Skip to content

GitLab

Commit 631b96c0 authored by Trishna Saeharaseelan's avatar Trishna Saeharaseelan
Browse files

refactor: planning configuration file

parent 7096e360
Pipeline #124846 failed with stages
in 1 minute and 4 seconds
Hide whitespace changes
Inline Side-by-side
Showing with 740 additions and 174 deletions
examples/autonomy_engine_adapter/planning_configuration.json
View file @ 631b96c0
...@@ -16,111 +16,195 @@ ...@@ -16,111 +16,195 @@
"geometry_coordinates": [ "geometry_coordinates": [
[ [
[ [
-4.187143188645706, -4.1777839187560915,
50.37072283932642 50.34173405662855
], ],
[ [
-4.202697005964865, -4.1777839187560915,
50.368816892405874 50.33820949229701
], ],
[ [
-4.203156724702808, -4.143667777943875,
50.365640144076906 50.33820949229701
], ],
[ [
-4.19449868846155, -4.143667777943875,
50.362267670845654 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": [ "squads": [
{ {
"squad_ID": 1, "squad_ID": 1,
"no_of_platforms": 1, "no_of_platforms": 1,
"squad_mission_type": "tracking", "squad_mission_type": "tracking",
"squad_state": "active",
"platforms": [ "platforms": [
{ {
"operator": "hydrosurv",
"model": "reav", "model": "reav",
"platform_ID": "reav-60-1", "platform_ID": "reav-60-1",
"emergency": { "emergency": {
"additional_data": {}, "additional_data": {},
"target_waypoint_latitude": -7.432, "target_waypoint_latitude": -4.189772466767039,
"target_waypoint_longitude": 50.365, "target_waypoint_longitude": 50.33611100020795,
"safe_command": "go_home", "safe_command": "go_home",
"target_depth": 10.0 "target_depth": 10.0
}, },
"min_altitude": 0.0,
"max_velocity": 0.9, "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": {} "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, "squad_ID": 2,
"no_of_platforms": 3, "no_of_platforms": 3,
"squad_mission_type": "survey", "squad_mission_type": "survey",
"squad_state": "active",
"platforms": [ "platforms": [
{ {
"operator": "planet-ocean",
"platform_ID": "ecosub-1", "platform_ID": "ecosub-1",
"model": "ecosub", "model": "ecosub",
"emergency": { "emergency": {
"additional_data": {}, "additional_data": {},
"target_waypoint_latitude": -7.432, "target_waypoint_latitude": -4.192219151149999,
"target_waypoint_longitude": 50.365, "target_waypoint_longitude": 50.32933594228737,
"safe_command": "go_home", "safe_command": "go_home",
"target_depth": 10.0 "target_depth": 10.0
}, },
"min_altitude": 5.0,
"max_velocity": 0.9, "max_velocity": 0.9,
"min_altitude": 15.2,
"min_velocity": 0.1, "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": { "additional_data": {
"scan_type": "DVL", "new_sensor_a": "test_sensor",
"swath_width": 10 "range": 10.0
} }
}, },
{ {
"operator": "planet-ocean",
"platform_ID": "ecosub-2", "platform_ID": "ecosub-2",
"model": "ecosub", "model": "ecosub",
"emergency": { "emergency": {
"additional_data": {}, "additional_data": {},
"target_waypoint_latitude": -0.432, "target_waypoint_latitude": -4.192219151149999,
"target_waypoint_longitude": 20.365, "target_waypoint_longitude": 50.32775207068519,
"safe_command": "go_home", "safe_command": "go_home",
"target_depth": 0.0 "target_depth": 0.0
}, },
"min_altitude": 5.0,
"max_velocity": 0.9, "max_velocity": 0.9,
"min_altitude": 15.2,
"min_velocity": 0.1, "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": { "additional_data": {
"scan_type": "DVL", "new_sensor_a": "test_sensor",
"swath_width": 10 "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 @@ ...@@ -129,23 +213,31 @@
"squad_ID": 3, "squad_ID": 3,
"no_of_platforms": 1, "no_of_platforms": 1,
"squad_mission_type": "inspection", "squad_mission_type": "inspection",
"squad_state": "active",
"platforms": [ "platforms": [
{ {
"platform_ID": "ah-1", "platform_ID": "ah-1",
"model": "autosub", "model": "autosub",
"emergency": { "emergency": {
"additional_data": {}, "additional_data": {},
"target_waypoint_latitude": 20.432, "target_waypoint_latitude": -4.19759350502369,
"target_waypoint_longitude": 50.365, "target_waypoint_longitude": 50.3342284629413,
"safe_command": "abort_now", "safe_command": "abort_now",
"target_depth": 0.0 "target_depth": 0.0
}, },
"min_altitude": 5.0,
"max_velocity": 0.9, "max_velocity": 0.9,
"min_altitude": 15.2,
"min_velocity": 0.1, "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": { "additional_data": {
"scan_type": "MBES" "new_sensor_a": "test_sensor",
"range": 10.0
} }
} }
] ]
......
