diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5a520d84ee4d256664277dab38d00704517ad341..ab6df79eb949d13943233a31b8e234f969212cfa 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,18 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
## [Unreleased]
+## [v0.2.0] - 2024-02-06
+
+### Added
+
+- New alert message definition
+- Emergency flag in mission plan schemas
+- Added additional battery and fuel fields to platform status for SPINE project
+
+### Changed
+
+- Updated README to run tests against JS dependencies
+
## [v0.1.0] - 2023-03-24
### Added
@@ -23,5 +35,6 @@ JSON schema definitions for the SoAR project
Example messages matching the schema for each partner
+[unreleased]: https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/compare/v0.2.0...dev
+[v0.2.0]: https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/compare/v0.1.0...v0.2.0
[v0.1.0]: https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/compare/9e6ce245...v0.1.0
-[unreleased]: https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/compare/v0.1.0...dev
diff --git a/README.md b/README.md
index 12bf69ce85099a0219fa27269fe6c7fda188e86e..4d3b970fe534bec0d4f8bcdbc00436ec30bea09f 100644
--- a/README.md
+++ b/README.md
@@ -8,6 +8,7 @@ Each message below will be wrapped in a `payload` field and will have a `header`
* `mission_plan`: these would be two message types, i. encoded (platform-specific serialized message) and ii. parsed, human-readable message.
* `platform_status`: these would be two message types, i. encoded (platform-specific serialized message) and ii. parsed, human-readable message.
* `observation`: this would be desired scientific data sent by the platform
+* `survey`: this would be demanded track, platform actual path, and survey line
* `acknowledgement`: level of acknowledgment where an acknowledgement is sent when a message is i. received, ii. sent to the next destination (e.g. platform in the water).
* `planning_configuration`: sent from the GUI to initialise the AI model (autonomy engine).
@@ -68,16 +69,26 @@ eg
* `soar.*.*.*.to_platform.*` - all messages outbound to platforms (hermes)
* `soar.*.slocum.#` - all messages relating to a slocum platform type
-## Run Docs
-Run the command below and go to `http://127.0.0.1:5000`
+## Run Docs & Save Schema When Updating Message Formats
+1. Run the command below and go to `http://127.0.0.1:5000`
```
python3 generate_schema_config.py
```
+
+2. Copy the schema generated `http://127.0.0.1:5000/soar_protocol.json` into the `backbone-message-format/project/<project_name>/swagger.json`
+
+3. In the json copied, remove the key `"definitions"` from the schema and save this.
+
## Run Tests
-Run the command below
+Run both tests below:
+1. Test 1
```
python3 -m unittest tests/test_schemas.py
```
+2. Test 2
+```
+cd tests-js/docker; docker compose up --build
+```
## Quick Links
1. [Generated Swagger Docs (recommended to look at this)](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/blob/dev/project/soar/swagger.json)
diff --git a/examples/autonomy_engine_adapter/emergency_mission_command.json b/examples/autonomy_engine_adapter/emergency_mission_command.json
new file mode 100644
index 0000000000000000000000000000000000000000..91f255e6409c5deb2bb1cc01392bdfa3b9e9a0cd
--- /dev/null
+++ b/examples/autonomy_engine_adapter/emergency_mission_command.json
@@ -0,0 +1,24 @@
+{
+ "header": {
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "gui",
+ "destination": "soar.noc.autosub.alr-52.to_platform.mission_plan",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "mission_plan",
+ "platform_ID": "5-ah1",
+ "autonomy_engine_plan_ID": 1,
+ "emergency": true,
+ "plan": [
+ {
+ "action": "abort_now",
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706
+ }
+ ]
+ }
+ }
\ No newline at end of file
diff --git a/examples/autonomy_engine_adapter/emergency_mission_plan.json b/examples/autonomy_engine_adapter/emergency_mission_plan.json
new file mode 100644
index 0000000000000000000000000000000000000000..d96b125d3c928f1f6a574feb0bfdb16c0e3b81f7
--- /dev/null
+++ b/examples/autonomy_engine_adapter/emergency_mission_plan.json
@@ -0,0 +1,30 @@
+{
+ "header": {
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "gui",
+ "destination": "soar.noc.autosub.alr-52.to_platform.mission_plan",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "mission_plan",
+ "platform_ID": "5-ah1",
+ "autonomy_engine_plan_ID": 1,
+ "emergency": true,
+ "plan": [
+ {
+ "action": "move",
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706,
+ "depth": 5.0
+ },
+ {
+ "action": "abort_now",
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706
+ }
+ ]
+ }
+ }
\ No newline at end of file
diff --git a/examples/autonomy_engine_adapter/mission_plan_AH1.json b/examples/autonomy_engine_adapter/mission_plan_AH1.json
index 01319153d42bff4442acebd4bcc1c4e0befc48ce..063332e1fe0f91a9beb3727240c833d8c0d01620 100644
--- a/examples/autonomy_engine_adapter/mission_plan_AH1.json
+++ b/examples/autonomy_engine_adapter/mission_plan_AH1.json
@@ -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,
+ "action": "dive",
+ "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
diff --git a/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json b/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
index b9d5a8b8d927a45164edea329407ea681141a007..ad8bcba98cafe25e5ec15b86a275a21188409fd8 100644
--- a/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
+++ b/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
@@ -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,
+ "action": "dive",
+ "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
diff --git a/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json b/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
index 54ffbeb0e079146190796d374dba59508d8a9b49..774a9b996079ddc6ff2a1f68d1ae08f06b3cb3ff 100644
--- a/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
+++ b/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
@@ -4,26 +4,26 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
- "destination": "soar.hydrosurv.reav-60.reav-60-1.to_platform.mission_plan",
+ "destination": "soar.hydrosurv.reav60.usvdecibel.to_platform.mission_plan",
"delivery_type": "publish",
"encoded": false
},
"payload":{
"message_type": "mission_plan",
- "platform_ID": "reav-60-1",
+ "platform_ID": "usvdecibel",
"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
}
]
}
diff --git a/examples/autonomy_engine_adapter/planning_configuration.json b/examples/autonomy_engine_adapter/planning_configuration.json
index c5a4fb7f16d61bf1ccfb1889965d90a18249a062..005fca7bee95eac72a3769a5292d72c6c21e766a 100644
--- a/examples/autonomy_engine_adapter/planning_configuration.json
+++ b/examples/autonomy_engine_adapter/planning_configuration.json
@@ -5,122 +5,216 @@
"version": 2,
"source": "gui",
"destination": "soar.all.all.all.from_platform.planning_configuration",
- "delivery_type": "publish",
+ "delivery_type": "broadcast",
"encoded": false
},
"payload":{
"message_type": "planning_configuration",
- "planning_config_ID": 3,
+ "planning_config_ID": 1,
"exclusion_zones": [
{
"geometry_coordinates": [
[
[
- -4.187143188645706,
- 50.37072283932642
+ -4.1777839187560915,
+ 50.34173405662855
],
[
- -4.202697005964865,
- 50.368816892405874
+ -4.1777839187560915,
+ 50.33820949229701
],
[
- -4.203156724702808,
- 50.365640144076906
+ -4.143667777943875,
+ 50.33820949229701
],
[
- -4.19449868846155,
- 50.362267670845654
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
]
]
]
}
],
+ "region_of_interest": [
+ {
+ "geometry_coordinates": [
+ [
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ]
+ ]
+ ]
+ }
+ ],
"squads": [
{
"squad_ID": 1,
"no_of_platforms": 1,
"squad_mission_type": "tracking",
- "squad_state": "active",
"platforms": [
{
+ "operator": "hydrosurv",
"model": "reav",
- "platform_ID": "reav-60-1",
- "emergency": {
- "additional_data": {},
- "target_waypoint_latitude": -7.432,
- "target_waypoint_longitude": 50.365,
- "safe_command": "go_home",
- "target_depth": 10.0
- },
- "max_velocity": 0.9,
- "min_altitude": 15.2,
- "min_velocity": 0.1,
- "additional_data": {}
+ "platform_ID": "usvdecibel",
+ "active": true
}
- ],
- "region_of_interest": {
- "geometry_coordinates": [
- [
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
- ]
- ]
- }
+ ]
},
{
"squad_ID": 2,
- "no_of_platforms": 3,
+ "no_of_platforms": 4,
"squad_mission_type": "survey",
- "squad_state": "active",
"platforms": [
{
+ "operator": "planet-ocean",
"platform_ID": "ecosub-1",
"model": "ecosub",
+ "active": true,
+ "beacon_ID": 10021,
"emergency": {
- "additional_data": {},
- "target_waypoint_latitude": -7.432,
- "target_waypoint_longitude": 50.365,
+ "target_waypoint_latitude": 50.32933594228737,
+ "target_waypoint_longitude": -4.192219151149999,
"safe_command": "go_home",
"target_depth": 10.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "endurance_relative_to_water_speed": {
+ "min_battery_rating": 2.25,
+ "max_battery_rating": 1.23,
+ "avg_battery_rating": 1.9
+ },
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "warmup_time": 60.0,
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "DVL",
- "swath_width": 10
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
},
{
+ "operator": "planet-ocean",
"platform_ID": "ecosub-2",
"model": "ecosub",
+ "active": true,
+ "beacon_ID": 10021,
"emergency": {
- "additional_data": {},
- "target_waypoint_latitude": -0.432,
- "target_waypoint_longitude": 20.365,
+ "target_waypoint_latitude": 50.32775207068519,
+ "target_waypoint_longitude": -4.192219151149999,
"safe_command": "go_home",
"target_depth": 0.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "endurance_relative_to_water_speed": {
+ "min_battery_rating": 2.25,
+ "max_battery_rating": 1.23,
+ "avg_battery_rating": 1.9
+ },
