From 925814a7b330b84e8e060088b43c47c060fe39c6 Mon Sep 17 00:00:00 2001
From: Trishna Saeharaseelan <trishna.saeharaseelan@noc.ac.uk>
Date: Fri, 3 Mar 2023 11:47:30 +0000
Subject: [PATCH] fix: projects to project
---
__init__.py | 2 +-
project/__init__.py | 0
project/soar/SOAR_README.md | 51 +++
project/soar/swagger.json | 697 ++++++++++++++++++++++++++++++++++++
tests/test_schemas.py | 2 +-
5 files changed, 750 insertions(+), 2 deletions(-)
create mode 100644 project/__init__.py
create mode 100644 project/soar/SOAR_README.md
create mode 100644 project/soar/swagger.json
diff --git a/__init__.py b/__init__.py
index 41054da..69f9fe8 100644
--- a/__init__.py
+++ b/__init__.py
@@ -5,7 +5,7 @@ from flask import Flask
__all__ = [
"formats",
"examples",
- "projects",
+ "project",
"tests",
]
app = Flask(__name__)
diff --git a/project/__init__.py b/project/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/project/soar/SOAR_README.md b/project/soar/SOAR_README.md
new file mode 100644
index 0000000..74338d8
--- /dev/null
+++ b/project/soar/SOAR_README.md
@@ -0,0 +1,51 @@
+# SoAR Project
+Squad of Adaptive Robots Project
+
+-----------------------------------
+## Message Data Flow Summary
+| Partner | Message Type | Source | Destination | Via Comms Backbone? | Contains Serialized Vehicle-Specific File? | Comment |
+| --------------------- | ------------------------ | --------------------- | ------------------------------------------ | ------------------- | ------------------------------------------ | ---------------------------------------------------------------------------------------- |
+| Hydrosurv (reav) | platform status-compiled | Reav-60 | Hydrosurv Adapter | No | Yes | N/A |
+| Hydrosurv (reav) | platform status | Hydrosurv Adapter | Autonomy Engine | Yes | No | N/A |
+| Hydrosurv (reav) | mission plan | Autonomy Engine | Hydrosurv Adapter | Yes | No | N/A |
+| Hydrosurv (reav) | mission plan-compiled | Hydrosurv Adapter | Reav-60 | No | Yes | N/A |
+| Hydrosurv (reav) | acknowledgement | Hydrosurv Adapter | Comms Backbone (Audit) | Yes | No | When hydrosurv adapter has (a) Received, (b) Sent Plan to Reav, and (c) Executed by Reav |
+| RHU (autonomy engine) | platform status | C2’s Hydrosurv/Ecosub | Autonomy Engine | Yes | No | N/A |
+| RHU (autonomy engine) | mission plan | Autonomy Engine | C2’s Hydrosurv/Ecosub | Yes | No | N/A |
+| RHU (autonomy engine) | planning configuration | GUI | Autonomy Engine | Yes | No | N/A |
+| RHU (autonomy engine) | observation | Ecosub C2 | Autonomy Engine | Yes | No | N/A |
+| RHU (autonomy engine) | survey progress | Ecosub/AH1 C2 | Autonomy Engine | TBD | TBD | N/A |
+| RHU (autonomy engine) | scanline | TBD | TBD | TBD | TBD | N/A |
+| RHU (autonomy engine) | emergency | GUI | TBD – all | TBD | TBD | TBD – all platforms pre-compiled ABORT via Black box |
+| Planet Ocean (ecosub) | platform status-compiled | Ecosub | Black Box TBC | No | Yes | Via Hermes + Router |
+| Planet Ocean (ecosub) | platform status-compiled | Black Box TBC | Ecosub C2 | Yes | Yes | N/A |
+| Planet Ocean (ecosub) | platform status | Ecosub C2 | Autonomy Engine | Yes | No | N/A |
+| Planet Ocean (ecosub) | mission plan | Autonomy Engine | Ecosub C2 | Yes | No | N/A |
+| Planet Ocean (ecosub) | mission plan | Ecosub C2 | Black Box TBC | Yes | Yes | N/A |
+| Planet Ocean (ecosub) | mission plan-compiled | Black Box TBC | Ecosub | No | Yes | Via Hermes + Router |
+| Planet Ocean (ecosub) | observation-compiled | Ecosub | Black Box TBC | No | Yes | Via Hermes + Router |
+| Planet Ocean (ecosub) | observation-compiled | Black Box TBC | Ecosub C2 | Yes | Yes | N/A |
