_platforms": 1,
"squad_mission_type": "inspection",
- "squad_state": "active",
"platforms": [
{
- "platform_ID": "139-ah-1",
+ "platform_ID": "ah-1",
"model": "autosub",
"emergency": {
"additional_data": {},
- "target_waypoint_latitude": 20.432,
- "target_waypoint_longitude": 50.365,
+ "target_waypoint_latitude": -4.19759350502369,
+ "target_waypoint_longitude": 50.3342284629413,
"safe_command": "abort_now",
"target_depth": 0.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "MBES"
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
}
]
diff --git a/formats/planning_configuration.py b/formats/planning_configuration.py
index c741b6c..44aa473 100644
--- a/formats/planning_configuration.py
+++ b/formats/planning_configuration.py
@@ -46,9 +46,46 @@ emergency_schema = {
}
+scan_sensor_schema = {
+ "type": "object",
+ "properties": {
+ "sensor_type": {
+ "type": "string",
+ "description": "Unique identifier for this platform",
+ "example": "MBES",
+ "enum": ["SIDESCAN", "MBES"],
+ },
+ "swath_width": {
+ "type": "number",
+ "format": "float",
+ "description": "Function of `target_altitude` for the platform's "
+ + "swath width (in metres)",
+ "example": 38.0,
+ },
+ "frequency": {
+ "type": "number",
+ "format": "float",
+ "description": "Frequency of scanning sensor (in kHz)",
+ "example": 700.0,
+ },
+ "angle": {
+ "type": "number",
+ "format": "float",
+ "description": "Angle of range of swath width (in degrees)",
+ "example": 140.0,
+ },
+ },
+}
+
+
platform_schema = {
"type": "object",
"properties": {
+ "operator": {
+ "type": "string",
+ "description": "Operator of platform",
+ "example": "noc",
+ },
"platform_ID": {
"type": "string",
"description": "Unique identifier for this platform",
@@ -62,24 +99,37 @@ platform_schema = {
"min_altitude": {
"type": "number",
"format": "float",
- "description": "Minimum altitude set for squad.",
+ "description": "Minimum altitude set for plaform.",
"example": 15.2,
},
"min_velocity": {
"type": "number",
"format": "float",
- "description": "Minimum velocity set for squad.",
+ "description": "Minimum velocity set for plaform.",
"example": 0.1,
},
"max_velocity": {
"type": "number",
"format": "float",
- "description": "Maximum altitude set for squad.",
+ "description": "Maximum altitude set for plaform.",
"example": 0.9,
},
+ "target_altitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target altitude set for plaform. This affects swath width",
+ "example": 15.0,
+ },
+ "turning_radius": {
+ "type": "number",
+ "format": "float",
+ "description": "Turning radius of platform (in metres)",
+ "example": 1.0,
+ },
+ "scan_sensor": scan_sensor_schema,
"additional_data": {
"description": "Any addition fields/data to be added here",
- "example": {"swath_width": 10.0, "scan_type": "DVL"},
+ "example": {"new_sensor_a": "test_sensor", "range": 10.0},
"type": "object",
},
},
@@ -97,18 +147,19 @@ region_schema = {
"type": "object",
"properties": {
"geometry_coordinates": {
- "type": "array", # TODO: Check if config defn is right.
