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Commit 63c68473 authored by Trishna Saeharaseelan's avatar Trishna Saeharaseelan
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refactor: better field names in status and remove pitch field

parent 2e630184
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Showing with 99 additions and 108 deletions
examples/autonomy_engine_adapter/mission_plan_AH1.json
View file @ 63c68473
......@@ -53,7 +53,7 @@
"start_point_longitude": 60.00000000000000,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": true
}
......
examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
View file @ 63c68473
......@@ -53,7 +53,7 @@
"start_point_longitude": 60.00000000000000,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": true
}
......
examples/autonomy_engine_adapter/planning_configuration.json
View file @ 63c68473
......@@ -51,7 +51,7 @@
"target_waypoint_latitude": -7.432,
"target_waypoint_longitude": 50.365,
"safe_command": "go_home",
"target_depth": 10
"target_depth": 10.0
},
"max_velocity": 0.9,
"min_altitude": 15.2,
......
examples/autonomy_engine_adapter/platform_status-from_usbl_example.json
View file @ 63c68473
......@@ -15,7 +15,7 @@
"status_source": "usbl",
"latitude": 178.2,
"longitude": -10.122,
"depth": 50,
"altitude": 20
"depth": 50.0,
"altitude": 20.0
}
}
examples/autonomy_engine_adapter/platform_status.json
View file @ 63c68473
......@@ -21,11 +21,12 @@
"mission_track_ID": 4,
"latitude": 178.2,
"longitude": -10.122,
"depth": 50,
"depth": 50.0,
"altitude": 20,
"heading": 90.0,
"health_status": "Warning",
"localisation_error": 0,
"health_status": false,
"localisation_north_error": 0,
"localisation_east_error": 0,
"usbl_fix_seconds_ago": 0,
"range_to_go": 124.3,
"sensor_config": {
......@@ -36,7 +37,6 @@
"whiskers_on": true
}
},
"current_pitch": -4,
"speed_over_ground": 4.3,
"thrust_applied": 124.3,
"water_current_velocity": 124.3
......
examples/ecosub_adapter/mission_plan.json
View file @ 63c68473
......@@ -53,7 +53,7 @@
"start_point_longitude": 60.00000000000000,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": true
}
......
examples/ecosub_adapter/platform_status-from_usbl_example.json
View file @ 63c68473
......@@ -15,7 +15,7 @@
"status_source": "usbl",
"latitude": 178.2,
"longitude": -10.122,
"depth": 50,
"altitude": 20
"depth": 50.0,
"altitude": 20.0
}
}
examples/ecosub_adapter/platform_status.json
View file @ 63c68473
......@@ -17,15 +17,16 @@
"battery_remaining_capacity": 80.2,
"active": true,
"platform_state": "ABORT",
"mission_action_ID": 1,
"mission_plan_ID": 1,
"mission_track_ID": 4,
"latitude": 178.2,
"longitude": -10.122,
"depth": 50,
"depth": 50.0,
"altitude": 20,
"heading": 90.0,
"health_status": "Warning",
"localisation_error": 0,
"health_status": false,
"localisation_north_error": 0,
"localisation_east_error": 0,
"usbl_fix_seconds_ago": 0,
"range_to_go": 124.3,
"sensor_config": {
......@@ -36,7 +37,6 @@
"whiskers_on": true
}
},
"current_pitch": -4,
"speed_over_ground": 4.3,
"thrust_applied": 124.3,
"water_current_velocity": 124.3
......
examples/gui_adapter/planning_configuration.json
View file @ 63c68473
......@@ -51,7 +51,7 @@
"target_waypoint_latitude": -7.432,
"target_waypoint_longitude": 50.365,
"safe_command": "go_home",
"target_depth": 10
"target_depth": 10.0
},
"max_velocity": 0.9,
"min_altitude": 15.2,
......
