diff --git a/.gitignore b/.gitignore
index e9d6e9c06d3cae80108456cf4d39bf012e4286cc..41e951a7e5813ee04764fd8a6115110c4c68a796 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,3 @@
-formats/__pycache__
+__pycache__/
+*.pyc
+
diff --git a/examples/autonomy_engine_adapter/acknowledgement.json b/examples/autonomy_engine_adapter/acknowledgement.json
index 11bbc8d5b94f6e5ea47fa86c7071fa56db840713..817898a4e2f405c9446c83adf27054df027103bd 100644
--- a/examples/autonomy_engine_adapter/acknowledgement.json
+++ b/examples/autonomy_engine_adapter/acknowledgement.json
@@ -4,7 +4,7 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 1,
"source": "hydrosurv_adapter",
- "destination": "soar.#",
+ "destination": "soar.rhul.autonomy-engine.ae-1.send.acknowledgement",
"delivery_type": "publish",
"encoded": false
},
diff --git a/examples/autonomy_engine_adapter/mission_plan_AH1.json b/examples/autonomy_engine_adapter/mission_plan_AH1.json
index e9d96b5d32ff1a3859ca977e1148e57c2a67a352..2c7d2dda3d9b4bb9cadcba2f7b64578d76f989e5 100644
--- a/examples/autonomy_engine_adapter/mission_plan_AH1.json
+++ b/examples/autonomy_engine_adapter/mission_plan_AH1.json
@@ -4,7 +4,7 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
- "destination": "soar.#",
+ "destination": "soar.noc.autosub.alr-52.send.mission_plan",
"delivery_type": "publish",
"encoded": false
},
diff --git a/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json b/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
index 716746c6eeb93318931c46523a356de71131f095..a3828b15bd490ab47dc1aac88a2c67c76ec8c785 100644
--- a/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
+++ b/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
@@ -4,7 +4,7 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
- "destination": "soar.#",
+ "destination": "soar.planetocean.ecosub.ecosub-1.send.mission_plan",
"delivery_type": "publish",
"encoded": false
},
diff --git a/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json b/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
index 18a51cea44b4353e4edc2b376d64f6162db724cf..c72adef7348d4a5a9194741e15467c9fe6f08cfc 100644
--- a/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
+++ b/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
@@ -4,7 +4,7 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
- "destination": "soar.#",
+ "destination": "soar.hydrosurv.usv.reav-60.send.mission_plan",
"delivery_type": "publish",
"encoded": false
},
diff --git a/examples/autonomy_engine_adapter/planning_configuration.json b/examples/autonomy_engine_adapter/planning_configuration.json
index 476e56e7cb0b4c174691c13355c8de44413b283a..11868c56a0f0d419ce697aebfa216916aae40cd5 100644
--- a/examples/autonomy_engine_adapter/planning_configuration.json
+++ b/examples/autonomy_engine_adapter/planning_configuration.json
@@ -3,8 +3,8 @@
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
- "source": "ecosub_c2",
- "destination": "soar.#",
+ "source": "gui",
+ "destination": "soar.rhul.autonomy-engine.ae-1.send.planning_configuration",
"delivery_type": "publish",
"encoded": false
},
diff --git a/examples/autonomy_engine_adapter/platform_status-from_usbl_example.json b/examples/autonomy_engine_adapter/platform_status-from_usbl_example.json
index 6a506d973a4a838ca670220198d7e958485d71a4..e93d741d892e52a9ffb2fe84a3055f4c5fabc7b9 100644
--- a/examples/autonomy_engine_adapter/platform_status-from_usbl_example.json
+++ b/examples/autonomy_engine_adapter/platform_status-from_usbl_example.json
@@ -4,7 +4,7 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "hermes",
- "destination": "autonomy_engine",
+ "destination": "soar.rhul.autonomy-engine.ae-1.send.platform_status",
"delivery_type": "publish",
"encoded": false
},
diff --git a/examples/autonomy_engine_adapter/platform_status.json b/examples/autonomy_engine_adapter/platform_status.json
index 7c1c5c2daaec8fe8ee09ae4001bfb55fd76007c9..215d53834c3f7f4684213179e4f06ac6bbed482f 100644
--- a/examples/autonomy_engine_adapter/platform_status.json
+++ b/examples/autonomy_engine_adapter/platform_status.json
@@ -4,7 +4,7 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "ecosub_c2",
- "destination": "autonomy_engine",
+ "destination": "soar.rhul.autonomy-engine.ae-1.send.platform_status",
"delivery_type": "publish",
"encoded": false
},
@@ -29,7 +29,7 @@
"usbl_fix_seconds_ago": 0,
"range_to_go": 124.3,
"sensor_config": {
- "serial": "sidescan-2x",
+ "sensor_serial": "sidescan-2x",
"sensor_on": true,
"additional_data": {
"whiskers_on": true