+ "type": "array",
"example": [
[
[-4.187143188645706, 50.37072283932642],
[-4.202697005964865, 50.368816892405874],
[-4.203156724702808, 50.365640144076906],
[-4.19449868846155, 50.362267670845654],
+ [-4.187143188645706, 50.37072283932642],
]
],
},
},
- "description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
+ "description": "Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
}
squad_metadata_schema = {
@@ -136,19 +187,12 @@ squad_metadata_schema = {
+ ", `inspection`",
"example": "survey",
},
- "squad_state": {
- "type": "string",
- "description": "In execution, Waiting.. <define further>",
- "example": False,
- },
- "region_of_interest": region_schema,
},
"required": [
"squad_ID",
"no_of_platforms",
"platforms",
"squad_mission_type",
- "squad_state",
],
}
@@ -167,6 +211,11 @@ planning_configuration_schema = {
+ " configuration plan",
"example": 3,
},
+ "region_of_interest": {
+ "type": "array",
+ "items": region_schema,
+ "description": "Region of interest for the entire operation",
+ },
"exclusion_zones": {
"type": "array",
"items": region_schema,
@@ -182,5 +231,6 @@ planning_configuration_schema = {
"planning_config_ID",
"squads",
"exclusion_zones",
+ "region_of_interest",
],
}
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index bdbda61..109afa9 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -107,6 +107,12 @@
"example":3,
"type":"integer"
},
+ "emergency":{
+ "default":false,
+ "description":"To indicate if this is an emergency. true = emergency and false = no emergency",
+ "example":false,
+ "type":"boolean"
+ },
"message_type":{
"description":"Type of message",
"enum":[
@@ -115,12 +121,6 @@
"example":"mission_plan",
"type":"string"
},
- "emergency": {
- "default": false,
- "description": "To indicate if this is an emergency. true = emergency and false = no emergency",
- "example": false,
- "type": "boolean"
- },
"plan":{
"items":{
"properties":{
@@ -219,9 +219,9 @@
"message_type":{
"description":"Type of message",
"enum":[
- "mission_plan_encoded"
+ "platform_status_encoded"
],
- "example":"mission_plan_encoded",
+ "example":"platform_status_encoded",
"type":"string"
},
"mime_type":{
@@ -320,9 +320,9 @@
"message_type":{
"description":"Type of message",
"enum":[
- "observation_encoded"
+ "platform_status_encoded"
],
- "example":"observation_encoded",
+ "example":"platform_status_encoded",
"type":"string"
},
"mime_type":{
@@ -383,7 +383,7 @@
"exclusion_zones":{
"description":"Exclusion zones for all platforms",
"items":{
- "description":"Using GEOJSON, exact 4-point region (rectangle shaped)",
+ "description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
"properties":{
"geometry_coordinates":{
"example":[
@@ -403,6 +403,10 @@
[
-4.19449868846155,
50.362267670845654
+ ],
+ [
+ -4.187143188645706,
+ 50.37072283932642
]
]
],
@@ -426,6 +430,43 @@
"example":3,
"type":"integer"
},
+ "region_of_interest":{
+ "description":"Region of interest for the entire operation",
+ "items":{
+ "description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
+ "properties":{
+ "geometry_coordinates":{
+ "example":[
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ],
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ]
+ ]
+ ],
+ "type":"array"
+ }
+ },
+ "type":"object"
+ },
+ "type":"array"
+ },
"squads":{
"items":{
"properties":{
@@ -441,19 +482,19 @@
"additional_data":{
"description":"Any addition fields/data to be added here",
"example":{
- "scan_type":"DVL",
- "swath_width":10.0
+ "new_sensor_a":"test_sensor",
+ "range":10.0
},
"type":"object"
},
"emergency":{
"properties":{
"additional_data":{
- "type": "object",
"description":"Any addition fields/data to be added here",
"example":{
- }
+ },
+ "type":"object"
},
"safe_command":{
"description":"Command/Action that is native to respective partner's platform/C2",
@@ -492,19 +533,19 @@
"type":"object"
},
"max_velocity":{
- "description":"Maximum altitude set for squad.",
+ "description":"Maximum altitude set for plaform.",
"example":0.9,
"format":"float",
"type":"number"
},
"min_altitude":{
- "description":"Minimum altitude set for squad.",
+ "description":"Minimum altitude set for plaform.",
"example":15.2,
"format":"float",
"type":"number"
},
"min_velocity":{
- "description":"Minimum velocity set for squad.",
+ "description":"Minimum velocity set for plaform.",
"example":0.1,
"format":"float",
"type":"number"
@@ -513,10 +554,59 @@
"example":"reav",
"type":"string"
},
+ "operator":{
+ "description":"Operator of platform",
+ "example":"noc",
+ "type":"string"
+ },
"platform_ID":{
