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Commit a7d8fe27 authored by Trishna Saeharaseelan's avatar Trishna Saeharaseelan
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refactor: swap lats and lons to y and x respectively and field description updates

parent 691a23b6
dev 41-add-optional-operating_area-as-a-wider-zone-outside-region_of_interest 42-add-event-details-and-status-to-acknowledgement-schema 66-tag-current-dev-as-version-1 76-should-depth-and-altitude-be-coordinates 80-add-informational-type-primitive 87-remove-comment-for-platform-status-state 87-remove-todo-comment-from-platform-state action-refactor-test ci-js-test master missionmonitor v2.0.0 v2.0.0-beta.11 v2.0.0-beta.10 v2.0.0-beta.9 v2.0.0-beta.8 v2.0.0-beta.7 v2.0.0-beta.6 v2.0.0-beta.5 v2.0.0-beta.4 v2.0.0-beta.3 v2.0.0-beta.2 v2.0.0-beta.1 v1.0.0 v0.2.0
2 merge requests!30Resolve "Release v0.2",!22refactor: planning configuration file
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examples/autonomy_engine_adapter/emergency_mission_command.json
View file @ a7d8fe27
......@@ -16,8 +16,8 @@
"plan": [
{
"action": "safety_abort",
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
]
}
......
examples/autonomy_engine_adapter/emergency_mission_plan.json
View file @ a7d8fe27
......@@ -16,14 +16,14 @@
"plan": [
{
"action": "move",
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706,
"depth": 5.0
},
{
"action": "safety_abort",
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
]
}
......
examples/autonomy_engine_adapter/mission_plan_AH1.json
View file @ a7d8fe27
......@@ -15,40 +15,40 @@
"plan": [
{
"action": "move",
"start_point_latitude": -3.007143188645706,
"start_point_longitude": 50.37072283932642,
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"start_point_latitude": 50.37072283932642,
"start_point_longitude": -3.007143188645706,
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706,
"depth": 0.0,
"activate_payload": false,
"timeout": 200
},
{
"action": "dive",
"start_point_latitude": -3.237143188645706,
"start_point_longitude": 52.37072283932642,
"target_waypoint_latitude": -3.337143188645706,
"target_waypoint_longitude": 56.37072283932642,
"start_point_latitude": 52.37072283932642,
"start_point_longitude": -3.237143188645706,
"target_waypoint_latitude": 56.37072283932642,
"target_waypoint_longitude": -3.337143188645706,
"altitude": 10,
"activate_payload": false,
"timeout": 200
},
{
"action": "scanline",
"start_point_latitude": -3.337143188645706,
"start_point_longitude": 56.37072283932642,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 60.00000000000000,
"start_point_latitude": 56.37072283932642,
"start_point_longitude": -3.337143188645706,
"target_waypoint_latitude": 60.00000000000000,
"target_waypoint_longitude": -0.237143188645706,
"altitude": 10,
"activate_payload": true,
"timeout": 200
},
{
"action": "climb",
"start_point_latitude": -0.237143188645706,
"start_point_longitude": 60.00000000000000,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"start_point_latitude": 60.00000000000000,
"start_point_longitude": -0.237143188645706,
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -0.237143188645706,
"depth": 0.0,
"activate_payload": false,
"timeout": 200
......
examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
View file @ a7d8fe27
......@@ -15,40 +15,40 @@
"plan": [
{
"action": "move",
"start_point_latitude": -3.007143188645706,
"start_point_longitude": 50.37072283932642,
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"start_point_latitude": 50.37072283932642,
"start_point_longitude": -3.007143188645706,
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706,
"depth": 0.0,
"activate_payload": false,
"timeout": 300
},
{
"action": "dive",
"start_point_latitude": -3.237143188645706,
"start_point_longitude": 52.37072283932642,
"target_waypoint_latitude": -3.337143188645706,
"target_waypoint_longitude": 56.37072283932642,
"start_point_latitude": 52.37072283932642,
"start_point_longitude": -3.237143188645706,
"target_waypoint_latitude": 56.37072283932642,
"target_waypoint_longitude": -3.337143188645706,
"altitude": 10,
"activate_payload": false,
"timeout": 300
},
{
"action": "scanline",
"start_point_latitude": -3.337143188645706,
"start_point_longitude": 56.37072283932642,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 60.00000000000000,
"start_point_latitude": 56.37072283932642,
"start_point_longitude": -3.337143188645706,
"target_waypoint_latitude": 60.00000000000000,
"target_waypoint_longitude": -0.237143188645706,
"altitude": 10,
"activate_payload": true,
"timeout": 300
},
{
"action": "climb",
"start_point_latitude": -0.237143188645706,
"start_point_longitude": 60.00000000000000,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"start_point_latitude": 60.00000000000000,
"start_point_longitude": -0.237143188645706,
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -0.237143188645706,
"depth": 0.0,
"activate_payload": false,
"timeout": 300
......
examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
View file @ a7d8fe27
......@@ -14,16 +14,16 @@
"autonomy_engine_plan_ID": 1,
"plan": [
{
"target_waypoint_latitude": -4.187143188645706,
"target_waypoint_longitude": 50.37072283932642
"target_waypoint_latitude": 50.37072283932642,
"target_waypoint_longitude": -4.187143188645706
},
{
"target_waypoint_latitude": -3.187143188645706,
"target_waypoint_longitude": 51.37072283932642
"target_waypoint_latitude": 51.37072283932642,
"target_waypoint_longitude": -3.187143188645706
},
{
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
]
}
......
examples/autonomy_engine_adapter/planning_configuration.json
View file @ a7d8fe27
......@@ -78,8 +78,8 @@
"model": "reav",
"platform_ID": "reav-60-1",
"emergency": {
"target_waypoint_latitude": -4.189772466767039,
"target_waypoint_longitude": 50.33611100020795,
"target_waypoint_latitude": 50.33611100020795,
"target_waypoint_longitude": -4.189772466767039,
"safe_command": "go_home",
"target_depth": 10.0
},
......@@ -100,9 +100,10 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-1",
"model": "ecosub",
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": -4.192219151149999,
"target_waypoint_longitude": 50.32933594228737,
"target_waypoint_latitude": 50.32933594228737,
"target_waypoint_longitude": -4.192219151149999,
"safe_command": "go_home",
"target_depth": 10.0
},
......@@ -126,9 +127,10 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-2",
"model": "ecosub",
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": -4.192219151149999,
"target_waypoint_longitude": 50.32775207068519,
"target_waypoint_latitude": 50.32775207068519,
"target_waypoint_longitude": -4.192219151149999,
"safe_command": "go_home",
"target_depth": 0.0
},
......@@ -152,9 +154,10 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-3",
"model": "ecosub",
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": -4.184550412882118,
"target_waypoint_longitude": 50.326744124905844,
"target_waypoint_latitude": 50.326744124905844,
"target_waypoint_longitude": -4.184550412882118,
"safe_command": "go_home",
"target_depth": 0.0
},
......@@ -178,9 +181,10 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-4",
"model": "ecosub",
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": -4.188610333142037,
"target_waypoint_longitude": 50.32616814629094,
"target_waypoint_latitude": 50.32616814629094,
"target_waypoint_longitude": -4.188610333142037,
"safe_command": "go_home",
"target_depth": 0.0
},
......@@ -211,9 +215,10 @@
"operator": "noc",
"platform_ID": "ah-1",
"model": "autosub",
"beacon_ID":2407,
"emergency": {
"target_waypoint_latitude": -4.19759350502369,
"target_waypoint_longitude": 50.3342284629413,
"target_waypoint_latitude": 50.3342284629413,
"target_waypoint_longitude": -4.19759350502369,
"safe_command": "abort_now",
"target_depth": 0.0
},
......
examples/ecosub_adapter/mission_plan.json
View file @ a7d8fe27
......@@ -15,40 +15,40 @@
"plan": [
{
"action": "move",
"start_point_latitude": -3.007143188645706,
"start_point_longitude": 50.37072283932642,
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"start_point_latitude": 50.37072283932642,
"start_point_longitude": -3.007143188645706,
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706,
"depth": 0.0,
"activate_payload": false,
"timeout": 300
},
{
"action": "dive",
"start_point_latitude": -3.237143188645706,
"start_point_longitude": 52.37072283932642,
"target_waypoint_latitude": -3.337143188645706,
"target_waypoint_longitude": 56.37072283932642,
"start_point_latitude": 52.37072283932642,
"start_point_longitude": -3.237143188645706,
"target_waypoint_latitude": 56.37072283932642,
"target_waypoint_longitude": -3.337143188645706,
"altitude": 10,
"activate_payload": false,
"timeout": 300
},
{
"action": "scanline",
"start_point_latitude": -3.337143188645706,
"start_point_longitude": 56.37072283932642,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 60.00000000000000,
"start_point_latitude": 56.37072283932642,
"start_point_longitude": -3.337143188645706,
"target_waypoint_latitude": 60.00000000000000,
"target_waypoint_longitude": -0.237143188645706,
"altitude": 10,
"activate_payload": true,
"timeout": 300
},
{
"action": "climb",
"start_point_latitude": -0.237143188645706,
"start_point_longitude": 60.00000000000000,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"start_point_latitude": 60.00000000000000,
"start_point_longitude": -0.237143188645706,
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -0.237143188645706,
"depth": 0.0,
"activate_payload": false,
"timeout": 300
......
examples/gui_adapter/emergency_mission_command.json
View file @ a7d8fe27
......@@ -16,8 +16,8 @@
"plan": [
{
"action": "safety_abort",
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
]
}
......
examples/gui_adapter/emergency_mission_plan.json
View file @ a7d8fe27
......@@ -16,14 +16,14 @@
"plan": [
{
"action": "move",
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706,
"depth": 5.0
},
{
"action": "safety_abort",
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
]
}
......
