diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8c93a2d343ec3e42a26bf9d8974da86b3a474f74..0f778e449bd4f6b5c0a007e6cffc315f9d875769 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,6 +13,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
### Added
+- New message type "autonomy". Long term plan is to integrate this as an object into the planning configuration schema, where if an operation has autonomy, the metadata, configurations, any instructions / default settings shall be within this message structure section.
- Additional_data field to platform_status to input any other data from a platform to be published
- Goal object in mission_plan message that consists of a GeoJSON feature (representing the part of primitive that is currently the goal of the given mission plan).
- A `partial` flag that indicates if a mission plan is a partial plan or the entire mission plan
diff --git a/examples/mas-dt/autonomy.json b/examples/mas-dt/autonomy.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d7dfe46fa61859f8bd84a441f5fb4ce4bbe19af
--- /dev/null
+++ b/examples/mas-dt/autonomy.json
@@ -0,0 +1,17 @@
+{
+ "header":{
+ "message_ID": "a127003c-0000-11aa-a1eb-b1cdf2342fdd",
+ "timestamp": "2025-02-07T00:00:00Z",
+ "version": "v2.0.0-beta.11",
+ "source": "noc-c2",
+ "destination": "mas-dt",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "autonomy",
+ "planning_config_ID": 1,
+ "version": "v0.1.2",
+ "state": "start"
+ }
+}
\ No newline at end of file
diff --git a/formats/autonomy.py b/formats/autonomy.py
new file mode 100644
index 0000000000000000000000000000000000000000..48f860a8f13388cfc9771c627a4649b49f1ddf9c
--- /dev/null
+++ b/formats/autonomy.py
@@ -0,0 +1,37 @@
+"""
+ schemas: Autonomy related data with Autonomy Engine metadata,
+ configurations and default instructions
+"""
+
+autonomy_schema = {
+ "type": "object",
+ "properties": {
+ "message_type": {
+ "type": "string",
+ "description": "Type of message",
+ "example": "autonomy",
+ "enum": ["autonomy"],
+ },
+ "planning_config_ID": {
+ "type": "integer",
+ "description": "Unique identifier of autonomy engine's planning config ID"
+ + " configuration plan",
+ "example": 3,
+ },
+ "version": {
+ "type": "string",
+ "description": "Version of autonomy engine for given planning config ID",
+ "example": "v1.0.0",
+ },
+ "state": {
+ "type": "string",
+ "enum": ["start", "stop"],
+ "description": "Autonomy engine instruction to start or stop model",
+ "example": "stop",
+ },
+ },
+ "required": [
+ "message_type",
+ "planning_config_ID"
+ ],
+}
diff --git a/generate_schema_config.py b/generate_schema_config.py
index 9875549b14a185003e1ddea6e66a4bdc914fa4d3..825776fd532a9578bcff5873d2583be684b2893c 100644
--- a/generate_schema_config.py
+++ b/generate_schema_config.py
@@ -1,5 +1,6 @@
from formats.header import message_header
from formats.message import message_schema
+from formats.autonomy import autonomy_schema
from formats.mission_plan import mission_plan_schema
from formats.mission_plan_encoded import mission_plan_encoded_schema
from formats.observation import observation_schema
@@ -49,9 +50,9 @@ def get_swagger_config(reload=False):
"swagger_ui": True,
"specs_route": "/",
"info": {
- "title": "SoAR Backbone Message Formats",
+ "title": "Backbone Message Formats",
"version": "1.0",
- "description": "SoAR message protocol in schemas",
+ "description": "message protocol in schemas",
},
"specs": [
{
@@ -66,6 +67,7 @@ def get_swagger_config(reload=False):
"MESSAGE": message_schema,
"header": message_header,
"payload": payload_schema,
+ "autonomy": autonomy_schema,
"mission_plan": mission_plan_schema,
"mission_plan_encoded": mission_plan_encoded_schema,
"observation": observation_schema,
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index 94698e0c59ae0669805f6e7febaf9485b6d0ce43..3984df41e1ef686f0d061a6bd6eb1ca2edadb848 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -111,6 +111,42 @@
],
"type": "object"
},
+ "autonomy": {
+ "properties": {
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "autonomy"
+ ],
+ "example": "autonomy",
+ "type": "string"
+ },
+ "planning_config_ID": {
+ "description": "Unique identifier of autonomy engine's planning config ID configuration plan",
+ "example": 3,
+ "type": "integer"
+ },
+ "state": {
+ "description": "Autonomy engine instruction to start or stop model",
+ "enum": [
+ "start",
+ "stop"
+ ],
+ "example": "stop",
+ "type": "string"
+ },
+ "version": {
+ "description": "Version of autonomy engine for given planning config ID",
+ "example": "v1.0.0",
+ "type": "string"