examples/gui_adapter/planning_configuration.json
View file @ 631b96c0
...@@ -16,108 +16,195 @@ ...@@ -16,108 +16,195 @@
"geometry_coordinates": [ "geometry_coordinates": [
[ [
[ [
-4.187143188645706, -4.1777839187560915,
50.37072283932642 50.34173405662855
], ],
[ [
-4.202697005964865, -4.1777839187560915,
50.368816892405874 50.33820949229701
], ],
[ [
-4.203156724702808, -4.143667777943875,
50.365640144076906 50.33820949229701
], ],
[ [
-4.19449868846155, -4.143667777943875,
50.362267670845654 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": [ "squads": [
{ {
"squad_ID": 1, "squad_ID": 1,
"no_of_platforms": 1, "no_of_platforms": 1,
"squad_mission_type": "tracking", "squad_mission_type": "tracking",
"squad_state": "active",
"platforms": [ "platforms": [
{ {
"operator": "hydrosurv",
"model": "reav", "model": "reav",
"platform_ID": "reav-60-1", "platform_ID": "reav-60-1",
"emergency": { "emergency": {
"target_waypoint_latitude": -7.432, "additional_data": {},
"target_waypoint_longitude": 50.365, "target_waypoint_latitude": -4.189772466767039,
"target_waypoint_longitude": 50.33611100020795,
"safe_command": "go_home", "safe_command": "go_home",
"target_depth": 10.0 "target_depth": 10.0
}, },
"min_altitude": 0.0,
"max_velocity": 0.9, "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, "squad_ID": 2,
"no_of_platforms": 3, "no_of_platforms": 3,
"squad_mission_type": "survey", "squad_mission_type": "survey",
"squad_state": "active",
"platforms": [ "platforms": [
{ {
"platform_ID": "ecosub-2", "operator": "planet-ocean",
"platform_ID": "ecosub-1",
"model": "ecosub", "model": "ecosub",
"emergency": { "emergency": {
"target_waypoint_latitude": -7.432, "additional_data": {},
"target_waypoint_longitude": 50.365, "target_waypoint_latitude": -4.192219151149999,
"target_waypoint_longitude": 50.32933594228737,
"safe_command": "go_home", "safe_command": "go_home",
"target_depth": 10.0 "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, "max_velocity": 0.9,
"min_altitude": 15.2,
"min_velocity": 0.1, "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": { "additional_data": {
"scan_type": "DVL", "new_sensor_a": "test_sensor",
"swath_width": 10 "range": 10.0
} }
}, },
{ {
"platform_ID": "ecosub-5", "operator": "planet-ocean",
"platform_ID": "ecosub-4",
"model": "ecosub", "model": "ecosub",
"emergency": { "emergency": {
"additional_data": {}, "additional_data": {},
"target_waypoint_latitude": -0.432, "target_waypoint_latitude": -4.188610333142037,
"target_waypoint_longitude": 20.365, "target_waypoint_longitude": 50.32616814629094,
"safe_command": "go_home", "safe_command": "go_home",
"target_depth": 0.0 "target_depth": 0.0
}, },
"min_altitude": 5.0,
"max_velocity": 0.9, "max_velocity": 0.9,
"min_altitude": 15.2,
"min_velocity": 0.1, "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": { "additional_data": {
"scan_type": "DVL", "new_sensor_a": "test_sensor",
"swath_width": 10 "range": 10.0
} }
} }
] ]
...@@ -126,23 +213,31 @@ ...@@ -126,23 +213,31 @@
"squad_ID": 3, "squad_ID": 3,
"no_of_platforms": 1, "no_of_platforms": 1,
"squad_mission_type": "inspection", "squad_mission_type": "inspection",
"squad_state": "active",
"platforms": [ "platforms": [
{ {
"platform_ID": "139-ah-1", "platform_ID": "ah-1",
"model": "autosub", "model": "autosub",
"emergency": { "emergency": {
"additional_data": {}, "additional_data": {},
"target_waypoint_latitude": 20.432, "target_waypoint_latitude": -4.19759350502369,
"target_waypoint_longitude": 50.365, "target_waypoint_longitude": 50.3342284629413,
"safe_command": "abort_now", "safe_command": "abort_now",
"target_depth": 0.0 "target_depth": 0.0
}, },
"min_altitude": 5.0,
"max_velocity": 0.9, "max_velocity": 0.9,
"min_altitude": 15.2,
"min_velocity": 0.1, "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": { "additional_data": {
"scan_type": "MBES" "new_sensor_a": "test_sensor",
"range": 10.0
} }
} }
] ]
......