examples/gui_adapter/planning_configuration.json
View file @ a7d8fe27
......@@ -78,8 +78,8 @@
"model": "reav",
"platform_ID": "reav-60-1",
"emergency": {
"target_waypoint_latitude": -4.189772466767039,
"target_waypoint_longitude": 50.33611100020795,
"target_waypoint_latitude": 50.33611100020795,
"target_waypoint_longitude": -4.189772466767039,
"safe_command": "go_home",
"target_depth": 10.0
},
......@@ -100,9 +100,10 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-1",
"model": "ecosub",
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": -4.192219151149999,
"target_waypoint_longitude": 50.32933594228737,
"target_waypoint_latitude": 50.32933594228737,
"target_waypoint_longitude": -4.192219151149999,
"safe_command": "go_home",
"target_depth": 10.0
},
......@@ -126,9 +127,10 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-2",
"model": "ecosub",
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": -4.192219151149999,
"target_waypoint_longitude": 50.32775207068519,
"target_waypoint_latitude": 50.32775207068519,
"target_waypoint_longitude": -4.192219151149999,
"safe_command": "go_home",
"target_depth": 0.0
},
......@@ -152,9 +154,10 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-3",
"model": "ecosub",
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": -4.184550412882118,
"target_waypoint_longitude": 50.326744124905844,
"target_waypoint_latitude": 50.326744124905844,
"target_waypoint_longitude": -4.184550412882118,
"safe_command": "go_home",
"target_depth": 0.0
},
......@@ -178,9 +181,10 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-4",
"model": "ecosub",
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": -4.188610333142037,
"target_waypoint_longitude": 50.32616814629094,
"target_waypoint_latitude": 50.32616814629094,
"target_waypoint_longitude": -4.188610333142037,
"safe_command": "go_home",
"target_depth": 0.0
},
......@@ -211,9 +215,10 @@
"operator": "noc",
"platform_ID": "ah-1",
"model": "autosub",
"beacon_ID":2407,
"emergency": {
"target_waypoint_latitude": -4.19759350502369,
"target_waypoint_longitude": 50.3342284629413,
"target_waypoint_latitude": 50.3342284629413,
"target_waypoint_longitude": -4.19759350502369,
"safe_command": "abort_now",
"target_depth": 0.0
},
......
examples/hydrosurv_adapter/mission_plan.json
View file @ a7d8fe27
......@@ -14,16 +14,16 @@
"autonomy_engine_plan_ID": 1,
"plan": [
{
"target_waypoint_latitude": -4.187143188645706,
"target_waypoint_longitude": 50.37072283932642
"target_waypoint_latitude": 50.37072283932642,
"target_waypoint_longitude": -4.187143188645706
},
{
"target_waypoint_latitude": -3.187143188645706,
"target_waypoint_longitude": 51.37072283932642
"target_waypoint_latitude": 51.37072283932642,
"target_waypoint_longitude": -3.187143188645706
},
{
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
]
}
......
formats/mission_plan.py
View file @ a7d8fe27
......@@ -16,26 +16,26 @@ action_schema = {
"start_point_latitude": {
"type": "number",
"format": "float",
"description": "Start point, x-coordinate",
"example": -4.187143188645706,
"description": "Start point, y-coordinate",
"example": 50.37072283932642,
},
"start_point_longitude": {
"type": "number",
"format": "float",
"description": "Start point, y-coordinate",
"example": 50.37072283932642,
"description": "Start point, x-coordinate",
"example": -4.187143188645706,
},
"target_waypoint_latitude": {
"type": "number",
"format": "float",
"description": "Target waypoint, x-coordinate",
"example": -4.187143188645706,
"description": "Target waypoint, y-coordinate",
"example": 50.37072283932642,
},
"target_waypoint_longitude": {
"type": "number",
"format": "float",
"description": "Target waypoint, y-coordinate",
"example": 50.37072283932642,
"description": "Target waypoint, x-coordinate",
"example": -4.187143188645706,
},
"altitude": {
"type": "number",
......
formats/observation.py
View file @ a7d8fe27
......@@ -9,13 +9,13 @@ hits_schema = {
"latitude": {
"type": "number",
"format": "float",
"description": "Identified x-coordinate of point of interest",
"description": "Identified y-coordinate of point of interest",
"example": 178.2,
},
"longitude": {
"type": "number",
"format": "float",
"description": "Identified y-coordinate of point of interest",
"description": "Identified x-coordinate of point of interest",
"example": -10.122,
},
"quality_of_point": {
......
