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Commit 6cf9aedf authored by Trishna Saeharaseelan's avatar Trishna Saeharaseelan
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Merge branch '16-add-start-point-to-mission-plan' into 'dev' 

Add start point in action schema for mission plan & update platform status fields

Closes #16

See merge request !5
parents fce7b4a8 d7a79ac2
dev 18-update-full-message-header-to-metadata 21-fix-git-raw-swagger-url 26-add-battery-endurance-for-platform-schema-in-planning-configuration 41-add-optional-operating_area-as-a-wider-zone-outside-region_of_interest 42-add-event-details-and-status-to-acknowledgement-schema 66-tag-current-dev-as-version-1 76-should-depth-and-altitude-be-coordinates 80-add-informational-type-primitive 87-remove-comment-for-platform-status-state 87-remove-todo-comment-from-platform-state action-refactor-test ci-js-test master missionmonitor v2.0.0 v2.0.0-beta.11 v2.0.0-beta.10 v2.0.0-beta.9 v2.0.0-beta.8 v2.0.0-beta.7 v2.0.0-beta.6 v2.0.0-beta.5 v2.0.0-beta.4 v2.0.0-beta.3 v2.0.0-beta.2 v2.0.0-beta.1 v1.0.0 v0.2.0 v0.1.0
2 merge requests!16Resolve "Release v0.1",!5Add start point in action schema for mission plan & update platform status fields
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examples/autonomy_engine_adapter/mission_plan_AH1.json
View file @ 6cf9aedf
......@@ -16,8 +16,10 @@
{
"action": "move",
"flight_style": "go to waypoint",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"start_point_latitude": -3.007143188645706,
"start_point_longitude": 50.37072283932642,
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
......@@ -25,8 +27,10 @@
{
"action": "dive",
"flight_style": "dive to depth",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"start_point_latitude": -3.237143188645706,
"start_point_longitude": 52.37072283932642,
"target_waypoint_latitude": -3.337143188645706,
"target_waypoint_longitude": 56.37072283932642,
"altitude": 10,
"activate_payload": false,
"send_environmental_data": false
......@@ -34,8 +38,10 @@
{
"action": "scanline",
"flight_style": "go to waypoint",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 60.00000000000000,
"start_point_latitude": -3.337143188645706,
"start_point_longitude": 56.37072283932642,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 60.00000000000000,
"altitude": 10,
"activate_payload": true,
"send_environmental_data": false
......@@ -43,8 +49,10 @@
{
"action": "climb",
"flight_style": "go to surface",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 52.37072283932642,
"start_point_latitude": -0.237143188645706,
"start_point_longitude": 60.00000000000000,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": true
......
examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
View file @ 6cf9aedf
......@@ -10,14 +10,16 @@
},
"payload":{
"message_type": "mission_plan",
"platform_ID": "ecosub-5",
"platform_ID": "ecosub-2",
"autonomy_engine_plan_ID": 1,
"plan": [
{
"action": "move",
"flight_style": "go to waypoint",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"start_point_latitude": -3.007143188645706,
"start_point_longitude": 50.37072283932642,
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
......@@ -25,8 +27,10 @@
{
"action": "dive",
"flight_style": "dive to depth",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"start_point_latitude": -3.237143188645706,
"start_point_longitude": 52.37072283932642,
"target_waypoint_latitude": -3.337143188645706,
"target_waypoint_longitude": 56.37072283932642,
"altitude": 10,
"activate_payload": false,
"send_environmental_data": false
......@@ -34,8 +38,10 @@
{
"action": "scanline",
"flight_style": "go to waypoint",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 60.00000000000000,
"start_point_latitude": -3.337143188645706,
"start_point_longitude": 56.37072283932642,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 60.00000000000000,
"altitude": 10,
"activate_payload": true,
"send_environmental_data": false
......@@ -43,9 +49,11 @@
{
"action": "climb",
"flight_style": "go to surface",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 52.37072283932642,
"depth": 0,
"start_point_latitude": -0.237143188645706,
"start_point_longitude": 60.00000000000000,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": true
}
......
examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
View file @ 6cf9aedf
......@@ -14,16 +14,22 @@
"autonomy_engine_plan_ID": 1,
"plan": [
{
"latitude_waypoint": -4.187143188645706,
"longitude_waypoint": 50.37072283932642
"start_point_latitude": -4.007143188645706,
"start_point_longitude": 50.37072283932642,
"target_waypoint_latitude": -4.187143188645706,
"target_waypoint_longitude": 50.37072283932642
},
{
"latitude_waypoint": -3.187143188645706,
"longitude_waypoint": 51.37072283932642
"start_point_latitude": -4.187143188645706,
"start_point_longitude": 50.37072283932642,
"target_waypoint_latitude": -3.187143188645706,
"target_waypoint_longitude": 51.37072283932642
},
{
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642
"start_point_latitude": -3.187143188645706,
"start_point_longitude": 51.37072283932642,
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642
}
]
}
......
examples/autonomy_engine_adapter/planning_configuration.json
View file @ 6cf9aedf
......@@ -48,10 +48,10 @@
"serial": "reav-60",
"emergency": {
"additional_data": {},
"latitude_waypoint": -7.432,
"longitude_waypoint": 50.365,
"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,
......@@ -94,8 +94,8 @@
"model": "ecosub",
"emergency": {
"additional_data": {},
"latitude_waypoint": -7.432,
"longitude_waypoint": 50.365,
"target_waypoint_latitude": -7.432,
"target_waypoint_longitude": 50.365,
"safe_command": "go_home",
"target_depth": 10.0
},
......@@ -113,8 +113,8 @@
"model": "ecosub",
"emergency": {
"additional_data": {},
"latitude_waypoint": -0.432,
"longitude_waypoint": 20.365,
"target_waypoint_latitude": -0.432,
"target_waypoint_longitude": 20.365,
"safe_command": "go_home",
"target_depth": 0.0
},
......@@ -141,8 +141,8 @@
"model": "autosub",
"emergency": {
"additional_data": {},
"latitude_waypoint": 20.432,
"longitude_waypoint": 50.365,
"target_waypoint_latitude": 20.432,
"target_waypoint_longitude": 50.365,
"safe_command": "abort_now",
"target_depth": 0.0
},
......
examples/autonomy_engine_adapter/platform_status-from_usbl_example.json
View file @ 6cf9aedf
......@@ -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 @ 6cf9aedf
......@@ -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": {
......@@ -36,9 +37,8 @@
"whiskers_on": true
}
},
"current_pitch": -4,
"speed_over_ground": 4.3,
"thrust_applied": 124.3,
"water_current_velocity": 124.3
"water_current_velocity": "124.3NE"
}
}
examples/ecosub_adapter/mission_plan.json
View file @ 6cf9aedf
......@@ -16,8 +16,10 @@
{
"action": "move",
"flight_style": "go to waypoint",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"start_point_latitude": -3.007143188645706,
"start_point_longitude": 50.37072283932642,
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
......@@ -25,8 +27,10 @@
{
"action": "dive",
"flight_style": "dive to depth",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"start_point_latitude": -3.237143188645706,
"start_point_longitude": 52.37072283932642,
"target_waypoint_latitude": -3.337143188645706,
"target_waypoint_longitude": 56.37072283932642,
"altitude": 10,
"activate_payload": false,
"send_environmental_data": false
......@@ -34,8 +38,10 @@
{
"action": "scanline",
"flight_style": "go to waypoint",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 60.00000000000000,
"start_point_latitude": -3.337143188645706,
"start_point_longitude": 56.37072283932642,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 60.00000000000000,
"altitude": 10,
"activate_payload": true,
"send_environmental_data": false
......@@ -43,8 +49,10 @@
{
"action": "climb",
"flight_style": "go to surface",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 52.37072283932642,
"start_point_latitude": -0.237143188645706,
"start_point_longitude": 60.00000000000000,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": true
......
examples/ecosub_adapter/platform_status-from_usbl_example.json
View file @ 6cf9aedf
......@@ -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 @ 6cf9aedf
......@@ -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": {
......@@ -36,9 +37,8 @@
"whiskers_on": true
}
},
"current_pitch": -4,
"speed_over_ground": 4.3,
"thrust_applied": 124.3,
"water_current_velocity": 124.3
"water_current_velocity": "124.3NE"
}
}
examples/gui_adapter/planning_configuration.json
View file @ 6cf9aedf
......@@ -48,10 +48,10 @@
"serial": "reav-60",
"emergency": {
"additional_data": {},
"latitude_waypoint": -7.432,
"longitude_waypoint": 50.365,
"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,
......@@ -94,8 +94,8 @@
"model": "ecosub",
"emergency": {
"additional_data": {},
"latitude_waypoint": -7.432,
"longitude_waypoint": 50.365,
"target_waypoint_latitude": -7.432,
"target_waypoint_longitude": 50.365,
"safe_command": "go_home",
"target_depth": 10.0
},
......@@ -113,8 +113,8 @@
"model": "ecosub",
"emergency": {
"additional_data": {},
"latitude_waypoint": -0.432,
"longitude_waypoint": 20.365,
"target_waypoint_latitude": -0.432,
"target_waypoint_longitude": 20.365,
"safe_command": "go_home",
"target_depth": 0.0
},
......@@ -141,8 +141,8 @@
"model": "autosub",
"emergency": {
"additional_data": {},
"latitude_waypoint": 20.432,
"longitude_waypoint": 50.365,
"target_waypoint_latitude": 20.432,
"target_waypoint_longitude": 50.365,
"safe_command": "abort_now",
"target_depth": 0.0
},
......