formats/planning_configuration.py
View file @ 631b96c0
...@@ -46,9 +46,46 @@ emergency_schema = { ...@@ -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 = { platform_schema = {
"type": "object", "type": "object",
"properties": { "properties": {
"operator": {
"type": "string",
"description": "Operator of platform",
"example": "noc",
},
"platform_ID": { "platform_ID": {
"type": "string", "type": "string",
"description": "Unique identifier for this platform", "description": "Unique identifier for this platform",
...@@ -62,24 +99,37 @@ platform_schema = { ...@@ -62,24 +99,37 @@ platform_schema = {
"min_altitude": { "min_altitude": {
"type": "number", "type": "number",
"format": "float", "format": "float",
"description": "Minimum altitude set for squad.", "description": "Minimum altitude set for plaform.",
"example": 15.2, "example": 15.2,
}, },
"min_velocity": { "min_velocity": {
"type": "number", "type": "number",
"format": "float", "format": "float",
"description": "Minimum velocity set for squad.", "description": "Minimum velocity set for plaform.",
"example": 0.1, "example": 0.1,
}, },
"max_velocity": { "max_velocity": {
"type": "number", "type": "number",
"format": "float", "format": "float",
"description": "Maximum altitude set for squad.", "description": "Maximum altitude set for plaform.",
"example": 0.9, "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": { "additional_data": {
"description": "Any addition fields/data to be added here", "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", "type": "object",
}, },
}, },
...@@ -97,18 +147,19 @@ region_schema = { ...@@ -97,18 +147,19 @@ region_schema = {
"type": "object", "type": "object",
"properties": { "properties": {
"geometry_coordinates": { "geometry_coordinates": {
"type": "array", # TODO: Check if config defn is right. "type": "array",
"example": [ "example": [
[ [
[-4.187143188645706, 50.37072283932642], [-4.187143188645706, 50.37072283932642],
[-4.202697005964865, 50.368816892405874], [-4.202697005964865, 50.368816892405874],
[-4.203156724702808, 50.365640144076906], [-4.203156724702808, 50.365640144076906],
[-4.19449868846155, 50.362267670845654], [-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 = { squad_metadata_schema = {
...@@ -136,19 +187,12 @@ squad_metadata_schema = { ...@@ -136,19 +187,12 @@ squad_metadata_schema = {
+ ", `inspection`", + ", `inspection`",
"example": "survey", "example": "survey",
}, },
"squad_state": {
"type": "string",
"description": "In execution, Waiting.. <define further>",
"example": False,
},
"region_of_interest": region_schema,
}, },
"required": [ "required": [
"squad_ID", "squad_ID",
"no_of_platforms", "no_of_platforms",
"platforms", "platforms",
"squad_mission_type", "squad_mission_type",
"squad_state",
], ],
} }
...@@ -167,6 +211,11 @@ planning_configuration_schema = { ...@@ -167,6 +211,11 @@ planning_configuration_schema = {
+ " configuration plan", + " configuration plan",
"example": 3, "example": 3,
}, },
"region_of_interest": {
"type": "array",
"items": region_schema,
"description": "Region of interest for the entire operation",
},
"exclusion_zones": { "exclusion_zones": {
"type": "array", "type": "array",
"items": region_schema, "items": region_schema,
...@@ -182,5 +231,6 @@ planning_configuration_schema = { ...@@ -182,5 +231,6 @@ planning_configuration_schema = {
"planning_config_ID", "planning_config_ID",
"squads", "squads",
"exclusion_zones", "exclusion_zones",
"region_of_interest",
], ],
} }
project/soar/swagger.json
View file @ 631b96c0
...@@ -107,6 +107,12 @@ ...@@ -107,6 +107,12 @@
"example":3, "example":3,
"type":"integer" "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":{ "message_type":{
"description":"Type of message", "description":"Type of message",
"enum":[ "enum":[
...@@ -115,12 +121,6 @@ ...@@ -115,12 +121,6 @@
"example":"mission_plan", "example":"mission_plan",
"type":"string" "type":"string"
}, },
"emergency": {
"default": false,
"description": "To indicate if this is an emergency. true = emergency and false = no emergency",
"example": false,
"type": "boolean"
},
"plan":{ "plan":{
"items":{ "items":{
"properties":{ "properties":{
...@@ -219,9 +219,9 @@ ...@@ -219,9 +219,9 @@
"message_type":{ "message_type":{
"description":"Type of message", "description":"Type of message",
"enum":[ "enum":[
"mission_plan_encoded" "platform_status_encoded"
], ],
"example":"mission_plan_encoded", "example":"platform_status_encoded",
"type":"string" "type":"string"
}, },