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "warmup_time": 60.0,
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
+ "additional_data": {
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
+ }
+ },
+ {
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-3",
+ "model": "ecosub",
+ "active": true,
+ "beacon_ID": 10021,
+ "emergency": {
+ "target_waypoint_latitude": 50.326744124905844,
+ "target_waypoint_longitude": -4.184550412882118,
+ "safe_command": "go_home",
+ "target_depth": 0.0
+ },
+ "min_altitude": 5.0,
+ "max_velocity": 0.9,
+ "min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "endurance_relative_to_water_speed": {
+ "min_battery_rating": 2.25,
+ "max_battery_rating": 1.23,
+ "avg_battery_rating": 1.9
+ },
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "warmup_time": 60.0,
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "DVL",
- "swath_width": 10
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
+ }
+ },
+ {
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-4",
+ "model": "ecosub",
+ "active": true,
+ "beacon_ID": 10021,
+ "emergency": {
+ "target_waypoint_latitude": 50.32616814629094,
+ "target_waypoint_longitude": -4.188610333142037,
+ "safe_command": "go_home",
+ "target_depth": 0.0
+ },
+ "min_altitude": 5.0,
+ "max_velocity": 0.9,
+ "min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "warmup_time": 60.0,
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
+ "additional_data": {
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
}
]
@@ -129,23 +223,39 @@
"squad_ID": 3,
"no_of_platforms": 1,
"squad_mission_type": "inspection",
- "squad_state": "active",
"platforms": [
{
+ "operator": "noc",
"platform_ID": "ah-1",
"model": "autosub",
+ "active": true,
+ "beacon_ID": 2407,
"emergency": {
- "additional_data": {},
- "target_waypoint_latitude": 20.432,
- "target_waypoint_longitude": 50.365,
+ "target_waypoint_latitude": 50.3342284629413,
+ "target_waypoint_longitude": -4.19759350502369,
"safe_command": "abort_now",
"target_depth": 0.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "endurance_relative_to_water_speed": {
+ "min_battery_rating": 2.25,
+ "max_battery_rating": 1.23,
+ "avg_battery_rating": 1.9
+ },
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "warmup_time": 60.0,
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "MBES"
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
}
]
diff --git a/examples/autonomy_engine_adapter/survey.json b/examples/autonomy_engine_adapter/survey.json
new file mode 100644
index 0000000000000000000000000000000000000000..21ee23f9f4b6ef155fb8830abc6f1d647027ddf0
--- /dev/null
+++ b/examples/autonomy_engine_adapter/survey.json
@@ -0,0 +1,28 @@
+{
+ "header": {
+ "message_ID": "e1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2023-03-16T00:00:00Z",
+ "version": 2,
+ "source": "ecosub.ecosub-c2",
+ "destination": "soar.planet-ocean.ecosub.ecosub-2.from_platform.survey",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload": {
+ "message_type": "survey",
+ "timestamp": "2026-12-21T00:00:00Z",
+ "latitude_A": 188.1,
+ "longitude_A": -10.122,
+ "latitude_B": 178.2,
+ "longitude_B": -10.122,
+ "latitude_C": 177.9,
+ "longitude_C": -10.122,
+ "latitude_D": 178.2,
+ "longitude_D": -11.122,
+ "latitude_E": 179.2,
+ "longitude_E": -11.122,
+ "platform_ID": "ecosub-2",
+ "track_ID": 12
+ }
+}
+
\ No newline at end of file
diff --git a/examples/autonomy_engine_adapter/survey_encoded.json b/examples/autonomy_engine_adapter/survey_encoded.json
new file mode 100644
index 0000000000000000000000000000000000000000..19eaf7b6c9871c3e9b503e05bcb588bb3934208b
--- /dev/null
+++ b/examples/autonomy_engine_adapter/survey_encoded.json
@@ -0,0 +1,19 @@
+{
+ "header": {
+ "message_ID": "t1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2023-03-16T00:00:00Z",
+ "version": 2,
+ "source": "hermes.ecosub-2",
+ "destination": "soar.noc.autosub.alr-52.from_platform.survey_encoded",
+ "delivery_type": "publish",
+ "encoded": true
+ },
+ "payload": {
+ "message_type": "survey_encoded",
+ "data": "HWYFBAAD+zwBySUAAAADVek72v1N2lUAAAAA9P2cP166ab+9cg==",
+ "file_name": "ecosub2-survey-data_03837434286438.sbd",
+ "mime_type": "application/gzip",
+ "is_binary": true
+ }
+ }
+
\ No newline at end of file
diff --git a/examples/ecosub_adapter/mission_plan.json b/examples/ecosub_adapter/mission_plan.json
index b9d5a8b8d927a45164edea329407ea681141a007..ad8bcba98cafe25e5ec15b86a275a21188409fd8 100644
--- a/examples/ecosub_adapter/mission_plan.json
+++ b/examples/ecosub_adapter/mission_plan.json
@@ -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,
+ "action": "dive",
+ "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
diff --git a/examples/ecosub_adapter/survey.json b/examples/ecosub_adapter/survey.json
new file mode 100644
index 0000000000000000000000000000000000000000..21ee23f9f4b6ef155fb8830abc6f1d647027ddf0
--- /dev/null
+++ b/examples/ecosub_adapter/survey.json
@@ -0,0 +1,28 @@
+{
+ "header": {
+ "message_ID": "e1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2023-03-16T00:00:00Z",
+ "version": 2,
+ "source": "ecosub.ecosub-c2",
+ "destination": "soar.planet-ocean.ecosub.ecosub-2.from_platform.survey",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload": {
+ "message_type": "survey",
+ "timestamp": "2026-12-21T00:00:00Z",
+ "latitude_A": 188.1,
+ "longitude_A": -10.122,
+ "latitude_B": 178.2,
+ "longitude_B": -10.122,
+ "latitude_C": 177.9,
+ "longitude_C": -10.122,
+ "latitude_D": 178.2,
+ "longitude_D": -11.122,
+ "latitude_E": 179.2,
+ "longitude_E": -11.122,
+ "platform_ID": "ecosub-2",
+ "track_ID": 12
+ }
+}
+
\ No newline at end of file
diff --git a/examples/ecosub_adapter/survey_encoded.json b/examples/ecosub_adapter/survey_encoded.json
new file mode 100644
index 0000000000000000000000000000000000000000..19eaf7b6c9871c3e9b503e05bcb588bb3934208b
--- /dev/null
+++ b/examples/ecosub_adapter/survey_encoded.json
@@ -0,0 +1,19 @@
+{
+ "header": {
+ "message_ID": "t1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2023-03-16T00:00:00Z",
+ "version": 2,
+ "source": "hermes.ecosub-2",
+ "destination": "soar.noc.autosub.alr-52.from_platform.survey_encoded",
+ "delivery_type": "publish",
+ "encoded": true
+ },
+ "payload": {
+ "message_type": "survey_encoded",
+ "data": "HWYFBAAD+zwBySUAAAADVek72v1N2lUAAAAA9P2cP166ab+9cg==",
+ "file_name": "ecosub2-survey-data_03837434286438.sbd",
+ "mime_type": "application/gzip",
+ "is_binary": true
+ }
+ }
+
\ No newline at end of file
diff --git a/examples/gui_adapter/emergency_mission_command.json b/examples/gui_adapter/emergency_mission_command.json
new file mode 100644
index 0000000000000000000000000000000000000000..91f255e6409c5deb2bb1cc01392bdfa3b9e9a0cd
--- /dev/null
+++ b/examples/gui_adapter/emergency_mission_command.json
@@ -0,0 +1,24 @@
+{
+ "header": {
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "gui",
+ "destination": "soar.noc.autosub.alr-52.to_platform.mission_plan",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "mission_plan",
+ "platform_ID": "5-ah1",
+ "autonomy_engine_plan_ID": 1,
+ "emergency": true,
+ "plan": [
+ {
+ "action": "abort_now",
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706
+ }
+ ]
+ }
+ }
\ No newline at end of file
diff --git a/examples/gui_adapter/emergency_mission_plan.json b/examples/gui_adapter/emergency_mission_plan.json
new file mode 100644
index 0000000000000000000000000000000000000000..d96b125d3c928f1f6a574feb0bfdb16c0e3b81f7
--- /dev/null
+++ b/examples/gui_adapter/emergency_mission_plan.json
@@ -0,0 +1,30 @@
+{
+ "header": {
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "gui",
+ "destination": "soar.noc.autosub.alr-52.to_platform.mission_plan",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "mission_plan",
+ "platform_ID": "5-ah1",
+ "autonomy_engine_plan_ID": 1,
+ "emergency": true,
+ "plan": [
+ {
+ "action": "move",
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706,
+ "depth": 5.0
+ },
+ {
+ "action": "abort_now",
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706
+ }
+ ]
+ }
+ }
\ No newline at end of file
diff --git a/examples/gui_adapter/planning_configuration.json b/examples/gui_adapter/planning_configuration.json
index 319d9bda8fcf3e95382d4d801c7a556e6af0f52d..9c04569473fd56579e6e0bdf565ee88702aba341 100644
--- a/examples/gui_adapter/planning_configuration.json
+++ b/examples/gui_adapter/planning_configuration.json
@@ -10,114 +10,223 @@
},
"payload":{
"message_type": "planning_configuration",
- "planning_config_ID": 3,
+ "planning_config_ID": 1,
"exclusion_zones": [
{
"geometry_coordinates": [
[
[
- -4.187143188645706,
- 50.37072283932642
+ -4.1777839187560915,
+ 50.34173405662855
],
[
- -4.202697005964865,
- 50.368816892405874
+ -4.1777839187560915,
+ 50.33820949229701
],
[
- -4.203156724702808,
- 50.365640144076906
+ -4.143667777943875,
+ 50.33820949229701
],
[
- -4.19449868846155,
- 50.362267670845654
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
]
]
]
}
],
+ "region_of_interest": [
+ {
+ "geometry_coordinates": [
+ [
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ]
+ ]
+ ]
+ }
+ ],
"squads": [
{
"squad_ID": 1,
"no_of_platforms": 1,
"squad_mission_type": "tracking",
- "squad_state": "active",
"platforms": [
{
- "model": "reav",
- "platform_ID": "reav-60-1",
+ "operator": "hydrosurv",
+ "model": "reav60",
+ "platform_ID": "usvdecibel",
+ "active": true,
"emergency": {
- "target_waypoint_latitude": -7.432,
- "target_waypoint_longitude": 50.365,
+ "target_waypoint_latitude": 50.33611100020795,
+ "target_waypoint_longitude": -4.189772466767039,
"safe_command": "go_home",
"target_depth": 10.0
},
+ "min_altitude": 0.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
- "min_velocity": 0.1
+ "min_velocity": 0.1,
+ "target_altitude": 0.0,
+ "endurance_relative_to_water_speed": {
+ "min_battery_rating": 2.25,
+ "max_battery_rating": 1.23,