+ }
+ },
+ "required": [
+ "message_type",
+ "planning_config_ID"
+ ],
+ "type": "object"
+ },
"config_file": {
"properties": {
"content": {
@@ -2908,8 +2944,8 @@
}
},
"info": {
- "description": "SoAR message protocol in schemas",
- "title": "SoAR Backbone Message Formats",
+ "description": "message protocol in schemas",
+ "title": "Backbone Message Formats",
"version": "1.0"
},
"openapi": "3.0.2",
diff --git a/tests/fixtures/swagger.json b/tests/fixtures/swagger.json
index 97eecac3dbb757af97f99eb23b750e56cdf96546..5078b5a3e8e94ecf727264879738534fb97f8455 100644
--- a/tests/fixtures/swagger.json
+++ b/tests/fixtures/swagger.json
@@ -1,1160 +1,2952 @@
{
- "components": {
+ "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": {
- "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"
+ "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": {
+ "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"
+ },
+ "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°, Steering Actuator Pos=28.65°, Discrepancy=18.33°",
+ "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"
+ },
+ "autonomy": {
+ "properties": {
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "autonomy"
+ ],
+ "example": "autonomy",
+ "type": "string"
+ },
+ "planning_config_ID": {
+ "description": "Unique identifier of autonomy engine's planning config ID configuration plan",
+ "example": 3,
+ "type": "integer"
+ },
+ "state": {
+ "description": "Autonomy engine instruction to start or stop model",
+ "enum": [
+ "start",
+ "stop"
+ ],
+ "example": "stop",
+ "type": "string"
+ },
+ "version": {
+ "description": "Version of autonomy engine for given planning config ID",
+ "example": "v1.0.0",
+ "type": "string"
+ }
+ },
+ "required": [
+ "message_type",
+ "planning_config_ID"
+ ],
+ "type": "object"
+ },
+ "config_file": {
+ "properties": {
+ "content": {
+ "description": "Base64 encoded file content",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "mime_type": {
+ "description": "MIME type",
+ "example": "text/plain",
+ "type": "string"
+ },
+ "name": {
+ "description": "Name of file",
+ "example": "yo95.ma",
+ "type": "string"
+ },
+ "static": {
+ "description": "list of the fixed values set by the config file",
+ "type": "object"
+ }
+ },
+ "required": [
+ "name",
+ "content"
+ ],
+ "type": "object"
+ },
+ "geojson.org.schema.Feature.json": {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "geometry": {
+ "oneOf": [
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "Point"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
],
- "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"
- },
- "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"
+ "title": "GeoJSON Point",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "LineString"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
],
- "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"
+ "title": "GeoJSON LineString",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "Polygon"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
],
- "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"
- },
- "header": {
- "discriminator": {
- "propertyName": "message_type"
- },
- "properties": {
- "delivery_type": {
- "default": "publish",
- "description": "To publish or broadcast this message.",
- "enum": [
- "broadcast",
- "publish"
+ "title": "GeoJSON Polygon",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "MultiPoint"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
],
- "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-b1cdf2342fdd",
- "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",
+ "title": "GeoJSON MultiPoint",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "MultiLineString"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON MultiLineString",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "MultiPolygon"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON MultiPolygon",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "geometries": {
+ "items": {
+ "oneOf": [
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "Point"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON Point",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "LineString"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON LineString",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "Polygon"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON Polygon",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "MultiPoint"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON MultiPoint",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "MultiLineString"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON MultiLineString",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "MultiPolygon"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON MultiPolygon",
