Merge branch '67-mas-dt' into 'dev'

Resolve "Create temporary mas-dt branch for initial schema refactor"

Closes #67

See merge request !36

.flake8

+[flake8]
+# Black formats code with max line length of 88
+# Bugbears B950 warning allows lines to be 10% longer than flake8's max
+max-line-length = 80
+
+# Errors and warnings to report
+select =
+    C,
+    E,
+    F,
+    W,
+    B,
+    # Allow max line length to be exceeded by 10% before warning.
+    B950
+
+# Errors and warnings to ignore
+ignore =
+    # Black puts space around slice operator which flake8 errors on.
+    E203,
+    # No error on max line length exceeded as B950 is doing this for us.
+    E501,
+    # Black puts line breaks before binary operators so don't warn this.
+    W503
+    B036
+    E999
+
+# Folders to ignore
+exclude =
+    .git,
+    *.pyc,
+    __pycache__,
+    ./docker,
+    ./docs,
+    ./kustomize
+    ./requirements.txt
+    ./requirements-dev.txt
+    ./CHANGELOG.md 
+    ./CONTRIBUTING.md

CHANGELOG.md

@@ -7,28 +7,65 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
 
 ## [Unreleased]
 
-## [v1.0.0] - 2024-08-28 
+### Removed
+
+- Removed "repeat" primitive instruction's enum (planning config)
+
+### Added
+
+- Route to header schema which shows the list of client_IDs relaying the message from the true source of message to final destination of it.
+- New message type "autonomy_engine_control". Long term plan is to integrate this as an object into the planning configuration schema, where if an operation has autonomy, the metadata, configurations, any instructions / default settings shall be within this message structure section.
+- Additional_data field to platform_status to input any other data from a platform to be published
+- Goal object in mission_plan message that consists of a GeoJSON feature (representing the part of primitive that is currently the goal of the given mission plan).
+- A `partial` flag that indicates if a mission plan is a partial plan or the entire mission plan
+- Added "informational" to enum for primitive's instruction enum (planning configuration)
+- Options to primitives (under planning_configuration message) which is only a property when a primitive has an instruction of "follow" or "navigate_to"
+- Validate message_ID matches uuid format
+- Add definition of instruction_set message
+- Added optional primitives to squad schema
 
 ### Changed
 
-- Use discover to find all unit tests 
-- Run tests against current format definitions 
-- Test that formats match saved schema 
+- Added "instruction" as required under the primitive schema (planning configuration)
+- Refactor instructeion_set into platform_instruction_set
+- Refactor mission_plan schema autonomy_engine_plan_ID oneOf
+- Update all example messages with valid UUIDs
+- Refactor action schema to accept geojson.Points
+- Use geojson Point for platform_status
+- Add waypoint to platform_status
+- Updated header version to accept semver, branch or commit
+- Store remote schemas as committed local files
+  This prevents the live runtime loading untested changes
+- Refactored planning_configuration message definition
+  - Remove region_of_interest and exclusion_zones
+  - Add primitives array of classified geojson Features
+- Inject remote geojson schema definitions
+- Use geojson Polygon instead of region_schema
+- Upgraded openapi-spec-validator to latest release (0.7.1)
+- Upgraded openapi-schema-validator to latest release (0.6.2)
+
+## [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 
+- Refactor generate_schema_config script to output file on -f flag
 
 ### Fixed
 
 - Add `--remove-orphans` to javascript CI test docker compose arguments
 
-## [v0.2.0] - 2024-02-06 
+## [v0.2.0] - 2024-02-06
 
-### Added 
+### Added
 
-- New alert message definition 
+- New alert message definition
 - Emergency flag in mission plan schemas
-- Added additional battery and fuel fields to platform status for SPINE project 
+- Added additional battery and fuel fields to platform status for SPINE project
 