+ "avg_battery_rating": 1.9
+ },
+ "additional_data": {}
}
- ],
- "region_of_interest": {
- "geometry_coordinates": [
- [
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
- ]
- ]
- }
+ ]
},
{
"squad_ID": 2,
- "no_of_platforms": 3,
+ "no_of_platforms": 4,
"squad_mission_type": "survey",
- "squad_state": "active",
"platforms": [
{
- "platform_ID": "ecosub-2",
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-1",
"model": "ecosub",
+ "active": true,
+ "beacon_ID": 10021,
"emergency": {
- "target_waypoint_latitude": -7.432,
- "target_waypoint_longitude": 50.365,
+ "target_waypoint_latitude": 50.32933594228737,
+ "target_waypoint_longitude": -4.192219151149999,
"safe_command": "go_home",
"target_depth": 10.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "endurance_relative_to_water_speed": {
+ "min_battery_rating": 2.25,
+ "max_battery_rating": 1.23,
+ "avg_battery_rating": 1.9
+ },
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "DVL",
- "swath_width": 10
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
},
{
- "platform_ID": "ecosub-5",
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-2",
"model": "ecosub",
+ "active": true,
+ "beacon_ID": 10021,
"emergency": {
- "additional_data": {},
- "target_waypoint_latitude": -0.432,
- "target_waypoint_longitude": 20.365,
+ "target_waypoint_latitude": 50.32775207068519,
+ "target_waypoint_longitude": -4.192219151149999,
"safe_command": "go_home",
"target_depth": 0.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "endurance_relative_to_water_speed": {
+ "min_battery_rating": 2.25,
+ "max_battery_rating": 1.23,
+ "avg_battery_rating": 1.9
+ },
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
+ "additional_data": {
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
+ }
+ },
+ {
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-3",
+ "model": "ecosub",
+ "active": true,
+ "beacon_ID": 10021,
+ "emergency": {
+ "target_waypoint_latitude": 50.326744124905844,
+ "target_waypoint_longitude": -4.184550412882118,
+ "safe_command": "go_home",
+ "target_depth": 0.0
+ },
+ "min_altitude": 5.0,
+ "max_velocity": 0.9,
+ "min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "endurance_relative_to_water_speed": {
+ "min_battery_rating": 2.25,
+ "max_battery_rating": 1.23,
+ "avg_battery_rating": 1.9
+ },
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "DVL",
- "swath_width": 10
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
+ }
+ },
+ {
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-4",
+ "model": "ecosub",
+ "active": true,
+ "beacon_ID": 10021,
+ "emergency": {
+ "target_waypoint_latitude": 50.32616814629094,
+ "target_waypoint_longitude": -4.188610333142037,
+ "safe_command": "go_home",
+ "target_depth": 0.0
+ },
+ "min_altitude": 5.0,
+ "max_velocity": 0.9,
+ "min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
+ "additional_data": {
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
}
]
@@ -126,23 +235,38 @@
"squad_ID": 3,
"no_of_platforms": 1,
"squad_mission_type": "inspection",
- "squad_state": "active",
"platforms": [
{
- "platform_ID": "139-ah-1",
+ "operator": "noc",
+ "platform_ID": "ah-1",
"model": "autosub",
+ "active": true,
+ "beacon_ID": 2407,
"emergency": {
- "additional_data": {},
- "target_waypoint_latitude": 20.432,
- "target_waypoint_longitude": 50.365,
+ "target_waypoint_latitude": 50.3342284629413,
+ "target_waypoint_longitude": -4.19759350502369,
"safe_command": "abort_now",
"target_depth": 0.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "endurance_relative_to_water_speed": {
+ "min_battery_rating": 2.25,
+ "max_battery_rating": 1.23,
+ "avg_battery_rating": 1.9
+ },
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "MBES"
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
}
]
diff --git a/examples/hydrosurv_adapter/acknowledgement.json b/examples/hydrosurv_adapter/acknowledgement.json
index 0c130c46fc818d5fd913ed703c04e9341872b3c1..23c1028b712c08f0015b8db8ccdf1a1896684a51 100644
--- a/examples/hydrosurv_adapter/acknowledgement.json
+++ b/examples/hydrosurv_adapter/acknowledgement.json
@@ -4,14 +4,14 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 1,
"source": "hydrosurv_adapter",
- "destination": "soar.hydrosurv.reav-60.reav-60-1.from_platform.acknowledgement",
+ "destination": "soar.hydrosurv.reav60.usvdecibel.from_platform.acknowledgement",
"delivery_type": "publish",
"encoded": false
},
"payload":{
"message_type": "acknowledgement",
"autonomy_engine_plan_ID": 1,
- "platform_ID": "reav-60-1",
+ "platform_ID": "usvdecibel",
"approved": false
}
}
\ No newline at end of file
diff --git a/examples/hydrosurv_adapter/alert.json b/examples/hydrosurv_adapter/alert.json
new file mode 100644
index 0000000000000000000000000000000000000000..9abbbbbe47d4c840e786488cb4f0117424e4fafa
--- /dev/null
+++ b/examples/hydrosurv_adapter/alert.json
@@ -0,0 +1,21 @@
+{
+ "header": {
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 1,
+ "source": "hydrosurv_adapter",
+ "destination": "soar.hydrosurv.reav60.usvdecibel.from_platform.alert",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload": {
+ "message_type": "alert",
+ "platform_ID": "usvdecibel",
+ "code": 345,
+ "platform_timestamp": "2022-12-21T00:00:00Z",
+ "subsystem": "Onboard Fault Monitor",
+ "summary": "Steering Damage - Port Side",
+ "details": "Discrepancy between rudder and actuator positions : Rudder Pos=10.31°, Steering Actuator Pos=28.65°, Discrepancy=18.33°",
+ "severity": "Alarm"
+ }
+}
\ No newline at end of file
diff --git a/examples/hydrosurv_adapter/mission_plan.json b/examples/hydrosurv_adapter/mission_plan.json
index 54ffbeb0e079146190796d374dba59508d8a9b49..774a9b996079ddc6ff2a1f68d1ae08f06b3cb3ff 100644
--- a/examples/hydrosurv_adapter/mission_plan.json
+++ b/examples/hydrosurv_adapter/mission_plan.json
@@ -4,26 +4,26 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
- "destination": "soar.hydrosurv.reav-60.reav-60-1.to_platform.mission_plan",
+ "destination": "soar.hydrosurv.reav60.usvdecibel.to_platform.mission_plan",
"delivery_type": "publish",
"encoded": false
},
"payload":{
"message_type": "mission_plan",
- "platform_ID": "reav-60-1",
+ "platform_ID": "usvdecibel",
"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
}
]
}
diff --git a/examples/hydrosurv_adapter/platform_status.json b/examples/hydrosurv_adapter/platform_status.json
index 72c30dd2857c30db3994a9b61fc781915f668e94..193e12a2791e73088c6282623d0b1a0dfe2ab90f 100644
--- a/examples/hydrosurv_adapter/platform_status.json
+++ b/examples/hydrosurv_adapter/platform_status.json
@@ -1,25 +1,29 @@
{
- "header":{
+ "header": {
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "hydrosurv_adapter",
- "destination": "soar.hydrosurv.reav-60.reav-60-1.from_platform.platform_status",
+ "destination": "soar.hydrosurv.reav60.usvdecibel.from_platform.platform_status",
"delivery_type": "publish",
"encoded": false
},
- "payload":{
+ "payload": {
"message_type": "platform_status",
"autonomy_engine_plan_ID": 1,
"status_source": "onboard_platform",
"battery_remaining_capacity": 80.2,
+ "battery_output": 3.8,
+ "fuel_volume": 13.2,
+ "fuel_remaining_capacity": 65.3,
+ "endurance": 3.4,
"heading": 310.0,
"health_status": false,
"latitude": 178.2,
"longitude": -10.122,
"mission_plan_ID": 1,
"mission_track_ID": 4,
- "platform_ID": "reav-60-1",
+ "platform_ID": "usvdecibel",
"platform_state": "ABORT",
"platform_timestamp": "2022-12-21T00:00:00Z",
"speed_over_ground": 4.5,
diff --git a/formats/__init__.py b/formats/__init__.py
index e7e9b0006c0178a09b011dff9ec343b9b1e6a637..96c6be008d8b1895aed1f89f92272359f4a0dcd1 100644
--- a/formats/__init__.py
+++ b/formats/__init__.py
@@ -44,7 +44,7 @@ message_header = {
"encoded": {
"type": "boolean",
"description": "Indicate that message raw (encoded) or decoded. "
- + "Options: encoded=True, decoded=False",
+ + "Options: encoded=true, decoded=false",
"example": False,
},
"delivery_type": {
diff --git a/formats/alert.py b/formats/alert.py
new file mode 100644
index 0000000000000000000000000000000000000000..bfdc287da53cca7366be0094e07922577d31f92e
--- /dev/null
+++ b/formats/alert.py
@@ -0,0 +1,58 @@
+"""
+ schemas: Alert message sent on fault detection
+"""
+alert_schema = {
+ "type": "object",
+ "properties": {
+ "message_type": {
+ "type": "string",
+ "description": "Type of message",
+ "example": "alert",
+ "enum": ["alert"],
+ },
+ "code": {
+ "type": "integer",
+ "description": "Alert code",
+ "example": 345,
+ },
+ "platform_ID": {
+ "type": "string",
+ "description": "Unique identifier for this platform",
+ "example": "usvdecibel",
+ },
+ "platform_timestamp": {
+ "type": "string",
+ "format": "date-time",
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ },
+ "subsystem": {
+ "type": "string",
+ "description": "System that generated the alert",
+ "example": "Onboard Fault Monitor",
+ },
+ "summary": {
+ "type": "string",
+ "description": "High level description of the alert",
+ "example": "Steering Damage - Port Side",
+ },
+ "details": {
+ "type": "string",
+ "description": "Detailed reason for the alert ",
+ "example": "Discrepancy between rudder and actuator positions"
+ + " : Rudder Pos=10.31°, Steering Actuator Pos=28.65°, Discrepancy=18.33°",
+ },
+ "severity": {
+ "type": "string",
+ "description": "Severity level of alert",
+ "example": "Alarm",
+ "enum": ["Emergency", "Alarm", "Warning", "Caution"],
+ },
+ },
+ "required": [
+ "message_type",
+ "platform_ID",
+ "code",
+ "severity",
+ ],
+}
diff --git a/formats/encoded.py b/formats/encoded.py
index 8d6d700686a0db7797b070a28a73f46cd04a91c7..e6bb57418526233593878c6788ff7b8982baf70d 100644
--- a/formats/encoded.py
+++ b/formats/encoded.py
@@ -32,8 +32,8 @@ encoded_schema = {
"is_binary": {
"type": "boolean",
"description": (
- "True if the data field contains binary format data encoded as base64."