"mime_type":{ "mime_type":{
...@@ -320,9 +320,9 @@ ...@@ -320,9 +320,9 @@
"message_type":{ "message_type":{
"description":"Type of message", "description":"Type of message",
"enum":[ "enum":[
"observation_encoded" "platform_status_encoded"
], ],
"example":"observation_encoded", "example":"platform_status_encoded",
"type":"string" "type":"string"
}, },
"mime_type":{ "mime_type":{
...@@ -383,7 +383,7 @@ ...@@ -383,7 +383,7 @@
"exclusion_zones":{ "exclusion_zones":{
"description":"Exclusion zones for all platforms", "description":"Exclusion zones for all platforms",
"items":{ "items":{
"description":"Using GEOJSON, exact 4-point region (rectangle shaped)", "description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
"properties":{ "properties":{
"geometry_coordinates":{ "geometry_coordinates":{
"example":[ "example":[
...@@ -403,6 +403,10 @@ ...@@ -403,6 +403,10 @@
[ [
-4.19449868846155, -4.19449868846155,
50.362267670845654 50.362267670845654
],
[
-4.187143188645706,
50.37072283932642
] ]
] ]
], ],
...@@ -426,6 +430,43 @@ ...@@ -426,6 +430,43 @@
"example":3, "example":3,
"type":"integer" "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":{ "squads":{
"items":{ "items":{
"properties":{ "properties":{
...@@ -441,19 +482,19 @@ ...@@ -441,19 +482,19 @@
"additional_data":{ "additional_data":{
"description":"Any addition fields/data to be added here", "description":"Any addition fields/data to be added here",
"example":{ "example":{
"scan_type":"DVL", "new_sensor_a":"test_sensor",
"swath_width":10.0 "range":10.0
}, },
"type":"object" "type":"object"
}, },
"emergency":{ "emergency":{
"properties":{ "properties":{
"additional_data":{ "additional_data":{
"type": "object",
"description":"Any addition fields/data to be added here", "description":"Any addition fields/data to be added here",
"example":{ "example":{
} },
"type":"object"
}, },
"safe_command":{ "safe_command":{
"description":"Command/Action that is native to respective partner's platform/C2", "description":"Command/Action that is native to respective partner's platform/C2",
...@@ -492,19 +533,19 @@ ...@@ -492,19 +533,19 @@
"type":"object" "type":"object"
}, },
"max_velocity":{ "max_velocity":{
"description":"Maximum altitude set for squad.", "description":"Maximum altitude set for plaform.",
"example":0.9, "example":0.9,
"format":"float", "format":"float",
"type":"number" "type":"number"
}, },
"min_altitude":{ "min_altitude":{
"description":"Minimum altitude set for squad.", "description":"Minimum altitude set for plaform.",
"example":15.2, "example":15.2,
"format":"float", "format":"float",
"type":"number" "type":"number"
}, },
"min_velocity":{ "min_velocity":{
"description":"Minimum velocity set for squad.", "description":"Minimum velocity set for plaform.",
"example":0.1, "example":0.1,
"format":"float", "format":"float",
"type":"number" "type":"number"
...@@ -513,10 +554,59 @@ ...@@ -513,10 +554,59 @@
"example":"reav", "example":"reav",
"type":"string" "type":"string"
}, },
"operator":{
"description":"Operator of platform",
"example":"noc",
"type":"string"
},
"platform_ID":{ "platform_ID":{
"description":"Unique identifier for this platform", "description":"Unique identifier for this platform",
"example":"reav-x-1", "example":"reav-x-1",
"type":"string" "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":[ "required":[
...@@ -531,35 +621,6 @@ ...@@ -531,35 +621,6 @@
}, },
"type":"array" "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":{ "squad_ID":{
"description":"Identifier of given squad", "description":"Identifier of given squad",
"example":23, "example":23,
...@@ -574,19 +635,13 @@ ...@@ -574,19 +635,13 @@
], ],
"example":"survey", "example":"survey",
"type":"string" "type":"string"
},
"squad_state":{
"description":"In execution, Waiting.. <define further>",
"example":false,
"type":"string"
} }
}, },
"required":[ "required":[
"squad_ID", "squad_ID",
"no_of_platforms", "no_of_platforms",
"platforms", "platforms",
"squad_mission_type", "squad_mission_type"
"squad_state"
], ],
"type":"object" "type":"object"
}, },
...@@ -597,7 +652,8 @@ ...@@ -597,7 +652,8 @@
"message_type", "message_type",
"planning_config_ID", "planning_config_ID",
"squads", "squads",
"exclusion_zones" "exclusion_zones",
"region_of_interest"
], ],
"type":"object" "type":"object"
}, },
......
tests-js/docker/output.txt 0 → 100644
View file @ 631b96c0
#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
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment