diff --git a/examples/geojson/platform_status.json b/examples/geojson/platform_status.json
index 4cfc13142262a90615eafefb4465013e4f082161..4a7b1fcf048d15ca2a831aaf2d0d2cfce9ce9191 100644
--- a/examples/geojson/platform_status.json
+++ b/examples/geojson/platform_status.json
@@ -22,7 +22,7 @@
"type": "Point",
"coordinates": [
-10.122,
- 178.2,
+ 78.2,
50.0,
20
]
@@ -31,7 +31,7 @@
"type": "Point",
"coordinates": [
-10.5,
- 178.5
+ 78.5
]
}
}
diff --git a/examples/mas-dt/waypoints_geojson.json b/examples/mas-dt/waypoints_geojson.json
new file mode 100644
index 0000000000000000000000000000000000000000..534b619c33aedb0f663ac92cdf7123b6b0131866
--- /dev/null
+++ b/examples/mas-dt/waypoints_geojson.json
@@ -0,0 +1,23 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd",
+ "timestamp": "2024-09-05T00:00:00Z",
+ "version": "v2.0.0-beta.1",
+ "source": "noc-sfmc",
+ "destination": "mas-dt.noc.slocum.unit_xxx.from_platform.waypoints",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "waypoints",
+ "platform_ID": "unit_xxx",
+ "platform_timestamp": "2024-09-05T00:00:00Z",
+ "status_source": "simulated",
+ "waypoints": [
+ {
+ "type": "Point",
+ "coordinates": [-10.122, 78.2, 50.0, 20.0]
+ }
+ ]
+ }
+}
diff --git a/examples/mas-dt/waypoints_props.json b/examples/mas-dt/waypoints_props.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f210b3f42770a5c01a4a4be118bd1f67b258eb7
--- /dev/null
+++ b/examples/mas-dt/waypoints_props.json
@@ -0,0 +1,25 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd",
+ "timestamp": "2024-09-05T00:00:00Z",
+ "version": "v2.0.0-beta.1",
+ "source": "noc-sfmc",
+ "destination": "mas-dt.noc.slocum.unit_xxx.from_platform.waypoints",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "waypoints",
+ "platform_ID": "unit_xxx",
+ "platform_timestamp": "2024-09-05T00:00:00Z",
+ "status_source": "simulated",
+ "waypoints": [
+ {
+ "latitude": 78.2,
+ "longitude": -10.122,
+ "depth": 50.0,
+ "altitude": 20.0
+ }
+ ]
+ }
+}
diff --git a/formats/payload.py b/formats/payload.py
index 0868657e81a5208ed8e9a4cbe0cd278777655db7..ac8f87ca913a48f2212b9968c6d84f899c4ae651 100644
--- a/formats/payload.py
+++ b/formats/payload.py
@@ -5,9 +5,9 @@ payload_schema = {
"alert": "#/components/schemas/alert",
"instruction_set": "#/components/schemas/instruction_set",
"mission_plan": "#/components/schemas/mission_plan",
- "mission_plan_encoded": "#/components/schemas/" + "mission_plan_encoded",
+ "mission_plan_encoded": "#/components/schemas/mission_plan_encoded",
"observation": "#/components/schemas/observation",
- "observation_encoded": "#/components/schemas/" + "observation_encoded",
+ "observation_encoded": "#/components/schemas/observation_encoded",
"planning_configuration": "#/components/schemas/"
+ "planning_configuration",
"platform_status": "#/components/schemas/platform_status",
@@ -15,7 +15,8 @@ payload_schema = {
+ "platform_status_encoded",
"acknowledgement": "#/components/schemas/acknowledgement",
"survey": "#/components/schemas/survey",
- "survey_encoded": "#/components/schemas/" + "survey_encoded",
+ "survey_encoded": "#/components/schemas/survey_encoded",
+ "waypoints": "#/components/schemas/waypoints",
},
},
"oneOf": [
@@ -31,5 +32,6 @@ payload_schema = {
{"$ref": "#/components/schemas/platform_status_encoded"},
{"$ref": "#/components/schemas/survey"},
{"$ref": "#/components/schemas/survey_encoded"},
+ {"$ref": "#/components/schemas/waypoints"},
],
}
diff --git a/formats/platform_status.py b/formats/platform_status.py
index 47807805ec41636fc35064f96560015644c549b1..52c34c5f65551a84d5e7eda3b5df73c446acf556 100644
--- a/formats/platform_status.py
+++ b/formats/platform_status.py
@@ -25,6 +25,11 @@ sensor_schema = {
},
}
+platform_status_core_fields_schema = {
+ "type": "object",
+ "properties": {},
+}
+
platform_status_schema = {
"type": "object",
"properties": {
@@ -41,7 +46,7 @@ platform_status_schema = {
},
"status_source": {
"type": "string",
- "enum": ["usbl", "onboard_platform"],
+ "enum": ["usbl", "onboard_platform", "simulated"],
"description": "Indicate if this status message is from the"
+ " platform or USBL",
"example": "usbl",
@@ -173,6 +178,27 @@ platform_status_schema = {
"sensor_config": sensor_schema,
},
"oneOf": [
+ {
+ "type": "object",
+ "properties": {
+ "no_position_reason": {
+ "type": "string",
+ "enum": [
+ "missing",
+ "invalid",
+ "old",
+ "poor_fix",
+ "unavailable",
+ "not_applicable",
+ ],
+ "description": "Why position data is unavailable",
+ "example": "invalid",
+ },
+ },
+ "required": [
+ "no_position_reason",
+ ],
+ },
{
"type": "object",
"properties": {
diff --git a/formats/waypoints.py b/formats/waypoints.py
new file mode 100644
index 0000000000000000000000000000000000000000..11fc50183739da46a9bf308242f28468e96295c0
--- /dev/null
+++ b/formats/waypoints.py
@@ -0,0 +1,95 @@
+"""
+Temporary message definition to handle the MAS-DT dry-run mode
+
+In dry-run the SFMC adapter will receive misson_plan messages from ORI
+These messages will be parsed and compiled into a goto file which will
+not be sent on to the glider
+
+To confirm the message flow is working the SFMC will instead publish