- + " False if the data field contains ascii content such as NMEA."
+ "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,
},
diff --git a/formats/mission_plan.py b/formats/mission_plan.py
index 4a97375a42b304a73a026bc9de8a4add7b5e0fcd..f62e823239d1106de2ebec06a331138e54f19fe3 100644
--- a/formats/mission_plan.py
+++ b/formats/mission_plan.py
@@ -11,31 +11,43 @@ action_schema = {
"type": "string",
"description": "Autonomy Engine's action from `move`, `payload`,"
+ " `dive`, `send_hits`, `scanline`, `scanpoint`.",
+ "enum": [
+ "move",
+ "payload",
+ "dive",
+ "send_hits",
+ "scanline",
+ "scanpoint",
+ "go_home",
+ "surface_now",
+ "stop_mission",
+ "abort_now",
+ ],
"example": "move",
},
"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",
@@ -88,6 +100,13 @@ mission_plan_schema = {
"description": "Unique identifier for this platform",
"example": "reav-x-1",
},
+ "emergency": {
+ "type": "boolean",
+ "description": "To indicate if this is an emergency. "
+ + "true = emergency and false = no emergency",
+ "default": False,
+ "example": False,
+ },
"plan": {
"type": "array",
"items": action_schema,
diff --git a/formats/mission_plan_encoded.py b/formats/mission_plan_encoded.py
index bc32ab4f0921816ca33ccbd6a327c6403973ba6d..62f89088c47d44d7d8b894fbafd15139015d2a6c 100644
--- a/formats/mission_plan_encoded.py
+++ b/formats/mission_plan_encoded.py
@@ -1,6 +1,7 @@
from formats.encoded import encoded_schema
+from copy import deepcopy
-mission_plan_encoded_schema = encoded_schema
+mission_plan_encoded_schema = deepcopy(encoded_schema)
mission_plan_encoded_schema["properties"]["message_type"]["enum"] = [
"mission_plan_encoded"
diff --git a/formats/observation.py b/formats/observation.py
index 4ecf017e13cbc202897e688dbf84cbbc3d6e46bd..9a65d4bd12c171c1151c9905d0dbc76d7cae7f33 100644
--- a/formats/observation.py
+++ b/formats/observation.py
@@ -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": {
diff --git a/formats/observation_encoded.py b/formats/observation_encoded.py
index 257c21a7a55703f0cc55cc69da6bb4a62d606576..520758bf381fd63a4df758180fe2c792ed309666 100644
--- a/formats/observation_encoded.py
+++ b/formats/observation_encoded.py
@@ -1,6 +1,7 @@
from formats.encoded import encoded_schema
+from copy import deepcopy
-observation_encoded_schema = encoded_schema
+observation_encoded_schema = deepcopy(encoded_schema)
observation_encoded_schema["properties"]["message_type"]["enum"] = [
"observation_encoded"
diff --git a/formats/planning_configuration.py b/formats/planning_configuration.py
index c741b6c8d42bc9e0460c83a86ea55c7c5ab7a5af..6a16e4272451365426cdd29874361db193bba0de 100644
--- a/formats/planning_configuration.py
+++ b/formats/planning_configuration.py
@@ -8,7 +8,7 @@ emergency_schema = {
"properties": {
"safe_command": {
"type": "string",
- "enum": ["go_home", "abort_now", "stop_mission"],
+ "enum": ["go_home", "abort_now", "stop_now", "surface_now"],
"description": "Command/Action that is native to respective"
+ " partner's platform/C2",
"example": "go_home",
@@ -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",
@@ -32,11 +32,6 @@ emergency_schema = {
+ " . If platform to NOT stay at depth, key in `0.0`",
"example": 10.0,
},
- "additional_data": {
- "type": "object",
- "description": "Any addition fields/data to be added here",
- "example": {},
- },
},
"required": [
"target_waypoint_latitude",
@@ -45,10 +40,80 @@ emergency_schema = {
],
}
+endurance_relative_water_speed_schema = {
+ "type": "object",
+ "properties": {
+ "min_battery_rating": {
+ "type": "number",
+ "format": "float",
+ "description": "Battery endurance rating during maximum speed usage (m/s)",
+ "example": 3.32,
+ },
+ "max_battery_rating": {
+ "type": "number",
+ "format": "float",
+ "description": "Battery endurance rating during maximum speed usage (m/s)",
+ "example": 1.23,
+ },
+ "avg_battery_rating": {
+ "type": "number",
+ "format": "float",
+ "description": (
+ "Battery endurance rating during standard operational"
+ + " speed usage (m/s)"
+ ),
+ "example": 1.9,
+ },
+ },
+}
+
+
+scan_sensor_schema = {
+ "type": "object",
+ "properties": {
+ "sensor_type": {
+ "type": "string",
+ "description": "Unique identifier for this platform",
+ "example": "MBES",
+ "enum": ["SIDESCAN", "MBES"],
+ },
+ "warmup_time": {
+ "type": "number",
+ "format": "float",
+ "description": "Warmup time (seconds) for sensor to start up.",
+ "example": 180.0,
+ },
+ "swath_width": {
+ "type": "number",
+ "format": "float",
+ "description": "Function of `target_altitude` for the platform's "
+ + "swath width (in metres)",
+ "example": 38.0,
+ },
+ "frequency": {
+ "type": "number",
+ "format": "float",
+ "description": "Frequency of scanning sensor (in kHz)",
+ "example": 700.0,
+ },
+ "angle": {
+ "type": "number",
+ "format": "float",
+ "description": "Angle of range of swath width (in degrees)",
+ "example": 140.0,
+ },
+ },
+}
+
platform_schema = {
"type": "object",
"properties": {
+ "operator": {
+ "type": "string",
+ "description": "Operator of platform",
+ "example": "noc",
+ },
"platform_ID": {
"type": "string",
"description": "Unique identifier for this platform",
@@ -58,38 +123,61 @@ platform_schema = {
"type": "string",
"example": "reav",
},
+ "beacon_ID": {
+ "type": "number",
+ "description": "Unique identifier (number) for the beacon "
+ + "associated to this platform",
+ "example": 2407,
+ },
+ "active": {
+ "type": "boolean",
+ "description": "If platform is active = True, and inactive = False",
+ "example": True,
+ },
"emergency": emergency_schema,
"min_altitude": {
"type": "number",
"format": "float",
- "description": "Minimum altitude set for squad.",
+ "description": "Minimum altitude set for platform",
"example": 15.2,
},
"min_velocity": {
"type": "number",
"format": "float",
- "description": "Minimum velocity set for squad.",
+ "description": "Minimum velocity set for platform",
"example": 0.1,
},
"max_velocity": {
"type": "number",
"format": "float",
- "description": "Maximum altitude set for squad.",
+ "description": "Maximum velocity set for platform",
"example": 0.9,
},
+ "target_altitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target altitude set for platform. This affects swath width",
+ "example": 15.0,
+ },
+ "turning_radius": {
+ "type": "number",
+ "format": "float",
+ "description": "Turning radius of platform (in metres)",
+ "example": 1.0,
+ },
+ "endurance_relative_to_water_speed": endurance_relative_water_speed_schema,
+ "scan_sensor": scan_sensor_schema,
"additional_data": {
"description": "Any addition fields/data to be added here",
- "example": {"swath_width": 10.0, "scan_type": "DVL"},
+ "example": {"new_sensor_a": "test_sensor", "range": 10.0},
"type": "object",
},
},
"required": [
+ "operator",
"platform_ID",
+ "active",
"model",
- "emergency",
- "min_altitude",
- "min_velocity",
- "max_velocity",
],
}
@@ -97,18 +185,19 @@ region_schema = {
"type": "object",
"properties": {
"geometry_coordinates": {
- "type": "array", # TODO: Check if config defn is right.
