diff --git a/.gitignore b/.gitignore
index 41e951a7e5813ee04764fd8a6115110c4c68a796..fc272ee5dae073b37bd06ea33b26c1513f88fbf0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
__pycache__/
*.pyc
+tests/test_swagger.json
\ No newline at end of file
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 513b309e1c27ba646b89ee6e8a32f09136e55371..d4e696ec13a9ef7993b6925147268ce4dfaa0b4c 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -2,6 +2,7 @@ include:
- project: communications-backbone-system/backbone-infrastructure-config
ref: master
file: gitlab/all.yml
+ - local: /gitlab/test-js.yml
variables:
DOCKER_IMAGE_NAME: backbone-message-format
diff --git a/CHANGELOG.md b/CHANGELOG.md
index ab6df79eb949d13943233a31b8e234f969212cfa..7254ef17d0f10d2b0fce92f29a45066301bd8b0e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,17 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
## [Unreleased]
+## [v1.0.0] - 2024-08-28
+
+### Changed
+
+- Use discover to find all unit tests
+- Run tests against current format definitions
+- Test that formats match saved schema
+- Run python and javascript tests in CI
+- Refactor schema script to remove invalid definitions object automatically
+- Refactor generate_schema_config script to output file on -f flag
+
## [v0.2.0] - 2024-02-06
### Added
@@ -35,6 +46,7 @@ JSON schema definitions for the SoAR project
Example messages matching the schema for each partner
-[unreleased]: https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/compare/v0.2.0...dev
+[unreleased]: https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/compare/v1.0.0...dev
+[v1.0.0]: https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/compare/v0.2.0...v1.0.0
[v0.2.0]: https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/compare/v0.1.0...v0.2.0
[v0.1.0]: https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/compare/9e6ce245...v0.1.0
diff --git a/README.md b/README.md
index 4d3b970fe534bec0d4f8bcdbc00436ec30bea09f..081c9d8aeb0967aab2e27f1066d80355e34c2f2c 100644
--- a/README.md
+++ b/README.md
@@ -72,22 +72,28 @@ eg
## Run Docs & Save Schema When Updating Message Formats
1. Run the command below and go to `http://127.0.0.1:5000`
```
-python3 generate_schema_config.py
+python3 generate_schema_config.py -f
```
-2. Copy the schema generated `http://127.0.0.1:5000/soar_protocol.json` into the `backbone-message-format/project/<project_name>/swagger.json`
-
-3. In the json copied, remove the key `"definitions"` from the schema and save this.
+2. Commit any changes to the `backbone-message-format/project/<project_name>/swagger.json`
## Run Tests
+
+We have found slightly different behaviour between the OpenAPI validators in python and javascript.
+
+By running tests in both languages we should protect against messages that pass validation in
+one client but fail in another.
+
Run both tests below:
-1. Test 1
+
+1. Test 1 - Use python validators
```
-python3 -m unittest tests/test_schemas.py
+python3 -m unittest discover
```
-2. Test 2
+2. Test 2 - Use javascript validators
```
-cd tests-js/docker; docker compose up --build
+# Compile schema and run javascript validation tests in docker
+python3 test-js.py
```
## Quick Links
diff --git a/docker/docker-compose-test.yaml b/docker/docker-compose-test.yaml
index 2461af3b7c397f7214875be0dfdd23fc8e4589ac..6caad2f364d3cb8f071d92f670bcb0abaf537005 100644
--- a/docker/docker-compose-test.yaml
+++ b/docker/docker-compose-test.yaml
@@ -12,4 +12,4 @@ services:
- PYTHONDONTWRITEBYTECODE=1
volumes:
- ../:/app
- command: "python3 -m unittest tests/test_schemas.py"
\ No newline at end of file
+ command: "python3 -m unittest discover"
diff --git a/generate_schema_config.py b/generate_schema_config.py
index 123de907cd461abfb03702e5c6f61f7ff25c5795..fa58bb19ddaa8d0077de2ff4a4856e30c9c0bd6e 100644
--- a/generate_schema_config.py
+++ b/generate_schema_config.py
@@ -14,11 +14,19 @@ from formats.alert import alert_schema
from flasgger import Swagger
from flask import Flask
+import argparse
+import json
import os
-app = Flask(__name__)
-url_prefix = os.getenv("URL_PREFIX", "")
+# Enable running on domain sub-path
+URL_PREFIX = os.getenv("URL_PREFIX", "")
+# Allow env override of default host
+FLASK_HOST = os.getenv("FLASK_HOST", "localhost")
+# Allow env override of default port
+FLASK_PORT = os.getenv("FLASK_PORT", 5000)
+# Switch on debug mode if env var is truthy
+FLASK_DEBUG = os.getenv("FLASK_DEBUG", "False").lower() in ("true", "1", "t")
swagger_config = {
"openapi": "3.0.2",
@@ -35,7 +43,7 @@ swagger_config = {
"route": "/soar_protocol.json",
}
],
- "url_prefix": url_prefix,
+ "url_prefix": URL_PREFIX,
"paths": {},
"components": {
"schemas": {
@@ -103,11 +111,125 @@ swagger_config = {
},
}
-swag = Swagger(app, config=swagger_config, merge=True)
-flask_host = os.getenv(
- "FLASK_HOST", "localhost"
-) # Sets to whatever FLASK_HOST is, or defaults to localhost
+def configure_flask(swagger_config):
+ """
+ Setup a flask app, load flasgger
+
+ and then patch to remove invalid
+ definitions:{} object
+ """
+ app = Flask(__name__)
+ Swagger(app, config=swagger_config, merge=True)
+
+ # Replace schema route to remove invalid
+ # definitions: {}
+ # Should be fixed if Flassger 0.9.7 is released
+ #
+ # The last release of flasgger was Aug 2020
+ # This bug was fixed in Nov 2021
+ # There is a pre-release from May 2023
+ # Until the fix gets released we have to
+ # remove the invalid definitions object
+ # from the spec
+ @app.after_request
+ def after_request_decorator(response):
+ """
+ I didn't want to mess with flasgger so
+ this blunt workaround that runs on every
+ route and then checks whether it's required
+ """
+ is_response = type(response).__name__ == "Response"
+ is_json = is_response and response.content_type == "application/json"
+ if is_json:
+ parsed = response.json
+ if "definitions" in parsed:
+ del parsed["definitions"]
+ response.data = json.dumps(parsed)
+
+ return response
+
+ return app
+
+
+def serve(swagger_config):
+ """
+ Run as local flask app on FLASK_PORT|5000
+ """
