diff --git a/README.md b/README.md
index ca156836066607d140b51282133095c2c3a98c86..b1f2d1c90853af594d99b992e853f8e9ae283e9e 100644
--- a/README.md
+++ b/README.md
@@ -1,10 +1,10 @@
# Message Formats (DRAFT)
-Consists of all messages transferred into and out of the Communications Backbone. Message type schemas will be developed once reviewing each vehicle's data and statuses defined by each partner.
+Consists of all messages transferred into and out of the Communications Backbone. Message type schemas will be developed once reviewing each platform's data and statuses defined by each partner.
## Types of Messages by Software Component
### 1/ Autonomy Engine
#### Transmit
-* mission plan _(sent per vehicle)_
+* mission plan _(sent per platform)_
* TBD:
* Will emergency commands be sent via the autonomy engine (from the GUI) or directly to the C2s?
@@ -14,7 +14,7 @@ Consists of all messages transferred into and out of the Communications Backbone
* decoded ecosub status message
* decoded reav status message
* decoded autosub-hover status message
-* decoded ecosub survey data _(from squad 1 vehicles)_
+* decoded ecosub survey data _(from squad 1 platforms)_
----------------------------------
@@ -65,8 +65,8 @@ Consists of all messages transferred into and out of the Communications Backbone
* encoded autosub status message
* encoded ecosub survey data
* TBD:
- * are there acknowledgment messages from vehicles?
- * how are we receiving beacon messages per vehicle?
+ * are there acknowledgment messages from platforms?
+ * how are we receiving beacon messages per platform?
#### Receive
* compiled ecosub mission plan
diff --git a/__init__.py b/__init__.py
index 22406df62d6971c8d5ba7f5c05edc8f9f702ebdd..2de03b19ceda158e0f790d7af4e655c98c573654 100644
--- a/__init__.py
+++ b/__init__.py
@@ -13,7 +13,7 @@ app = Flask(__name__)
api = Api(app)
message_types = [
- "vehicle_status"
+ "platform_status"
] # TODO: Add full range of message types once scoped out
message_header_schema = api.model(
@@ -43,32 +43,32 @@ message_header_schema = api.model(
"type": fields.String(
required=True,
description="Type of message",
- example="vehicle_status",
+ example="platform_status",
),
},
)
-vehicle_schema = api.model(
- "VehicleSchema",
+platform_schema = api.model(
+ "PlatformSchema",
{
- "vehicle_ID": fields.Integer(
+ "platform_ID": fields.Integer(
required=True,
- description="vehicle serial number",
+ description="unique identifier for platform",
example="ah-1",
),
"serial": fields.Integer(
required=True,
- description="vehicle serial number",
+ description="platform serial number",
example="ah-1",
),
"model": fields.Integer(
required=True,
- description="vehicle serial number",
+ description="platform serial number",
example="ah-1",
),
"active": fields.Boolean(
required=False,
- description="Vehicle in mission",
+ description="platform in mission",
example=True,
),
},
diff --git a/autonomy_configuration.py b/autonomy_configuration.py
index 3cbadf9d9451594e745209e1ed9941596eecbc17..d2fc29d1b56f12d95294b4c952d503b0cd552c31 100644
--- a/autonomy_configuration.py
+++ b/autonomy_configuration.py
@@ -1,8 +1,8 @@
"""
schemas: configuration sent to Autonomy Engine (i.e. during an emergency,
- if a vehicle needs to be removed from the mission planning)
+ if a platform needs to be removed from the mission planning)
"""
-from . import api, message_header_schema, vehicle_schema
+from . import api, message_header_schema, platform_schema
from flask_restx import fields
@@ -11,27 +11,28 @@ squad_metadata_schema = api.model(
{
"squad_ID": fields.Integer(
required=True,
- description="vehicle serial number",
+ description="platform serial number",
example="ah-1",
),
- "no_of_vehicles": fields.Integer(
+ "no_of_platforms": fields.Integer(
required=True,
- description="number of vehicle serial number",
+ description="number of platform serial number",
example="ah-1",
),
- "vehicles": fields.List(
- fields.Nested(vehicle_schema),
+ "platforms": fields.List(
+ fields.Nested(platform_schema),
required=True,
- description="Metadata pf each vehicle",
+ description="Metadata pf each platform",
),
"squad_mission_type": fields.String(
required=True,
description="Survey or Detail",
example="survey",
),
- "squad_execution": fields.Boolean(
+ "squad_state": fields.Boolean(
required=True,
- description="True if Squad of survey executed by Autonomy Engine",
+ description="True if given Squad is executing mission type "
+ + "according to the Autonomy Engine plan",
example=False,
),
},
@@ -39,7 +40,7 @@ squad_metadata_schema = api.model(
constraints_schema = api.model(
"ConstraintsSchema",
- # TODO: Should this be per vehicle instead of squad?
+ # TODO: Should this be per platform instead of squad?
{
"min_altitude": fields.Float(
required=True,
diff --git a/examples/autonomy_engine/configuration.jsonc b/examples/autonomy_engine/configuration.jsonc
index 169d86520ecccc0bcd48bc2c61eec8b9fcb33b0c..e7ef312fc1696301b989576300067e8a6b4a903f 100644
--- a/examples/autonomy_engine/configuration.jsonc
+++ b/examples/autonomy_engine/configuration.jsonc
@@ -1,7 +1,7 @@
//****************************************************************
// File: config.json (THIS FILE WILL BE IN JSON FORMAT, NOT JSONC)
// Description: This file is configured by the respective
-// vehicle's C2 if a vehicle is no longer active or change
+// platform's C2 if a platform is no longer active or change
// a configured value.