"description":"Unique identifier for this platform",
"example":"reav-x-1",
"type":"string"
+ },
+ "scan_sensor":{
+ "properties":{
+ "angle":{
+ "description":"Angle of range of swath width (in degrees)",
+ "example": 140.0,
+ "format":"float",
+ "type":"number"
+ },
+ "frequency":{
+ "description":"Frequency of scanning sensor (in kHz)",
+ "example": 700.0,
+ "format":"float",
+ "type":"number"
+ },
+ "sensor_type":{
+ "description":"Unique identifier for this platform",
+ "enum":[
+ "SIDESCAN",
+ "MBES"
+ ],
+ "example":"MBES",
+ "type":"string"
+ },
+ "swath_width":{
+ "description":"Function of `target_altitude` for the platform's swath width (in metres)",
+ "example": 38.0,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "type":"object"
+ },
+ "target_altitude":{
+ "description":"Target altitude set for plaform. This affects swath width",
+ "example":15.0,
+ "format":"float",
+ "type":"number"
+ },
+ "turning_radius":{
+ "description":"Turning radius of platform (in metres)",
+ "example":1.0,
+ "format":"float",
+ "type":"number"
}
},
"required":[
@@ -531,35 +621,6 @@
},
"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
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
- ]
- ],
- "type":"array"
- }
- },
- "type":"object"
- },
"squad_ID":{
"description":"Identifier of given squad",
"example":23,
@@ -574,19 +635,13 @@
],
"example":"survey",
"type":"string"
- },
- "squad_state":{
- "description":"In execution, Waiting.. <define further>",
- "example":false,
- "type":"string"
}
},
"required":[
"squad_ID",
"no_of_platforms",
"platforms",
- "squad_mission_type",
- "squad_state"
+ "squad_mission_type"
],
"type":"object"
},
@@ -597,7 +652,8 @@
"message_type",
"planning_config_ID",
"squads",
- "exclusion_zones"
+ "exclusion_zones",
+ "region_of_interest"
],
"type":"object"
},
diff --git a/tests-js/docker/output.txt b/tests-js/docker/output.txt
new file mode 100644
index 0000000..b7d42f1
--- /dev/null
+++ b/tests-js/docker/output.txt
@@ -0,0 +1,273 @@
+#1 [internal] load build definition from Dockerfile
+#1 DONE 0.0s
+
+#1 [internal] load build definition from Dockerfile
+#1 transferring dockerfile: 32B done
+#1 DONE 0.0s
+
+#2 [internal] load .dockerignore
+#2 transferring context: 2B done
+#2 DONE 0.0s
+
+#3 [internal] load metadata for docker.io/library/node:18.7.0-alpine
+#3 DONE 0.4s
+
+#4 [1/7] FROM docker.io/library/node:18.7.0-alpine@sha256:02a5466bd5abde6cde29c16d83e2f5a10eec11c8dcefa667a2c9f88a7fa8b0b3
+#4 DONE 0.0s
+
+#5 [internal] load build context
+#5 transferring context: 114.55kB 0.1s done
+#5 DONE 0.1s
+
+#6 [2/7] WORKDIR /app/tests-js
+#6 CACHED
+
+#7 [3/7] COPY tests-js/package.json /app/tests-js/package.json
+#7 CACHED
+
+#8 [4/7] RUN yarn install
+#8 CACHED
+
+#9 [5/7] WORKDIR /app
+#9 CACHED
+
+#10 [6/7] COPY . /app
+#10 DONE 0.3s
+
+#11 [7/7] WORKDIR /app/tests-js
+#11 DONE 0.1s
+
+#12 exporting to image
+#12 exporting layers
+#12 exporting layers 0.3s done
+#12 writing image sha256:e98eadc0bbdc0809fd2540b1652f250264f2166575be3b9f18890d722b653ded done
+#12 naming to docker.io/library/docker_soar_js_test done
+#12 DONE 0.3s
+Attaching to soar_js_test
+soar_js_test | yarn run v1.22.19
+soar_js_test | warning package.json: No license field
+soar_js_test | $ jest
+soar_js_test | console.log
+soar_js_test | examples [
+soar_js_test | '/app/examples/hydrosurv_adapter/platform_status.json',
+soar_js_test | '/app/examples/hydrosurv_adapter/mission_plan.json',
+soar_js_test | '/app/examples/hydrosurv_adapter/acknowledgement.json',
+soar_js_test | '/app/examples/gui_adapter/planning_configuration.json',
+soar_js_test | '/app/examples/gui_adapter/emergency_mission_plan.json',
+soar_js_test | '/app/examples/gui_adapter/emergency_mission_command.json',
+soar_js_test | '/app/examples/ecosub_adapter/platform_status.json',
+soar_js_test | '/app/examples/ecosub_adapter/platform_status-from_usbl_example.json',
+soar_js_test | '/app/examples/ecosub_adapter/observation_encoded.json',
+soar_js_test | '/app/examples/ecosub_adapter/observation.json',
+soar_js_test | '/app/examples/ecosub_adapter/mission_plan.json',
+soar_js_test | '/app/examples/autonomy_engine_adapter/platform_status_encoded.json',
+soar_js_test | '/app/examples/autonomy_engine_adapter/platform_status.json',
+soar_js_test | '/app/examples/autonomy_engine_adapter/platform_status-from_usbl_example.json',
+soar_js_test | '/app/examples/autonomy_engine_adapter/planning_configuration.json',
+soar_js_test | '/app/examples/autonomy_engine_adapter/observation_encoded.json',
+soar_js_test | '/app/examples/autonomy_engine_adapter/mission_plan_encoded.json',