+ app = configure_flask(swagger_config)
+ app.run(debug=FLASK_DEBUG, host=FLASK_HOST, port=FLASK_PORT)
+
+
+def compile_schema(swagger_config):
+ """Extract the output schema from flasgger
+
+ The only way I have found to do this is to
+ use a test client to make the GET request
+ for the page
+
+ The function that returns the definition
+ can't be called outside the flask app context
+ """
+ app = configure_flask(swagger_config)
+ route = swagger_config["specs"][0]["route"]
+ client = app.test_client()
+ response = client.get(route)
+ spec = response.json
+ return spec
+
+
+def write_schema(swagger_config, file_path):
+ """
+ Dump schema to specified file
+ """
+ spec = compile_schema(swagger_config)
+ json_schema = json.dumps(spec, indent=2)
+
+ with open(file_path, "w") as f:
+ f.write(json_schema)
+
+
+def get_options():
+ """
+ Parse script arguments
+ """
+ parser = argparse.ArgumentParser(
+ description="Generate the schema",
+ formatter_class=argparse.ArgumentDefaultsHelpFormatter,
+ )
+ parser.add_argument(
+ "-s",
+ "--serve",
+ dest="run_flask",
+ action="store_true",
+ help="Run flask app",
+ default=False,
+ )
+ parser.add_argument(
+ "-f",
+ "--file",
+ dest="output_file",
+ action="store_true",
+ help="Save output to schema file",
+ default=False,
+ )
+ parser.add_argument("filename", nargs="?", default="project/soar/swagger.json")
+ args = parser.parse_args()
+ config = vars(args)
+ # If no flag is specified default to running the flask server
+ if all(v is False for v in config.values()):
+ config["run_flask"] = True
+ return config
+
if __name__ == "__main__":
- app.run(debug=False, host=flask_host)
+ # Parse script args
+ config = get_options()
+
+ # Output compiled schema
+ if config.get("output_file"):
+ write_schema(swagger_config, config.get("filename"))
+
+ # Run flask app
+ if config.get("run_flask"):
+ serve(swagger_config)
diff --git a/gitlab/test-js.yml b/gitlab/test-js.yml
new file mode 100644
index 0000000000000000000000000000000000000000..d773334724d33df555ae766c53467942e1eaad1e
--- /dev/null
+++ b/gitlab/test-js.yml
@@ -0,0 +1,13 @@
+test-js:
+ stage: test
+ script:
+ - cd tests-js/docker
+ - docker compose up --build
+ tags:
+ - shell
+ rules:
+ - if: '$CI_SKIP_TESTS == "1"'
+ when: never
+ - if: '$CI_IGNORE_TESTS == "1"'
+ allow_failure: true
+ - when: on_success
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index 008b966e586c38fd30c86114d10215e654add9a4..12a468e881147d6476e33a28545bfe4644552cbf 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -1,1160 +1,1160 @@
{
- "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"
+ "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": {
+ "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",
+ "enum": [
+ "acknowledgement"
],
- "type": "object"
- },
- "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",
- "enum": [
- "acknowledgement"
- ],
- "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"
+ "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"
+ },
+ "alert": {
+ "properties": {
+ "code": {
+ "description": "Alert code",
+ "example": 345,
+ "type": "integer"
+ },
+ "details": {
+ "description": "Detailed reason for the alert ",
+ "example": "Discrepancy between rudder and actuator positions : Rudder Pos=10.31\u00b0, Steering Actuator Pos=28.65\u00b0, Discrepancy=18.33\u00b0",
+ "type": "string"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "alert"
],
- "type": "object"
- },
- "alert": {
- "properties": {
- "code": {
- "description": "Alert code",
- "example": 345,
- "type": "integer"
- },
- "details": {
- "description": "Detailed reason for the alert ",
- "example": "Discrepancy between rudder and actuator positions : Rudder Pos=10.31\u00b0, Steering Actuator Pos=28.65\u00b0, Discrepancy=18.33\u00b0",
- "type": "string"
- },
- "message_type": {
- "description": "Type of message",
- "enum": [
- "alert"
- ],
- "example": "alert",
- "type": "string"
- },
- "platform_ID": {
- "description": "Unique identifier for this platform",
- "example": "usvdecibel",
- "type": "string"
- },
- "platform_timestamp": {
- "description": "Timestamp for onboard platform status message",
- "example": "2022-12-21T00:00:00Z",
- "format": "date-time",
- "type": "string"
- },
- "severity": {
- "description": "Severity level of alert",
- "enum": [
- "Emergency",
- "Alarm",
- "Warning",
- "Caution"
- ],
- "example": "Alarm",
- "type": "string"
- },
- "subsystem": {
- "description": "System that generated the alert",
- "example": "Onboard Fault Monitor",
- "type": "string"
- },
- "summary": {
- "description": "High level description of the alert",
- "example": "Steering Damage - Port Side",
- "type": "string"
- }
- },
- "required": [
- "message_type",
- "platform_ID",
- "code",
- "severity"
+ "example": "alert",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "usvdecibel",
+ "type": "string"
+ },
+ "platform_timestamp": {
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "severity": {
+ "description": "Severity level of alert",
+ "enum": [
+ "Emergency",
+ "Alarm",
+ "Warning",
+ "Caution"
],
- "type": "object"
- },
- "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"
- },
- "mission_plan": {
- "properties": {
- "autonomy_engine_plan_ID": {
- "description": "Unique identifier for this plangenerated by the Autonomy Engine",
- "example": 3,
- "type": "integer"
- },
- "emergency": {
- "default": false,
- "description": "To indicate if this is an emergency. true = emergency and false = no emergency",
- "example": false,
- "type": "boolean"
- },
- "message_type": {
- "description": "Type of message",
- "enum": [
- "mission_plan"
- ],
- "example": "mission_plan",
- "type": "string"
- },
- "plan": {
- "items": {
- "properties": {
- "action": {
- "description": "Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
- "enum": [
- "move",
- "payload",
- "dive",
- "send_hits",
- "scanline",
- "scanpoint",
- "go_home",
- "surface_now",
- "stop_mission",
- "abort_now"
- ],
- "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"
- },
- "start_point_latitude": {