+ "type": "array",
"example": [
[
- [-4.187143188645706, 50.37072283932642],
- [-4.202697005964865, 50.368816892405874],
- [-4.203156724702808, 50.365640144076906],
- [-4.19449868846155, 50.362267670845654],
+ [-4.1777839187560915, 50.34173405662855],
+ [-4.1777839187560915, 50.33820949229701],
+ [-4.143667777943875, 50.33820949229701],
+ [-4.143667777943875, 50.34173405662855],
+ [-4.1777839187560915, 50.34173405662855],
]
],
},
},
- "description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
+ "description": "Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
}
squad_metadata_schema = {
@@ -136,19 +225,12 @@ squad_metadata_schema = {
+ ", `inspection`",
"example": "survey",
},
- "squad_state": {
- "type": "string",
- "description": "In execution, Waiting.. <define further>",
- "example": False,
- },
- "region_of_interest": region_schema,
},
"required": [
"squad_ID",
"no_of_platforms",
"platforms",
"squad_mission_type",
- "squad_state",
],
}
@@ -167,6 +249,11 @@ planning_configuration_schema = {
+ " configuration plan",
"example": 3,
},
+ "region_of_interest": {
+ "type": "array",
+ "items": region_schema,
+ "description": "Region of interest for the entire operation",
+ },
"exclusion_zones": {
"type": "array",
"items": region_schema,
@@ -182,5 +269,6 @@ planning_configuration_schema = {
"planning_config_ID",
"squads",
"exclusion_zones",
+ "region_of_interest",
],
}
diff --git a/formats/platform_status.py b/formats/platform_status.py
index f0e0cb6a0ca1558bb4e16a9bdf5c72f6e7ad7189..81b452f08fddecdc800e4992d046595b02642d2e 100644
--- a/formats/platform_status.py
+++ b/formats/platform_status.py
@@ -14,7 +14,7 @@ sensor_schema = {
},
"sensor_on": {
"type": "boolean",
- "description": "Sensor switched on (True) or off (False)",
+ "description": "Sensor switched on (true) or off (false)",
"example": True,
},
"additional_data": {
@@ -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": {
@@ -170,6 +170,31 @@ platform_status_schema = {
"description": "Battery remaining % provided by respective C2",
"example": 80.2,
},
+ "battery_output": {
+ "type": "number",
+ "format": "float",
+ "description": "Battery output in kW",
+ "example": 80.2,
+ },
+ "fuel_remaining_capacity": {
+ "type": "number",
+ "format": "float",
+ "description": "Percentage remaining capacity",
+ "example": 80.2,
+ },
+ "fuel_volume": {
+ "type": "number",
+ "format": "float",
+ "description": "Litres of liquid fuel",
+ "example": 12.5,
+ },
+ "endurance": {
+ "type": "number",
+ "format": "float",
+ "description": "Estimate of hours of operation remaining "
+ + "based on present output or performance",
+ "example": 7.4,
+ },
"sensor_config": sensor_schema,
},
"required": [
diff --git a/formats/platform_status_encoded.py b/formats/platform_status_encoded.py
index 23b54a9a9cb28f228c4781a481c7318c294185dc..fcca15903929f67b350b7716560e447d65951276 100644
--- a/formats/platform_status_encoded.py
+++ b/formats/platform_status_encoded.py
@@ -1,6 +1,7 @@
from formats.encoded import encoded_schema
+from copy import deepcopy
-platform_status_encoded_schema = encoded_schema
+platform_status_encoded_schema = deepcopy(encoded_schema)
platform_status_encoded_schema["properties"]["message_type"]["enum"] = [
"platform_status_encoded"
diff --git a/formats/survey.py b/formats/survey.py
new file mode 100644
index 0000000000000000000000000000000000000000..32c2b0d7fe95602167e0f83d395f2c1d5d82ef69
--- /dev/null
+++ b/formats/survey.py
@@ -0,0 +1,129 @@
+"""
+ schema: Survey Message that is decoded sent by platforms
+ to track progress
+"""
+
+survey_schema = {
+ "type": "object",
+ "properties": {
+ "message_type": {
+ "type": "string",
+ "description": "Type of message",
+ "example": "survey",
+ "enum": ["survey"],
+ },
+ "timestamp": {
+ "type": "string",
+ "format": "date-time",
+ "description": "Timestamp for onboard message",
+ "example": "2022-12-21T00:00:00Z",
+ },
+ "latitude_A": {
+ "type": "number",
+ "format": "float",
+ "description": (
+ "Latitude of point A(intersection of normal)"
+ + "from waypoint A to survey line"
+ ),
+ "example": 178.2,
+ },
+ "longitude_A": {
+ "type": "number",
+ "format": "float",
+ "description": (
+ "Longitude of point A(intersection of normal)"
+ + "from waypoint A to survey line"
+ ),
+ "example": -10.122,
+ },
+ "latitude_B": {
+ "type": "number",
+ "format": "float",
+ "description": (
+ "Latitude of point B(intersection of normal)"
+ + "from waypoint B to survey line"
+ ),
+ "example": 178.2,
+ },
+ "longitude_B": {
+ "type": "number",
+ "format": "float",
+ "description": (
+ "Longitude of point B(intersection of normal)"
+ + "from waypoint B to survey line"
+ ),
+ "example": -10.122,
+ },
+ "latitude_C": {
+ "type": "number",
+ "format": "float",
+ "description": (
+ "Latitude of point C(intersection of normal)"
+ + "from waypoint C to survey line"
+ ),
+ "example": 178.2,
+ },
+ "longitude_C": {
+ "type": "number",
+ "format": "float",
+ "description": (
+ "Longitude of point C(intersection of normal)"
+ + "from waypoint C to survey line"
+ ),
+ "example": -10.122,
+ },
+ "latitude_D": {
+ "type": "number",
+ "format": "float",
+ "description": (
+ "Latitude of point D(intersection of normal)"
+ + "from waypoint D to survey line"
+ ),
+ "example": 178.2,
+ },
+ "longitude_D": {
+ "type": "number",
+ "format": "float",
+ "description": (
+ "Longitude of point D(intersection of normal)"
+ + "from waypoint D to survey line"
+ ),
+ "example": -10.122,
+ },
+ "latitude_E": {
+ "type": "number",
+ "format": "float",
+ "description": (
+ "Latitude of point E(intersection of normal)"
+ + "from waypoint E to survey line"
+ ),
+ "example": 178.2,
+ },
+ "longitude_E": {
+ "type": "number",
+ "format": "float",
+ "description": (
+ "Longitude of point E(intersection of normal)"
+ + "from waypoint E to survey line"
+ ),
+ "example": -10.122,
+ },
+ "platform_ID": {
+ "type": "string",
+ "description": "Unique identifier for this platform",
+ "example": "ecosub-2",
+ },
+ "track_ID": {
+ "type": "integer",
+ "description": "Track number of action(s) currently executed by platform",
+ "example": 1,
+ },
+ },
+ "required": [
+ "latitude_A",
+ "longitude_A",
+ "latitude_B",
+ "longitude_B",
+ "platform_ID",
+ ],
+}
diff --git a/formats/survey_encoded.py b/formats/survey_encoded.py
new file mode 100644
index 0000000000000000000000000000000000000000..218c8cfc1818ebf07d430d91df1b50ee4eaeb8ce
--- /dev/null
+++ b/formats/survey_encoded.py
@@ -0,0 +1,11 @@
+"""
+ schema: Survey Message that is encoded sent by platforms
+ to track progress
+"""
+from formats.encoded import encoded_schema
+from copy import deepcopy
+
+survey_encoded_schema = deepcopy(encoded_schema)
+
+survey_encoded_schema["properties"]["message_type"]["enum"] = ["survey_encoded"]
+survey_encoded_schema["properties"]["message_type"]["example"] = "survey_encoded"
diff --git a/generate_schema_config.py b/generate_schema_config.py
index 52fd78655834b32c75115b766d97cb664bde9712..123de907cd461abfb03702e5c6f61f7ff25c5795 100644
--- a/generate_schema_config.py
+++ b/generate_schema_config.py
@@ -6,7 +6,10 @@ from formats.observation_encoded import observation_encoded_schema
from formats.planning_configuration import planning_configuration_schema
from formats.platform_status import platform_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
from formats.acknowledgement import acknowledgement_schema
+from formats.alert import alert_schema
from flasgger import Swagger
from flask import Flask
@@ -53,6 +56,7 @@ swagger_config = {
"discriminator": {
"propertyName": "message_type",
"mapping": {
+ "alert": "#/components/schemas/alert",
"mission_plan": "#/components/schemas/mission_plan",
"mission_plan_encoded": "#/components/schemas/"
+ "mission_plan_encoded",
@@ -65,9 +69,12 @@ swagger_config = {
"platform_status_encoded": "#/components/schemas/"
+ "platform_status_encoded",
"acknowledgement": "#/components/schemas/acknowledgement",
+ "survey": "#/components/schemas/survey",
+ "survey_encoded": "#/components/schemas/" + "survey_encoded",
},
},
"oneOf": [
+ {"$ref": "#/components/schemas/alert"},
{"$ref": "#/components/schemas/acknowledgement"},
{"$ref": "#/components/schemas/mission_plan"},
{"$ref": "#/components/schemas/mission_plan_encoded"},
@@ -76,6 +83,8 @@ swagger_config = {
{"$ref": "#/components/schemas/planning_configuration"},
{"$ref": "#/components/schemas/platform_status"},
{"$ref": "#/components/schemas/platform_status_encoded"},
+ {"$ref": "#/components/schemas/survey"},
+ {"$ref": "#/components/schemas/survey_encoded"},
],
},
"header": message_header,
@@ -86,7 +95,10 @@ swagger_config = {
"planning_configuration": planning_configuration_schema,
"platform_status": platform_status_schema,
"platform_status_encoded": platform_status_encoded_schema,
+ "survey": survey_schema,
+ "survey_encoded": survey_encoded_schema,
"acknowledgement": acknowledgement_schema,
+ "alert": alert_schema,
}
},
}
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index 21820ba31d36ee6e833382f917c4013da6f2c018..008b966e586c38fd30c86114d10215e654add9a4 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -1,772 +1,974 @@
{
- "components":{
- "schemas":{
- "MESSAGE":{
- "description":"Full message definition with message-metadata in `header` and different message type schemas under `payload`",
- "properties":{
- "header":{
- "$ref":"#/components/schemas/header"
- },
- "payload":{
- "$ref":"#/components/schemas/payload"
+ "components": {
+ "schemas": {
+ "MESSAGE": {
+ "description": "Full message definition with message-metadata in `header` and different message type schemas under `payload`",
+ "properties": {
+ "header": {
+ "$ref": "#/components/schemas/header"
+ },
+ "payload": {
+ "$ref": "#/components/schemas/payload"
}
},
- "required":[
+ "required": [
"header",
"payload"
],
- "type":"object"
+ "type": "object"
},
- "acknowledgement":{
- "properties":{
- "approved":{
- "description":"Human-in-the-loop approval.1 - Plan approved; 0 - Plan Rejected",
- "type":"boolean"
- },
- "autonomy_engine_plan_ID":{
- "description":"Mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
- "example":1,
- "type":"integer"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "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"
+ "example": "acknowledgement",
+ "type": "string"
},
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
}
},
- "required":[
+ "required": [
"message_type",
"autonomy_engine_plan_ID",
"platform_ID",
"approved"
],
- "type":"object"
+ "type": "object"
},
- "header":{
- "discriminator":{
- "propertyName":"message_type"
+ "alert": {
+ "properties": {
+ "code": {
+ "description": "Alert code",
+ "example": 345,
+ "type": "integer"
+ },
+ "details": {
+ "description": "Detailed reason for the alert ",
+ "example": "Discrepancy between rudder and actuator positions : Rudder Pos=10.31\u00b0, Steering Actuator Pos=28.65\u00b0, Discrepancy=18.33\u00b0",
+ "type": "string"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "alert"
+ ],
+ "example": "alert",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "usvdecibel",
+ "type": "string"
+ },
+ "platform_timestamp": {
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "severity": {
+ "description": "Severity level of alert",
+ "enum": [
+ "Emergency",
+ "Alarm",
+ "Warning",
+ "Caution"
+ ],
+ "example": "Alarm",