+a waypoints message back to the backbone which C2 can receive and
+process - adding simulated waypoints to C2 positions
+"""
+
+waypoint_schema = {
+ "type": "object",
+ "oneOf": [
+ {
+ "$ref": "https://geojson.org/schema/Point.json",
+ },
+ {
+ "type": "object",
+ "properties": {
+ "latitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ },
+ "longitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ },
+ "depth": {
+ "type": "number",
+ "format": "float",
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "default": 0.0,
+ },
+ "altitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target altitude in metres",
+ "example": 20.0,
+ },
+ },
+ "required": [
+ "latitude",
+ "longitude",
+ ],
+ },
+ ],
+}
+
+waypoints_schema = {
+ "type": "object",
+ "properties": {
+ "message_type": {
+ "type": "string",
+ "description": "Type of message",
+ "example": "waypoints",
+ "enum": ["waypoints"],
+ },
+ "platform_ID": {
+ "type": "string",
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ },
+ "status_source": {
+ "type": "string",
+ "enum": ["onboard_platform", "simulated", "autonomy"],
+ "description": "Indicate if this status message is from the"
+ + " platform or USBL",
+ "example": "usbl",
+ },
+ "platform_timestamp": {
+ "type": "string",
+ "format": "date-time",
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ },
+ "waypoints": {
+ "type": "array",
+ "items": waypoint_schema,
+ },
+ },
+ "required": [
+ "message_type",
+ "platform_ID",
+ "status_source",
+ "platform_timestamp",
+ "waypoints",
+ ],
+}
diff --git a/generate_schema_config.py b/generate_schema_config.py
index 3c0f530a8635479c1af949877718cc11afa89f21..2ff507a6ff03061c4c5541f66ee34a078e8d65b8 100644
--- a/generate_schema_config.py
+++ b/generate_schema_config.py
@@ -7,6 +7,7 @@ from formats.observation_encoded import observation_encoded_schema
from formats.payload import payload_schema
from formats.planning_configuration import planning_configuration_schema
from formats.platform_status import platform_status_schema
+from formats.waypoints import waypoints_schema
from formats.platform_status_encoded import platform_status_encoded_schema
from formats.survey import survey_schema
from formats.survey_encoded import survey_encoded_schema
@@ -74,6 +75,7 @@ def get_swagger_config(reload=False):
"alert": alert_schema,
"instruction_set": instruction_set_schema,
"config_file": config_file_schema,
+ "waypoints": waypoints_schema,
}
},
}
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index b2a1073cddfce560ff3657e479a753a1f20b725a..359440a3abb8f9b6d3d107fd56e8789f8cad066e 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -1820,7 +1820,8 @@
"platform_status": "#/components/schemas/platform_status",
"platform_status_encoded": "#/components/schemas/platform_status_encoded",
"survey": "#/components/schemas/survey",
- "survey_encoded": "#/components/schemas/survey_encoded"
+ "survey_encoded": "#/components/schemas/survey_encoded",
+ "waypoints": "#/components/schemas/waypoints"
},
"propertyName": "message_type"
},
@@ -1860,6 +1861,9 @@
},
{
"$ref": "#/components/schemas/survey_encoded"
+ },
+ {
+ "$ref": "#/components/schemas/waypoints"
}
]
},
@@ -2208,6 +2212,27 @@
},
"platform_status": {
"oneOf": [
+ {
+ "properties": {
+ "no_position_reason": {
+ "description": "Why position data is unavailable",
+ "enum": [
+ "missing",
+ "invalid",
+ "old",
+ "poor_fix",
+ "unavailable",
+ "not_applicable"
+ ],
+ "example": "invalid",
+ "type": "string"
+ }
+ },
+ "required": [
+ "no_position_reason"
+ ],
+ "type": "object"
+ },
{
"properties": {
"position": {
@@ -2417,7 +2442,8 @@
"description": "Indicate if this status message is from the platform or USBL",
"enum": [
"usbl",
- "onboard_platform"
+ "onboard_platform",
+ "simulated"
],
"example": "usbl",
"type": "string"
@@ -2628,6 +2654,92 @@
"is_binary"
],
"type": "object"
+ },
+ "waypoints": {
+ "properties": {
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "waypoints"
+ ],
+ "example": "waypoints",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
+ },
+ "platform_timestamp": {
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "status_source": {
+ "description": "Indicate if this status message is from the platform or USBL",
+ "enum": [
+ "onboard_platform",
+ "simulated",
+ "autonomy"
+ ],
+ "example": "usbl",
+ "type": "string"
+ },
+ "waypoints": {
+ "items": {
+ "oneOf": [
+ {
+ "$ref": "#/components/schemas/geojson.org.schema.Point.json"
+ },
+ {
+ "properties": {
+ "altitude": {
+ "description": "Target altitude in metres",
+ "example": 20.0,
+ "format": "float",
+ "type": "number"
+ },
+ "depth": {
+ "default": 0.0,
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude": {
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude": {
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "required": [
+ "latitude",
+ "longitude"
+ ],
+ "type": "object"
+ }
+ ],
+ "type": "object"
+ },
+ "type": "array"
+ }
+ },
+ "required": [
+ "message_type",
+ "platform_ID",
+ "status_source",
+ "platform_timestamp",
+ "waypoints"
+ ],
+ "type": "object"
}
}
},