+| Planet Ocean (ecosub) | observation | Ecosub C2 | Autonomy Engine | Yes | No | N/A |
+| Planet Ocean (ecosub) | survey progress | TBD | TBD | TBD | TBD | N/A |
+| Planet Ocean (ecosub) | survey progress | TBD | TBD | TBD | TBD | N/A |
+| Planet Ocean (ecosub) | scanline | TBD | TBD | TBD | TBD | N/A |
+| Planet Ocean (ecosub) | scanline | TBD | TBD | TBD | TBD | N/A |
+| Planet Ocean (ecosub) | emergency | GUI | TBD – Ecosub (ABORT command via Black Box) | TBD | TBD | TBD – all platforms pre-compiled ABORT via Black box |
+| NOC (AH1) | platform status-compiled | AH1 | Black Box TBC | No | Yes | Via Hermes + Router |
+| NOC (AH1) | platform status-compiled | Black Box TBC | NOC C2 | Yes | Yes | N/A |
+| NOC (AH1) | platform status | NOC C2 | Autonomy Engine | Yes | No | N/A |
+| NOC (AH1) | scan point | Autonomy Engine | NOC C2 | Yes | No | N/A |
+| NOC (AH1) | scan point-compiled | NOC C2 | Black Box TBC | Yes | Yes | Would this technically be a mission plan-compiled? |
+| NOC (AH1) | scan point | Black Box TBC | Ecosub | No | Yes | Via Hermes + Router |
+| NOC (AH1) | survey progress | TBD | TBD | TBD | TBD | TBD |
+| NOC (AH1) | survey progress | TBD | TBD | TBD | TBD | TBD |
+| NOC (AH1) | emergency | GUI | TBD – AH1 (ABORT command via Black Box) | TBD | TBD | TBD – all platforms pre-compiled ABORT via Black box |
+| NOC (GUI) | planning configuration | GUI | Autonomy Engine | Yes | No | N/A |
+| NOC (GUI) | emergency | GUI | TBD | TBD | TBD | TBD |
+
+## Run Docs
+1. Run the command below
+```
+python3 generate_swagger.py
+```
+2. Go to `http://127.0.0.1:5000/soardocs/`
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
new file mode 100644
index 0000000..9bdf22a
--- /dev/null
+++ b/project/soar/swagger.json
@@ -0,0 +1,697 @@
+{
+ "components":{
+ "schemas":{
+ "MESSAGE":{
+ "description":"Full message definition with message-metadata in `header` and different message type schemas under `payload`",
+ "properties":{
+ "header":{
+ "$ref":"#/components/schemas/header"
+ },
+ "payload":{
+ "$ref":"#/components/schemas/payload"
+ }
+ },
+ "required":[
+ "header",
+ "payload"
+ ],
+ "type":"object"
+ },
+ "acknowledgement":{
+ "properties":{
+ "approved":{
+ "description":"Human-in-the-loop approval.1 - Plan approved; 0 - Plan Rejected",
+ "type":"boolean"
+ },
+ "autonomy_engine_plan_ID":{
+ "description":"Mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
+ "example":1,
+ "type":"integer"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "example":"acknowledgement",
+ "type":"string"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ }
+ },
+ "required":[
+ "message_type",
+ "autonomy_engine_plan_ID",
+ "platform_ID",
+ "approved"
+ ],
+ "type":"object"
+ },
+ "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"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "example":"mission_plan",
+ "type":"string"
+ },
+ "plan":{
+ "items":{
+ "properties":{
+ "action":{
+ "description":"Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
+ "example":"move",
+ "type":"string"
+ },
+ "activate_payload":{
+ "description":"To activate/deactivate sensor for Autosub Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
+ "example":true,
+ "type":"boolean"
+ },
+ "altitude":{
+ "description":"Altitude of next action",
+ "example":15.0,
+ "format":"float",
+ "type":"number"
+ },
+ "depth":{
+ "description":"Depth of next action",
+ "example":15.0,
+ "format":"float",
+ "type":"number"
+ },
+ "flight_style":{
+ "description":"Platform-specific modes/flight styles to perform next action",
+ "example":"orbit",
+ "type":"string"
+ },
+ "send_environmental_data":{
+ "description":"To trigger the platform to send list of observations if any found",