formats/planning_configuration.py
View file @ a7d8fe27
......@@ -16,14 +16,14 @@ emergency_schema = {
"target_waypoint_latitude": {
"type": "number",
"format": "float",
"description": "X-coordinate safe place for respective platform",
"example": -7.432,
"description": "Y-coordinate safe place for respective platform",
"example": 50.365,
},
"target_waypoint_longitude": {
"type": "number",
"format": "float",
"description": "Y-coordinate safe place for respective platform",
"example": 50.365,
"description": "X-coordinate safe place for respective platform",
"example": -7.432,
},
"target_depth": {
"type": "number",
......@@ -94,7 +94,7 @@ platform_schema = {
"type": "number",
"description": "Unique identifier (number) for the beacon "
+ "associated to this platform",
"example": 9407,
"example": 2407,
},
"emergency": emergency_schema,
"min_altitude": {
......@@ -112,7 +112,7 @@ platform_schema = {
"max_velocity": {
"type": "number",
"format": "float",
"description": "Maximum altitude set for platform",
"description": "Maximum velocity set for platform",
"example": 0.9,
},
"target_altitude": {
......
formats/platform_status.py
View file @ a7d8fe27
......@@ -75,13 +75,13 @@ platform_status_schema = {
"latitude": {
"type": "number",
"format": "float",
"description": "Latitude in decimal degrees.",
"description": "Latitude (Y-coordinate) in decimal degrees.",
"example": 178.2,
},
"longitude": {
"type": "number",
"format": "float",
"description": "Longitude in decimal degrees.",
"description": "Longitude (X-coordinate) in decimal degrees.",
"example": -10.122,
},
"depth": {
......
project/soar/swagger.json
View file @ a7d8fe27
......@@ -885,4 +885,4 @@
"paths":{
}
}
\ No newline at end of file
}
\ No newline at end of file
tests-js/docker/output.txt deleted 100644 → 0
View file @ 691a23b6
#1 [internal] load build definition from Dockerfile
#1 DONE 0.0s
#1 [internal] load build definition from Dockerfile
#1 transferring dockerfile: 32B done
#1 DONE 0.0s
#2 [internal] load .dockerignore
#2 transferring context: 2B done
#2 DONE 0.0s
#3 [internal] load metadata for docker.io/library/node:18.7.0-alpine
#3 DONE 0.4s
#4 [1/7] FROM docker.io/library/node:18.7.0-alpine@sha256:02a5466bd5abde6cde29c16d83e2f5a10eec11c8dcefa667a2c9f88a7fa8b0b3
#4 DONE 0.0s
#5 [internal] load build context
#5 transferring context: 114.55kB 0.1s done
#5 DONE 0.1s
#6 [2/7] WORKDIR /app/tests-js
#6 CACHED
#7 [3/7] COPY tests-js/package.json /app/tests-js/package.json
#7 CACHED
#8 [4/7] RUN yarn install
#8 CACHED
#9 [5/7] WORKDIR /app
#9 CACHED
#10 [6/7] COPY . /app
#10 DONE 0.3s
#11 [7/7] WORKDIR /app/tests-js
#11 DONE 0.1s
#12 exporting to image
#12 exporting layers
#12 exporting layers 0.3s done
#12 writing image sha256:e98eadc0bbdc0809fd2540b1652f250264f2166575be3b9f18890d722b653ded done
#12 naming to docker.io/library/docker_soar_js_test done
#12 DONE 0.3s
Attaching to soar_js_test
soar_js_test | yarn run v1.22.19
soar_js_test | warning package.json: No license field
soar_js_test | $ jest
soar_js_test | console.log
soar_js_test | examples [
soar_js_test | '/app/examples/hydrosurv_adapter/platform_status.json',
soar_js_test | '/app/examples/hydrosurv_adapter/mission_plan.json',
soar_js_test | '/app/examples/hydrosurv_adapter/acknowledgement.json',
soar_js_test | '/app/examples/gui_adapter/planning_configuration.json',
soar_js_test | '/app/examples/gui_adapter/emergency_mission_plan.json',
soar_js_test | '/app/examples/gui_adapter/emergency_mission_command.json',
soar_js_test | '/app/examples/ecosub_adapter/platform_status.json',
soar_js_test | '/app/examples/ecosub_adapter/platform_status-from_usbl_example.json',
soar_js_test | '/app/examples/ecosub_adapter/observation_encoded.json',
soar_js_test | '/app/examples/ecosub_adapter/observation.json',
soar_js_test | '/app/examples/ecosub_adapter/mission_plan.json',
soar_js_test | '/app/examples/autonomy_engine_adapter/platform_status_encoded.json',
soar_js_test | '/app/examples/autonomy_engine_adapter/platform_status.json',
soar_js_test | '/app/examples/autonomy_engine_adapter/platform_status-from_usbl_example.json',
soar_js_test | '/app/examples/autonomy_engine_adapter/planning_configuration.json',
soar_js_test | '/app/examples/autonomy_engine_adapter/observation_encoded.json',
soar_js_test | '/app/examples/autonomy_engine_adapter/mission_plan_encoded.json',
soar_js_test | '/app/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json',
soar_js_test | '/app/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json',
soar_js_test | '/app/examples/autonomy_engine_adapter/mission_plan_AH1.json',
soar_js_test | '/app/examples/autonomy_engine_adapter/emergency_mission_plan.json',
