diff --git a/projects/soar/swagger.json b/projects/soar/swagger.json
index 99f05e33570d2b621b067c3b5584fa372166a091..9bdf22a1d9fda05ef692919712240d409c2ea1e6 100644
--- a/projects/soar/swagger.json
+++ b/projects/soar/swagger.json
@@ -1,692 +1,697 @@
{
- "components": {
- "schemas": {
- "MESSAGE": {
- "description": "Full message definition with message-metadata in `header` and different message type schemas under `payload`",
- "properties": {
- "header": {
- "$ref": "#/components/schemas/header"
- },
- "payload": {
- "$ref": "#/components/schemas/payload"
- }
- },
- "required": [
- "header",
- "payload"
- ],
- "type": "object"
- },
- "acknowledgement": {
- "properties": {
- "approved": {
- "type": "boolean",
- "description": "Human-in-the-loop approval. 1 - Plan approved; 0 - Plan Rejected",
- "example": 1
- },
- "autonomy_engine_plan_ID": {
- "type": "integer",
- "description": "Mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
- "example": 1
- },
- "message_type": {
- "description": "Type of message",
- "type": "string",
- "example": "acknowledgement"
- },
- "platform_ID": {
- "type": "string",
- "description": "Unique identifier for this platform",
- "example": "reav-x-1"
- }
+ "components":{
+ "schemas":{
+ "MESSAGE":{
+ "description":"Full message definition with message-metadata in `header` and different message type schemas under `payload`",
+ "properties":{
+ "header":{
+ "$ref":"#/components/schemas/header"
+ },
+ "payload":{
+ "$ref":"#/components/schemas/payload"
+ }
+ },
+ "required":[
+ "header",
+ "payload"
+ ],
+ "type":"object"
},
- "required": [
- "message_type",
- "autonomy_engine_plan_ID",
- "platform_ID",
- "approved"
- ],
- "type": "object"
- },
- "header": {
- "discriminator": {
- "propertyName": "message_type"
+ "acknowledgement":{
+ "properties":{
+ "approved":{
+ "description":"Human-in-the-loop approval.1 - Plan approved; 0 - Plan Rejected",
+ "type":"boolean"
+ },
+ "autonomy_engine_plan_ID":{
+ "description":"Mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
+ "example":1,
+ "type":"integer"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "example":"acknowledgement",
+ "type":"string"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ }
+ },
+ "required":[
+ "message_type",
+ "autonomy_engine_plan_ID",
+ "platform_ID",
+ "approved"
+ ],
+ "type":"object"
},
- "properties": {
- "delivery_type": {
- "default": "publish",
- "description": "To publish or broadcast this message.",
- "enum": [
- "broadcast",
- "publish"
- ],
- "example": "publish",
- "type": "string"
- },
- "destination": {
- "description": "Publisher topic; What is the destination of this message",
- "example": "ah1",
- "type": "string"
- },
- "encoded": {
- "description": "Indicate that message raw (encoded) or decoded. Options: encoded=True, decoded=False",
- "example": false,
- "type": "boolean"
- },
- "message_ID": {
- "description": "An identifier for the type of message received.",
- "example": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
- "type": "string"
- },
- "source": {
- "description": "The sender; Where is this message from",
- "example": "autonomy_engine",
- "type": "string"
- },
- "timestamp": {
- "description": "Timestamp of message",
- "example": "2022-11-16T00:00:00Z",
- "format": "date-time",
- "type": "string"
- },
- "version": {
- "description": "Version of comms backbone message format protocol",
- "example": 2.0,
- "format": "float",
- "type": "number"
- }
+ "header":{
+ "discriminator":{
+ "propertyName":"message_type"
+ },
+ "properties":{
+ "delivery_type":{
+ "default":"publish",
+ "description":"To publish or broadcast this message.",
+ "enum":[
+ "broadcast",
+ "publish"
+ ],
+ "example":"publish",
+ "type":"string"
+ },
+ "destination":{
+ "description":"Publisher topic; What is the destination of this message",
+ "example":"ah1",
+ "type":"string"
+ },
+ "encoded":{
