diff --git a/__init__.py b/__init__.py
index 2253a07952dc605ffa662b625265c4b68b841e53..22406df62d6971c8d5ba7f5c05edc8f9f702ebdd 100644
--- a/__init__.py
+++ b/__init__.py
@@ -1,3 +1,5 @@
+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
diff --git a/autonomy_configuration.py b/autonomy_configuration.py
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..3cbadf9d9451594e745209e1ed9941596eecbc17 100644
--- a/autonomy_configuration.py
+++ b/autonomy_configuration.py
@@ -0,0 +1,100 @@
+"""
+ 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",
+ ),
+ },
+)
diff --git a/vehicle_status.py b/vehicle_status.py
new file mode 100644
index 0000000000000000000000000000000000000000..4b5314abec9cae918c2123d575e94a5a909e31a7
--- /dev/null
+++ b/vehicle_status.py
@@ -0,0 +1,124 @@
+"""
+ schema: vehicle-specific decoded status message (DRAFT)
+"""
+from . import message_header_schema, api
+from flask_restx import fields
+
+
+vehicle_status_message_schema = api.model(
+ "VehicleStatusMessage",
+ {
+ "message": fields.Nested(
+ message_header_schema,
+ required=True,
+ description="Message header",
+ ),
+ "serial_number": fields.String(
+ required=True,
+ description="vehicle serial number",
+ example="ah-1",
+ ),
+ "time": fields.String(
+ required=True,
+ description="Timestamp of message",
+ example="2022-11-16T00:00:00Z",
+ ),
+ "version": fields.Integer(
+ required=False,
+ description="", # we can track the version of the AE plan?
+ example="",
+ ),
+ "platform_ID": fields.Integer(
+ required=True,
+ description="Platform ID",
+ example=2,
+ ),
+ "platform_type": fields.String(
+ required=True,
+ description="The high level type of this vehicle",
+ example="alr",
+ ),
+ "platform_state": fields.String(
+ required=True,
+ description="",
+ example="SAFETY_STOP",
+ ),
+ "mission_track_number": fields.Integer(
+ required=True,
+ 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="Source of gps position. E.g. Beacon",
+ example="internal",
+ ),
+ "latitude": fields.Float(
+ required=True,
+ description="Latitude in <insert units>",
+ example="",
+ ),
+ "longitude": fields.Float(
+ required=True,
+ description="Longitude in <insert units>",
+ example="",
+ ),
+ "depth": fields.Float(
+ required=True,
+ description="",
+ example="",
+ ),
+ "gps_fix_seconds_ago": fields.String(
+ required=True,
+ description="",
+ example="",
+ ),
+ "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?
diff --git a/vehicle_status_schema.py b/vehicle_status_schema.py
deleted file mode 100644
index a44eb2d550a051974d696e3007734d3630d902f7..0000000000000000000000000000000000000000
--- a/vehicle_status_schema.py
+++ /dev/null
@@ -1,84 +0,0 @@
-"""
- schemas: vehicle-specific decoded status message (DRAFT ONLY)
-"""
-from flask_restx import Api, fields
-from flask import Flask
-
-app = Flask(__name__)
-api = Api(app)
-
-vehicle_status_message_schema = api.model(
- "VehicleStatusMessage",
- {
- "message_source": fields.String(
- 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,
- ),
- "serial_number": fields.String(
- required=True,
- description="vehicle serial number",
- example="ah-1",
- ),
- "time": fields.String(
- required=True,
- description="Timestamp of message",
- example="2022-11-16T00:00:00Z",
- ),
- "version": fields.Integer(
- required=True,
- description="", # we can track the version of the AE plan?
- example="",
- ),
- "platform_ID": fields.Integer(
- required=True,
- description="Platform ID",
- example=2,
- ),
- "platform_type": fields.String(
- required=True,
- description="The high level type of this vehicle",
- example="alr",
- ),
- "platform_state": fields.String(
- required=True,
- description="",
- example="SAFETY_STOP",
- ),
- "current_mission_state": fields.String(
- required=True,
- description="",
- example="",
- ),
- "gps_source": fields.Float(
- required=True,
- description="",
- example="",
- ),
- "gps_lat": fields.Float(
- required=True,
- description="",
- example="",
- ),
- "gps_lon": fields.Float(
- required=True,
- description="",
- example="",
- ),
- "gps_fix_seconds_ago": fields.String(
- required=True,
- description="",
- example="",
- ),
- },
-)