From a0ae5a208cccc1a3b4127da25f5c948bb2f8ec56 Mon Sep 17 00:00:00 2001
From: Dan Jones <danjon@noc.ac.uk>
Date: Thu, 12 Sep 2024 09:06:14 +0100
Subject: [PATCH] feat: add waypoint status message for dry-run
Rather than sending a goto to the platform the
sfmc-adapter will publish a waypoint_status message
which the c2-adapter can read and add to the
positions service as a simulated waypoint
---
examples/geojson/platform_status.json | 4 +-
examples/mas-dt/waypoint_status.json | 24 ++
formats/payload.py | 8 +-
formats/platform_status.py | 150 ++++++-
generate_schema_config.py | 3 +-
project/soar/swagger.json | 596 +++++++++++++++++++-------
6 files changed, 613 insertions(+), 172 deletions(-)
create mode 100644 examples/mas-dt/waypoint_status.json
diff --git a/examples/geojson/platform_status.json b/examples/geojson/platform_status.json
index 4cfc131..4a7b1fc 100644
--- a/examples/geojson/platform_status.json
+++ b/examples/geojson/platform_status.json
@@ -22,7 +22,7 @@
"type": "Point",
"coordinates": [
-10.122,
- 178.2,
+ 78.2,
50.0,
20
]
@@ -31,7 +31,7 @@
"type": "Point",
"coordinates": [
-10.5,
- 178.5
+ 78.5
]
}
}
diff --git a/examples/mas-dt/waypoint_status.json b/examples/mas-dt/waypoint_status.json
new file mode 100644
index 0000000..3652914
--- /dev/null
+++ b/examples/mas-dt/waypoint_status.json
@@ -0,0 +1,24 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2024-09-05T00:00:00Z",
+ "version": "v2.0.0-beta.1",
+ "source": "noc-sfmc",
+ "destination": "mas-dt.noc.slocum.unit_xxx.from_platform.platform_status",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "waypoint_status",
+ "platform_ID": "unit_xxx",
+ "platform_timestamp": "2024-09-05T00:00:00Z",
+ "status_source": "simulated",
+ "autonomy_engine_plan_ID": 1,
+ "mission_plan_ID": 1,
+ "mission_track_ID": 4,
+ "waypoint": {
+ "type": "Point",
+ "coordinates": [-10.122, 78.2, 50.0, 20.0]
+ }
+ }
+}
diff --git a/formats/payload.py b/formats/payload.py
index 0868657..c1f85dc 100644
--- a/formats/payload.py
+++ b/formats/payload.py
@@ -5,9 +5,9 @@ payload_schema = {
"alert": "#/components/schemas/alert",
"instruction_set": "#/components/schemas/instruction_set",
"mission_plan": "#/components/schemas/mission_plan",
- "mission_plan_encoded": "#/components/schemas/" + "mission_plan_encoded",
+ "mission_plan_encoded": "#/components/schemas/mission_plan_encoded",
"observation": "#/components/schemas/observation",
- "observation_encoded": "#/components/schemas/" + "observation_encoded",
+ "observation_encoded": "#/components/schemas/observation_encoded",
"planning_configuration": "#/components/schemas/"
+ "planning_configuration",
"platform_status": "#/components/schemas/platform_status",
@@ -15,7 +15,8 @@ payload_schema = {
+ "platform_status_encoded",
"acknowledgement": "#/components/schemas/acknowledgement",
"survey": "#/components/schemas/survey",
- "survey_encoded": "#/components/schemas/" + "survey_encoded",
+ "survey_encoded": "#/components/schemas/survey_encoded",
+ "waypoint_status": "#/components/schemas/waypoint_status",
},
},
"oneOf": [
@@ -31,5 +32,6 @@ payload_schema = {
{"$ref": "#/components/schemas/platform_status_encoded"},
{"$ref": "#/components/schemas/survey"},
{"$ref": "#/components/schemas/survey_encoded"},
+ {"$ref": "#/components/schemas/waypoint_status"},
],
}
diff --git a/formats/platform_status.py b/formats/platform_status.py
index 4780780..0a12615 100644
--- a/formats/platform_status.py
+++ b/formats/platform_status.py
@@ -25,27 +25,14 @@ sensor_schema = {
},
}
-platform_status_schema = {
+platform_status_core_fields_schema = {
"type": "object",
"properties": {
- "message_type": {
- "type": "string",
- "description": "Type of message",
- "example": "platform_status",
- "enum": ["platform_status"],
- },
"platform_ID": {
"type": "string",
"description": "Unique identifier for this platform",
"example": "reav-x-1",
},
- "status_source": {
- "type": "string",
- "enum": ["usbl", "onboard_platform"],