+ "example":false,
+ "type":"boolean"
+ },
+ "start_point_latitude":{
+ "description":"Start point, x-coordinate",
+ "example":-4.187143188645706,
+ "format":"float",
+ "type":"number"
+ },
+ "start_point_longitude":{
+ "description":"Start point, y-coordinate",
+ "example":50.37072283932642,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_latitude":{
+ "description":"Target waypoint, x-coordinate",
+ "example":-4.187143188645706,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_longitude":{
+ "description":"Target waypoint, y-coordinate",
+ "example":50.37072283932642,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "target_waypoint_latitude",
+ "target_waypoint_longitude"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ }
+ },
+ "required":[
+ "message_type",
+ "autonomy_engine_plan_ID",
+ "platform_ID",
+ "plan"
+ ],
+ "type":"object"
+ },
+ "observation":{
+ "properties":{
+ "additional_data":{
+ "description":"Placeholder field for any additional data",
+ "example":{
+ "sensor_payload":false
+ }
+ },
+ "message_type":{
+ "description":"Type of message",
+ "example":"observation",
+ "type":"string"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ },
+ "points_of_interest":{
+ "description":"Points from features of interest identified by platform if any found.",
+ "items":{
+ "properties":{
+ "latitude":{
+ "description":"Identified x-coordinate of point of interest",
+ "example":178.2,
+ "format":"float",
+ "type":"number"
+ },
+ "longitude":{
+ "description":"Identified y-coordinate of point of interest",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "quality_of_point":{
+ "description":"Quality/strength of points from features of interest identified by platform.",
+ "example":0.98,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "latitude",
+ "longitude"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "region_surveyed":{
+ "description":"Region surveyed by given platform. GEOJSON",
+ "example":"",
+ "nullable":true
+ }
+ },
+ "required":[
+ "message_type",
+ "platform_ID"
+ ],
+ "type":"object"
+ },
+ "payload":{
+ "discriminator":{
+ "mapping":{
+ "acknowledgement":"#/components/schemas/acknowledgement",
+ "mission_plan":"#/components/schemas/mission_plan",
+ "observation":"#/components/schemas/observation",
+ "planning_configuration":"#/components/schemas/planning_configuration",
+ "platform_status":"#/components/schemas/platform_status"
+ },
+ "propertyName":"message_type"
+ },
+ "oneOf":[
+ {
+ "$ref":"#/components/schemas/acknowledgement"
+ },
+ {
+ "$ref":"#/components/schemas/mission_plan"
+ },
+ {
+ "$ref":"#/components/schemas/observation"
+ },
+ {
+ "$ref":"#/components/schemas/planning_configuration"
+ },
+ {
+ "$ref":"#/components/schemas/platform_status"
+ }
+ ]
+ },
+ "planning_configuration":{
+ "properties":{
+ "exclusion_zones":{
+ "description":"Exclusion zones for all platforms",
+ "items":{
+ "description":"Using GEOJSON, exact 4-point region (rectangle shaped)",
+ "properties":{
+ "geometry_coordinates":{
+ "example":[
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ]
+ ]
+ ],
+ "type":"array"
+ }
+ },
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "example":"planning_configuration",
+ "type":"string"
+ },
+ "planning_config_ID":{
+ "description":"Unique identifier tagged to version of this configuration plan",
+ "example":3,
+ "type":"integer"
+ },
+ "squads":{
+ "items":{
+ "properties":{
+ "no_of_platforms":{
+ "description":"Number of platforms",
+ "example":3,
+ "type":"integer"
+ },
+ "platforms":{
+ "description":"Squad consists of these platforms",
+ "items":{
+ "properties":{