+ "type": "object"
+ }
+ ]
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "GeometryCollection"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "geometries"
+ ],
+ "title": "GeoJSON GeometryCollection",
+ "type": "object"
+ }
+ ]
+ },
+ "id": {
+ "oneOf": [
+ {
"type": "number"
- }
+ },
+ {
+ "type": "string"
+ }
+ ]
},
- "type": "object"
- },
- "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"
+ "oneOf": [
+ {
+ "type": "object"
+ }
+ ]
+ },
+ "type": {
+ "enum": [
+ "Feature"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "properties",
+ "geometry"
+ ],
+ "title": "GeoJSON Feature",
+ "type": "object"
+ },
+ "geojson.org.schema.FeatureCollection.json": {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "features": {
+ "items": {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "geometry": {
+ "oneOf": [
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "Point"
+ ],
+ "type": "string"
+ }
},
- "altitude": {
- "description": "Altitude of next action",
- "example": 15.0,
- "format": "float",
- "type": "number"
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON Point",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "LineString"
+ ],
+ "type": "string"
+ }
},
- "depth": {
- "description": "Depth of next action",
- "example": 15.0,
- "format": "float",
- "type": "number"
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON LineString",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "Polygon"
+ ],
+ "type": "string"
+ }
},
- "start_point_latitude": {
- "description": "Start point, y-coordinate",
- "example": 50.37072283932642,
- "format": "float",
- "type": "number"
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON Polygon",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "MultiPoint"
+ ],
+ "type": "string"
+ }
},
- "start_point_longitude": {
- "description": "Start point, x-coordinate",
- "example": -4.187143188645706,
- "format": "float",
- "type": "number"
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON MultiPoint",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "MultiLineString"
+ ],
+ "type": "string"
+ }
},
- "target_waypoint_latitude": {
- "description": "Target waypoint, y-coordinate",
- "example": 50.37072283932642,
- "format": "float",
- "type": "number"
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON MultiLineString",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "MultiPolygon"
+ ],
+ "type": "string"
+ }
},
- "target_waypoint_longitude": {
- "description": "Target waypoint, x-coordinate",
- "example": -4.187143188645706,
- "format": "float",
- "type": "number"
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON MultiPolygon",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "geometries": {
+ "items": {
+ "oneOf": [
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "Point"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON Point",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "LineString"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON LineString",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "Polygon"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON Polygon",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "MultiPoint"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON MultiPoint",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "MultiLineString"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON MultiLineString",
+ "type": "object"
+ },
+ {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "MultiPolygon"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON MultiPolygon",
+ "type": "object"
+ }
+ ]
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "GeometryCollection"
+ ],
+ "type": "string"
+ }
},
- "timeout": {
- "description": "Timeout set to perform action",
- "example": 1800.0,
- "format": "float",
- "type": "number"
- }
- },
- "required": [
- "target_waypoint_latitude",
- "target_waypoint_longitude"
- ],
- "type": "object"
+ "required": [
+ "type",
+ "geometries"
+ ],
+ "title": "GeoJSON GeometryCollection",
+ "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"
- },
- "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"
- },
- "observation": {
- "properties": {
- "additional_data": {
- "description": "Placeholder field for any additional data",
- "example": {