+ "description":"Indicate that message raw (encoded) or decoded. Options: encoded=True, decoded=False",
+ "example":false,
+ "type":"boolean"
+ },
+ "message_ID":{
+ "description":"An identifier for the type of message received.",
+ "example":"b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "type":"string"
+ },
+ "source":{
+ "description":"The sender; Where is this message from",
+ "example":"autonomy_engine",
+ "type":"string"
+ },
+ "timestamp":{
+ "description":"Timestamp of message",
+ "example":"2022-11-16T00:00:00Z",
+ "format":"date-time",
+ "type":"string"
+ },
+ "version":{
+ "description":"Version of comms backbone message format protocol",
+ "example":2.0,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "type":"object"
},
- "type": "object"
- },
- "mission_plan": {
- "properties": {
- "autonomy_engine_plan_ID": {
- "description": "Unique identifier for this plangenerated by the Autonomy Engine",
- "example": 3,
- "type": "integer"
- },
- "message_type": {
- "description": "Type of message",
- "example": "mission_plan",
- "type": "string"
- },
- "plan": {
- "items": {
- "properties": {
- "action": {
- "description": "Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
- "example": "move",
- "type": "string"
- },
- "activate_payload": {
- "description": "To activate/deactivate sensor for Autosub Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
- "example": true,
- "type": "boolean"
- },
- "altitude": {
- "description": "Altitude of next action",
- "example": 15.0,
- "format": "float",
- "type": "number"
- },
- "depth": {
- "description": "Depth of next action",
- "example": 15.0,
- "format": "float",
- "type": "number"
- },
- "flight_style": {
- "description": "Platform-specific modes/flight styles to perform next action",
- "example": "orbit",
- "type": "string"
- },
- "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"
- },
- "target_waypoint_longitude": {
- "description": "Next waypoint, y-coordinate",
- "example": 50.37072283932642,
- "format": "float",
- "type": "number"
- },
- "send_environmental_data": {
- "description": "To trigger the platform to send list of observations if any found",
- "example": false,
- "type": "boolean"
- }
- },
- "required": [
- "target_waypoint_latitude",
- "target_waypoint_longitude"
- ],
- "type": "object"
- },
- "type": "array"
- },
- "platform_ID": {
- "description": "Unique identifier for this platform",
- "example": "reav-x-1",
- "type": "string"
- }
+ "mission_plan":{
+ "properties":{
+ "autonomy_engine_plan_ID":{
+ "description":"Unique identifier for this plangenerated by the Autonomy Engine",
+ "example":3,
+ "type":"integer"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "example":"mission_plan",
+ "type":"string"
+ },
+ "plan":{
+ "items":{
+ "properties":{
+ "action":{
+ "description":"Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
+ "example":"move",
+ "type":"string"
+ },
+ "activate_payload":{
+ "description":"To activate/deactivate sensor for Autosub Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
+ "example":true,
+ "type":"boolean"
+ },
+ "altitude":{
+ "description":"Altitude of next action",
+ "example":15.0,
+ "format":"float",
+ "type":"number"
+ },
+ "depth":{
+ "description":"Depth of next action",
+ "example":15.0,
+ "format":"float",
+ "type":"number"
+ },
+ "flight_style":{
+ "description":"Platform-specific modes/flight styles to perform next action",
+ "example":"orbit",
+ "type":"string"
+ },
+ "send_environmental_data":{
+ "description":"To trigger the platform to send list of observations if any found",
+ "example":false,
+ "type":"boolean"
+ },
+ "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":"Target waypoint, x-coordinate",
+ "example":-4.187143188645706,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_longitude":{
+ "description":"Target waypoint, y-coordinate",