+soar_js_test | '/app/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json',
+soar_js_test | '/app/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json',
+soar_js_test | '/app/examples/autonomy_engine_adapter/mission_plan_AH1.json',
+soar_js_test | '/app/examples/autonomy_engine_adapter/emergency_mission_plan.json',
+soar_js_test | '/app/examples/autonomy_engine_adapter/emergency_mission_command.json',
+soar_js_test | '/app/examples/autonomy_engine_adapter/acknowledgement.json'
+soar_js_test | ]
+soar_js_test |
+soar_js_test | at soar-examples.test.js:42:11
+soar_js_test |
+soar_js_test | console.log
+soar_js_test | validation: /app/examples/ecosub_adapter/observation_encoded.json [
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/acknowledgement"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/mission_plan"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/mission_plan_encoded"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/observation"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/observation_encoded"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/planning_configuration"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/platform_status"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/platform_status_encoded"}'
+soar_js_test | ]
+soar_js_test |
+soar_js_test | at Object.<anonymous> (soar-examples.test.js:49:17)
+soar_js_test |
+soar_js_test | console.log
+soar_js_test | payload observation_encoded [
+soar_js_test | 'message_type must be one of the following: platform_status_encoded'
+soar_js_test | ]
+soar_js_test |
+soar_js_test | at Object.<anonymous> (soar-examples.test.js:52:19)
+soar_js_test |
+soar_js_test | console.log
+soar_js_test | validation: /app/examples/autonomy_engine_adapter/platform_status_encoded.json [ 'payloadmatches more than one entry in a oneOf.' ]
+soar_js_test |
+soar_js_test | at Object.<anonymous> (soar-examples.test.js:49:17)
+soar_js_test |
+soar_js_test | console.log
+soar_js_test | validation: /app/examples/autonomy_engine_adapter/observation_encoded.json [
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/acknowledgement"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/mission_plan"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/mission_plan_encoded"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/observation"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/observation_encoded"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/planning_configuration"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/platform_status"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/platform_status_encoded"}'
+soar_js_test | ]
+soar_js_test |
+soar_js_test | at Object.<anonymous> (soar-examples.test.js:49:17)
+soar_js_test |
+soar_js_test | console.log
+soar_js_test | payload observation_encoded [
+soar_js_test | 'message_type must be one of the following: platform_status_encoded'
+soar_js_test | ]
+soar_js_test |
+soar_js_test | at Object.<anonymous> (soar-examples.test.js:52:19)
+soar_js_test |
+soar_js_test | console.log
+soar_js_test | validation: /app/examples/autonomy_engine_adapter/mission_plan_encoded.json [
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/acknowledgement"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/mission_plan"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/mission_plan_encoded"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/observation"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/observation_encoded"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/planning_configuration"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/platform_status"}',
+soar_js_test | undefined,
+soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/platform_status_encoded"}'
+soar_js_test | ]
+soar_js_test |
+soar_js_test | at Object.<anonymous> (soar-examples.test.js:49:17)
+soar_js_test |
+soar_js_test | console.log
+soar_js_test | payload mission_plan_encoded [
+soar_js_test | 'message_type must be one of the following: platform_status_encoded'
+soar_js_test | ]
+soar_js_test |
+soar_js_test | at Object.<anonymous> (soar-examples.test.js:52:19)
+soar_js_test |
+soar_js_test | FAIL ./soar-examples.test.js
+soar_js_test | ✓ schema validates (384 ms)
+soar_js_test | examples validate
+soar_js_test | ✓ validate /app/examples/hydrosurv_adapter/platform_status.json (8 ms)
+soar_js_test | ✓ validate /app/examples/hydrosurv_adapter/mission_plan.json (5 ms)
+soar_js_test | ✓ validate /app/examples/hydrosurv_adapter/acknowledgement.json (3 ms)