+ "additional_specs":{
+ "description":"Any addition fields/data to be added here",
+ "example":{
+ "scan_type":"DVL",
+ "swath_width":10.0
+ }
+ },
+ "emergency":{
+ "properties":{
+ "additional_data":{
+ "description":"Any addition fields/data to be added here",
+ "example":{
+
+ }
+ },
+ "safe_command":{
+ "description":"Command/Action that is native to respective partner's platform/C2",
+ "enum":[
+ "go_home",
+ "abort_now",
+ "stop_mission"
+ ],
+ "example":"go_home",
+ "type":"string"
+ },
+ "target_depth":{
+ "description":"Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
+ "example":10.0,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_latitude":{
+ "description":"X-coordinate safe place for respective platform",
+ "example":-7.432,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_longitude":{
+ "description":"Y-coordinate safe place for respective platform",
+ "example":50.365,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "target_waypoint_latitude",
+ "target_waypoint_longitude",
+ "target_depth"
+ ],
+ "type":"object"
+ },
+ "max_velocity":{
+ "description":"Maximum altitude set for squad.",
+ "example":0.9,
+ "format":"float",
+ "type":"number"
+ },
+ "min_altitude":{
+ "description":"Minimum altitude set for squad.",
+ "example":15.2,
+ "format":"float",
+ "type":"number"
+ },
+ "min_velocity":{
+ "description":"Minimum velocity set for squad.",
+ "example":0.1,
+ "format":"float",
+ "type":"number"
+ },
+ "model":{
+ "example":"reav",
+ "type":"string"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ },
+ "serial":{
+ "description":"platform serial number",
+ "example":"reav-60",
+ "type":"string"
+ }
+ },
+ "required":[
+ "platform_ID",
+ "serial",
+ "model",
+ "emergency",
+ "min_altitude",
+ "min_velocity",
+ "max_velocity"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "region_of_interest":{
+ "description":"Using GEOJSON, exact 4-point region (rectangle shaped)",
+ "properties":{
+ "geometry_coordinates":{
+ "example":[
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ]
+ ]
+ ],
+ "type":"array"
+ }
+ },
+ "type":"object"
+ },
+ "squad_ID":{
+ "description":"Identifier of given squad",
+ "example":23,
+ "type":"integer"
+ },
+ "squad_mission_type":{
+ "description":"Mission of given squad: `tracking`, `survey`, `inspection`",
+ "enum":[
+ "tracking",
+ "survey",
+ "inspection"
+ ],
+ "example":"survey",
+ "type":"string"
+ },
+ "squad_state":{
+ "description":"In execution, Waiting.. <define further>",
+ "example":false,
+ "type":"string"
+ }
+ },
+ "required":[
+ "squad_ID",
+ "no_of_platforms",
+ "platforms",
+ "squad_mission_type",
+ "squad_state"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ }
+ },
+ "required":[
+ "message_type",
+ "planning_config_ID",
+ "squads",
+ "exclusion_zones"
+ ],
+ "type":"object"
+ },
+ "platform_status":{
+ "properties":{
+ "altitude":{
+ "description":"Target altitude in metres",
+ "example":20.0,
+ "format":"float",
+ "type":"number"
+ },
+ "autonomy_engine_plan_ID":{
+ "description":"Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
+ "example":1,
+ "type":"integer"
+ },
+ "battery_remaining_capacity":{
+ "description":"Battery remaining % provided by respective C2",
+ "example":80.2,
+ "format":"float",
+ "type":"number"
+ },
+ "depth":{
+ "default":0.0,
+ "description":"Target depth in metres",
+ "example":50.0,
+ "format":"float",
+ "type":"number"
+ },
+ "heading":{
+ "description":"Angular distance relative to north, usually 000\u00b0 at north, clockwise through 359\u00b0, in degrees",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "health_status":{