- "description": "Start point, y-coordinate",
- "example": 50.37072283932642,
- "format": "float",
- "type": "number"
- },
- "start_point_longitude": {
- "description": "Start point, x-coordinate",
- "example": -4.187143188645706,
- "format": "float",
- "type": "number"
- },
- "target_waypoint_latitude": {
- "description": "Target waypoint, y-coordinate",
- "example": 50.37072283932642,
- "format": "float",
- "type": "number"
- },
- "target_waypoint_longitude": {
- "description": "Target waypoint, x-coordinate",
- "example": -4.187143188645706,
- "format": "float",
- "type": "number"
- },
- "timeout": {
- "description": "Timeout set to perform action",
- "example": 1800.0,
- "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"
+ "example": "Alarm",
+ "type": "string"
+ },
+ "subsystem": {
+ "description": "System that generated the alert",
+ "example": "Onboard Fault Monitor",
+ "type": "string"
+ },
+ "summary": {
+ "description": "High level description of the alert",
+ "example": "Steering Damage - Port Side",
+ "type": "string"
+ }
+ },
+ "required": [
+ "message_type",
+ "platform_ID",
+ "code",
+ "severity"
+ ],
+ "type": "object"
+ },
+ "header": {
+ "discriminator": {
+ "propertyName": "message_type"
+ },
+ "properties": {
+ "delivery_type": {
+ "default": "publish",
+ "description": "To publish or broadcast this message.",
+ "enum": [
+ "broadcast",
+ "publish"
],
- "type": "object"
- },
- "mission_plan_encoded": {
- "properties": {
- "data": {
- "description": "encoded string. E.g. Base64 encoded",
- "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type": "string"
- },
- "file_name": {
- "description": "Name of file",
- "example": "ah1-0238126349247372.bin",
- "type": "string"
- },
- "is_binary": {
- "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
- "example": true,
- "type": "boolean"
- },
- "message_type": {
- "description": "Type of message",
- "enum": [
- "mission_plan_encoded"
- ],
- "example": "mission_plan_encoded",
- "type": "string"
- },
- "mime_type": {
- "description": "MIME type",
- "example": "application/gzip",
- "type": "string"
- }
- },
- "required": [
- "data",
- "is_binary"
+ "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"
+ },
+ "mission_plan": {
+ "properties": {
+ "autonomy_engine_plan_ID": {
+ "description": "Unique identifier for this plangenerated by the Autonomy Engine",
+ "example": 3,
+ "type": "integer"
+ },
+ "emergency": {
+ "default": false,
+ "description": "To indicate if this is an emergency. true = emergency and false = no emergency",
+ "example": false,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "mission_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": "mission_plan",
+ "type": "string"
+ },
+ "plan": {
+ "items": {
+ "properties": {
+ "action": {
+ "description": "Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
"enum": [
- "observation"
+ "move",
+ "payload",
+ "dive",
+ "send_hits",
+ "scanline",
+ "scanpoint",
+ "go_home",
+ "surface_now",
+ "stop_mission",
+ "abort_now"
],
- "example": "observation",
- "type": "string"
- },
- "platform_ID": {
- "description": "Unique identifier for this platform",
- "example": "reav-x-1",
+ "example": "move",
"type": "string"
- },
- "points_of_interest": {
- "description": "Points from features of interest identified by platform if any found.",
- "items": {
- "properties": {
- "latitude": {
- "description": "Identified y-coordinate of point of interest",
- "example": 178.2,
- "format": "float",
- "type": "number"
- },
- "longitude": {
- "description": "Identified x-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"
- },
- "observation_encoded": {
- "properties": {
- "data": {
- "description": "encoded string. E.g. Base64 encoded",
- "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type": "string"
- },
- "file_name": {
- "description": "Name of file",
- "example": "ah1-0238126349247372.bin",
- "type": "string"
- },
- "is_binary": {
- "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ },
+ "activate_payload": {
+ "description": "To activate/deactivate sensor for Autosub Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
"example": true,
"type": "boolean"
- },
- "message_type": {
- "description": "Type of message",
- "enum": [
- "observation_encoded"
- ],
- "example": "observation_encoded",
- "type": "string"
- },
- "mime_type": {
- "description": "MIME type",
- "example": "application/gzip",
- "type": "string"
- }
- },
- "required": [
- "data",
- "is_binary"
- ],
- "type": "object"
- },
- "payload": {
- "discriminator": {
- "mapping": {
- "acknowledgement": "#/components/schemas/acknowledgement",
- "alert": "#/components/schemas/alert",
- "mission_plan": "#/components/schemas/mission_plan",
- "mission_plan_encoded": "#/components/schemas/mission_plan_encoded",
- "observation": "#/components/schemas/observation",
- "observation_encoded": "#/components/schemas/observation_encoded",
- "planning_configuration": "#/components/schemas/planning_configuration",
- "platform_status": "#/components/schemas/platform_status",
- "platform_status_encoded": "#/components/schemas/platform_status_encoded",
- "survey": "#/components/schemas/survey",
- "survey_encoded": "#/components/schemas/survey_encoded"
- },
- "propertyName": "message_type"
- },
- "oneOf": [
- {
- "$ref": "#/components/schemas/alert"
- },
- {
- "$ref": "#/components/schemas/acknowledgement"
- },
- {
- "$ref": "#/components/schemas/mission_plan"
- },
- {
- "$ref": "#/components/schemas/mission_plan_encoded"
- },
- {
- "$ref": "#/components/schemas/observation"
- },
- {
- "$ref": "#/components/schemas/observation_encoded"
- },
- {
- "$ref": "#/components/schemas/planning_configuration"
- },
- {
- "$ref": "#/components/schemas/platform_status"
- },
- {
- "$ref": "#/components/schemas/platform_status_encoded"
- },
- {
- "$ref": "#/components/schemas/survey"
- },
- {
- "$ref": "#/components/schemas/survey_encoded"
- }
- ]
- },
- "planning_configuration": {
- "properties": {
- "exclusion_zones": {
- "description": "Exclusion zones for all platforms",
- "items": {