examples/hydrosurv_adapter/platform_status.json
View file @ 63c68473
......@@ -15,10 +15,10 @@
"status_source": "onboard_platform",
"battery_remaining_capacity": 80.2,
"heading": 310.0,
"health_status": "Lost Connection",
"health_status": false,
"latitude": 178.2,
"longitude": -10.122,
"mission_action_ID": 1,
"mission_plan_ID": 1,
"mission_track_ID": 4,
"platform_ID": "reav-60-1",
"platform_state": "ABORT",
......
formats/planning_configuration.py
View file @ 63c68473
......@@ -30,7 +30,7 @@ emergency_schema = {
"format": "float",
"description": "Z-coordinate safe place for respective platform"
+ " . If platform to NOT stay at depth, key in `0.0`",
"example": 10,
"example": 10.0,
},
"additional_data": {
"description": "Any addition fields/data to be added here",
......
formats/platform_status.py
View file @ 63c68473
......@@ -86,14 +86,14 @@ platform_status_schema = {
"type": "number",
"format": "float",
"description": "Target depth in metres",
"example": 50,
"default": 0,
"example": 50.0,
"default": 0.0,
},
"altitude": {
"type": "number",
"format": "float",
"description": "Target altitude in metres",
"example": 20,
"example": 20.0,
},
"mission_track_ID": {
"type": "integer",
......@@ -101,9 +101,9 @@ platform_status_schema = {
+ "4 --> Waypoint 3 to Waypoint 4)",
"example": 4,
},
"mission_action_ID": {
"mission_plan_ID": {
"type": "integer",
"description": "", # TODO: Add description
"description": "Mission plan ID according to local platform-C2 system",
"example": 1,
},
"range_to_go": {
......@@ -115,19 +115,18 @@ platform_status_schema = {
"speed_over_ground": {
"type": "number",
"format": "float",
"description": "", # TODO: Add description
"description": "Speed over ground",
"example": 124.3,
},
"water_current_velocity": {
"type": "number",
"format": "float",
"description": "", # TODO: Add description
"example": 124.3,
"type": "string",
"description": "Water current magnitude and direction",
"example": "124.3NE",
},
"thrust_applied": {
"type": "number",
"format": "float",
"description": "", # TODO: Add description
"description": "Thrust applied",
"example": 124.3,
},
"heading": {
......@@ -138,15 +137,20 @@ platform_status_schema = {
"example": 124.3,
},
"health_status": {
"type": "string",
"description": "Health status extracted by respective platform "
+ "if any diagnosis is available to check sensors",
"example": "Warning",
"type": "boolean",
"description": "Health status where 0 is OK, 1 is platform has an ERROR",
"example": False,
},
"localisation_error": {
"localisation_north_error": {
"type": "number",
"format": "float",
"description": "Localisation error at last USBL update.",
"description": "Difference in NORTH between deadreckoning and USBL update.",
"example": 0.000129,
},
"localisation_east_error": {
"type": "number",
"format": "float",
"description": "Difference in EAST between deadreckoning and USBL update.",
"example": 0.000129,
},
"usbl_fix_seconds_ago": {
......@@ -161,12 +165,6 @@ platform_status_schema = {
"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": [
......