+ "type": "string"
+ },
+ "subsystem": {
+ "description": "System that generated the alert",
+ "example": "Onboard Fault Monitor",
+ "type": "string"
+ },
+ "summary": {
+ "description": "High level description of the alert",
+ "example": "Steering Damage - Port Side",
+ "type": "string"
+ }
},
- "properties":{
- "delivery_type":{
- "default":"publish",
- "description":"To publish or broadcast this message.",
- "enum":[
+ "required": [
+ "message_type",
+ "platform_ID",
+ "code",
+ "severity"
+ ],
+ "type": "object"
+ },
+ "header": {
+ "discriminator": {
+ "propertyName": "message_type"
+ },
+ "properties": {
+ "delivery_type": {
+ "default": "publish",
+ "description": "To publish or broadcast this message.",
+ "enum": [
"broadcast",
"publish"
],
- "example":"publish",
- "type":"string"
- },
- "destination":{
- "description":"Publisher topic; What is the destination of this message",
- "example":"ah1",
- "type":"string"
- },
- "encoded":{
- "description":"Indicate that message raw (encoded) or decoded. Options: encoded=True, decoded=False",
- "example":false,
- "type":"boolean"
- },
- "message_ID":{
- "description":"An identifier for the type of message received.",
- "example":"b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
- "type":"string"
- },
- "source":{
- "description":"The sender; Where is this message from",
- "example":"autonomy_engine",
- "type":"string"
- },
- "timestamp":{
- "description":"Timestamp of message",
- "example":"2022-11-16T00:00:00Z",
- "format":"date-time",
- "type":"string"
- },
- "version":{
- "description":"Version of comms backbone message format protocol",
- "example":2.0,
- "format":"float",
- "type":"number"
+ "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"
+ "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",
- "enum":[
+ "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"
+ "example": "mission_plan",
+ "type": "string"
+ },
+ "plan": {
+ "items": {
+ "properties": {
+ "action": {
+ "description": "Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
+ "enum": [
+ "move",
+ "payload",
+ "dive",
+ "send_hits",
+ "scanline",
+ "scanpoint",
+ "go_home",
+ "surface_now",
+ "stop_mission",
+ "abort_now"
+ ],
+ "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"
+ "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"
+ "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"
+ "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_latitude": {
+ "description": "Start point, y-coordinate",
+ "example": 50.37072283932642,
+ "format": "float",
+ "type": "number"
},
- "start_point_longitude":{
- "description":"Start point, y-coordinate",
- "example":50.37072283932642,
- "format":"float",
- "type":"number"
+ "start_point_longitude": {
+ "description": "Start point, x-coordinate",
+ "example": -4.187143188645706,
+ "format": "float",
+ "type": "number"
},
- "target_waypoint_latitude":{
- "description":"Target waypoint, x-coordinate",
- "example":-4.187143188645706,
- "format":"float",
- "type":"number"
+ "target_waypoint_latitude": {
+ "description": "Target waypoint, y-coordinate",
+ "example": 50.37072283932642,
+ "format": "float",
+ "type": "number"
},
- "target_waypoint_longitude":{
- "description":"Target waypoint, y-coordinate",
- "example":50.37072283932642,
- "format":"float",
- "type":"number"
+ "target_waypoint_longitude": {
+ "description": "Target waypoint, x-coordinate",
+ "example": -4.187143188645706,
+ "format": "float",
+ "type": "number"
},
- "timeout":{
- "description":"Timeout set to perform action",
- "example":1800.0,
- "format":"float",
- "type":"number"
+ "timeout": {
+ "description": "Timeout set to perform action",
+ "example": 1800.0,
+ "format": "float",
+ "type": "number"
}
},
- "required":[
+ "required": [
"target_waypoint_latitude",
"target_waypoint_longitude"
],
- "type":"object"
+ "type": "object"
},
- "type":"array"
+ "type": "array"
},
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
}
},
- "required":[
+ "required": [
"message_type",
"autonomy_engine_plan_ID",
"platform_ID",
"plan"
],
- "type":"object"
+ "type": "object"
},
- "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": {
+ "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"
+ "example": "mission_plan_encoded",
+ "type": "string"
},
- "mime_type":{
- "description":"MIME type",
- "example":"application/gzip",
- "type":"string"
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
}
},
- "required":[
+ "required": [
"data",
"is_binary"
],
- "type":"object"
+ "type": "object"
},
- "observation":{
- "properties":{
- "additional_data":{
- "description":"Placeholder field for any additional data",
- "example":{
- "sensor_payload":false
+ "observation": {
+ "properties": {
+ "additional_data": {
+ "description": "Placeholder field for any additional data",
+ "example": {
+ "sensor_payload": false
}
},
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "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"
+ "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 y-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"
+ "longitude": {
+ "description": "Identified x-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"
+ "quality_of_point": {
+ "description": "Quality/strength of points from features of interest identified by platform.",
+ "example": 0.98,
+ "format": "float",
+ "type": "number"
}
},
- "required":[
+ "required": [
"latitude",
"longitude"
],
- "type":"object"
+ "type": "object"
},
- "type":"array"
+ "type": "array"
},
- "region_surveyed":{
- "description":"Region surveyed by given platform. GEOJSON",
- "example":"",
- "nullable":true
+ "region_surveyed": {
+ "description": "Region surveyed by given platform. GEOJSON",
+ "example": "",
+ "nullable": true
}
},
- "required":[
+ "required": [
"message_type",
"platform_ID"
],
- "type":"object"
+ "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": {
+ "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"
+ "example": "observation_encoded",
+ "type": "string"
},
- "mime_type":{
- "description":"MIME type",
- "example":"application/gzip",
- "type":"string"
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
}
},
- "required":[
+ "required": [
"data",
"is_binary"
],
- "type":"object"
+ "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"
+ "payload": {
+ "discriminator": {
+ "mapping": {
+ "acknowledgement": "#/components/schemas/acknowledgement",
+ "alert": "#/components/schemas/alert",
+ "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",
+ "survey": "#/components/schemas/survey",
+ "survey_encoded": "#/components/schemas/survey_encoded"
+ },
+ "propertyName": "message_type"
},
- "oneOf":[
+ "oneOf": [
{
- "$ref":"#/components/schemas/acknowledgement"
+ "$ref": "#/components/schemas/alert"
},
{
- "$ref":"#/components/schemas/mission_plan"
+ "$ref": "#/components/schemas/acknowledgement"
},
{
- "$ref":"#/components/schemas/mission_plan_encoded"
+ "$ref": "#/components/schemas/mission_plan"
},
{
- "$ref":"#/components/schemas/observation"
+ "$ref": "#/components/schemas/mission_plan_encoded"
},
{
- "$ref":"#/components/schemas/observation_encoded"
+ "$ref": "#/components/schemas/observation"
},
{
- "$ref":"#/components/schemas/planning_configuration"
+ "$ref": "#/components/schemas/observation_encoded"
},
{
- "$ref":"#/components/schemas/platform_status"
+ "$ref": "#/components/schemas/planning_configuration"
},
{
- "$ref":"#/components/schemas/platform_status_encoded"
+ "$ref": "#/components/schemas/platform_status"
+ },
+ {
+ "$ref": "#/components/schemas/platform_status_encoded"
+ },
+ {
+ "$ref": "#/components/schemas/survey"
+ },
+ {
+ "$ref": "#/components/schemas/survey_encoded"
}
]
},
- "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":[
+ "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": [
[
[
- -4.187143188645706,
- 50.37072283932642
+ -4.1777839187560915,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.33820949229701
],
[
- -4.202697005964865,
- 50.368816892405874
+ -4.143667777943875,
+ 50.33820949229701
],
[
- -4.203156724702808,
- 50.365640144076906
+ -4.143667777943875,
+ 50.34173405662855
],
[
- -4.19449868846155,
- 50.362267670845654
+ -4.1777839187560915,
+ 50.34173405662855
]
]
],
- "type":"array"
+ "type": "array"
}
},
- "type":"object"
+ "type": "object"
},
- "type":"array"
+ "type": "array"
},
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "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"
- },
- "squads":{
- "items":{
- "properties":{
- "no_of_platforms":{
- "description":"Number of platforms",
- "example":3,
- "type":"integer"
+ "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
+ ]
+ ]
+ ],
+ "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":{
- "scan_type":"DVL",
- "swath_width":10.0
+ "platforms": {
+ "description": "Squad consists of these platforms",
+ "items": {
+ "properties": {
+ "active": {
+ "description": "If platform is active = True, and inactive = False",
+ "example": true,
+ "type": "boolean"
+ },
+ "additional_data": {
+ "description": "Any addition fields/data to be added here",
+ "example": {
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
},
- "type":"object"
+ "type": "object"
},
- "emergency":{
- "properties":{
- "additional_data":{
- "type": "object",
- "description":"Any addition fields/data to be added here",
- "example":{
-
- }
- },
- "safe_command":{
- "description":"Command/Action that is native to respective partner's platform/C2",
- "enum":[
+ "beacon_ID": {
+ "description": "Unique identifier (number) for the beacon associated to this platform",
+ "example": 2407,
+ "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"
+ "stop_now",
+ "surface_now"
],
- "example":"go_home",
- "type":"string"
+ "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_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_latitude": {
+ "description": "Y-coordinate safe place for respective platform",
+ "example": 50.365,
+ "format": "float",
+ "type": "number"
},
- "target_waypoint_longitude":{
- "description":"Y-coordinate safe place for respective platform",
- "example":50.365,
- "format":"float",
- "type":"number"
+ "target_waypoint_longitude": {
+ "description": "X-coordinate safe place for respective platform",
+ "example": -7.432,
+ "format": "float",
+ "type": "number"
}
},
- "required":[
+ "required": [
"target_waypoint_latitude",
"target_waypoint_longitude",
"target_depth"
],
- "type":"object"
+ "type": "object"
+ },
+ "endurance_relative_to_water_speed": {
+ "properties": {
+ "avg_battery_rating": {
+ "description": "Battery endurance rating during standard operational speed usage (m/s)",
+ "example": 1.9,
+ "format": "float",
+ "type": "number"
+ },
+ "max_battery_rating": {
+ "description": "Battery endurance rating during maximum speed usage (m/s)",
+ "example": 1.23,
+ "format": "float",
+ "type": "number"
+ },
+ "min_battery_rating": {
+ "description": "Battery endurance rating during maximum speed usage (m/s)",
+ "example": 3.32,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "type": "object"
+ },
+ "max_velocity": {
+ "description": "Maximum velocity set for platform",
+ "example": 0.9,
+ "format": "float",
+ "type": "number"
},
- "max_velocity":{
- "description":"Maximum altitude set for squad.",
- "example":0.9,
- "format":"float",
- "type":"number"
+ "min_altitude": {
