Merge branch '44-release-v0-2' into 'master'

Resolve "Release v0.2"

See merge request !30

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

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)

examples/autonomy_engine_adapter/emergency_mission_command.json

+{
+    "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

examples/autonomy_engine_adapter/emergency_mission_plan.json

+{
+    "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

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

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

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
       }
     ]
   }

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
             }
           }
         ]

examples/autonomy_engine_adapter/survey.json

+{
+    "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

examples/autonomy_engine_adapter/survey_encoded.json

+{
+    "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

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

examples/ecosub_adapter/survey.json

+{
+    "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

examples/ecosub_adapter/survey_encoded.json

+{
+    "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

examples/gui_adapter/emergency_mission_command.json

+{
+    "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

examples/gui_adapter/emergency_mission_plan.json

+{
+    "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

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
             }
           }
         ]

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

examples/hydrosurv_adapter/alert.json

+{
+  "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

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
       }
     ]
   }

examples/hydrosurv_adapter/platform_status.json

 {
-  "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,