examples/hydrosurv_adapter/mission_plan.json
View file @ 6cf9aedf
......@@ -14,16 +14,22 @@
"autonomy_engine_plan_ID": 1,
"plan": [
{
"latitude_waypoint": -4.187143188645706,
"longitude_waypoint": 50.37072283932642
"start_point_latitude": -4.007143188645706,
"start_point_longitude": 50.37072283932642,
"target_waypoint_latitude": -4.187143188645706,
"target_waypoint_longitude": 50.37072283932642
},
{
"latitude_waypoint": -3.187143188645706,
"longitude_waypoint": 51.37072283932642
"start_point_latitude": -4.187143188645706,
"start_point_longitude": 50.37072283932642,
"target_waypoint_latitude": -3.187143188645706,
"target_waypoint_longitude": 51.37072283932642
},
{
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642
"start_point_latitude": -3.187143188645706,
"start_point_longitude": 51.37072283932642,
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642
}
]
}
......
examples/hydrosurv_adapter/platform_status.json
View file @ 6cf9aedf
......@@ -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/mission_plan.py
View file @ 6cf9aedf
......@@ -19,16 +19,28 @@ action_schema = {
+ " next action",
"example": "orbit",
},
"latitude_waypoint": {
"start_point_latitude": {
"type": "number",
"format": "float",
"description": "Next waypoint, x-coordinate",
"description": "Start point, x-coordinate",
"example": -4.187143188645706,
},
"longitude_waypoint": {
"start_point_longitude": {
"type": "number",
"format": "float",
"description": "Next waypoint, y-coordinate",
"description": "Start point, y-coordinate",
"example": 50.37072283932642,
},
"target_waypoint_latitude": {
"type": "number",
"format": "float",
"description": "Target waypoint, x-coordinate",
"example": -4.187143188645706,
},
"target_waypoint_longitude": {
"type": "number",
"format": "float",
"description": "Target waypoint, y-coordinate",
"example": 50.37072283932642,
},
"altitude": {
......@@ -57,8 +69,8 @@ action_schema = {
},
},
"required": [
"latitude_waypoint",
"longitude_waypoint",
"target_waypoint_latitude",
"target_waypoint_longitude",
],
}
......
formats/planning_configuration.py
View file @ 6cf9aedf
......@@ -13,13 +13,13 @@ emergency_schema = {
+ " partner's platform/C2",
"example": "go_home",
},
"latitude_waypoint": {
"target_waypoint_latitude": {
"type": "number",
"format": "float",
"description": "X-coordinate safe place for respective platform",
"example": -7.432,
},
"longitude_waypoint": {
"target_waypoint_longitude": {
"type": "number",
"format": "float",
"description": "Y-coordinate safe place for respective platform",
......@@ -30,14 +30,18 @@ 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",
"example": {},
},
},
"required": ["latitude_waypoint", "longitude_waypoint", "target_depth"],
"required": [
"target_waypoint_latitude",
"target_waypoint_longitude",
"target_depth",
],
}
......