+ "description": "Minimum altitude set for platform",
+ "example": 15.2,
+ "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 platform",
+ "example": 0.1,
+ "format": "float",
+ "type": "number"
},
- "min_velocity":{
- "description":"Minimum velocity set for squad.",
- "example":0.1,
- "format":"float",
- "type":"number"
+ "model": {
+ "example": "reav",
+ "type": "string"
},
- "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"
+ "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"
+ },
+ "warmup_time": {
+ "description": "Warmup time (seconds) for sensor to start up.",
+ "example": 180.0,
+ "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":[
+ "required": [
+ "operator",
"platform_ID",
- "model",
- "emergency",
- "min_altitude",
- "min_velocity",
- "max_velocity"
+ "active",
+ "model"
],
- "type":"object"
+ "type": "object"
},
- "type":"array"
+ "type": "array"
},
- "region_of_interest":{
- "description":"Using GEOJSON, exact 4-point region (rectangle shaped)",
- "properties":{
- "geometry_coordinates":{
- "example":[
- [
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
- ]
- ],
- "type":"array"
- }
- },
- "type":"object"
+ "squad_ID": {
+ "description": "Identifier of given squad",
+ "example": 23,
+ "type": "integer"
},
- "squad_ID":{
- "description":"Identifier of given squad",
- "example":23,
- "type":"integer"
- },
- "squad_mission_type":{
- "description":"Mission of given squad: `tracking`, `survey`, `inspection`",
- "enum":[
+ "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"
+ "example": "survey",
+ "type": "string"
}
},
- "required":[
+ "required": [
"squad_ID",
"no_of_platforms",
"platforms",
- "squad_mission_type",
- "squad_state"
+ "squad_mission_type"
],
- "type":"object"
+ "type": "object"
},
- "type":"array"
+ "type": "array"
}
},
- "required":[
+ "required": [
"message_type",
"planning_config_ID",
"squads",
- "exclusion_zones"
+ "exclusion_zones",
+ "region_of_interest"
],
- "type":"object"
+ "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": {
+ "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_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"
+ },
+ "depth": {
+ "default": 0.0,
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "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"
+ },
+ "latitude": {
+ "description": "Latitude (Y-coordinate) 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 (X-coordinate) 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":[
+ "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"
+ "type": "object"
},
- "sensor_on":{
- "description":"Sensor switched on (True) or off (False)",
- "example":true,
- "type":"boolean"
+ "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"
+ "sensor_serial": {
+ "description": "serial number of sensor",
+ "example": "mbes-002a",
+ "type": "string"
}
},
- "type":"object"
+ "type": "object"
},
- "speed_over_ground":{
- "description":"Speed over ground",
- "example":124.3,
- "format":"float",
- "type":"number"
+ "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":[
+ "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":[
+ "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"
+ "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":[
+ "required": [
"message_type",
"platform_ID",
"status_source",
@@ -774,54 +976,185 @@
"latitude",
"longitude"
],
- "type":"object"
+ "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": {
+ "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"
+ "example": "platform_status_encoded",
+ "type": "string"
+ },
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
+ }
+ },
+ "required": [
+ "data",
+ "is_binary"
+ ],
+ "type": "object"
+ },
+ "survey": {
+ "properties": {
+ "latitude_A": {
+ "description": "Latitude of point A(intersection of normal)from waypoint A to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_B": {
+ "description": "Latitude of point B(intersection of normal)from waypoint B to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_C": {
+ "description": "Latitude of point C(intersection of normal)from waypoint C to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_D": {
+ "description": "Latitude of point D(intersection of normal)from waypoint D to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_E": {
+ "description": "Latitude of point E(intersection of normal)from waypoint E to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_A": {
+ "description": "Longitude of point A(intersection of normal)from waypoint A to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_B": {
+ "description": "Longitude of point B(intersection of normal)from waypoint B to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_C": {
+ "description": "Longitude of point C(intersection of normal)from waypoint C to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_D": {
+ "description": "Longitude of point D(intersection of normal)from waypoint D to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_E": {
+ "description": "Longitude of point E(intersection of normal)from waypoint E to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "survey"
+ ],
+ "example": "survey",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "ecosub-2",
+ "type": "string"
+ },
+ "timestamp": {
+ "description": "Timestamp for onboard message",
+ "example": "2022-12-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "track_ID": {
+ "description": "Track number of action(s) currently executed by platform",
+ "example": 1,
+ "type": "integer"
+ }
+ },
+ "required": [
+ "latitude_A",
+ "longitude_A",
+ "latitude_B",
+ "longitude_B",
+ "platform_ID"
+ ],
+ "type": "object"
+ },
+ "survey_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": [
+ "survey_encoded"
+ ],
+ "example": "survey_encoded",
+ "type": "string"
},
- "mime_type":{
- "description":"MIME type",
- "example":"application/gzip",
- "type":"string"
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
}
},
- "required":[
+ "required": [
"data",
"is_binary"
],
- "type":"object"
+ "type": "object"
}
}
},
"info":{
"description":"SoAR message protocol in schemas",
"title":"SoAR Backbone Message Formats",
- "version":"1.0"
+ "version":"0.2"
},
- "openapi":"3.0.2",
- "paths":{
-
- }
+ "openapi": "3.0.2",
+ "paths": {}
}
\ No newline at end of file
diff --git a/setup.py b/setup.py
index 89b507e33b21ac851f7fa76e65e422df0beff55a..172035dfc7b61d5e5f071d9f9269d0b2b839507a 100644
--- a/setup.py
+++ b/setup.py
@@ -2,7 +2,7 @@ from setuptools import setup
setup(
- version="0.1.0",
+ version="0.2.0",
name="backbone_message_format",
python_requires=">=3.8",
packages=["backbone_formats", "soar_schema"],
diff --git a/tests-js/soar-examples.test.js b/tests-js/soar-examples.test.js
index bfced46fedb212c916e5363f7680f33813e4c137..22abf84943060b2f7d3e63235e8ce7fb0cf91dd7 100644
--- a/tests-js/soar-examples.test.js
+++ b/tests-js/soar-examples.test.js
@@ -11,6 +11,9 @@ const validateSchema = (schema) => {
const validator = new OpenAPISchemaValidator({ version: 3 });
let validation = validator.validate(schema);
validation.valid = (validation.errors.length === 0);
+ if (!validation.valid) {
+ console.log('errors', validation.errors);
+ }
return validation;
};
diff --git a/tests/fixtures/schemas.py b/tests/fixtures/schemas.py
index dcc6ac34602bbfcfbb73ac284e7202bae6fb3b9c..33f724e6848a6c175f0be7975dd066bfc0cf8027 100644
--- a/tests/fixtures/schemas.py
+++ b/tests/fixtures/schemas.py
@@ -35,7 +35,7 @@ message_header = {
"encoded": {
"type": "boolean",
"description": "Indicate that message raw (encoded) or decoded. "
- + "Options: encoded=True, decoded=False",
+ + "Options: encoded=true, decoded=false",
"example": False,
},
"delivery_type": {
@@ -165,6 +165,13 @@ mission_plan_schema = {
"description": "Unique identifier for this platform",
"example": "reav-x-1",
},
+ "emergency": {
+ "default": False,
+ "description": "To indicate if this is an emergency. "
+ + "true = emergency and false = no emergency",
+ "example": False,
+ "type": "boolean",
+ },
"plan": {
"type": "array",
"items": action_schema,
@@ -243,7 +250,7 @@ emergency_schema = {
"properties": {
"safe_command": {
"type": "string",
- "enum": ["go_home", "abort_now", "stop_mission"],
+ "enum": ["go_home", "abort_now", "stop_now", "surface_now"],
"description": "Command/Action that is native to respective"
+ " partner's platform/C2",
"example": "go_home",
@@ -252,13 +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",
@@ -308,7 +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": {
@@ -430,7 +437,7 @@ sensor_schema = {
},
"sensor_on": {
"type": "boolean",
- "description": "Sensor switched on (True) or off (False)",
+ "description": "Sensor switched on (true) or off (false)",
"example": True,
},
"additional_data": {
@@ -447,6 +454,7 @@ platform_status_schema = {
"type": "string",
"description": "Type of message",
"example": "platform_status",
+ "enum": ["platform_status"],
},
"platform_ID": {
"type": "string",
@@ -479,7 +487,7 @@ platform_status_schema = {
"description": "Current state executed by platform. E.g. "
+ "STOP, IDLE, ABORT.",
"example": "ABORT",
- },
+ }, # TODO: Define enum with potential STATES of each platform
"autonomy_engine_plan_ID": {
"type": "integer",
"description": "Last mission plan ID (according to Autonomy"
@@ -489,13 +497,13 @@ 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": {
@@ -509,7 +517,7 @@ platform_status_schema = {
"type": "number",
"format": "float",
"description": "Target altitude in metres",
- "example": 20,
+ "example": 20.0,
},
"mission_track_ID": {
"type": "integer",
@@ -535,7 +543,7 @@ platform_status_schema = {
"example": 124.3,
},
"water_current_velocity": {
- "format": "string",
+ "type": "string",
"description": "Water current magnitude and direction",
"example": "124.3NE",
},
@@ -554,8 +562,8 @@ platform_status_schema = {
},
"health_status": {
"type": "boolean",
- "description": "Health status where 0 is OK, 1 is platform"
- + " has an ERROR",
+ "description": "Health status where 0 is OK, 1 is platform has"
+ + " an ERROR",
"example": False,
},
"localisation_north_error": {
@@ -569,7 +577,7 @@ platform_status_schema = {
"type": "number",
"format": "float",
"description": "Difference in EAST between deadreckoning"
- + " and USBL update.",
+ + "and USBL update.",
"example": 0.000129,
},
"usbl_fix_seconds_ago": {
@@ -584,6 +592,37 @@ platform_status_schema = {
"description": "Battery remaining % provided by respective C2",
"example": 80.2,
},
+ # Battery power (kw / float)
+ "battery_output": { # changed from battery_power
+ "type": "number",
+ "format": "float",
+ "description": "Battery output in kW",
+ "example": 80.2,
+ },
+ # Bunkers remaining capacity (litres, float)
+ # Bunkers percentage full (percentage, float)
+ # battery_remaining_capacity is % full if we want both these fields
+ # these names are going to cause confusion
+ "fuel_remaining_capacity": {
+ "type": "number",
+ "format": "float",
+ "description": "Percentage remaining capacity",
+ "example": 80.2,
+ },
+ "fuel_volume": {
+ "type": "number",
+ "format": "float",
+ "description": "Litres of liquid fuel",
+ "example": 12.5,
+ },
+ # Endurance (hours, float)
+ "endurance": {
+ "type": "number",
+ "format": "float",
+ "description": "Estimate of hours of operation remaining "
+ + "based on present output or performance",
+ "example": 7.4,