+ "example":50.37072283932642,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "target_waypoint_latitude",
+ "target_waypoint_longitude"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ }
+ },
+ "required":[
+ "message_type",
+ "autonomy_engine_plan_ID",
+ "platform_ID",
+ "plan"
+ ],
+ "type":"object"
},
- "required": [
- "message_type",
- "autonomy_engine_plan_ID",
- "platform_ID",
- "plan"
- ],
- "type": "object"
- },
- "observation": {
- "properties": {
- "additional_data": {
- "description": "Placeholder field for any additional data",
- "example": {
- "sensor_payload": false
- }
- },
- "message_type": {
- "description": "Type of message",
- "example": "observation",
- "type": "string"
- },
- "platform_ID": {
- "description": "Unique identifier for this platform",
- "example": "reav-x-1",
- "type": "string"
- },
- "points_of_interest": {
- "description": "Points from features of interest identified by platform if any found.",
- "items": {
- "properties": {
- "latitude": {
- "description": "Identified x-coordinate of point of interest",
- "example": 178.2,
- "format": "float",
- "type": "number"
- },
- "longitude": {
- "description": "Identified y-coordinate of point of interest",
- "example": -10.122,
- "format": "float",
- "type": "number"
- },
- "quality_of_point": {
- "description": "Quality/strength of points from features of interest identified by platform.",
- "example": 0.98,
- "format": "float",
- "type": "number"
- }
- },
- "required": [
- "latitude",
- "longitude"
- ],
- "type": "object"
- },
- "type": "array"
- },
- "region_surveyed": {
- "description": "Region surveyed by given platform. GEOJSON",
- "example": ""
- }
+ "observation":{
+ "properties":{
+ "additional_data":{
+ "description":"Placeholder field for any additional data",
+ "example":{
+ "sensor_payload":false
+ }
+ },
+ "message_type":{
+ "description":"Type of message",
+ "example":"observation",
+ "type":"string"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ },
+ "points_of_interest":{
+ "description":"Points from features of interest identified by platform if any found.",
+ "items":{
+ "properties":{
+ "latitude":{
+ "description":"Identified x-coordinate of point of interest",
+ "example":178.2,
+ "format":"float",
+ "type":"number"
+ },
+ "longitude":{
+ "description":"Identified y-coordinate of point of interest",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "quality_of_point":{
+ "description":"Quality/strength of points from features of interest identified by platform.",
+ "example":0.98,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "latitude",
+ "longitude"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "region_surveyed":{
+ "description":"Region surveyed by given platform. GEOJSON",
+ "example":"",
+ "nullable":true
+ }
+ },
+ "required":[
+ "message_type",
+ "platform_ID"
+ ],
+ "type":"object"
},
- "required": [
- "message_type",
- "platform_ID"
- ],
- "type": "object"
- },
- "payload": {
- "discriminator": {
- "mapping": {
- "acknowledgement": "#/components/schemas/acknowledgement",
- "mission_plan": "#/components/schemas/mission_plan",
- "observation": "#/components/schemas/observation",
- "planning_configuration": "#/components/schemas/planning_configuration",
- "platform_status": "#/components/schemas/platform_status"
- },
- "propertyName": "message_type"
+ "payload":{
+ "discriminator":{
+ "mapping":{
+ "acknowledgement":"#/components/schemas/acknowledgement",
+ "mission_plan":"#/components/schemas/mission_plan",
+ "observation":"#/components/schemas/observation",
+ "planning_configuration":"#/components/schemas/planning_configuration",
+ "platform_status":"#/components/schemas/platform_status"
+ },
+ "propertyName":"message_type"
+ },
+ "oneOf":[
+ {
+ "$ref":"#/components/schemas/acknowledgement"
+ },
+ {
+ "$ref":"#/components/schemas/mission_plan"
+ },
+ {
+ "$ref":"#/components/schemas/observation"