soar_js_test | '/app/examples/autonomy_engine_adapter/emergency_mission_command.json',
soar_js_test | '/app/examples/autonomy_engine_adapter/acknowledgement.json'
soar_js_test | ]
soar_js_test |
soar_js_test | at soar-examples.test.js:42:11
soar_js_test |
soar_js_test | console.log
soar_js_test | validation: /app/examples/ecosub_adapter/observation_encoded.json [
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/acknowledgement"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/mission_plan"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/mission_plan_encoded"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/observation"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/observation_encoded"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/planning_configuration"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/platform_status"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/platform_status_encoded"}'
soar_js_test | ]
soar_js_test |
soar_js_test | at Object.<anonymous> (soar-examples.test.js:49:17)
soar_js_test |
soar_js_test | console.log
soar_js_test | payload observation_encoded [
soar_js_test | 'message_type must be one of the following: platform_status_encoded'
soar_js_test | ]
soar_js_test |
soar_js_test | at Object.<anonymous> (soar-examples.test.js:52:19)
soar_js_test |
soar_js_test | console.log
soar_js_test | validation: /app/examples/autonomy_engine_adapter/platform_status_encoded.json [ 'payloadmatches more than one entry in a oneOf.' ]
soar_js_test |
soar_js_test | at Object.<anonymous> (soar-examples.test.js:49:17)
soar_js_test |
soar_js_test | console.log
soar_js_test | validation: /app/examples/autonomy_engine_adapter/observation_encoded.json [
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/acknowledgement"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/mission_plan"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/mission_plan_encoded"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/observation"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/observation_encoded"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/planning_configuration"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/platform_status"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/platform_status_encoded"}'
soar_js_test | ]
soar_js_test |
soar_js_test | at Object.<anonymous> (soar-examples.test.js:49:17)
soar_js_test |
soar_js_test | console.log
soar_js_test | payload observation_encoded [
soar_js_test | 'message_type must be one of the following: platform_status_encoded'
soar_js_test | ]
soar_js_test |
soar_js_test | at Object.<anonymous> (soar-examples.test.js:52:19)
soar_js_test |
soar_js_test | console.log
soar_js_test | validation: /app/examples/autonomy_engine_adapter/mission_plan_encoded.json [
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/acknowledgement"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/mission_plan"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/mission_plan_encoded"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/observation"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/observation_encoded"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/planning_configuration"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/platform_status"}',
soar_js_test | undefined,
soar_js_test | 'payload is not a valid target for a oneOf {"$ref":"#/components/schemas/platform_status_encoded"}'
soar_js_test | ]
soar_js_test |
soar_js_test | at Object.<anonymous> (soar-examples.test.js:49:17)
soar_js_test |
soar_js_test | console.log
soar_js_test | payload mission_plan_encoded [
soar_js_test | 'message_type must be one of the following: platform_status_encoded'
soar_js_test | ]
soar_js_test |
soar_js_test | at Object.<anonymous> (soar-examples.test.js:52:19)
soar_js_test |
soar_js_test | FAIL ./soar-examples.test.js
soar_js_test | ✓ schema validates (384 ms)
soar_js_test | examples validate
soar_js_test | ✓ validate /app/examples/hydrosurv_adapter/platform_status.json (8 ms)
soar_js_test | ✓ validate /app/examples/hydrosurv_adapter/mission_plan.json (5 ms)
soar_js_test | ✓ validate /app/examples/hydrosurv_adapter/acknowledgement.json (3 ms)
soar_js_test | ✓ validate /app/examples/gui_adapter/planning_configuration.json (4 ms)
soar_js_test | ✓ validate /app/examples/gui_adapter/emergency_mission_plan.json (3 ms)
soar_js_test | ✓ validate /app/examples/gui_adapter/emergency_mission_command.json (4 ms)
soar_js_test | ✓ validate /app/examples/ecosub_adapter/platform_status.json (4 ms)
soar_js_test | ✓ validate /app/examples/ecosub_adapter/platform_status-from_usbl_example.json (3 ms)