- "description": "Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
- "properties": {
- "geometry_coordinates": {
- "example": [
- [
- [
- -4.1777839187560915,
- 50.34173405662855
- ],
- [
- -4.1777839187560915,
- 50.33820949229701
- ],
- [
- -4.143667777943875,
- 50.33820949229701
- ],
- [
- -4.143667777943875,
- 50.34173405662855
- ],
- [
- -4.1777839187560915,
- 50.34173405662855
- ]
- ]
- ],
- "type": "array"
- }
- },
- "type": "object"
- },
- "type": "array"
- },
- "message_type": {
- "description": "Type of message",
- "enum": [
- "planning_configuration"
- ],
- "example": "planning_configuration",
- "type": "string"
- },
- "planning_config_ID": {
- "description": "Unique identifier tagged to version of this configuration plan",
- "example": 3,
- "type": "integer"
- },
- "region_of_interest": {
- "description": "Region of interest for the entire operation",
- "items": {
- "description": "Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
- "properties": {
- "geometry_coordinates": {
- "example": [
- [
- [
- -4.1777839187560915,
- 50.34173405662855
- ],
- [
- -4.1777839187560915,
- 50.33820949229701
- ],
- [
- -4.143667777943875,
- 50.33820949229701
- ],
- [
- -4.143667777943875,
- 50.34173405662855
- ],
- [
- -4.1777839187560915,
- 50.34173405662855
- ]
- ]
- ],
- "type": "array"
- }
- },
- "type": "object"
- },
- "type": "array"
- },
- "squads": {
- "items": {
- "properties": {
- "no_of_platforms": {
- "description": "Number of platforms",
- "example": 3,
- "type": "integer"
- },
- "platforms": {
- "description": "Squad consists of these platforms",
- "items": {
- "properties": {
- "active": {
- "description": "If platform is active = True, and inactive = False",
- "example": true,
- "type": "boolean"
- },
- "additional_data": {
- "description": "Any addition fields/data to be added here",
- "example": {
- "new_sensor_a": "test_sensor",
- "range": 10.0
- },
- "type": "object"
- },
- "beacon_ID": {
- "description": "Unique identifier (number) for the beacon associated to this platform",
- "example": 2407,
- "type": "number"
- },
- "emergency": {
- "properties": {
- "safe_command": {
- "description": "Command/Action that is native to respective partner's platform/C2",
- "enum": [
- "go_home",
- "abort_now",
- "stop_now",
- "surface_now"
- ],
- "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": "Y-coordinate safe place for respective platform",
- "example": 50.365,
- "format": "float",
- "type": "number"
- },
- "target_waypoint_longitude": {
- "description": "X-coordinate safe place for respective platform",
- "example": -7.432,
- "format": "float",
- "type": "number"
- }
- },
- "required": [
- "target_waypoint_latitude",
- "target_waypoint_longitude",
- "target_depth"
- ],
- "type": "object"
- },
- "endurance_relative_to_water_speed": {
- "properties": {
- "avg_battery_rating": {
- "description": "Battery endurance rating during standard operational speed usage (m/s)",
- "example": 1.9,
- "format": "float",
- "type": "number"
- },
- "max_battery_rating": {
- "description": "Battery endurance rating during maximum speed usage (m/s)",
- "example": 1.23,
- "format": "float",
- "type": "number"
- },
- "min_battery_rating": {
- "description": "Battery endurance rating during maximum speed usage (m/s)",
- "example": 3.32,
- "format": "float",
- "type": "number"
- }
- },
- "type": "object"
- },
- "max_velocity": {
- "description": "Maximum velocity set for platform",
- "example": 0.9,
- "format": "float",
- "type": "number"
- },
- "min_altitude": {
- "description": "Minimum altitude set for platform",
- "example": 15.2,
- "format": "float",
- "type": "number"
- },
- "min_velocity": {
- "description": "Minimum velocity set for platform",
- "example": 0.1,
- "format": "float",
- "type": "number"
- },
- "model": {
- "example": "reav",
- "type": "string"
- },
- "operator": {
- "description": "Operator of platform",
- "example": "noc",
- "type": "string"
- },
- "platform_ID": {
- "description": "Unique identifier for this platform",
- "example": "reav-x-1",
- "type": "string"
- },
- "scan_sensor": {
- "properties": {
- "angle": {
- "description": "Angle of range of swath width (in degrees)",
- "example": 140.0,
- "format": "float",
- "type": "number"
- },
- "frequency": {
- "description": "Frequency of scanning sensor (in kHz)",
- "example": 700.0,
- "format": "float",
- "type": "number"
- },
- "sensor_type": {
- "description": "Unique identifier for this platform",
- "enum": [
- "SIDESCAN",
- "MBES"
- ],
- "example": "MBES",
- "type": "string"
- },
- "swath_width": {
- "description": "Function of `target_altitude` for the platform's swath width (in metres)",
- "example": 38.0,
- "format": "float",
- "type": "number"
- },
- "warmup_time": {
- "description": "Warmup time (seconds) for sensor to start up.",
- "example": 180.0,
- "format": "float",
- "type": "number"
- }
- },
- "type": "object"
- },
- "target_altitude": {
- "description": "Target altitude set for platform. This affects swath width",
- "example": 15.0,
- "format": "float",
- "type": "number"
- },
- "turning_radius": {
- "description": "Turning radius of platform (in metres)",
- "example": 1.0,
- "format": "float",
- "type": "number"
- }
- },
- "required": [
- "operator",
- "platform_ID",
- "active",
- "model"
- ],
- "type": "object"
- },
- "type": "array"
- },
- "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"
- }
- },
- "required": [
- "squad_ID",
- "no_of_platforms",
- "platforms",
- "squad_mission_type"
- ],
- "type": "object"
- },
- "type": "array"
- }
- },
- "required": [
- "message_type",
- "planning_config_ID",
- "squads",
- "exclusion_zones",
- "region_of_interest"
- ],
- "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_output": {
- "description": "Battery output in kW",
- "example": 80.2,
+ },
+ "altitude": {
+ "description": "Altitude of next action",
+ "example": 15.0,
"format": "float",
"type": "number"
- },
- "battery_remaining_capacity": {
- "description": "Battery remaining % provided by respective C2",
- "example": 80.2,
+ },
+ "depth": {