- "sensor_payload": false
+ "id": {
+ "oneOf": [
+ {
+ "type": "number"
+ },
+ {
+ "type": "string"
+ }
+ ]
+ },
+ "properties": {
+ "oneOf": [
+ {
+ "type": "object"
+ }
+ ]
+ },
+ "type": {
+ "enum": [
+ "Feature"
+ ],
+ "type": "string"
}
- },
- "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.",
+ },
+ "required": [
+ "type",
+ "properties",
+ "geometry"
+ ],
+ "title": "GeoJSON Feature",
+ "type": "object"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "FeatureCollection"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "features"
+ ],
+ "title": "GeoJSON FeatureCollection",
+ "type": "object"
+ },
+ "geojson.org.schema.LineString.json": {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "LineString"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON LineString",
+ "type": "object"
+ },
+ "geojson.org.schema.MultiLineString.json": {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
"items": {
- "properties": {
- "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": [
- "latitude",
- "longitude"
- ],
- "type": "object"
+ "type": "number"
},
+ "minItems": 2,
"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==",
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "MultiLineString"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON MultiLineString",
+ "type": "object"
+ },
+ "geojson.org.schema.MultiPoint.json": {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "MultiPoint"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON MultiPoint",
+ "type": "object"
+ },
+ "geojson.org.schema.MultiPolygon.json": {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "MultiPolygon"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON MultiPolygon",
+ "type": "object"
+ },
+ "geojson.org.schema.Point.json": {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "Point"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON Point",
+ "type": "object"
+ },
+ "geojson.org.schema.Polygon.json": {
+ "properties": {
+ "bbox": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "coordinates": {
+ "items": {
+ "items": {
+ "items": {
+ "type": "number"
+ },
+ "minItems": 2,
+ "type": "array"
+ },
+ "minItems": 4,
+ "type": "array"
+ },
+ "type": "array"
+ },
+ "type": {
+ "enum": [
+ "Polygon"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "type",
+ "coordinates"
+ ],
+ "title": "GeoJSON Polygon",
+ "type": "object"
+ },
+ "header": {
+ "oneOf": [
+ {
+ "properties": {
+ "version": {
+ "pattern": "^(v{0,1}(0|[1-9][0-9]*)[.](0|[1-9][0-9]*)[.](0|[1-9][0-9]*)(?:-(alpha|beta)[.](0|[1-9][0-9]*))?)$",
"type": "string"
- },
- "file_name": {
- "description": "Name of file",
- "example": "ah1-0238126349247372.bin",
+ }
+ },
+ "required": [
+ "version"
+ ],
+ "type": "object"
+ },
+ {
+ "properties": {
+ "version": {
+ "pattern": "^([0-9a-f]+)$",
"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",
+ }
+ },
+ "required": [
+ "version"
+ ],
+ "type": "object"
+ },
+ {
+ "properties": {
+ "version": {
"enum": [
- "observation_encoded"
+ "dev",
+ "master",
+ "latest"
],
- "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
- ]
- ]
- ],
- "type": "array"
- }
- },
- "type": "object"
+ }
+ },
+ "required": [
+ "version"
+ ],
+ "type": "object"
+ },
+ {
+ "properties": {
+ "version": {
+ "example": 2,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "required": [
+ "version"
+ ],
+ "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-b1cdf2342fdd",
+ "format": "uuid",
+ "pattern": "[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}",
+ "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"
+ }
+ },
+ "required": [
+ "message_ID",
+ "timestamp",
+ "source",
+ "destination",
+ "delivery_type",
+ "encoded"
+ ],
+ "type": "object"
+ },
+ "instruction_set": {
+ "properties": {
+ "categories": {
+ "type": "object"
+ },
+ "files": {
+ "items": {
+ "properties": {
+ "content": {
+ "description": "Base64 encoded file content",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
},
- "type": "array"
- },
- "message_type": {
- "description": "Type of message",
- "enum": [
- "planning_configuration"
- ],
- "example": "planning_configuration",
+ "mime_type": {
+ "description": "MIME type",
+ "example": "text/plain",
+ "type": "string"
+ },
+ "name": {
+ "description": "Name of file",
+ "example": "yo95.ma",
+ "type": "string"
+ },
+ "static": {
+ "description": "list of the fixed values set by the config file",
+ "type": "object"
+ }
+ },
+ "required": [
+ "name",
+ "content"
+ ],
+ "type": "object"
+ },
+ "type": "array"
+ }
+ },
+ "required": [
+ "files"