+ },
+ {
+ "$ref":"#/components/schemas/planning_configuration"
+ },
+ {
+ "$ref":"#/components/schemas/platform_status"
+ }
+ ]
},
- "oneOf": [
- {
- "$ref": "#/components/schemas/acknowledgement"
- },
- {
- "$ref": "#/components/schemas/mission_plan"
- },
- {
- "$ref": "#/components/schemas/observation"
- },
- {
- "$ref": "#/components/schemas/planning_configuration"
- },
- {
- "$ref": "#/components/schemas/platform_status"
- }
- ]
- },
- "planning_configuration": {
- "properties": {
- "exclusion_zones": {
- "description": "Exclusion zones for all platforms",
- "items": {
- "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"
- },
- "type": "array"
- },
- "message_type": {
- "description": "Type of message",
- "example": "planning_configuration",
- "type": "string"
- },
- "planning_config_ID": {
- "description": "Unique identifier tagged to version of this configuration plan",
- "example": 3,
- "type": "integer"
- },
- "squads": {
- "items": {
- "properties": {
- "no_of_platforms": {
- "description": "Number of platforms",
- "example": 3,
- "type": "integer"
- },
- "platforms": {
- "description": "Squad consists of these platforms",
- "items": {
- "properties": {
- "additional_specs": {
- "description": "Any addition fields/data to be added here",
- "example": {
- "scan_type": "DVL",
- "swath_width": 10.0
- }
- },
- "emergency": {
- "properties": {
- "additional_data": {
- "description": "Any addition fields/data to be added here",
- "example": {}
- },
- "target_waypoint_latitude": {
- "description": "X-coordinate safe place for respective platform",
- "example": -7.432,
- "format": "float",
- "type": "number"
- },
- "target_waypoint_longitude": {
- "description": "Y-coordinate safe place for respective platform",
- "example": 50.365,
- "format": "float",
- "type": "number"
+ "planning_configuration":{
+ "properties":{
+ "exclusion_zones":{
+ "description":"Exclusion zones for all platforms",
+ "items":{
+ "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"
+ },
+ "type":"array"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "example":"planning_configuration",
+ "type":"string"
+ },
+ "planning_config_ID":{
+ "description":"Unique identifier tagged to version of this configuration plan",
+ "example":3,
+ "type":"integer"
+ },
+ "squads":{
+ "items":{
+ "properties":{
+ "no_of_platforms":{
+ "description":"Number of platforms",
+ "example":3,
+ "type":"integer"
+ },
+ "platforms":{
+ "description":"Squad consists of these platforms",
+ "items":{
+ "properties":{
+ "additional_specs":{
+ "description":"Any addition fields/data to be added here",
+ "example":{
+ "scan_type":"DVL",
+ "swath_width":10.0
+ }
+ },
+ "emergency":{
+ "properties":{
+ "additional_data":{
+ "description":"Any addition fields/data to be added here",
+ "example":{
+
+ }
+ },
+ "safe_command":{
+ "description":"Command/Action that is native to respective partner's platform/C2",
+ "enum":[
+ "go_home",
+ "abort_now",
+ "stop_mission"
+ ],
+ "example":"go_home",
+ "type":"string"
+ },
+ "target_depth":{
+ "description":"Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
+ "example":10.0,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_latitude":{
+ "description":"X-coordinate safe place for respective platform",
+ "example":-7.432,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_longitude":{
+ "description":"Y-coordinate safe place for respective platform",
+ "example":50.365,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "target_waypoint_latitude",
+ "target_waypoint_longitude",
+ "target_depth"
+ ],
+ "type":"object"
+ },
+ "max_velocity":{
+ "description":"Maximum altitude set for squad.",
+ "example":0.9,
+ "format":"float",
+ "type":"number"
+ },
+ "min_altitude":{
+ "description":"Minimum altitude set for squad.",
+ "example":15.2,
+ "format":"float",
+ "type":"number"
+ },
+ "min_velocity":{
+ "description":"Minimum velocity set for squad.",
+ "example":0.1,
+ "format":"float",
+ "type":"number"
+ },
+ "model":{
+ "example":"reav",
+ "type":"string"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ },
+ "serial":{
+ "description":"platform serial number",
+ "example":"reav-60",
+ "type":"string"
+ }
+ },
+ "required":[
+ "platform_ID",
+ "serial",
+ "model",
+ "emergency",
+ "min_altitude",
+ "min_velocity",
+ "max_velocity"
+ ],
+ "type":"object"
},
- "safe_command": {
- "description": "Command/Action that is native to respective partner's platform/C2",
- "enum": [
- "go_home",
- "abort_now",
- "stop_mission"
- ],
- "example": "go_home",
- "type": "string"
+ "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"
+ }
},
- "target_depth": {
- "description": "Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
- "example": 10.0,
- "format": "float",
- "type": "number"
- }
- },
- "required": [
- "target_waypoint_latitude",
- "target_waypoint_longitude",
- "target_depth"
- ],
- "type": "object"
- },
- "max_velocity": {
- "description": "Maximum altitude set for squad.",
- "example": 0.9,
- "format": "float",
- "type": "number"
- },
- "min_altitude": {
- "description": "Minimum altitude set for squad.",
- "example": 15.2,
- "format": "float",
- "type": "number"
- },
- "min_velocity": {
- "description": "Minimum velocity set for squad.",
- "example": 0.1,
- "format": "float",
- "type": "number"
- },
- "model": {
- "example": "reav",
- "type": "string"
- },
- "platform_ID": {
- "description": "Unique identifier for this platform",
- "example": "reav-x-1",
- "type": "string"
- },
- "serial": {
- "description": "platform serial number",
- "example": "reav-60",
- "type": "string"
- }
+ "type":"object"
+ },
+ "squad_ID":{
+ "description":"Identifier of given squad",
+ "example":23,
+ "type":"integer"
+ },
+ "squad_mission_type":{
+ "description":"Mission of given squad: `tracking`, `survey`, `inspection`",
+ "enum":[
+ "tracking",
+ "survey",
+ "inspection"
+ ],
+ "example":"survey",
+ "type":"string"
+ },
+ "squad_state":{
+ "description":"In execution, Waiting.. <define further>",
+ "example":false,
+ "type":"string"
+ }
},
- "required": [
- "platform_ID",
- "serial",
- "model",
- "emergency",
- "min_altitude",
- "min_velocity",
- "max_velocity"
+ "required":[
+ "squad_ID",
+ "no_of_platforms",
+ "platforms",
+ "squad_mission_type",
+ "squad_state"
],
- "type": "object"
- },
- "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":"object"
+ },
+ "type":"array"
+ }
+ },
+ "required":[
+ "message_type",
+ "planning_config_ID",
+ "squads",
+ "exclusion_zones"
+ ],
+ "type":"object"
+ },
+ "platform_status":{
+ "properties":{
+ "altitude":{
+ "description":"Target altitude in metres",
+ "example":20.0,
+ "format":"float",
+ "type":"number"
+ },
+ "autonomy_engine_plan_ID":{
+ "description":"Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
+ "example":1,
+ "type":"integer"
+ },
+ "battery_remaining_capacity":{
+ "description":"Battery remaining % provided by respective C2",
+ "example":80.2,
+ "format":"float",
+ "type":"number"
+ },
+ "depth":{
+ "default":0.0,
+ "description":"Target depth in metres",
+ "example":50.0,
+ "format":"float",
+ "type":"number"
+ },
+ "heading":{
+ "description":"Angular distance relative to north, usually 000\u00b0 at north, clockwise through 359\u00b0, in degrees",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "health_status":{
+ "description":"Health status where 0 is OK, 1 is platform has an ERROR",
+ "example":false,
+ "type":"boolean"
+ },
+ "latitude":{
+ "description":"Latitude in decimal degrees.",
+ "example":178.2,
+ "format":"float",
+ "type":"number"
+ },
+ "localisation_east_error":{
+ "description":"Difference in EAST between deadreckoningand USBL update.",
+ "example":0.000129,
+ "format":"float",
+ "type":"number"
+ },
+ "localisation_north_error":{