//
// Notes: All comments in this document will be stripped out
@@ -24,24 +24,24 @@
}
},
"survey_team": {
- "no_of_vehicles": 3, // int
- "vehicles": [
+ "no_of_platforms": 3, // int
+ "platforms": [
{
"id": 1, // int
"platform": "ecosub", // str
- "vehicle_serial": "eco101", // str
+ "platform_serial": "eco101", // str
"active": true // bool
},
{
"id": 2,
"platform": "ecosub", // str
- "vehicle_serial": "eco-102", // str
+ "platform_serial": "eco-102", // str
"active": true // bool
},
{
"id": 3, // int
"platform": "ecosub", // str
- "vehicle_serial": "ecosub3", // str
+ "platform_serial": "ecosub3", // str
"active": true // bool
}
],
@@ -51,12 +51,12 @@
},
"detail_team": {
"execute_stage": true, // bool
- "no_of_vehicles": 1, // int
- "vehicles": [
+ "no_of_platforms": 1, // int
+ "platforms": [
{
"id": 1, // int
"platform": "autosub-hover", // str
- "vehicle_serial": "ah1", // str
+ "platform_serial": "ah1", // str
"active": true // bool
}
],
diff --git a/vehicle_status.py b/platform_status.py
similarity index 65%
rename from vehicle_status.py
rename to platform_status.py
index 9e9cc794775d6266652d41e8acb8c20780b1c3b4..703c401843d891c0fe1a3c8a636ac57c55846eb6 100644
--- a/vehicle_status.py
+++ b/platform_status.py
@@ -1,19 +1,61 @@
"""
- schema: vehicle-specific decoded status message (DRAFT)
+ schema: platform-specific decoded status message (DRAFT)
"""
-from . import message_header_schema, vehicle_schema, api
+from . import message_header_schema, platform_schema, api
from flask_restx import fields
+# TODO: Discuss nomenclature > platform or vehicle?
-vehicle_status_message_schema = api.model(
- "VehicleStatusMessage",
+gps_schema = api.model(
+ "GPS",
+ {
+ "gps_source": fields.Float( # TODO: TBD with partners
+ required=False,
+ description="Source of gps position. E.g. Beacon",
+ example="internal",
+ ),
+ "latitude_type": fields.String(
+ required=False,
+ description="",
+ example="",
+ ),
+ "longitude_type": fields.String(
+ required=False,
+ description="",
+ example="",
+ ),
+ "latitude": fields.Float(
+ required=False,
+ description="Latitude in <insert units>",
+ example="",
+ ),
+ "longitude": fields.Float(
+ required=False,
+ description="Longitude in <insert units>",
+ example="",
+ ),
+ "depth": fields.Float(
+ required=False,
+ description="",
+ example="",
+ ),
+ "gps_fix_seconds_ago": fields.Float(
+ required=False,
+ description="",
+ example="",
+ ),
+ },
+)
+
+platform_status_message_schema = api.model(
+ "PlatformStatusMessage",
{
"message": fields.Nested(
message_header_schema,
required=True,
description="Message header",
),
- "platform": fields.Nested(vehicle_schema)
+ "platform": fields.Nested(platform_schema),
"time": fields.String(
required=True,
description="Timestamp of message",
@@ -25,12 +67,14 @@ vehicle_status_message_schema = api.model(
example="",
),
"platform_state": fields.String(
+ # TODO: Define dictionary with potential STATES of each platform
required=True,
- description="",
- example="SAFETY_STOP",
+ description="Current state executed by platform. E.g. "
+ + "STOP, IDLE, ABORT.",
+ example="IDLE",
),
"mission_track_number": fields.Integer(
- required=True,
+ required=False,
description=(
"Track number - stage in mission (e.g. "
+ "4 --> Waypoint 3 to Waypoint 4)"
@@ -42,43 +86,13 @@ vehicle_status_message_schema = api.model(
description="Estimated distance to reach next waypoint",
example=124.3,
),
- "vehicle_state": fields.String(
- required=True,
- description="Current state executed by vehicle. E.g. "
- + "STOP, IDLE, ABORT.",
- example="IDLE",
- ),
"c2_health_status": fields.String(
- required=True,
- description="Health status determined by vehicle's C2 "
- + "checks on sensors",
+ required=False,
+ description="Health status extracted by respective platform's C2 "
+ + "if any diagnosis available checks on sensors",
example="Warning",
),
- "gps_source": fields.Float(
- required=True,
- description="Source of gps position. E.g. Beacon",
- example="internal",
- ),
- "latitude": fields.Float(
- required=True,
- description="Latitude in <insert units>",
- example="",
- ),
- "longitude": fields.Float(
- required=True,
- description="Longitude in <insert units>",
- example="",
- ),
- "depth": fields.Float(
- required=True,
- description="",
- example="",
- ),
- "gps_fix_seconds_ago": fields.String(
- required=True,
- description="",
- example="",
- ),
+ "gps_data": fields.Nested(gps_schema),
"battery_voltage": fields.Float(
required=True,
description="Volts",
@@ -107,4 +121,4 @@ vehicle_status_message_schema = api.model(
},
)
-# TBD: Do we append beacon positions with vehicle positions?
+# TBD: Do we append beacon positions with platform positions?