- "description": "Indicate if this status message is from the"
- + " platform or USBL",
- "example": "usbl",
- },
"transmission_mode": {
"type": "string",
"enum": ["acoustics", "iridium", "wifi", "starlink"],
@@ -172,7 +159,41 @@ platform_status_schema = {
},
"sensor_config": sensor_schema,
},
+}
+
+platform_status_schema = {
+ "type": "object",
+ "properties": {
+ "message_type": {
+ "type": "string",
+ "description": "Type of message",
+ "example": "platform_status",
+ "enum": ["platform_status"],
+ },
+ "status_source": {
+ "type": "string",
+ "enum": ["usbl", "onboard_platform", "simulated"],
+ "description": "Indicate if this status message is from the"
+ + " platform or USBL",
+ "example": "usbl",
+ },
+ },
+ "allOf": [platform_status_core_fields_schema],
"oneOf": [
+ {
+ "type": "object",
+ "properties": {
+ "no_position_reason": {
+ "type": "string",
+ "enum": ["missing", "invalid", "old", "poor_fix"],
+ "description": "Why position data is unavailable",
+ "example": "invalid",
+ },
+ },
+ "required": [
+ "no_position_reason",
+ ],
+ },
{
"type": "object",
"properties": {
@@ -254,3 +275,104 @@ platform_status_schema = {
"platform_timestamp",
],
}
+
+waypoint_status_schema = {
+ "type": "object",
+ "properties": {
+ "message_type": {
+ "type": "string",
+ "description": "Type of message",
+ "example": "waypoint_status",
+ "enum": ["waypoint_status"],
+ },
+ "status_source": {
+ "type": "string",
+ "enum": ["onboard_platform", "simulated", "autonomy"],
+ "description": "Indicate if this status message is from the"
+ + " platform or USBL",
+ "example": "usbl",
+ },
+ },
+ "allOf": [platform_status_core_fields_schema],
+ "oneOf": [
+ {
+ "type": "object",
+ "properties": {
+ "position": {
+ "$ref": "https://geojson.org/schema/Point.json",
+ },
+ "waypoint": {
+ "$ref": "https://geojson.org/schema/Point.json",
+ },
+ },
+ "required": [
+ "waypoint",
+ ],
+ },
+ {
+ "type": "object",
+ "properties": {
+ "latitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ },
+ "longitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ },
+ "depth": {
+ "type": "number",
+ "format": "float",
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "default": 0.0,
+ },
+ "altitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target altitude in metres",
+ "example": 20.0,
+ },
+ "waypoint_latitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ },
+ "waypoint_longitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ },
+ "waypoint_depth": {
+ "type": "number",
+ "format": "float",
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "default": 0.0,
+ },
+ "waypoint_altitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target altitude in metres",
+ "example": 20.0,
+ },
+ },
+ "required": [
+ "waypoint_latitude",
+ "waypoint_longitude",
+ ],
+ },
+ ],
+ "required": [
+ "message_type",
+ "platform_ID",
+ "status_source",
+ "platform_timestamp",
+ ],
+}
diff --git a/generate_schema_config.py b/generate_schema_config.py
index 3c0f530..aa784fb 100644
--- a/generate_schema_config.py
+++ b/generate_schema_config.py
@@ -6,7 +6,7 @@ from formats.observation import observation_schema
from formats.observation_encoded import observation_encoded_schema
from formats.payload import payload_schema
from formats.planning_configuration import planning_configuration_schema
-from formats.platform_status import platform_status_schema
+from formats.platform_status import platform_status_schema, waypoint_status_schema
from formats.platform_status_encoded import platform_status_encoded_schema
from formats.survey import survey_schema
from formats.survey_encoded import survey_encoded_schema
@@ -74,6 +74,7 @@ def get_swagger_config(reload=False):
"alert": alert_schema,
"instruction_set": instruction_set_schema,
"config_file": config_file_schema,
+ "waypoint_status": waypoint_status_schema,
}
},
}
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index b2a1073..c9def12 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -1820,7 +1820,8 @@