formats/platform_status.py
View file @ 6cf9aedf
......@@ -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 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 +137,23 @@ 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 +168,6 @@ 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 @ 6cf9aedf
......@@ -139,13 +139,25 @@
"example": "orbit",
"type": "string"
},
"latitude_waypoint": {
"start_point_latitude":{
"description":"Start point, x-coordinate",
"example":-4.187143188645706,
"format":"float",
"type":"number"
},
"start_point_longitude":{
"description":"Start point, y-coordinate",
"example":50.37072283932642,
"format":"float",
"type":"number"
},
"target_waypoint_latitude": {
"description": "Next waypoint, x-coordinate",
"example": -4.187143188645706,
"format": "float",
"type": "number"
},
"longitude_waypoint": {
"target_waypoint_longitude": {
"description": "Next waypoint, y-coordinate",
"example": 50.37072283932642,
"format": "float",
......@@ -158,8 +170,8 @@
}
},
"required": [
"latitude_waypoint",
"longitude_waypoint"
"target_waypoint_latitude",
"target_waypoint_longitude"
],
"type": "object"
},
......@@ -339,13 +351,13 @@
"description": "Any addition fields/data to be added here",
"example": {}
},
"latitude_waypoint": {
"target_waypoint_latitude": {
"description": "X-coordinate safe place for respective platform",
"example": -7.432,
"format": "float",
"type": "number"
},
"longitude_waypoint": {
"target_waypoint_longitude": {
"description": "Y-coordinate safe place for respective platform",
"example": 50.365,
"format": "float",
......@@ -363,14 +375,14 @@
},
"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"
}
},
"required": [
"latitude_waypoint",
"longitude_waypoint",
"target_waypoint_latitude",
"target_waypoint_longitude",
"target_depth"
],
"type": "object"
......@@ -510,12 +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",
......@@ -530,9 +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.",
......@@ -540,12 +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,
......@@ -557,8 +569,8 @@
"example": "platform_status",
"type": "string"
},
"mission_action_ID": {
"description": "",
"mission_plan_ID": {
"description": "Mission plan ID according to platform-C2 system",
"example": 1,
"type": "integer"
},
......@@ -615,7 +627,7 @@
"type": "object"
},
"speed_over_ground": {
"description": "",
"description": "Speed over ground",
"example": 124.3,
"format": "float",
"type": "number"
......@@ -630,7 +642,7 @@
"type": "string"
},
"thrust_applied": {
"description": "",
"description": "Thrust applied",
"example": 124.3,
"format": "float",
"type": "number"
......@@ -653,10 +665,9 @@
"type": "number"
},
"water_current_velocity": {
"description": "",
"example": 124.3,
"format": "float",
"type": "number"
"description": "Water current magnitude and direction",
"example": "124.3NE",
"format": "string"
}
},
"required": [
......
tests/fixtures/schemas.py
View file @ 6cf9aedf
......@@ -91,16 +91,28 @@ action_schema = {
+ " next action",
"example": "orbit",
},
"latitude_waypoint": {
"start_point_latitude": {
"type": "number",
"format": "float",
"description": "Next waypoint, x-coordinate",
"description": "Start point, x-coordinate",
"example": -4.187143188645706,
},
"longitude_waypoint": {
"start_point_longitude": {
"type": "number",
"format": "float",
"description": "Next waypoint, y-coordinate",
"description": "Start point, y-coordinate",
"example": 50.37072283932642,
},
"target_waypoint_latitude": {
"type": "number",
"format": "float",
"description": "Target waypoint, x-coordinate",
"example": -4.187143188645706,
},
"target_waypoint_longitude": {
"type": "number",
"format": "float",
"description": "Target waypoint, y-coordinate",
"example": 50.37072283932642,
},
"altitude": {
......@@ -129,8 +141,8 @@ action_schema = {
},
},
"required": [
"latitude_waypoint",
"longitude_waypoint",
"target_waypoint_latitude",
"target_waypoint_longitude",
],
}
......@@ -236,13 +248,13 @@ emergency_schema = {
+ " partner's platform/C2",
"example": "go_home",
},
"latitude_waypoint": {
"target_waypoint_latitude": {
"type": "number",
"format": "float",
"description": "X-coordinate safe place for respective platform",
"example": -7.432,
},
"longitude_waypoint": {
"target_waypoint_longitude": {
"type": "number",
"format": "float",
"description": "Y-coordinate safe place for respective platform",
......@@ -253,14 +265,18 @@ 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",
"example": {},
},
},
"required": ["latitude_waypoint", "longitude_waypoint", "target_depth"],
"required": [
"target_waypoint_latitude",
"target_waypoint_longitude",
"target_depth",
],
}
......@@ -492,7 +508,7 @@ platform_status_schema = {
"type": "number",
"format": "float",
"description": "Target depth in metres",
"example": 50,
"example": 50.0,
"default": 0,
},
"altitude": {
......@@ -507,9 +523,9 @@ 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 platform-C2 system",
"example": 1,
},
"range_to_go": {
......@@ -521,19 +537,18 @@ 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,
"format": "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": {
