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Commit 7b0f6f5e authored by Trishna Saeharaseelan's avatar Trishna Saeharaseelan
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refactor: added message schemas autonomy config, vehicle, status

parent 242b186f
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__init__.py
View file @ 7b0f6f5e
from flask_restx import Api, fields
from flask import Flask
import os
......@@ -6,3 +8,70 @@ __all__ = [
for x in os.listdir(os.path.dirname(__file__))
if x.endswith(".py") and x != "__init__.py"
]
app = Flask(__name__)
api = Api(app)
message_types = [
"vehicle_status"
] # TODO: Add full range of message types once scoped out
message_header_schema = api.model(
"MessageHeader",
{
"timestamp": fields.String( # TODO: Update to Datetime UTC format
required=True,
description="Timestamp of message",
example="2022-11-16T00:00:00Z",
),
"source": fields.String(
required=True,
description="Where is this message from",
example="autonomy_engine",
),
"destination": fields.String(
required=True,
description="What is the destination of this message",
example="ah-1",
),
"encoded": fields.Boolean(
required=True,
description="Indicate that message raw (encoded) or decoded. "
+ "Options: encoded=True, decoded=False",
example=False,
),
"type": fields.String(
required=True,
description="Type of message",
example="vehicle_status",
),
},
)
vehicle_schema = api.model(
"VehicleSchema",
{
"vehicle_ID": fields.Integer(
required=True,
description="vehicle serial number",
example="ah-1",
),
"serial": fields.Integer(
required=True,
description="vehicle serial number",
example="ah-1",
),
"model": fields.Integer(
required=True,
description="vehicle serial number",
example="ah-1",
),
"active": fields.Boolean(
required=False,
description="Vehicle in mission",
example=True,
),
},
)
# TODO: Add generic positions schema
# TODO: Define units for all schemas
autonomy_configuration.py
View file @ 7b0f6f5e
"""
schemas: configuration sent to Autonomy Engine (i.e. during an emergency,
if a vehicle needs to be removed from the mission planning)
"""
from . import api, message_header_schema, vehicle_schema
from flask_restx import fields
squad_metadata_schema = api.model(
"SquadMetadataSchema",
{
"squad_ID": fields.Integer(
required=True,
description="vehicle serial number",
example="ah-1",
),
"no_of_vehicles": fields.Integer(
required=True,
description="number of vehicle serial number",
example="ah-1",
),
"vehicles": fields.List(
fields.Nested(vehicle_schema),
required=True,
description="Metadata pf each vehicle",
),
"squad_mission_type": fields.String(
required=True,
description="Survey or Detail",
example="survey",
),
"squad_execution": fields.Boolean(
required=True,
description="True if Squad of survey executed by Autonomy Engine",
example=False,
),
},
)
constraints_schema = api.model(
"ConstraintsSchema",
# TODO: Should this be per vehicle instead of squad?
{
"min_altitude": fields.Float(
required=True,
description="Minimum altitude set for squad.",
example=15.2,
),
"min_velocity": fields.Float(
required=True,
description="Minimum velocity set for squad.",
example=0.1,
),
"max_velocity": fields.Float(
required=True,
description="Maximum altitude set for squad.",
example=0.9,
),
},
)
environment_config_schema = api.model( # TODO: Discuss how regions are defined
"EnvironmentConfig",
{
"region_of_interest": fields.String(),
"exclusion_zone": fields.String(),
},
)
# Main Autonomy Configuration Schema
autonomy_configuration_schema = api.model(
"SquadConfigurationSchema",
{
"message": fields.Nested(
message_header_schema,
required=True,
description="Message header",
),
"ID": fields.Integer(
required=True,
description="Unique identifier tagged to version of this"
+ " configuration plan",
example=3,
),
"time": fields.String(
required=True,
description="",
example="",
),
"squads": fields.Nested(
squad_metadata_schema,
required=False,
description="Details of each squad",
),
"environment": fields.Nested(
environment_config_schema,
required=False,
description="Region of interest and exclusion zone",
),
},
)
vehicle_status_schema.py → vehicle_status.py
View file @ 7b0f6f5e
"""
schemas: vehicle-specific decoded status message (DRAFT ONLY)
schema: vehicle-specific decoded status message (DRAFT)
"""
from flask_restx import Api, fields
from flask import Flask
from . import message_header_schema, api
from flask_restx import fields
app = Flask(__name__)
api = Api(app)
vehicle_status_message_schema = api.model(
"VehicleStatusMessage",
{
"message_source": fields.String(
"message": fields.Nested(
message_header_schema,
required=True,
description="Where is this message from",
example="autonomy_engine",
),
"message_destination": fields.String(
required=True,
description="What is the destination of this message",
example="ah-1",
),
"encoded": fields.Boolean(
required=True,
description="Is this message encoded (encoded=True, decoded=False)",
example=False,
description="Message header",
),
"serial_number": fields.String(
required=True,
......@@ -36,8 +24,8 @@ vehicle_status_message_schema = api.model(
example="2022-11-16T00:00:00Z",
),
"version": fields.Integer(
required=True,
description="", # we can track the version of the AE plan?
required=False,
description="", # we can track the version of the AE plan?
example="",
),
"platform_ID": fields.Integer(
......@@ -55,22 +43,47 @@ vehicle_status_message_schema = api.model(
description="",
example="SAFETY_STOP",
),
"current_mission_state": fields.String(
"mission_track_number": fields.Integer(
required=True,
description="",
example="",
description=(
"Track number - stage in mission (e.g. "
+ "4 --> Waypoint 3 to Waypoint 4)"
),
example=4,
),
"range_to_go": fields.Float(
required=False,
description="Estimated distance to reach next waypoint",
example=124.3,
),
"vehicle_state": fields.String(
required=True,
description="Current state executed by vehicle. E.g. "
+ "STOP, IDLE, ABORT.",
example="IDLE",
),
"c2_health_status": fields.String(
required=True,
description="Health status determined by vehicle's C2 "
+ "checks on sensors",
example="Warning",
),
"gps_source": fields.Float(
required=True,
description="",
description="Source of gps position. E.g. Beacon",
example="internal",
),
"latitude": fields.Float(
required=True,
description="Latitude in <insert units>",
example="",
),
"gps_lat": fields.Float(
"longitude": fields.Float(
required=True,
description="",
description="Longitude in <insert units>",
example="",
),
"gps_lon": fields.Float(
"depth": fields.Float(
required=True,
description="",
example="",
......@@ -80,5 +93,32 @@ vehicle_status_message_schema = api.model(
description="",
example="",
),
"battery_voltage": fields.Float(
required=True,
description="Volts",
example=23.0,
),
"battery_current": fields.Float(
required=False,
description="Amps",
example=1.2,
),
"battery_current_per_hour": fields.Float(
required=False,
description="Amp-Hours",
example=1.2,
),
"battery_wattage": fields.Float(
required=False,
description="Watts",
example=23.0,
),
"battery_wattage_per_hour": fields.Float(
required=False,
description="Watt-Hours",
example=23.0,
),
},
)
# TBD: Do we append beacon positions with vehicle positions?
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