+ "description":"Health status where 0 is OK, 1 is platform has an ERROR",
+ "example":false,
+ "type":"boolean"
+ },
+ "latitude":{
+ "description":"Latitude in decimal degrees.",
+ "example":178.2,
+ "format":"float",
+ "type":"number"
+ },
+ "localisation_east_error":{
+ "description":"Difference in EAST between deadreckoningand USBL update.",
+ "example":0.000129,
+ "format":"float",
+ "type":"number"
+ },
+ "localisation_north_error":{
+ "description":"Difference in NORTH between deadreckoning and USBL update.",
+ "example":0.000129,
+ "format":"float",
+ "type":"number"
+ },
+ "longitude":{
+ "description":"Longitude in decimal degrees.",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "example":"platform_status",
+ "type":"string"
+ },
+ "mission_plan_ID":{
+ "description":"Mission plan ID according to platform-C2 system",
+ "example":1,
+ "type":"integer"
+ },
+ "mission_track_ID":{
+ "description":"Track number - stage in mission (e.g. 4 --> Waypoint 3 to Waypoint 4)",
+ "example":4,
+ "type":"integer"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ },
+ "platform_state":{
+ "description":"Current state executed by platform. E.g. STOP, IDLE, ABORT.",
+ "example":"ABORT",
+ "type":"string"
+ },
+ "platform_timestamp":{
+ "description":"Timestamp for onboard platform status message",
+ "example":"2022-12-21T00:00:00Z",
+ "format":"date-time",
+ "type":"string"
+ },
+ "range_to_go":{
+ "description":"Estimated distance to reach next waypoint",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "sensor_config":{
+ "description":"Scanning sensor on platform available to be controlled by the Autonomy Engine",
+ "properties":{
+ "additional_data":{
+ "description":"Any addition fields/data to be added here",
+ "example":{
+ "payload":[
+ 1.2,
+ 434
+ ]
+ },
+ "type":"object"
+ },
+ "sensor_on":{
+ "description":"Sensor switched on (True) or off (False)",
+ "example":true,
+ "type":"boolean"
+ },
+ "sensor_serial":{
+ "description":"serial number of sensor",
+ "example":"mbes-002a",
+ "type":"string"
+ }
+ },
+ "type":"object"
+ },
+ "speed_over_ground":{
+ "description":"Speed over ground",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "status_source":{
+ "description":"Indicate if this status message is from the platform or USBL",
+ "enum":[
+ "usbl",
+ "onboard_platform"
+ ],
+ "example":"usbl",
+ "type":"string"
+ },
+ "thrust_applied":{
+ "description":"Thrust applied",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "transmission_mode":{
+ "description":"Mode in which status message was transmitted when on the surface (e.g. iridium/wifi) or underwater (e.g. acoustics)",
+ "enum":[
+ "acoustics",
+ "iridium",
+ "wifi",
+ "starlink"
+ ],
+ "example":"wifi",
+ "type":"string"
+ },
+ "usbl_fix_seconds_ago":{
+ "description":"USBL Fix received x second ago.",
+ "example":10.0,
+ "format":"float",
+ "type":"number"
+ },
+ "water_current_velocity":{
+ "description":"Water current magnitude and direction",
+ "example":"124.3NE",
+ "type":"string"
+ }
+ },
+ "required":[
+ "message_type",
+ "platform_ID",
+ "status_source",
+ "platform_timestamp",
+ "latitude",
+ "longitude"
+ ],
+ "type":"object"
+ }
+ }
+ },
+ "info":{
+ "description":"SoAR message protocol in schemas",
+ "title":"SoAR Backbone Message Formats",
+ "version":"1.0"
+ },
+ "openapi":"3.0.2",
+ "paths":{
+
+ }
+}
\ No newline at end of file
diff --git a/tests/test_schemas.py b/tests/test_schemas.py
index 830525c..2f9d465 100644
--- a/tests/test_schemas.py
+++ b/tests/test_schemas.py
@@ -7,7 +7,7 @@ import json
import os
-SCHEMA_DIR = "projects/soar/swagger.json"
+SCHEMA_DIR = "project/soar/swagger.json"
MOCK_DATA_DIR = "examples/"
--
GitLab