soar_js_test | ✕ validate /app/examples/ecosub_adapter/observation_encoded.json (14 ms)
soar_js_test | ✓ validate /app/examples/ecosub_adapter/observation.json (3 ms)
soar_js_test | ✓ validate /app/examples/ecosub_adapter/mission_plan.json (2 ms)
soar_js_test | ✕ validate /app/examples/autonomy_engine_adapter/platform_status_encoded.json (6 ms)
soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/platform_status.json (2 ms)
soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/platform_status-from_usbl_example.json (2 ms)
soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/planning_configuration.json (3 ms)
soar_js_test | ✕ validate /app/examples/autonomy_engine_adapter/observation_encoded.json (8 ms)
soar_js_test | ✕ validate /app/examples/autonomy_engine_adapter/mission_plan_encoded.json (8 ms)
soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json (2 ms)
soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json (2 ms)
soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/mission_plan_AH1.json (2 ms)
soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/emergency_mission_plan.json (3 ms)
soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/emergency_mission_command.json (2 ms)
soar_js_test | ✓ validate /app/examples/autonomy_engine_adapter/acknowledgement.json (6 ms)
soar_js_test |
soar_js_test | ● examples validate › validate /app/examples/ecosub_adapter/observation_encoded.json
soar_js_test |
soar_js_test | expect(received).toBe(expected) // Object.is equality
soar_js_test |
soar_js_test | Expected: true
soar_js_test | Received: false
soar_js_test |
soar_js_test | 53 | }
soar_js_test | 54 | }
soar_js_test | > 55 | expect(valid).toBe(true);
soar_js_test | | ^
soar_js_test | 56 | });
soar_js_test | 57 | });
soar_js_test | 58 | });
soar_js_test |
soar_js_test | at Object.<anonymous> (soar-examples.test.js:55:21)
soar_js_test |
soar_js_test | ● examples validate › validate /app/examples/autonomy_engine_adapter/platform_status_encoded.json
soar_js_test |
soar_js_test | expect(received).toBe(expected) // Object.is equality
soar_js_test |
soar_js_test | Expected: true
soar_js_test | Received: false
soar_js_test |
soar_js_test | 53 | }
soar_js_test | 54 | }
soar_js_test | > 55 | expect(valid).toBe(true);
soar_js_test | | ^
soar_js_test | 56 | });
soar_js_test | 57 | });
soar_js_test | 58 | });
soar_js_test |
soar_js_test | at Object.<anonymous> (soar-examples.test.js:55:21)
soar_js_test |
soar_js_test | ● examples validate › validate /app/examples/autonomy_engine_adapter/observation_encoded.json
soar_js_test |
soar_js_test | expect(received).toBe(expected) // Object.is equality
soar_js_test |
soar_js_test | Expected: true
soar_js_test | Received: false
soar_js_test |
soar_js_test | 53 | }
soar_js_test | 54 | }
soar_js_test | > 55 | expect(valid).toBe(true);
soar_js_test | | ^
soar_js_test | 56 | });
soar_js_test | 57 | });
soar_js_test | 58 | });
soar_js_test |
soar_js_test | at Object.<anonymous> (soar-examples.test.js:55:21)
soar_js_test |
soar_js_test | ● examples validate › validate /app/examples/autonomy_engine_adapter/mission_plan_encoded.json
soar_js_test |
soar_js_test | expect(received).toBe(expected) // Object.is equality
soar_js_test |
soar_js_test | Expected: true
soar_js_test | Received: false
soar_js_test |
soar_js_test | 53 | }
soar_js_test | 54 | }
soar_js_test | > 55 | expect(valid).toBe(true);
soar_js_test | | ^
soar_js_test | 56 | });
soar_js_test | 57 | });
soar_js_test | 58 | });
soar_js_test |
soar_js_test | at Object.<anonymous> (soar-examples.test.js:55:21)
soar_js_test |
soar_js_test | Test Suites: 1 failed, 1 total
soar_js_test | Tests: 4 failed, 20 passed, 24 total
soar_js_test | Snapshots: 0 total
soar_js_test | Time: 1.405 s
soar_js_test | Ran all test suites.
soar_js_test | error Command failed with exit code 1.
soar_js_test | info Visit https://yarnpkg.com/en/docs/cli/run for documentation about this command.
soar_js_test exited with code 1
tests/fixtures/schemas.py
View file @ a7d8fe27
......@@ -259,13 +259,13 @@ emergency_schema = {
"type": "number",
"format": "float",
"description": "X-coordinate safe place for respective platform",
"example": -7.432,
"example": 50.365,
},
"target_waypoint_longitude": {
"type": "number",
"format": "float",
"description": "Y-coordinate safe place for respective platform",
"example": 50.365,
"example": -7.432,
},
"target_depth": {
"type": "number",
......@@ -315,7 +315,7 @@ platform_schema = {
"max_velocity": {
"type": "number",
"format": "float",
"description": "Maximum altitude set for squad.",
"description": "Maximum velocity set for squad.",
"example": 0.9,
},
"additional_data": {
......
