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Verified Commit a0ae5a20 authored by Dan Jones's avatar Dan Jones
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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
parent bab76ac7
Show whitespace changes
Inline Side-by-side
Showing with 613 additions and 172 deletions
examples/geojson/platform_status.json
View file @ a0ae5a20
......@@ -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
]
}
}
......
examples/mas-dt/waypoint_status.json 0 → 100644
View file @ a0ae5a20
{
"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]
}
}
}
formats/payload.py
View file @ a0ae5a20
......@@ -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"},
],
}
formats/platform_status.py
View file @ a0ae5a20
......@@ -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",
],
}
generate_schema_config.py
View file @ a0ae5a20
......@@ -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,
}
},
}
......
project/soar/swagger.json
View file @ a0ae5a20
......@@ -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"
}
]
},
......@@ -2207,81 +2211,8 @@
"type": "object"
},
"platform_status": {
"oneOf": [
"allOf": [
{
"properties": {
"position": {
"$ref": "#/components/schemas/geojson.org.schema.Point.json"
},
"waypoint": {
"$ref": "#/components/schemas/geojson.org.schema.Point.json"
}
},
"required": [
"position"
],
"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": [
"latitude",
"longitude"
],
"type": "object"
}
],
"properties": {
"autonomy_engine_plan_ID": {
"description": "Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
......@@ -2341,14 +2272,6 @@
"format": "float",
"type": "number"
},
"message_type": {
"description": "Type of message",
"enum": [
"platform_status"
],
"example": "platform_status",
"type": "string"
},
"mission_plan_ID": {
"description": "Mission plan ID according to platform-C2 system",
"example": 1,
......@@ -2413,15 +2336,6 @@
"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,
......@@ -2451,6 +2365,123 @@
"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": {
"$ref": "#/components/schemas/geojson.org.schema.Point.json"
},
"waypoint": {
"$ref": "#/components/schemas/geojson.org.schema.Point.json"
}
},
"required": [
"position"
],
"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": [
"latitude",
"longitude"
],
"type": "object"
}
],
"properties": {
"message_type": {
"description": "Type of message",
"enum": [
"platform_status"
],
"example": "platform_status",
"type": "string"
},
"status_source": {
"description": "Indicate if this status message is from the platform or USBL",
"enum": [
"usbl",
"onboard_platform",
"simulated"
],
"example": "usbl",
"type": "string"
}
},
"required": [
"message_type",
"platform_ID",
......@@ -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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