project/soar/swagger.json
View file @ 63c68473
......@@ -375,7 +375,7 @@
},
"target_depth": {
"description": "Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
"example": 10,
"example": 10.0,
"format": "float",
"type": "number"
}
......@@ -522,12 +522,6 @@
"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",
......@@ -542,9 +536,9 @@
"type": "number"
},
"health_status": {
"description": "Health status extracted by respective platform if any diagnosis is available to check sensors",
"example": "Warning",
"type": "string"
"description": "Health status where 0 is OK, 1 is platform has an ERROR",
"example": false,
"type": "boolean"
},
"latitude": {
"description": "Latitude in decimal degrees.",
......@@ -552,12 +546,18 @@
"format": "float",
"type": "number"
},
"localisation_error": {
"localisation_north_error": {
"description": "Localisation error at last USBL update.",
"example": 0.000129,
"format": "float",
"type": "number"
},
"localisation_east_error": {
"type": "number",
"format": "float",
"description": "Difference in EAST between deadreckoning and USBL update.",
"example": 0.000129
},
"longitude": {
"description": "Longitude in decimal degrees.",
"example": -10.122,
......@@ -569,8 +569,8 @@
"example": "platform_status",
"type": "string"
},
"mission_action_ID": {
"description": "",
"mission_plan_ID": {
"description": "Mission plan ID according to local platform-C2 system",
"example": 1,
"type": "integer"
},
......@@ -627,7 +627,7 @@
"type": "object"
},
"speed_over_ground": {
"description": "",
"description": "Speed over ground",
"example": 124.3,
"format": "float",
"type": "number"
......@@ -642,7 +642,7 @@
"type": "string"
},
"thrust_applied": {
"description": "",
"description": "Thrust applied",
"example": 124.3,
"format": "float",
"type": "number"
......@@ -665,7 +665,7 @@
"type": "number"
},
"water_current_velocity": {
"description": "",
"description": "Water current magnitude and direction",
"example": 124.3,
"format": "float",
"type": "number"
......
tests/fixtures/schemas.py
View file @ 63c68473
......@@ -265,7 +265,7 @@ emergency_schema = {
"format": "float",
"description": "Z-coordinate safe place for respective platform"
+ " . If platform to NOT stay at depth, key in `0.0`",
"example": 10,
"example": 10.0,
},
"additional_data": {
"description": "Any addition fields/data to be added here",
......@@ -504,7 +504,7 @@ platform_status_schema = {
"type": "number",
"format": "float",
"description": "Target depth in metres",
"example": 50,
"example": 50.0,
"default": 0,
},
"altitude": {
......@@ -519,9 +519,9 @@ platform_status_schema = {
+ "4 --> Waypoint 3 to Waypoint 4)",
"example": 4,
},
"mission_action_ID": {
"mission_plan_ID": {
"type": "integer",
"description": "", # TODO: Add description
"description": "Mission plan ID according to local platform-C2 system",
"example": 1,
},
"range_to_go": {
......@@ -533,19 +533,19 @@ platform_status_schema = {
"speed_over_ground": {
"type": "number",
"format": "float",
"description": "", # TODO: Add description
"description": "Speed over ground",
"example": 124.3,
},
"water_current_velocity": {
"type": "number",
"format": "float",
"description": "", # TODO: Add description
"description": "Water current magnitude and direction",
"example": 124.3,
},
"thrust_applied": {
"type": "number",
"format": "float",
"description": "", # TODO: Add description
"description": "Thrust applied",
"example": 124.3,
},
"heading": {
......@@ -556,15 +556,20 @@ platform_status_schema = {
"example": 124.3,
},
"health_status": {
"type": "string",
"description": "Health status extracted by respective platform "
+ "if any diagnosis is available to check sensors",
"example": "Warning",
"type": "boolean",
"description": "Health status where 0 is OK, 1 is platform has an ERROR",
"example": False,
},
"localisation_error": {
"localisation_north_error": {
"type": "number",
"format": "float",
"description": "Localisation error at last USBL update.",
"description": "Difference in NORTH between deadreckoning and USBL update.",
"example": 0.000129,
},
"localisation_east_error": {
"type": "number",
"format": "float",
"description": "Difference in EAST between deadreckoning and USBL update.",
"example": 0.000129,
},
"usbl_fix_seconds_ago": {
......@@ -579,12 +584,6 @@ platform_status_schema = {
"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": [
......