tests/fixtures/swagger.json
View file @ a7d8fe27
{
"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": {
"type": "boolean",
"description": "Human-in-the-loop approval. 1 - Plan approved; 0 - Plan Rejected",
"example": 1
},
"autonomy_engine_plan_ID": {
"type": "integer",
"description": "Mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
"example": 1
},
"message_type": {
"description": "Type of message",
"type": "string",
"example": "acknowledgement"
},
"platform_ID": {
"type": "string",
"description": "Unique identifier for this platform",
"example": "reav-x-1"
}
},
"required": [
"message_type",
"autonomy_engine_plan_ID",
"platform_ID",
"approved"
],
"type": "object"
},
"header": {
"discriminator": {
"propertyName": "message_type"
"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"
},
"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"
}
"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",
"enum":[
"acknowledgement"
],
"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"
},
"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"
},
"emergency": {
"default": false,
"description": "To indicate if this is an emergency. true = emergency and false = no emergency",
"example": false,
"type": "boolean"
},
"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"
},
"timeout": {
"description": "Timeout set to perform action",
"example": 1800.0,
"format": "float",
"type": "number"
},
"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"
},
"target_waypoint_latitude": {
"description": "Next waypoint, x-coordinate",
"example": -4.187143188645706,
"format": "float",
"type": "number"
},
"target_waypoint_longitude": {
"description": "Next 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"
}
"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"
},
"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": ""
}
"mission_plan":{
"properties":{
"autonomy_engine_plan_ID":{
"description":"Unique identifier for this plangenerated by the Autonomy Engine",
"example":3,
"type":"integer"
},
"emergency":{
"default":false,
"description":"To indicate if this is an emergency. true = emergency and false = no emergency",
"example":false,
"type":"boolean"
},
"message_type":{
"description":"Type of message",
"enum":[
"mission_plan"
],
"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"
},
"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"
},
"timeout":{
"description":"Timeout set to perform action",
"example":1800.0,
"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"
},
"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"
"mission_plan_encoded":{
"properties":{
"data":{
"description":"encoded string. E.g. Base64 encoded",
"example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
"type":"string"
},
"file_name":{
"description":"Name of file",
"example":"ah1-0238126349247372.bin",
"type":"string"
},
"is_binary":{
"description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
"example":true,
"type":"boolean"
},
"message_type":{
"description":"Type of message",
"enum":[
"mission_plan_encoded"
],
"example":"mission_plan_encoded",
"type":"string"
},
"mime_type":{
"description":"MIME type",
"example":"application/gzip",
"type":"string"
}
},
"required":[
"data",
"is_binary"
],
"type":"object"
},
"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_data": {
"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": {}
},
"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"
},
"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"
}
},
"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"
}
"observation":{
"properties":{
"additional_data":{
"description":"Placeholder field for any additional data",
"example":{
"sensor_payload":false
}
},
"message_type":{
"description":"Type of message",
"enum":[
"observation"
],
"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": [
"platform_ID",
"model",
"emergency",
"min_altitude",
"min_velocity",
"max_velocity"
"required":[
"latitude",
"longitude"
],
"type": "object"
},
"type": "array"
},
"region_of_interest": {
"description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
"properties": {
"geometry_coordinates": {
"example": [
[
[
-4.187143188645706,
50.37072283932642
"type":"object"
},
"type":"array"
},
"region_surveyed":{
"description":"Region surveyed by given platform. GEOJSON",
"example":"",
"nullable":true
}
},
"required":[
"message_type",
"platform_ID"
],
"type":"object"
},
"observation_encoded":{
"properties":{
"data":{
"description":"encoded string. E.g. Base64 encoded",
"example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
"type":"string"
},
"file_name":{
"description":"Name of file",
"example":"ah1-0238126349247372.bin",
"type":"string"
},
"is_binary":{
"description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
"example":true,
"type":"boolean"
},
"message_type":{
"description":"Type of message",
"enum":[
"observation_encoded"
],
"example":"observation_encoded",
"type":"string"
},
"mime_type":{
"description":"MIME type",
"example":"application/gzip",
"type":"string"
}
},
"required":[
"data",
"is_binary"
],
"type":"object"
},
"payload":{
"discriminator":{
"mapping":{
"acknowledgement":"#/components/schemas/acknowledgement",
"mission_plan":"#/components/schemas/mission_plan",
"mission_plan_encoded":"#/components/schemas/mission_plan_encoded",
"observation":"#/components/schemas/observation",
"observation_encoded":"#/components/schemas/observation_encoded",
"planning_configuration":"#/components/schemas/planning_configuration",
"platform_status":"#/components/schemas/platform_status",
"platform_status_encoded":"#/components/schemas/platform_status_encoded"
},
"propertyName":"message_type"
},
"oneOf":[
{
"$ref":"#/components/schemas/acknowledgement"
},
{
"$ref":"#/components/schemas/mission_plan"
},
{
"$ref":"#/components/schemas/mission_plan_encoded"
},
{
"$ref":"#/components/schemas/observation"
},
{
"$ref":"#/components/schemas/observation_encoded"
},