......@@ -544,15 +559,23 @@ 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_north_error": {
"type": "number",
"format": "float",
"description": "Difference in NORTH between deadreckoning"
+ " and USBL update.",
"example": 0.000129,
},
"localisation_error": {
"localisation_east_error": {
"type": "number",
"format": "float",
"description": "Localisation error at last USBL update.",
"description": "Difference in EAST between deadreckoning"
+ " and USBL update.",
"example": 0.000129,
},
"usbl_fix_seconds_ago": {
......@@ -567,12 +590,6 @@ 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 @ 6cf9aedf
......@@ -139,13 +139,13 @@
"example": "orbit",
"type": "string"
},
"latitude_waypoint": {
"target_waypoint_latitude": {
"description": "Next waypoint, x-coordinate",
"example": -4.187143188645706,
"format": "float",
"type": "number"
},
"longitude_waypoint": {
"target_waypoint_longitude": {
"description": "Next waypoint, y-coordinate",
"example": 50.37072283932642,
"format": "float",
......@@ -158,8 +158,8 @@
}
},
"required": [
"latitude_waypoint",
"longitude_waypoint"
"target_waypoint_latitude",
"target_waypoint_longitude"
],
"type": "object"
},
......@@ -338,13 +338,13 @@
"description": "Any addition fields/data to be added here",
"example": {}
},
"latitude_waypoint": {
"target_waypoint_latitude": {
"description": "X-coordinate safe place for respective platform",
"example": -7.432,
"format": "float",
"type": "number"
},
"longitude_waypoint": {
"target_waypoint_longitude": {
"description": "Y-coordinate safe place for respective platform",
"example": 50.365,
"format": "float",
......@@ -362,14 +362,14 @@
},
"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"
}
},
"required": [
"latitude_waypoint",
"longitude_waypoint",
"target_waypoint_latitude",
"target_waypoint_longitude",
"target_depth"
],
"type": "object"
......@@ -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 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"
......@@ -652,10 +646,9 @@
"type": "number"
},
"water_current_velocity": {
"description": "",
"example": 124.3,
"format": "float",
"type": "number"
"description": "Water current magnitude and direction",
"example": "124.3NE",
"format": "string"
}
},
"required": [
......
tests/mock_data/autonomy_engine_adapter/mission_plan_AH1.json
View file @ 6cf9aedf
......@@ -16,8 +16,10 @@
{
"action": "move",
"flight_style": "go to waypoint",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"start_point_latitude": -3.007143188645706,
"start_point_longitude": 50.37072283932642,
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
......@@ -25,8 +27,10 @@
{
"action": "dive",
"flight_style": "dive to depth",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"start_point_latitude": -3.237143188645706,
"start_point_longitude": 52.37072283932642,
"target_waypoint_latitude": -3.337143188645706,
"target_waypoint_longitude": 56.37072283932642,
"altitude": 10,
"activate_payload": false,
"send_environmental_data": false
......@@ -34,8 +38,10 @@
{
"action": "scanline",
"flight_style": "go to waypoint",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 60.00000000000000,
"start_point_latitude": -3.337143188645706,
"start_point_longitude": 56.37072283932642,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 60.00000000000000,
"altitude": 10,
"activate_payload": true,
"send_environmental_data": false
......@@ -43,8 +49,10 @@
{
"action": "climb",
"flight_style": "go to surface",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 52.37072283932642,
"start_point_latitude": -0.237143188645706,
"start_point_longitude": 60.00000000000000,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": true
......
tests/mock_data/autonomy_engine_adapter/mission_plan_ECOSUB.json
View file @ 6cf9aedf
......@@ -16,8 +16,10 @@
{
"action": "move",
"flight_style": "go to waypoint",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"start_point_latitude": -3.007143188645706,
"start_point_longitude": 50.37072283932642,
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
......@@ -25,8 +27,10 @@
{
"action": "dive",
"flight_style": "dive to depth",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"start_point_latitude": -3.237143188645706,
"start_point_longitude": 52.37072283932642,
"target_waypoint_latitude": -3.337143188645706,
"target_waypoint_longitude": 56.37072283932642,
"altitude": 10,
"activate_payload": false,
"send_environmental_data": false
......@@ -34,8 +38,10 @@
{
"action": "scanline",
"flight_style": "go to waypoint",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 60.00000000000000,
"start_point_latitude": -3.337143188645706,
"start_point_longitude": 56.37072283932642,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 60.00000000000000,
"altitude": 10,
"activate_payload": true,
"send_environmental_data": false
......@@ -43,9 +49,11 @@
{
"action": "climb",
"flight_style": "go to surface",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 52.37072283932642,
"depth": 0,
"start_point_latitude": -0.237143188645706,
"start_point_longitude": 60.00000000000000,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": true
}
......
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