diff --git a/examples/ecosub_adapter/mission_plan.json b/examples/ecosub_adapter/mission_plan.json
index 3ba5aacbc7195524749c9fa05f4cd5d181b9acf9..a3828b15bd490ab47dc1aac88a2c67c76ec8c785 100644
--- a/examples/ecosub_adapter/mission_plan.json
+++ b/examples/ecosub_adapter/mission_plan.json
@@ -4,7 +4,7 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
- "destination": "ecosub_c2",
+ "destination": "soar.planetocean.ecosub.ecosub-1.send.mission_plan",
"delivery_type": "publish",
"encoded": false
},
diff --git a/examples/ecosub_adapter/observation.json b/examples/ecosub_adapter/observation.json
index 8eb0571baaefb70ee0813d8f5054ca1bdf6a724e..335ccddb7df48643fde06108db08b4f44599d09d 100644
--- a/examples/ecosub_adapter/observation.json
+++ b/examples/ecosub_adapter/observation.json
@@ -4,7 +4,7 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "ecosub_c2",
- "destination": "autonomy_engine",
+ "destination": "soar.rhul.autonomy-engine.ae-1.send.observation",
"delivery_type": "publish",
"encoded": false
},
diff --git a/examples/ecosub_adapter/platform_status-from_usbl_example.json b/examples/ecosub_adapter/platform_status-from_usbl_example.json
index 6a506d973a4a838ca670220198d7e958485d71a4..e93d741d892e52a9ffb2fe84a3055f4c5fabc7b9 100644
--- a/examples/ecosub_adapter/platform_status-from_usbl_example.json
+++ b/examples/ecosub_adapter/platform_status-from_usbl_example.json
@@ -4,7 +4,7 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "hermes",
- "destination": "autonomy_engine",
+ "destination": "soar.rhul.autonomy-engine.ae-1.send.platform_status",
"delivery_type": "publish",
"encoded": false
},
diff --git a/examples/ecosub_adapter/platform_status.json b/examples/ecosub_adapter/platform_status.json
index 84bc4160ec3dd4f2a16dc81e9f7dc2b8b6af4822..215d53834c3f7f4684213179e4f06ac6bbed482f 100644
--- a/examples/ecosub_adapter/platform_status.json
+++ b/examples/ecosub_adapter/platform_status.json
@@ -4,7 +4,7 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "ecosub_c2",
- "destination": "autonomy_engine",
+ "destination": "soar.rhul.autonomy-engine.ae-1.send.platform_status",
"delivery_type": "publish",
"encoded": false
},
diff --git a/examples/gui_adapter/planning_configuration.json b/examples/gui_adapter/planning_configuration.json
index e5d0f128c70075e615c4af964ff1408ccd9a9b72..d2f15b6fd25c458e633c6c582183621987469f34 100644
--- a/examples/gui_adapter/planning_configuration.json
+++ b/examples/gui_adapter/planning_configuration.json
@@ -3,8 +3,8 @@
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
- "source": "ecosub_c2",
- "destination": "autonomy_engine",
+ "source": "gui",
+ "destination": "soar.rhul.autonomy-engine.ae-1.send.planning_configuration",
"delivery_type": "publish",
"encoded": false
},
diff --git a/examples/hydrosurv_adapter/acknowledgement.json b/examples/hydrosurv_adapter/acknowledgement.json
index 1787704f0275dfffabf981a2f644deb732d989ea..817898a4e2f405c9446c83adf27054df027103bd 100644
--- a/examples/hydrosurv_adapter/acknowledgement.json
+++ b/examples/hydrosurv_adapter/acknowledgement.json
@@ -4,7 +4,7 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 1,
"source": "hydrosurv_adapter",
- "destination": "autonomy_engine",
+ "destination": "soar.rhul.autonomy-engine.ae-1.send.acknowledgement",
"delivery_type": "publish",
"encoded": false
},
diff --git a/examples/hydrosurv_adapter/mission_plan.json b/examples/hydrosurv_adapter/mission_plan.json
index deff464a6188b319918862bab93a2b4912c03b17..c72adef7348d4a5a9194741e15467c9fe6f08cfc 100644
--- a/examples/hydrosurv_adapter/mission_plan.json
+++ b/examples/hydrosurv_adapter/mission_plan.json
@@ -4,7 +4,7 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
- "destination": "hydrosurv_adapter",
+ "destination": "soar.hydrosurv.usv.reav-60.send.mission_plan",
"delivery_type": "publish",
"encoded": false
},
diff --git a/examples/hydrosurv_adapter/platform_status.json b/examples/hydrosurv_adapter/platform_status.json
index 48731995f0eed6b97db78827e38d82808365ea11..f6e38e001a8006f407a5686b09e0b91fc6e5ab53 100644
--- a/examples/hydrosurv_adapter/platform_status.json
+++ b/examples/hydrosurv_adapter/platform_status.json
@@ -4,14 +4,13 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "hydrosurv_adapter",
- "destination": "autonomy_engine",
+ "destination": "soar.rhul.autonomy-engine.ae-1.send.platform_status",
"delivery_type": "publish",
"encoded": false
},
"payload":{
"message_type": "platform_status",
"autonomy_engine_plan_ID": 1,
- "active": true,
"status_source": "onboard_platform",
"battery_remaining_capacity": 80.2,
"heading": 310.0,