tests/fixtures/swagger.json
View file @ 63c68473
......@@ -362,7 +362,7 @@
},
"target_depth": {
"description": "Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
"example": 10,
"example": 10.0,
"format": "float",
"type": "number"
}
......@@ -509,16 +509,10 @@
"format": "float",
"type": "number"
},
"current_pitch": {
"description": "Current pitch of platform",
"example": -4.0,
"format": "float",
"type": "number"
},
"depth": {
"default": 0,
"default": 0.0,
"description": "Target depth in metres",
"example": 50,
"example": 50.0,
"format": "float",
"type": "number"
},
......@@ -529,9 +523,9 @@
"type": "number"
},
"health_status": {
"description": "Health status extracted by respective platform if any diagnosis is available to check sensors",
"example": "Warning",
"type": "string"
"description": "Health status where 0 is OK, 1 is platform has an ERROR",
"example": false,
"type": "boolean"
},
"latitude": {
"description": "Latitude in decimal degrees.",
......@@ -540,7 +534,7 @@
"type": "number"
},
"localisation_error": {
"description": "Localisation error at last USBL update.",
"description": "Difference in NORTH between deadreckoning and USBL update.",
"example": 0.000129,
"format": "float",
"type": "number"
......@@ -556,8 +550,8 @@
"example": "platform_status",
"type": "string"
},
"mission_action_ID": {
"description": "",
"mission_plan_ID": {
"description": "Mission plan ID according to local platform-C2 system",
"example": 1,
"type": "integer"
},
......@@ -614,7 +608,7 @@
"type": "object"
},
"speed_over_ground": {
"description": "",
"description": "Speed over ground",
"example": 124.3,
"format": "float",
"type": "number"
......@@ -629,7 +623,7 @@
"type": "string"
},
"thrust_applied": {
"description": "",
"description": "Thrust applied",
"example": 124.3,
"format": "float",
"type": "number"
......@@ -652,7 +646,7 @@
"type": "number"
},
"water_current_velocity": {
"description": "",
"description": "Water current magnitude and direction",
"example": 124.3,
"format": "float",
"type": "number"
......
tests/mock_data/autonomy_engine_adapter/mission_plan_AH1.json
View file @ 63c68473
......@@ -53,7 +53,7 @@
"start_point_longitude": 60.00000000000000,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": true
}
......
tests/mock_data/autonomy_engine_adapter/mission_plan_ECOSUB.json
View file @ 63c68473
......@@ -53,7 +53,7 @@
"start_point_longitude": 60.00000000000000,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": true
}
......
tests/mock_data/autonomy_engine_adapter/planning_configuration.json
View file @ 63c68473
......@@ -51,7 +51,7 @@
"target_waypoint_latitude": -7.432,
"target_waypoint_longitude": 50.365,
"safe_command": "go_home",
"target_depth": 10
"target_depth": 10.0
},
"max_velocity": 0.9,
"min_altitude": 15.2,
......
tests/mock_data/autonomy_engine_adapter/platform_status-from_usbl_example.json
View file @ 63c68473
......@@ -15,7 +15,7 @@
"status_source": "usbl",
"latitude": 178.2,
"longitude": -10.122,
"depth": 50,
"altitude": 20
"depth": 50.0,
"altitude": 20.0
}
}
tests/mock_data/autonomy_engine_adapter/platform_status.json
View file @ 63c68473
......@@ -17,15 +17,16 @@
"battery_remaining_capacity": 80.2,
"active": true,
"platform_state": "ABORT",
"mission_action_ID": 1,
"mission_plan_ID": 1,
"mission_track_ID": 4,
"latitude": 178.2,
"longitude": -10.122,
"depth": 50,
"altitude": 20,
"depth": 50.0,
"altitude": 20.0,
"heading": 90.0,
"health_status": "Warning",
"localisation_error": 0,
"health_status": false,
"localisation_north_error": 0,
"localisation_east_error": 0,
"usbl_fix_seconds_ago": 0,
"range_to_go": 124.3,
"sensor_config": {
......@@ -36,7 +37,6 @@
"whiskers_on": true
}
},
"current_pitch": -4,
"speed_over_ground": 4.3,
"thrust_applied": 124.3,
"water_current_velocity": 124.3
......
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