"platform_status": "#/components/schemas/platform_status",
"platform_status_encoded": "#/components/schemas/platform_status_encoded",
"survey": "#/components/schemas/survey",
- "survey_encoded": "#/components/schemas/survey_encoded"
+ "survey_encoded": "#/components/schemas/survey_encoded",
+ "waypoint_status": "#/components/schemas/waypoint_status"
},
"propertyName": "message_type"
},
@@ -1860,6 +1861,9 @@
},
{
"$ref": "#/components/schemas/survey_encoded"
+ },
+ {
+ "$ref": "#/components/schemas/waypoint_status"
}
]
},
@@ -2207,7 +2211,183 @@
"type": "object"
},
"platform_status": {
+ "allOf": [
+ {
+ "properties": {
+ "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"
+ },
+ "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"
+ },
+ "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"
+ },
+ "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"
+ },
+ "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"
+ }
+ },
+ "type": "object"
+ }
+ ],
"oneOf": [
+ {
+ "properties": {
+ "no_position_reason": {
+ "description": "Why position data is unavailable",
+ "enum": [
+ "missing",
+ "invalid",
+ "old",
+ "poor_fix"
+ ],
+ "example": "invalid",
+ "type": "string"
+ }
+ },
+ "required": [
+ "no_position_reason"
+ ],
+ "type": "object"
+ },
{
"properties": {
"position": {
@@ -2283,64 +2463,6 @@
}
],
"properties": {
- "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"
- },
- "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"
- },
- "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"
- },
"message_type": {
"description": "Type of message",
"enum": [
@@ -2349,106 +2471,15 @@
"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"
+ "onboard_platform",
+ "simulated"
],
"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": [
@@ -2628,6 +2659,267 @@
"is_binary"
],
"type": "object"
+ },
+ "waypoint_status": {
+ "allOf": [
+ {
+ "properties": {
+ "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"
+ },
+ "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"
+ },
+ "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"
+ },
+ "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"
+ },
+ "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"
+ }
+ },
+ "type": "object"
+ }
+ ],
+ "oneOf": [
+ {
+ "properties": {
+ "position": {
+ "$ref": "#/components/schemas/geojson.org.schema.Point.json"
+ },
+ "waypoint": {
+ "$ref": "#/components/schemas/geojson.org.schema.Point.json"
+ }
+ },
+ "required": [
+ "waypoint"
+ ],
+ "type": "object"
+ },
+ {
+ "properties": {
+ "altitude": {
+ "description": "Target altitude in metres",
+ "example": 20.0,
+ "format": "float",
+ "type": "number"
+ },
+ "depth": {
+ "default": 0.0,
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude": {
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude": {
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "waypoint_altitude": {
+ "description": "Target altitude in metres",
+ "example": 20.0,
+ "format": "float",
+ "type": "number"
+ },
+ "waypoint_depth": {
+ "default": 0.0,
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "format": "float",
+ "type": "number"
+ },
+ "waypoint_latitude": {
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "waypoint_longitude": {
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "required": [
+ "waypoint_latitude",
+ "waypoint_longitude"
+ ],
+ "type": "object"
+ }
+ ],
+ "properties": {
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "waypoint_status"
+ ],
+ "example": "waypoint_status",
+ "type": "string"
+ },
+ "status_source": {
+ "description": "Indicate if this status message is from the platform or USBL",
+ "enum": [
+ "onboard_platform",
+ "simulated",
+ "autonomy"
+ ],
+ "example": "usbl",
+ "type": "string"
+ }
+ },
+ "required": [
+ "message_type",
+ "platform_ID",
+ "status_source",
+ "platform_timestamp"
+ ],
+ "type": "object"
}
}
},
--
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