+ "description": "Depth of next action",
+ "example": 15.0,
"format": "float",
"type": "number"
- },
- "depth": {
- "default": 0.0,
- "description": "Target depth in metres",
- "example": 50.0,
+ },
+ "start_point_latitude": {
+ "description": "Start point, y-coordinate",
+ "example": 50.37072283932642,
"format": "float",
"type": "number"
- },
- "endurance": {
- "description": "Estimate of hours of operation remaining based on present output or performance",
- "example": 7.4,
+ },
+ "start_point_longitude": {
+ "description": "Start point, x-coordinate",
+ "example": -4.187143188645706,
"format": "float",
"type": "number"
- },
- "fuel_remaining_capacity": {
- "description": "Percentage remaining capacity",
- "example": 80.2,
+ },
+ "target_waypoint_latitude": {
+ "description": "Target waypoint, y-coordinate",
+ "example": 50.37072283932642,
"format": "float",
"type": "number"
- },
- "fuel_volume": {
- "description": "Litres of liquid fuel",
- "example": 12.5,
+ },
+ "target_waypoint_longitude": {
+ "description": "Target waypoint, x-coordinate",
+ "example": -4.187143188645706,
"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,
+ },
+ "timeout": {
+ "description": "Timeout set to perform action",
+ "example": 1800.0,
"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 (Y-coordinate) in decimal degrees.",
+ }
+ },
+ "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"
+ },
+ "mission_plan_encoded": {
+ "properties": {
+ "data": {
+ "description": "encoded string. E.g. Base64 encoded",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "file_name": {
+ "description": "Name of file",
+ "example": "ah1-0238126349247372.bin",
+ "type": "string"
+ },
+ "is_binary": {
+ "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example": true,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "mission_plan_encoded"
+ ],
+ "example": "mission_plan_encoded",
+ "type": "string"
+ },
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
+ }
+ },
+ "required": [
+ "data",
+ "is_binary"
+ ],
+ "type": "object"
+ },
+ "observation": {
+ "properties": {
+ "additional_data": {
+ "description": "Placeholder field for any additional data",
+ "example": {
+ "sensor_payload": false
+ }
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "observation"
+ ],
+ "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 y-coordinate of point of interest",
"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,
+ },
+ "longitude": {
+ "description": "Identified x-coordinate of point of interest",
+ "example": -10.122,
"format": "float",
"type": "number"
- },
- "longitude": {
- "description": "Longitude (X-coordinate) in decimal degrees.",
- "example": -10.122,
+ },
+ "quality_of_point": {
+ "description": "Quality/strength of points from features of interest identified by platform.",
+ "example": 0.98,
"format": "float",
"type": "number"
- },
- "message_type": {
- "description": "Type of message",
- "enum": [
- "platform_status"
+ }
+ },
+ "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"
+ },
+ "observation_encoded": {
+ "properties": {
+ "data": {
+ "description": "encoded string. E.g. Base64 encoded",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "file_name": {
+ "description": "Name of file",
+ "example": "ah1-0238126349247372.bin",
+ "type": "string"
+ },
+ "is_binary": {
+ "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example": true,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "observation_encoded"
+ ],
+ "example": "observation_encoded",
+ "type": "string"
+ },
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
+ }
+ },
+ "required": [
+ "data",
+ "is_binary"
+ ],
+ "type": "object"
+ },
+ "payload": {
+ "discriminator": {
+ "mapping": {
+ "acknowledgement": "#/components/schemas/acknowledgement",
+ "alert": "#/components/schemas/alert",
+ "mission_plan": "#/components/schemas/mission_plan",
+ "mission_plan_encoded": "#/components/schemas/mission_plan_encoded",
+ "observation": "#/components/schemas/observation",
+ "observation_encoded": "#/components/schemas/observation_encoded",
+ "planning_configuration": "#/components/schemas/planning_configuration",
+ "platform_status": "#/components/schemas/platform_status",
+ "platform_status_encoded": "#/components/schemas/platform_status_encoded",
+ "survey": "#/components/schemas/survey",
+ "survey_encoded": "#/components/schemas/survey_encoded"
+ },
+ "propertyName": "message_type"
+ },
+ "oneOf": [
+ {
+ "$ref": "#/components/schemas/alert"
+ },
+ {
+ "$ref": "#/components/schemas/acknowledgement"
+ },
+ {
+ "$ref": "#/components/schemas/mission_plan"
+ },
+ {
+ "$ref": "#/components/schemas/mission_plan_encoded"
+ },
+ {
+ "$ref": "#/components/schemas/observation"
+ },
+ {
+ "$ref": "#/components/schemas/observation_encoded"
+ },
+ {
+ "$ref": "#/components/schemas/planning_configuration"
+ },
+ {
+ "$ref": "#/components/schemas/platform_status"
+ },
+ {
+ "$ref": "#/components/schemas/platform_status_encoded"
+ },
+ {
+ "$ref": "#/components/schemas/survey"
+ },
+ {
+ "$ref": "#/components/schemas/survey_encoded"
+ }
+ ]
+ },
+ "planning_configuration": {
+ "properties": {
+ "exclusion_zones": {
+ "description": "Exclusion zones for all platforms",
+ "items": {
+ "description": "Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
+ "properties": {
+ "geometry_coordinates": {
+ "example": [
+ [
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ]
+ ]
],
- "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": "array"
+ }
+ },
+ "type": "object"
+ },
+ "type": "array"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "planning_configuration"
+ ],
+ "example": "planning_configuration",
+ "type": "string"
+ },
+ "planning_config_ID": {
+ "description": "Unique identifier tagged to version of this configuration plan",
+ "example": 3,
+ "type": "integer"
+ },
+ "region_of_interest": {
+ "description": "Region of interest for the entire operation",
+ "items": {
+ "description": "Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
+ "properties": {
+ "geometry_coordinates": {
+ "example": [
+ [
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ]
+ ]
+ ],
+ "type": "array"
+ }
+ },
+ "type": "object"
+ },
+ "type": "array"
+ },
+ "squads": {
+ "items": {
+ "properties": {
+ "no_of_platforms": {
+ "description": "Number of platforms",
+ "example": 3,
"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": {
+ },
+ "platforms": {
+ "description": "Squad consists of these platforms",
+ "items": {
+ "properties": {
+ "active": {
+ "description": "If platform is active = True, and inactive = False",
+ "example": true,
+ "type": "boolean"
+ },
+ "additional_data": {
"description": "Any addition fields/data to be added here",
"example": {
- "payload": [
- 1.2,
- 434
- ]
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
},
"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",
+ },
+ "beacon_ID": {
+ "description": "Unique identifier (number) for the beacon associated to this platform",
+ "example": 2407,
+ "type": "number"
+ },
+ "emergency": {
+ "properties": {
+ "safe_command": {
+ "description": "Command/Action that is native to respective partner's platform/C2",
+ "enum": [
+ "go_home",
+ "abort_now",
+ "stop_now",
+ "surface_now"
+ ],
+ "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": "Y-coordinate safe place for respective platform",
+ "example": 50.365,
+ "format": "float",
+ "type": "number"
+ },
+ "target_waypoint_longitude": {
+ "description": "X-coordinate safe place for respective platform",
+ "example": -7.432,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "required": [
+ "target_waypoint_latitude",
+ "target_waypoint_longitude",
+ "target_depth"
+ ],
+ "type": "object"
+ },
+ "endurance_relative_to_water_speed": {
+ "properties": {
+ "avg_battery_rating": {
+ "description": "Battery endurance rating during standard operational speed usage (m/s)",
+ "example": 1.9,
+ "format": "float",
+ "type": "number"
+ },
+ "max_battery_rating": {
+ "description": "Battery endurance rating during maximum speed usage (m/s)",
+ "example": 1.23,
+ "format": "float",
+ "type": "number"
+ },
+ "min_battery_rating": {
+ "description": "Battery endurance rating during maximum speed usage (m/s)",
+ "example": 3.32,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "type": "object"
+ },
+ "max_velocity": {
+ "description": "Maximum velocity set for platform",
+ "example": 0.9,
+ "format": "float",
+ "type": "number"
+ },
+ "min_altitude": {
+ "description": "Minimum altitude set for platform",
+ "example": 15.2,
+ "format": "float",
+ "type": "number"
+ },
+ "min_velocity": {
+ "description": "Minimum velocity set for platform",
+ "example": 0.1,
+ "format": "float",
+ "type": "number"
+ },
+ "model": {
+ "example": "reav",
+ "type": "string"
+ },
+ "operator": {
+ "description": "Operator of platform",
+ "example": "noc",
"type": "string"
- }
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
+ },
+ "scan_sensor": {
+ "properties": {
+ "angle": {
+ "description": "Angle of range of swath width (in degrees)",
+ "example": 140.0,
+ "format": "float",
+ "type": "number"
+ },
+ "frequency": {
+ "description": "Frequency of scanning sensor (in kHz)",
+ "example": 700.0,
+ "format": "float",
+ "type": "number"
+ },
+ "sensor_type": {
+ "description": "Unique identifier for this platform",
+ "enum": [
+ "SIDESCAN",
+ "MBES"
+ ],
+ "example": "MBES",
+ "type": "string"
+ },
+ "swath_width": {
+ "description": "Function of `target_altitude` for the platform's swath width (in metres)",
+ "example": 38.0,
+ "format": "float",
+ "type": "number"
+ },
+ "warmup_time": {
+ "description": "Warmup time (seconds) for sensor to start up.",
+ "example": 180.0,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "type": "object"
+ },
+ "target_altitude": {
+ "description": "Target altitude set for platform. This affects swath width",
+ "example": 15.0,
+ "format": "float",
+ "type": "number"
+ },
+ "turning_radius": {
+ "description": "Turning radius of platform (in metres)",
+ "example": 1.0,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "required": [
+ "operator",
+ "platform_ID",
+ "active",
+ "model"
+ ],
+ "type": "object"
},
- "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)",
+ "type": "array"
+ },
+ "squad_ID": {
+ "description": "Identifier of given squad",
+ "example": 23,
+ "type": "integer"
+ },
+ "squad_mission_type": {
+ "description": "Mission of given squad: `tracking`, `survey`, `inspection`",
"enum": [
- "acoustics",
- "iridium",
- "wifi",
- "starlink"
+ "tracking",
+ "survey",
+ "inspection"
],
- "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",
+ "example": "survey",
"type": "string"
- }
+ }
+ },
+ "required": [
+ "squad_ID",
+ "no_of_platforms",
+ "platforms",
+ "squad_mission_type"
+ ],
+ "type": "object"
},
- "required": [
- "message_type",
- "platform_ID",
- "status_source",
- "platform_timestamp",
- "latitude",
- "longitude"
+ "type": "array"
+ }
+ },
+ "required": [
+ "message_type",
+ "planning_config_ID",
+ "squads",
+ "exclusion_zones",
+ "region_of_interest"
+ ],
+ "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_output": {
+ "description": "Battery output in kW",
+ "example": 80.2,
+ "format": "float",
+ "type": "number"
+ },
+ "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"
+ },
+ "endurance": {
+ "description": "Estimate of hours of operation remaining based on present output or performance",
+ "example": 7.4,
+ "format": "float",
+ "type": "number"
+ },
+ "fuel_remaining_capacity": {
+ "description": "Percentage remaining capacity",
+ "example": 80.2,
+ "format": "float",
+ "type": "number"
+ },
+ "fuel_volume": {
+ "description": "Litres of liquid fuel",
+ "example": 12.5,
+ "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 (Y-coordinate) 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 (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "platform_status"
],
- "type": "object"
- },
- "platform_status_encoded": {
+ "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": {
- "data": {
- "description": "encoded string. E.g. Base64 encoded",