+soar_js_test | ✓ validate /app/examples/gui_adapter/planning_configuration.json (4 ms)
+soar_js_test | ✓ validate /app/examples/gui_adapter/emergency_mission_plan.json (3 ms)
+soar_js_test | ✓ validate /app/examples/gui_adapter/emergency_mission_command.json (4 ms)
+soar_js_test | ✓ validate /app/examples/ecosub_adapter/platform_status.json (4 ms)
+soar_js_test | ✓ validate /app/examples/ecosub_adapter/platform_status-from_usbl_example.json (3 ms)
+soar_js_test | ✕ validate /app/examples/ecosub_adapter/observation_encoded.json (14 ms)
+soar_js_test | ✓ validate /app/examples/ecosub_adapter/observation.json (3 ms)
+soar_js_test | ✓ validate /app/examples/ecosub_adapter/mission_plan.json (2 ms)
+soar_js_test | ✕ validate /app/examples/autonomy_engine_adapter/platform_status_encoded.json (6 ms)
+soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/platform_status.json (2 ms)
+soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/platform_status-from_usbl_example.json (2 ms)
+soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/planning_configuration.json (3 ms)
+soar_js_test | ✕ validate /app/examples/autonomy_engine_adapter/observation_encoded.json (8 ms)
+soar_js_test | ✕ validate /app/examples/autonomy_engine_adapter/mission_plan_encoded.json (8 ms)
+soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json (2 ms)
+soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json (2 ms)
+soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/mission_plan_AH1.json (2 ms)
+soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/emergency_mission_plan.json (3 ms)
+soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/emergency_mission_command.json (2 ms)
+soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/acknowledgement.json (6 ms)
+soar_js_test |
+soar_js_test | ◠examples validate › validate /app/examples/ecosub_adapter/observation_encoded.json
+soar_js_test |
+soar_js_test | expect(received).toBe(expected) // Object.is equality
+soar_js_test |
+soar_js_test | Expected: true
+soar_js_test | Received: false
+soar_js_test |
+soar_js_test | 53 | }
+soar_js_test | 54 | }
+soar_js_test | > 55 | expect(valid).toBe(true);
+soar_js_test | | ^
+soar_js_test | 56 | });
+soar_js_test | 57 | });
+soar_js_test | 58 | });
+soar_js_test |
+soar_js_test | at Object.<anonymous> (soar-examples.test.js:55:21)
+soar_js_test |
+soar_js_test | ◠examples validate › validate /app/examples/autonomy_engine_adapter/platform_status_encoded.json
+soar_js_test |
+soar_js_test | expect(received).toBe(expected) // Object.is equality
+soar_js_test |
+soar_js_test | Expected: true
+soar_js_test | Received: false
+soar_js_test |
+soar_js_test | 53 | }
+soar_js_test | 54 | }
+soar_js_test | > 55 | expect(valid).toBe(true);
+soar_js_test | | ^
+soar_js_test | 56 | });
+soar_js_test | 57 | });
+soar_js_test | 58 | });
+soar_js_test |
+soar_js_test | at Object.<anonymous> (soar-examples.test.js:55:21)
+soar_js_test |
+soar_js_test | ◠examples validate › validate /app/examples/autonomy_engine_adapter/observation_encoded.json
+soar_js_test |
+soar_js_test | expect(received).toBe(expected) // Object.is equality
+soar_js_test |
+soar_js_test | Expected: true
+soar_js_test | Received: false
+soar_js_test |
+soar_js_test | 53 | }
+soar_js_test | 54 | }
+soar_js_test | > 55 | expect(valid).toBe(true);
+soar_js_test | | ^
+soar_js_test | 56 | });
+soar_js_test | 57 | });
+soar_js_test | 58 | });
+soar_js_test |
+soar_js_test | at Object.<anonymous> (soar-examples.test.js:55:21)
+soar_js_test |
+soar_js_test | ◠examples validate › validate /app/examples/autonomy_engine_adapter/mission_plan_encoded.json
+soar_js_test |
+soar_js_test | expect(received).toBe(expected) // Object.is equality
+soar_js_test |
+soar_js_test | Expected: true
+soar_js_test | Received: false
+soar_js_test |
+soar_js_test | 53 | }
+soar_js_test | 54 | }
+soar_js_test | > 55 | expect(valid).toBe(true);
+soar_js_test | | ^
+soar_js_test | 56 | });
+soar_js_test | 57 | });
+soar_js_test | 58 | });
+soar_js_test |
+soar_js_test | at Object.<anonymous> (soar-examples.test.js:55:21)
+soar_js_test |
+soar_js_test | Test Suites: 1 failed, 1 total
+soar_js_test | Tests: 4 failed, 20 passed, 24 total
+soar_js_test | Snapshots: 0 total
+soar_js_test | Time: 1.405 s
+soar_js_test | Ran all test suites.
+soar_js_test | error Command failed with exit code 1.
+soar_js_test | info Visit https://yarnpkg.com/en/docs/cli/run for documentation about this command.
+soar_js_test exited with code 1
--
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