 ### Changed
 
@@ -39,14 +76,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
 ### Added
 
 JSON schema definitions for the SoAR project
-- outer wrapper MESSAGE definition 
-- header object 
+- outer wrapper MESSAGE definition
+- header object
 - payload object
   - acknowledgement
   - mission_plan (raw and encoded)
   - observation (raw and encoded)
-  - platform_status (raw and encoded) 
-  - planning_configuration 
+  - platform_status (raw and encoded)
+  - planning_configuration
 
 Example messages matching the schema for each partner
 

README.md

@@ -93,7 +93,7 @@ python3 -m unittest discover
 2. Test 2 - Use javascript validators
 ```
 # Compile schema and run javascript validation tests in docker
-python3 test-js.py
+bash test-js.sh
 ```
 
 ## Quick Links

examples/autonomy_engine_adapter/acknowledgement.json

 {
     "header":{
-        "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+        "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd",
         "timestamp": "2022-11-16T00:00:00Z",
         "version": 1,
         "source": "hydrosurv_adapter",

examples/autonomy_engine_adapter/emergency_mission_command.json

 {
     "header": {  
-      "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+      "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd",
       "timestamp": "2022-11-16T00:00:00Z",
       "version": 2,
       "source": "gui",

examples/autonomy_engine_adapter/emergency_mission_plan.json

 {
     "header": {  
-      "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+      "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd",
       "timestamp": "2022-11-16T00:00:00Z",
       "version": 2,
       "source": "gui",

examples/autonomy_engine_adapter/mission_plan_AH1.json

 {
   "header": {  
-    "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+    "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd",
     "timestamp": "2022-11-16T00:00:00Z",
     "version": 2,
     "source": "autonomy_engine",

examples/autonomy_engine_adapter/mission_plan_ECOSUB.json

 {
   "header": {  
-    "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+    "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd",
     "timestamp": "2022-11-16T00:00:00Z",
     "version": 2,
     "source": "autonomy_engine",

examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json

 {
   "header":{
-    "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+    "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd",
     "timestamp": "2022-11-16T00:00:00Z",
     "version": 2,
     "source": "autonomy_engine",

examples/autonomy_engine_adapter/mission_plan_encoded.json

 {
   "header": {  
-    "message_ID": "t1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+    "message_ID": "t1237003c-0000-11aa-a1eb-b1cdf2342fdd",
     "timestamp": "2023-03-16T00:00:00Z",
     "version": 2,
     "source": "autonomy_engine",

examples/autonomy_engine_adapter/observation_encoded.json

 {
   "header": {  
-    "message_ID": "e1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+    "message_ID": "e1237003c-0000-11aa-a1eb-b1cdf2342fdd",
     "timestamp": "2023-03-16T00:00:00Z",
     "version": 2,
     "source": "hermes.ecosub2",

examples/autonomy_engine_adapter/planning_configuration.json

 {
   "header":{
-    "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+    "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd",
     "timestamp": "2022-11-16T00:00:00Z",
     "version": 2,
     "source": "gui",
-    "destination": "soar.all.all.all.from_platform.planning_configuration",
+    "destination": "",
     "delivery_type": "broadcast",
     "encoded": false
   },
   "payload":{
     "message_type": "planning_configuration",
     "planning_config_ID": 1,
-    "exclusion_zones": [
+    "primitives": [
       {
-        "geometry_coordinates": [
-          [
-            [
-              -4.1777839187560915,
-              50.34173405662855
-            ],
-            [
-              -4.1777839187560915,
-              50.33820949229701
-            ],
-            [
-              -4.143667777943875,
-              50.33820949229701
-            ],
-            [
-              -4.143667777943875,
-              50.34173405662855
-            ],
-            [
-              -4.1777839187560915,
-              50.34173405662855
+        "instruction": "stay_outside",
+        "feature": {
+          "type": "Feature",
+          "properties": {
+            "name": "The Rock",
+            "type": "exclusion_zone"
+          },
+          "geometry": {
+            "type": "Polygon", 
+            "coordinates": [
+              [
+                [
+                  -4.1777839187560915,
+                  50.34173405662855
+                ],
+                [
+                  -4.1777839187560915,
+                  50.33820949229701
+                ],
+                [
+                  -4.143667777943875,
+                  50.33820949229701
+                ],
+                [
+                  -4.143667777943875,
+                  50.34173405662855
+                ],
+                [
+                  -4.1777839187560915,
+                  50.34173405662855
+                ]
+              ]
             ]
-          ]
-        ]
-      }
-    ],
-    "region_of_interest": [
+          }
+        }
+      },
       {
-        "geometry_coordinates": [
-          [
-            [
-              -4.1777839187560915,
-              50.34173405662855
-            ],
-            [
-              -4.1777839187560915,
-              50.33820949229701
-            ],
-            [
-              -4.143667777943875,
-              50.33820949229701
-            ],
-            [
-              -4.143667777943875,
-              50.34173405662855
-            ],
-            [
-              -4.1777839187560915,
-              50.34173405662855
+        "instruction": "stay_inside",
+        "feature": {
+          "type": "Feature",
+          "properties": {
+            "name": "Survey Zone Charlie",
+            "type": "operating area"
+          },
+          "geometry": {
+            "type": "Polygon", 
+            "coordinates": [
+              [
+                [
+                  -4.1777839187560915,
+                  50.34173405662855
+                ],
+                [
+                  -4.1777839187560915,
+                  50.33820949229701
+                ],
+                [
+                  -4.143667777943875,
+                  50.33820949229701
+                ],
+                [
+                  -4.143667777943875,
+                  50.34173405662855
+                ],
+                [
+                  -4.1777839187560915,
+                  50.34173405662855
+                ]
+              ]
             ]
-          ]
-        ]
+          }
+        }
       }
     ],   
     "squads": [

examples/autonomy_engine_adapter/platform_status-from_usbl_example.json

 {
     "header":{
-        "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+        "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd",
         "timestamp": "2022-11-16T00:00:00Z",
         "version": 2,
         "source": "hermes",

examples/autonomy_engine_adapter/platform_status.json

 {
     "header":{
-        "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+        "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd",
         "timestamp": "2022-11-16T00:00:00Z",
         "version": 2,
         "source": "ecosub_c2",

examples/autonomy_engine_adapter/platform_status_encoded.json

 {
   "header": {  
-    "message_ID": "t1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+    "message_ID": "t1237003c-0000-11aa-a1eb-b1cdf2342fdd",
     "timestamp": "2023-03-16T00:00:00Z",
     "version": 2,
     "source": "hermes.ah1",

examples/autonomy_engine_adapter/survey.json

 {
     "header": {  
-      "message_ID": "e1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+      "message_ID": "e1237003c-0000-11aa-a1eb-b1cdf2342fdd",
       "timestamp": "2023-03-16T00:00:00Z",
       "version": 2,
       "source": "ecosub.ecosub-c2",

examples/autonomy_engine_adapter/survey_encoded.json

 {
     "header": {  
-      "message_ID": "t1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+      "message_ID": "t1237003c-0000-11aa-a1eb-b1cdf2342fdd",
       "timestamp": "2023-03-16T00:00:00Z",
       "version": 2,
       "source": "hermes.ecosub-2",

examples/ecosub_adapter/mission_plan.json

 {
   "header": {  
-    "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+    "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd",
     "timestamp": "2022-11-16T00:00:00Z",
     "version": 2,
     "source": "autonomy_engine",

examples/ecosub_adapter/observation.json

 {
     "header":{
-        "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+        "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd",
         "timestamp": "2022-11-16T00:00:00Z",
         "version": 2,
         "source": "ecosub_c2",

examples/ecosub_adapter/observation_encoded.json

 {
   "header": {  
-    "message_ID": "e1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+    "message_ID": "e1237003c-0000-11aa-a1eb-b1cdf2342fdd",
     "timestamp": "2023-03-16T00:00:00Z",
     "version": 2,
     "source": "hermes.ecosub2",