+ "description":"Difference in NORTH between deadreckoning and USBL update.",
+ "example":0.000129,
+ "format":"float",
+ "type":"number"
+ },
+ "longitude":{
+ "description":"Longitude in decimal degrees.",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "example":"platform_status",
+ "type":"string"
+ },
+ "mission_plan_ID":{
+ "description":"Mission plan ID according to platform-C2 system",
+ "example":1,
+ "type":"integer"
+ },
+ "mission_track_ID":{
+ "description":"Track number - stage in mission (e.g. 4 --> Waypoint 3 to Waypoint 4)",
+ "example":4,
+ "type":"integer"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ },
+ "platform_state":{
+ "description":"Current state executed by platform. E.g. STOP, IDLE, ABORT.",
+ "example":"ABORT",
+ "type":"string"
+ },
+ "platform_timestamp":{
+ "description":"Timestamp for onboard platform status message",
+ "example":"2022-12-21T00:00:00Z",
+ "format":"date-time",
+ "type":"string"
+ },
+ "range_to_go":{
+ "description":"Estimated distance to reach next waypoint",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "sensor_config":{
+ "description":"Scanning sensor on platform available to be controlled by the Autonomy Engine",
+ "properties":{
+ "additional_data":{
+ "description":"Any addition fields/data to be added here",
+ "example":{
+ "payload":[
+ 1.2,
+ 434
]
- ]
- ],
- "type": "array"
+ },
+ "type":"object"
+ },
+ "sensor_on":{
+ "description":"Sensor switched on (True) or off (False)",
+ "example":true,
+ "type":"boolean"
+ },
+ "sensor_serial":{
+ "description":"serial number of sensor",
+ "example":"mbes-002a",
+ "type":"string"
}
- },
- "type": "object"
- },
- "squad_ID": {
- "description": "Identifier of given squad",
- "example": 23,
- "type": "integer"
- },
- "squad_mission_type": {
- "description": "Mission of given squad: `tracking`, `survey`, `inspection`",
- "enum": [
- "tracking",
- "survey",
- "inspection"
- ],
- "example": "survey",
- "type": "string"
- },
- "squad_state": {
- "description": "In execution, Waiting.. <define further>",
- "example": false,
- "type": "string"
- }
- },
- "required": [
- "squad_ID",
- "no_of_platforms",
- "platforms",
- "squad_mission_type",
- "squad_state"
- ],
- "type": "object"
- },
- "type": "array"
- }
- },
- "required": [
- "message_type",
- "planning_config_ID",
- "squads",
- "exclusion_zones"
- ],
- "type": "object"
- },
- "platform_status": {
- "properties": {
- "altitude": {
- "description": "Target altitude in metres",
- "example": 20,
- "format": "float",
- "type": "number"
- },
- "autonomy_engine_plan_ID": {
- "description": "Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
- "example": 1,
- "type": "integer"
- },
- "battery_remaining_capacity": {
- "description": "Battery remaining % provided by respective C2",
- "example": 80.2,
- "format": "float",
- "type": "number"
- },
- "depth": {
- "default": 0.0,
- "description": "Target depth in metres",
- "example": 50.0,
- "format": "float",
- "type": "number"
- },
- "heading": {
- "description": "Angular distance relative to north, usually 000\u00b0 at north, clockwise through 359\u00b0, in degrees",
- "example": 124.3,
- "format": "float",
- "type": "number"
- },
- "health_status": {
- "description": "Health status where 0 is OK, 1 is platform has an ERROR",
- "example": false,
- "type": "boolean"
- },
- "latitude": {
- "description": "Latitude in decimal degrees.",
- "example": 178.2,
- "format": "float",
- "type": "number"
- },
- "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,
- "format": "float",
- "type": "number"
- },
- "message_type": {
- "description": "Type of message",
- "example": "platform_status",
- "type": "string"
- },
- "mission_plan_ID": {
- "description": "Mission plan ID according to platform-C2 system",
- "example": 1,
- "type": "integer"
- },
- "mission_track_ID": {