+ },
"sensor_config": sensor_schema,
},
"required": [
@@ -595,3 +634,59 @@ platform_status_schema = {
"longitude",
],
}
+
+alert_schema = {
+ "type": "object",
+ "properties": {
+ "message_type": {
+ "type": "string",
+ "description": "Type of message",
+ "example": "alert",
+ "enum": ["alert"],
+ },
+ "code": { # changed from alert_ID because reasons
+ "type": "integer",
+ "description": "Alert code",
+ "example": 345,
+ },
+ "platform_ID": {
+ "type": "string",
+ "description": "Unique identifier for this platform",
+ "example": "usvdecibel",
+ },
+ "platform_timestamp": {
+ "type": "string",
+ "format": "date-time",
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ },
+ "subsystem": { # changed from suggested "source" could be device / subsystem or something
+ "type": "string",
+ "description": "System that generated the alert",
+ "example": "Onboard Fault Monitor",
+ },
+ "summary": {
+ "type": "string",
+ "description": "High level description of the alert",
+ "example": "Steering Damage - Port Side",
+ },
+ "details": {
+ "type": "string",
+ "description": "Detailed reason for the alert ",
+ "example": "Discrepancy between rudder and actuator positions"
+ + " : Rudder Pos=10.31°, Steering Actuator Pos=28.65°, Discrepancy=18.33°",
+ },
+ "severity": {
+ "type": "string",
+ "description": "Severity level of alert",
+ "example": "Alarm",
+ "enum": ["Emergency", "Alarm", "Warning", "Caution"],
+ },
+ },
+ "required": [
+ "message_type",
+ "platform_ID",
+ "code",
+ "severity",
+ ],
+}
diff --git a/tests/fixtures/swagger.json b/tests/fixtures/swagger.json
index a1db4bff435b9686156a7372002b2bb7823302bb..fe7ffe6e39906186ce2208756da5750c8d6e90b3 100644
--- a/tests/fixtures/swagger.json
+++ b/tests/fixtures/swagger.json
@@ -1,663 +1,1159 @@
{
"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"
- }
+ "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"
},
- "required": [
- "message_type",
- "autonomy_engine_plan_ID",
- "platform_ID",
- "approved"
- ],
- "type": "object"
- },
- "header": {
- "discriminator": {
- "propertyName": "message_type"
+ "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"
},
- "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"
- }
+ "alert": {
+ "properties": {
+ "code": {
+ "description": "Alert code",
+ "example": 345,
+ "type": "integer"
+ },
+ "details": {
+ "description": "Detailed reason for the alert ",
+ "example": "Discrepancy between rudder and actuator positions : Rudder Pos=10.31\u00b0, Steering Actuator Pos=28.65\u00b0, Discrepancy=18.33\u00b0",
+ "type": "string"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "alert"
+ ],
+ "example": "alert",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "usvdecibel",
+ "type": "string"
+ },
+ "platform_timestamp": {
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "severity": {
+ "description": "Severity level of alert",
+ "enum": [
+ "Emergency",
+ "Alarm",
+ "Warning",
+ "Caution"
+ ],
+ "example": "Alarm",
+ "type": "string"
+ },
+ "subsystem": {
+ "description": "System that generated the alert",
+ "example": "Onboard Fault Monitor",
+ "type": "string"
+ },
+ "summary": {
+ "description": "High level description of the alert",
+ "example": "Steering Damage - Port Side",
+ "type": "string"
+ }
+ },
+ "required": [
+ "message_type",
+ "platform_ID",
+ "code",
+ "severity"
+ ],
+ "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"
- },
- "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`.",
+ "enum": [
+ "move",
+ "payload",
+ "dive",
+ "send_hits",
+ "scanline",
+ "scanpoint",
+ "go_home",
+ "surface_now",
+ "stop_mission",
+ "abort_now"
+ ],
+ "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, y-coordinate",
+ "example": 50.37072283932642,
+ "format": "float",
+ "type": "number"
+ },
+ "start_point_longitude": {
+ "description": "Start point, x-coordinate",
+ "example": -4.187143188645706,
+ "format": "float",
+ "type": "number"
+ },
+ "target_waypoint_latitude": {
+ "description": "Target waypoint, y-coordinate",
+ "example": 50.37072283932642,
+ "format": "float",
+ "type": "number"
+ },
+ "target_waypoint_longitude": {
+ "description": "Target waypoint, x-coordinate",
+ "example": -4.187143188645706,
+ "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": {
+ "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": {
- "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"
- }
+ "latitude": {
+ "description": "Identified y-coordinate of point of interest",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude": {
+ "description": "Identified x-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"
+ "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": "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",
+ "alert": "#/components/schemas/alert",
+ "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",
+ "survey": "#/components/schemas/survey",
+ "survey_encoded": "#/components/schemas/survey_encoded"
+ },
+ "propertyName": "message_type"
+ },
+ "oneOf": [
+ {
+ "$ref": "#/components/schemas/alert"
+ },
+ {
+ "$ref": "#/components/schemas/acknowledgement"
+ },
+ {
+ "$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"
+ },
+ {
+ "$ref": "#/components/schemas/survey"
+ },
+ {
+ "$ref": "#/components/schemas/survey_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": {
+ "active": {
+ "description": "If platform is active = True, and inactive = False",
+ "example": true,
+ "type": "boolean"
+ },
+ "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": 2407,
+ "type": "number"
+ },
+ "emergency": {
+ "properties": {
+ "safe_command": {
+ "description": "Command/Action that is native to respective partner's platform/C2",
+ "enum": [
+ "go_home",
+ "abort_now",
+ "stop_now",
+ "surface_now"
+ ],
+ "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": "Y-coordinate safe place for respective platform",
+ "example": 50.365,
+ "format": "float",
+ "type": "number"
+ },
+ "target_waypoint_longitude": {
+ "description": "X-coordinate safe place for respective platform",
+ "example": -7.432,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "required": [
+ "target_waypoint_latitude",
+ "target_waypoint_longitude",
+ "target_depth"
+ ],
+ "type": "object"
+ },
+ "endurance_relative_to_water_speed": {
+ "properties": {
+ "avg_battery_rating": {
+ "description": "Battery endurance rating during standard operational speed usage (m/s)",
+ "example": 1.9,
+ "format": "float",
+ "type": "number"
+ },
+ "max_battery_rating": {
+ "description": "Battery endurance rating during maximum speed usage (m/s)",
+ "example": 1.23,
+ "format": "float",
+ "type": "number"
+ },
+ "min_battery_rating": {
+ "description": "Battery endurance rating during maximum speed usage (m/s)",
+ "example": 3.32,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "type": "object"
+ },
+ "max_velocity": {
+ "description": "Maximum velocity 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"
+ },
+ "warmup_time": {
+ "description": "Warmup time (seconds) for sensor to start up.",
+ "example": 180.0,
+ "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",
+ "active",
+ "model"
+ ],
+ "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_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"
+ },
+ "depth": {
+ "default": 0.0,
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "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"
+ },
+ "latitude": {
+ "description": "Latitude (Y-coordinate) 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 (X-coordinate) 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"
- }
+ },
+ "type": "object"
+ },
+ "speed_over_ground": {
+ "description": "Speed over ground",
+ "example": 124.3,
+ "format": "float",
+ "type": "number"
+ },
+ "status_source": {
+ "description": "Indicate if this status message is from the platform or USBL",
+ "enum": [
+ "usbl",
+ "onboard_platform"
+ ],
+ "example": "usbl",
+ "type": "string"
+ },
+ "thrust_applied": {
+ "description": "Thrust applied",
+ "example": 124.3,
+ "format": "float",
+ "type": "number"
+ },
+ "transmission_mode": {
+ "description": "Mode in which status message was transmitted when on the surface (e.g. iridium/wifi) or underwater (e.g. acoustics)",
+ "enum": [
+ "acoustics",
+ "iridium",
+ "wifi",
+ "starlink"
+ ],
+ "example": "wifi",
+ "type": "string"
+ },
+ "usbl_fix_seconds_ago": {
+ "description": "USBL Fix received x second ago.",
+ "example": 10.0,
+ "format": "float",
+ "type": "number"
+ },
+ "water_current_velocity": {
+ "description": "Water current magnitude and direction",
+ "example": "124.3NE",
+ "type": "string"
+ }
+ },
+ "required": [
+ "message_type",
+ "platform_ID",
+ "status_source",
+ "platform_timestamp",
+ "latitude",
+ "longitude"
+ ],
+ "type": "object"
},
- "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"
+ "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"
}
- },
- "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": [
+ "data",
+ "is_binary"
+ ],
+ "type": "object"
},
- "required": [
- "message_type",
- "platform_ID",
- "status_source",
- "platform_timestamp",
- "latitude",
- "longitude"
- ],
- "type": "object"
- }
- }
+ "survey": {
+ "properties": {
+ "latitude_A": {
+ "description": "Latitude of point A(intersection of normal)from waypoint A to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_B": {
+ "description": "Latitude of point B(intersection of normal)from waypoint B to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_C": {
+ "description": "Latitude of point C(intersection of normal)from waypoint C to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_D": {
+ "description": "Latitude of point D(intersection of normal)from waypoint D to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_E": {
+ "description": "Latitude of point E(intersection of normal)from waypoint E to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_A": {
+ "description": "Longitude of point A(intersection of normal)from waypoint A to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_B": {
+ "description": "Longitude of point B(intersection of normal)from waypoint B to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_C": {
+ "description": "Longitude of point C(intersection of normal)from waypoint C to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_D": {
+ "description": "Longitude of point D(intersection of normal)from waypoint D to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_E": {
+ "description": "Longitude of point E(intersection of normal)from waypoint E to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "survey"
+ ],
+ "example": "survey",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "ecosub-2",
+ "type": "string"
+ },
+ "timestamp": {
+ "description": "Timestamp for onboard message",
+ "example": "2022-12-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "track_ID": {
+ "description": "Track number of action(s) currently executed by platform",
+ "example": 1,
+ "type": "integer"
+ }
+ },
+ "required": [
+ "latitude_A",
+ "longitude_A",
+ "latitude_B",
+ "longitude_B",
+ "platform_ID"
+ ],
+ "type": "object"
+ },
+ "survey_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": [
+ "survey_encoded"
+ ],
+ "example": "survey_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":"0.2"
},
"openapi": "3.0.2",
"paths": {}