- "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type": "string"
- },
- "file_name": {
- "description": "Name of file",
- "example": "ah1-0238126349247372.bin",
- "type": "string"
- },
- "is_binary": {
- "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
- "example": true,
- "type": "boolean"
- },
- "message_type": {
- "description": "Type of message",
- "enum": [
- "platform_status_encoded"
- ],
- "example": "platform_status_encoded",
- "type": "string"
- },
- "mime_type": {
- "description": "MIME type",
- "example": "application/gzip",
- "type": "string"
- }
+ "additional_data": {
+ "description": "Any addition fields/data to be added here",
+ "example": {
+ "payload": [
+ 1.2,
+ 434
+ ]
+ },
+ "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"
+ }
},
- "required": [
- "data",
- "is_binary"
- ],
"type": "object"
- },
- "survey": {
- "properties": {
- "latitude_A": {
- "description": "Latitude of point A(intersection of normal)from waypoint A to survey line",
- "example": 178.2,
- "format": "float",
- "type": "number"
- },
- "latitude_B": {
- "description": "Latitude of point B(intersection of normal)from waypoint B to survey line",
- "example": 178.2,
- "format": "float",
- "type": "number"
- },
- "latitude_C": {
- "description": "Latitude of point C(intersection of normal)from waypoint C to survey line",
- "example": 178.2,
- "format": "float",
- "type": "number"
- },
- "latitude_D": {
- "description": "Latitude of point D(intersection of normal)from waypoint D to survey line",
- "example": 178.2,
- "format": "float",
- "type": "number"
- },
- "latitude_E": {
- "description": "Latitude of point E(intersection of normal)from waypoint E to survey line",
- "example": 178.2,
- "format": "float",
- "type": "number"
- },
- "longitude_A": {
- "description": "Longitude of point A(intersection of normal)from waypoint A to survey line",
- "example": -10.122,
- "format": "float",
- "type": "number"
- },
- "longitude_B": {
- "description": "Longitude of point B(intersection of normal)from waypoint B to survey line",
- "example": -10.122,
- "format": "float",
- "type": "number"
- },
- "longitude_C": {
- "description": "Longitude of point C(intersection of normal)from waypoint C to survey line",
- "example": -10.122,
- "format": "float",
- "type": "number"
- },
- "longitude_D": {
- "description": "Longitude of point D(intersection of normal)from waypoint D to survey line",
- "example": -10.122,
- "format": "float",
- "type": "number"
- },
- "longitude_E": {
- "description": "Longitude of point E(intersection of normal)from waypoint E to survey line",
- "example": -10.122,
- "format": "float",
- "type": "number"
- },
- "message_type": {
- "description": "Type of message",
- "enum": [
- "survey"
- ],
- "example": "survey",
- "type": "string"
- },
- "platform_ID": {
- "description": "Unique identifier for this platform",
- "example": "ecosub-2",
- "type": "string"
- },
- "timestamp": {
- "description": "Timestamp for onboard message",
- "example": "2022-12-21T00:00:00Z",
- "format": "date-time",
- "type": "string"
- },
- "track_ID": {
- "description": "Track number of action(s) currently executed by platform",
- "example": 1,
- "type": "integer"
- }
- },
- "required": [
- "latitude_A",
- "longitude_A",
- "latitude_B",
- "longitude_B",
- "platform_ID"
+ },
+ "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"
],
- "type": "object"
- },
- "survey_encoded": {
- "properties": {
- "data": {
- "description": "encoded string. E.g. Base64 encoded",
- "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type": "string"
- },
- "file_name": {
- "description": "Name of file",
- "example": "ah1-0238126349247372.bin",
- "type": "string"
- },
- "is_binary": {
- "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
- "example": true,
- "type": "boolean"
- },
- "message_type": {
- "description": "Type of message",
- "enum": [
- "survey_encoded"
- ],
- "example": "survey_encoded",
- "type": "string"
- },
- "mime_type": {
- "description": "MIME type",
- "example": "application/gzip",
- "type": "string"
- }
- },
- "required": [
- "data",
- "is_binary"
+ "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"
],
- "type": "object"
- }
+ "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"
+ }
+ },
+ "required": [
+ "message_type",
+ "platform_ID",
+ "status_source",
+ "platform_timestamp",
+ "latitude",
+ "longitude"
+ ],
+ "type": "object"
+ },
+ "platform_status_encoded": {
+ "properties": {
+ "data": {
+ "description": "encoded string. E.g. Base64 encoded",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "file_name": {
+ "description": "Name of file",
+ "example": "ah1-0238126349247372.bin",
+ "type": "string"
+ },
+ "is_binary": {
+ "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example": true,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "platform_status_encoded"
+ ],
+ "example": "platform_status_encoded",
+ "type": "string"
+ },
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
+ }
+ },
+ "required": [
+ "data",
+ "is_binary"
+ ],
+ "type": "object"
+ },
+ "survey": {
+ "properties": {
+ "latitude_A": {
+ "description": "Latitude of point A(intersection of normal)from waypoint A to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_B": {
+ "description": "Latitude of point B(intersection of normal)from waypoint B to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_C": {
+ "description": "Latitude of point C(intersection of normal)from waypoint C to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_D": {
+ "description": "Latitude of point D(intersection of normal)from waypoint D to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_E": {
+ "description": "Latitude of point E(intersection of normal)from waypoint E to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_A": {
+ "description": "Longitude of point A(intersection of normal)from waypoint A to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_B": {
+ "description": "Longitude of point B(intersection of normal)from waypoint B to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_C": {