{
"$ref":"#/components/schemas/planning_configuration"
},
{
"$ref":"#/components/schemas/platform_status"
},
{
"$ref":"#/components/schemas/platform_status_encoded"
}
]
},
"planning_configuration":{
"properties":{
"exclusion_zones":{
"description":"Exclusion zones for all platforms",
"items":{
"description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
"properties":{
"geometry_coordinates":{
"example":[
[
[
-4.1777839187560915,
50.34173405662855
],
[
-4.1777839187560915,
50.33820949229701
],
[
-4.143667777943875,
50.33820949229701
],
[
-4.143667777943875,
50.34173405662855
],
[
-4.1777839187560915,
50.34173405662855
]
]
],
[
-4.202697005964865,
50.368816892405874
"type":"array"
}
},
"type":"object"
},
"type":"array"
},
"message_type":{
"description":"Type of message",
"enum":[
"planning_configuration"
],
"example":"planning_configuration",
"type":"string"
},
"planning_config_ID":{
"description":"Unique identifier tagged to version of this configuration plan",
"example":3,
"type":"integer"
},
"region_of_interest":{
"description":"Region of interest for the entire operation",
"items":{
"description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
"properties":{
"geometry_coordinates":{
"example":[
[
[
-4.1777839187560915,
50.34173405662855
],
[
-4.1777839187560915,
50.33820949229701
],
[
-4.143667777943875,
50.33820949229701
],
[
-4.143667777943875,
50.34173405662855
],
[
-4.1777839187560915,
50.34173405662855
]
]
],
[
-4.203156724702808,
50.365640144076906
"type":"array"
}
},
"type":"object"
},
"type":"array"
},
"squads":{
"items":{
"properties":{
"no_of_platforms":{
"description":"Number of platforms",
"example":3,
"type":"integer"
},
"platforms":{
"description":"Squad consists of these platforms",
"items":{
"properties":{
"additional_data":{
"description":"Any addition fields/data to be added here",
"example":{
"new_sensor_a":"test_sensor",
"range":10.0
},
"type":"object"
},
"beacon_ID":{
"description":"Unique identifier (number) for the beacon associated to this platform",
"example":9407,
"type":"number"
},
"emergency":{
"properties":{
"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 platform",
"example":0.9,
"format":"float",
"type":"number"
},
"min_altitude":{
"description":"Minimum altitude set for platform",
"example":15.2,
"format":"float",
"type":"number"
},
"min_velocity":{
"description":"Minimum velocity set for platform",
"example":0.1,
"format":"float",
"type":"number"
},
"model":{
"example":"reav",
"type":"string"
},
"operator":{
"description":"Operator of platform",
"example":"noc",
"type":"string"
},
"platform_ID":{
"description":"Unique identifier for this platform",
"example":"reav-x-1",
"type":"string"
},
"scan_sensor":{
"properties":{
"angle":{
"description":"Angle of range of swath width (in degrees)",
"example":140.0,
"format":"float",
"type":"number"
},
"frequency":{
"description":"Frequency of scanning sensor (in kHz)",
"example":700.0,
"format":"float",
"type":"number"
},
"sensor_type":{
"description":"Unique identifier for this platform",
"enum":[
"SIDESCAN",
"MBES"
],
"example":"MBES",
"type":"string"
},
"swath_width":{
"description":"Function of `target_altitude` for the platform's swath width (in metres)",
"example":38.0,
"format":"float",
"type":"number"
}
},
"type":"object"
},
"target_altitude":{
"description":"Target altitude set for platform. This affects swath width",
"example":15.0,
"format":"float",
"type":"number"
},
"turning_radius":{
"description":"Turning radius of platform (in metres)",
"example":1.0,
"format":"float",
"type":"number"
}
},
"required":[
"operator",
"platform_ID",
"model",
"emergency",
"min_altitude",
"min_velocity",
"max_velocity"
],
"type":"object"
},
"type":"array"
},
"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"
],
[
-4.19449868846155,
50.362267670845654
"example":"survey",
"type":"string"
}
},
"required":[
"squad_ID",
"no_of_platforms",
"platforms",
"squad_mission_type"
],
"type":"object"
},
"type":"array"
}
},
"required":[
"message_type",
"planning_config_ID",
"squads",
"exclusion_zones",
"region_of_interest"
],
"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",
"enum":[
"platform_status"
],
"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": "array"
},
"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"
},
"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,
"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_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
]
}
},
"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"
}
},
"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",
"format": "string"
}
},
"required":[
"message_type",
"platform_ID",
"status_source",
"platform_timestamp",
"latitude",
"longitude"
],
"type":"object"
},
"required": [
"message_type",
"platform_ID",
"status_source",
"platform_timestamp",
"latitude",
"longitude"
],
"type": "object"
}
}
"platform_status_encoded":{
"properties":{
"data":{
"description":"encoded string. E.g. Base64 encoded",
"example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
"type":"string"
},
"file_name":{
"description":"Name of file",
"example":"ah1-0238126349247372.bin",
"type":"string"
},
"is_binary":{
"description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
"example":true,
"type":"boolean"
},
"message_type":{
"description":"Type of message",
"enum":[
"platform_status_encoded"
],
"example":"platform_status_encoded",
"type":"string"
},
"mime_type":{
"description":"MIME type",
"example":"application/gzip",
"type":"string"
}
},
"required":[
"data",
"is_binary"
],
"type":"object"
}
}
},
"info": {
"description": "SoAR message protocol in schemas",
"title": "SoAR Backbone Message Formats",
"version": "1.0"
"info":{
"description":"SoAR message protocol in schemas",
"title":"SoAR Backbone Message Formats",
"version":"1.0"
},
"openapi": "3.0.2",
"paths": {}
"openapi":"3.0.2",
"paths":{
}
}
\ No newline at end of file
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