- "description": "Track number - stage in mission (e.g. 4 --> Waypoint 3 to Waypoint 4)",
- "example": 4,
- "type": "integer"
- },
- "platform_ID": {
- "description": "Unique identifier for this platform",
- "example": "reav-x-1",
- "type": "string"
- },
- "platform_state": {
- "description": "Current state executed by platform. E.g. STOP, IDLE, ABORT.",
- "example": "ABORT",
- "type": "string"
- },
- "platform_timestamp": {
- "description": "Timestamp for onboard platform status message",
- "example": "2022-12-21T00:00:00Z",
- "format": "date-time",
- "type": "string"
- },
- "range_to_go": {
- "description": "Estimated distance to reach next waypoint",
- "example": 124.3,
- "format": "float",
- "type": "number"
- },
- "sensor_config": {
- "description": "Scanning sensor on platform available to be controlled by the Autonomy Engine",
- "properties": {
- "additional_data": {
- "description": "Any addition fields/data to be added here",
- "example": {
- "payload": [
- 1.2,
- 434
- ]
- }
- },
- "sensor_on": {
- "description": "Sensor switched on (True) or off (False)",
- "example": true,
- "type": "boolean"
- },
- "sensor_serial": {
- "description": "serial number of sensor",
- "example": "mbes-002a",
- "type": "string"
+ },
+ "type":"object"
+ },
+ "speed_over_ground":{
+ "description":"Speed over ground",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "status_source":{
+ "description":"Indicate if this status message is from the platform or USBL",
+ "enum":[
+ "usbl",
+ "onboard_platform"
+ ],
+ "example":"usbl",
+ "type":"string"
+ },
+ "thrust_applied":{
+ "description":"Thrust applied",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "transmission_mode":{
+ "description":"Mode in which status message was transmitted when on the surface (e.g. iridium/wifi) or underwater (e.g. acoustics)",
+ "enum":[
+ "acoustics",
+ "iridium",
+ "wifi",
+ "starlink"
+ ],
+ "example":"wifi",
+ "type":"string"
+ },
+ "usbl_fix_seconds_ago":{
+ "description":"USBL Fix received x second ago.",
+ "example":10.0,
+ "format":"float",
+ "type":"number"
+ },
+ "water_current_velocity":{
+ "description":"Water current magnitude and direction",
+ "example":"124.3NE",
+ "type":"string"
}
- },
- "type": "object"
- },
- "speed_over_ground": {
- "description": "Speed over ground",
- "example": 124.3,
- "format": "float",
- "type": "number"
- },
- "status_source": {
- "description": "Indicate if this status message is from the platform or USBL",
- "enum": [
- "usbl",
- "onboard_platform"
- ],
- "example": "usbl",
- "type": "string"
- },
- "thrust_applied": {
- "description": "Thrust applied",
- "example": 124.3,
- "format": "float",
- "type": "number"
- },
- "transmission_mode": {
- "description": "Mode in which status message was transmitted when on the surface (e.g. iridium/wifi) or underwater (e.g. acoustics)",
- "enum": [
- "acoustics",
- "iridium",
- "wifi",
- "starlink"
- ],
- "example": "wifi",
- "type": "string"
- },
- "usbl_fix_seconds_ago": {
- "description": "USBL Fix received x second ago.",
- "example": 10.0,
- "format": "float",
- "type": "number"
- },
- "water_current_velocity": {
- "description": "Water current magnitude and direction",
- "example": "124.3NE",
- "format": "string"
- }
- },
- "required": [
- "message_type",
- "platform_ID",
- "status_source",
- "platform_timestamp",
- "latitude",
- "longitude"
- ],
- "type": "object"
- }
- }
+ },
+ "required":[
+ "message_type",
+ "platform_ID",
+ "status_source",
+ "platform_timestamp",
+ "latitude",
+ "longitude"
+ ],
+ "type":"object"
+ }
+ }
},
- "info": {
- "description": "SoAR message protocol in schemas",
- "title": "SoAR Backbone Message Formats",
- "version": "1.0"
+ "info":{
+ "description":"SoAR message protocol in schemas",
+ "title":"SoAR Backbone Message Formats",
+ "version":"1.0"
},
- "openapi": "3.0.2",
- "paths": {}
+ "openapi":"3.0.2",
+ "paths":{
+
+ }
}
\ No newline at end of file