+ "description": "Longitude of point C(intersection of normal)from waypoint C to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_D": {
+ "description": "Longitude of point D(intersection of normal)from waypoint D to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_E": {
+ "description": "Longitude of point E(intersection of normal)from waypoint E to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "survey"
+ ],
+ "example": "survey",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "ecosub-2",
+ "type": "string"
+ },
+ "timestamp": {
+ "description": "Timestamp for onboard message",
+ "example": "2022-12-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "track_ID": {
+ "description": "Track number of action(s) currently executed by platform",
+ "example": 1,
+ "type": "integer"
+ }
+ },
+ "required": [
+ "latitude_A",
+ "longitude_A",
+ "latitude_B",
+ "longitude_B",
+ "platform_ID"
+ ],
+ "type": "object"
+ },
+ "survey_encoded": {
+ "properties": {
+ "data": {
+ "description": "encoded string. E.g. Base64 encoded",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "file_name": {
+ "description": "Name of file",
+ "example": "ah1-0238126349247372.bin",
+ "type": "string"
+ },
+ "is_binary": {
+ "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example": true,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "survey_encoded"
+ ],
+ "example": "survey_encoded",
+ "type": "string"
+ },
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
+ }
+ },
+ "required": [
+ "data",
+ "is_binary"
+ ],
+ "type": "object"
}
- },
- "info":{
- "description":"SoAR message protocol in schemas",
- "title":"SoAR Backbone Message Formats",
- "version":"0.2"
- },
- "openapi": "3.0.2",
- "paths": {}
+ }
+ },
+ "info": {
+ "description": "SoAR message protocol in schemas",
+ "title": "SoAR Backbone Message Formats",
+ "version": "1.0"
+ },
+ "openapi": "3.0.2",
+ "paths": {}
}
\ No newline at end of file
diff --git a/setup.py b/setup.py
index 172035dfc7b61d5e5f071d9f9269d0b2b839507a..d3db0d43710e9660c8eed5ea0a8b9ec7fd57156f 100644
--- a/setup.py
+++ b/setup.py
@@ -2,7 +2,7 @@ from setuptools import setup
setup(
- version="0.2.0",
+ version="1.0.0",
name="backbone_message_format",
python_requires=">=3.8",
packages=["backbone_formats", "soar_schema"],
diff --git a/tests-js/docker/Dockerfile b/tests-js/docker/Dockerfile
index 8e06b59362cbab08c8abb295db1dcab5c230aa35..27076ba3a7c46a315949c6ef7ee5648e8d189e1a 100644
--- a/tests-js/docker/Dockerfile
+++ b/tests-js/docker/Dockerfile
@@ -1,15 +1,24 @@
-FROM node:18.7.0-alpine
+FROM python:3.9.16-alpine
+
+# Add node for running JS validator tests
+RUN apk add --update nodejs npm
WORKDIR /app/tests-js
COPY tests-js/package.json /app/tests-js/package.json
+RUN npm install -g yarn
+
RUN yarn install
WORKDIR /app
COPY . /app
+# compile test schema from message
+RUN pip install -r requirements.txt
+RUN python generate_schema_config.py -f tests/test_swagger.json
+
WORKDIR /app/tests-js
CMD [ 'yarn', 'test' ]
diff --git a/tests-js/soar-examples.test.js b/tests-js/soar-examples.test.js
index 22abf84943060b2f7d3e63235e8ce7fb0cf91dd7..56141d1b71911ee4015bcd3d88a5c419e50ebcb4 100644
--- a/tests-js/soar-examples.test.js
+++ b/tests-js/soar-examples.test.js
@@ -3,7 +3,7 @@ const Validator = require('swagger-model-validator');
const OpenAPISchemaValidator = require('openapi-schema-validator').default;
const getSchema = () => {
- const schema = require(`${__dirname}/../project/soar/swagger.json`);
+ const schema = require(`${__dirname}/../tests/test_swagger.json`);
return schema;
};
diff --git a/tests/test_schemas.py b/tests/test_schemas.py
index 2f9d46519be92bdd02cc108e4b7ae80c7f071603..421c48ba6e27e0bfd3260f7c0ae2f359d735111c 100644
--- a/tests/test_schemas.py
+++ b/tests/test_schemas.py
@@ -5,12 +5,28 @@ from jsonschema.validators import RefResolver
import unittest
import json
import os
+from generate_schema_config import write_schema, swagger_config
-SCHEMA_DIR = "project/soar/swagger.json"
MOCK_DATA_DIR = "examples/"
+class SchemaTestCase(unittest.TestCase):
+ def load_schema(self, file_path=None):
+ if file_path:
+ schema_path = file_path
+ else:
+ schema_path = os.getenv("SCHEMA_PATH")
+ schema, _ = read_from_filename(schema_path)
+ return schema
+
+ @classmethod
+ def setUpClass(cls):
+ test_schema_path = "tests/test_swagger.json"
+ os.environ["SCHEMA_PATH"] = test_schema_path
+ write_schema(swagger_config, test_schema_path)
+
+
class SchemaError(Exception):
"""
Test config specs of swagger.json for projects
@@ -19,26 +35,37 @@ class SchemaError(Exception):
def __init__(self, exception_type, message):
self.type = exception_type
self.message = message
- super().__init__(self.message)
+ super().__init__(message)
-class TestSpecs(unittest.TestCase):
+class TestCompiledSoarSpec(SchemaTestCase):
+ """
+ Test the saved version of the compiled schema has been updated
+ """
+
+ def test_compiled_spec_matches_definitions(self):
+ print("TEST: definitions match project/soar/swagger.json")
+ derived_schema = self.load_schema()
+ saved_schema = self.load_schema("project/soar/swagger.json")
+ self.assertEqual(saved_schema, derived_schema)
+
+
+class TestSpecs(SchemaTestCase):
def test_swagger_specs(self):
"""
Test specs (swagger.json generated from generate_schema_config.py)
"""
- schema, spec_url = read_from_filename("tests/fixtures/swagger.json")
+ print("TEST: compiled schema matches openapi v3 spec")
+ schema = self.load_schema()
self.assertIsNone(openapi_v30_spec_validator.validate(schema))
-class TestAllMessageExamples(unittest.TestCase):
+class TestAllMessageExamples(SchemaTestCase):
def test_schema_specs(self):
"""
Test specs (swagger.json generated from generate_schema_config.py)
"""
- schema_ref = open(SCHEMA_DIR)
- schema = json.load(schema_ref)
- schema_ref.close()
+ schema = self.load_schema()
partner_dir_list = os.listdir(MOCK_DATA_DIR)
@@ -70,8 +97,6 @@ class TestAllMessageExamples(unittest.TestCase):
f.close()
print("Done.")
- schema_ref.close()
-
if __name__ == "__main__":
unittest.main()