+ ],
+ "type": "object"
+ },
+ "mission_plan": {
+ "oneOf": [
+ {
+ "properties": {
+ "autonomy_engine_plan_ID": {
+ "description": "Unique identifier for this plangenerated by the Autonomy Engine",
+ "format": "uuid",
+ "pattern": "[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}",
"type": "string"
- },
- "planning_config_ID": {
- "description": "Unique identifier tagged to version of this configuration plan",
+ }
+ }
+ },
+ {
+ "properties": {
+ "autonomy_engine_plan_ID": {
+ "description": "Unique identifier for this plangenerated by the Autonomy Engine",
"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"
+ }
+ }
+ }
+ ],
+ "properties": {
+ "emergency": {
+ "default": false,
+ "description": "To indicate if this is an emergency. true = emergency and false = no emergency",
+ "example": false,
+ "type": "boolean"
+ },
+ "goal": {
+ "properties": {
+ "feature": {
+ "$ref": "#/components/schemas/geojson.org.schema.Feature.json"
+ },
+ "timestamp": {
+ "description": "Timestamp of last state change when autonomy model sets this goal",
+ "example": "2024-11-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ }
+ },
+ "type": "object"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "mission_plan"
+ ],
+ "example": "mission_plan",
+ "type": "string"
+ },
+ "partial": {
+ "description": "To indicate if this mission plan represents a partial (`true`) or the entire (`false`) mission plan. E.g.Partial would be `true` if a full mission plan is broken down into multiple plans.",
+ "example": false,
+ "type": "boolean"
+ },
+ "plan": {
+ "items": {
+ "oneOf": [
+ {
+ "properties": {
+ "start": {
+ "$ref": "#/components/schemas/geojson.org.schema.Point.json"
+ },
+ "target": {
+ "$ref": "#/components/schemas/geojson.org.schema.Point.json"
+ }
+ },
+ "required": [
+ "target"
+ ],
+ "type": "object"
+ },
+ {
+ "properties": {
+ "altitude": {
+ "description": "Altitude of next action",
+ "example": 15,
+ "format": "float",
+ "type": "number"
+ },
+ "depth": {
+ "description": "Depth of next action",
+ "example": 15,
+ "format": "float",
+ "type": "number"
+ },
+ "start_point_latitude": {
+ "description": "Start point, y-coordinate",
+ "example": 50.3707228393264,
+ "format": "float",
+ "type": "number"
+ },
+ "start_point_longitude": {
+ "description": "Start point, x-coordinate",
+ "example": -4.18714318864571,
+ "format": "float",
+ "type": "number"
+ },
+ "target_waypoint_latitude": {
+ "description": "Target waypoint, y-coordinate",
+ "example": 50.3707228393264,
+ "format": "float",
+ "type": "number"
+ },
+ "target_waypoint_longitude": {
+ "description": "Target waypoint, x-coordinate",
+ "example": -4.18714318864571,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "required": [
+ "target_waypoint_latitude",
+ "target_waypoint_longitude"
+ ],
+ "type": "object"
+ }
+ ],
+ "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 --\u003E `MBES` sensor and for EcoSUB --\u003E `Sidescan`",
+ "example": true,
+ "type": "boolean"
+ },
+ "timeout": {
+ "description": "Timeout set to perform action",
+ "example": 1800,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "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"
+ },
+ "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"
+ },
+ "observation": {
+ "properties": {
+ "additional_data": {
+ "description": "Placeholder field for any additional data",
+ "example": {
+ "sensor_payload": false
+ }
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "observation"
+ ],
+ "example": "observation",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
+ },
+ "points_of_interest": {
+ "description": "Points from features of interest identified by platform if any found.",
+ "items": {
+ "properties": {
+ "latitude": {
+ "description": "Identified 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": [
+ "latitude",
+ "longitude"
+ ],
+ "type": "object"
+ },
+ "type": "array"
+ },
+ "region_surveyed": {
+ "description": "Region surveyed by given platform. GEOJSON",
+ "example": "",
+ "nullable": true
+ }
+ },
+ "required": [
+ "message_type",
+ "platform_ID"
+ ],
+ "type": "object"
+ },
+ "observation_encoded": {
+ "properties": {
+ "data": {
+ "description": "encoded string. E.g. Base64 encoded",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "file_name": {
+ "description": "Name of file",
+ "example": "ah1-0238126349247372.bin",
+ "type": "string"
+ },
+ "is_binary": {
+ "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example": true,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "observation_encoded"
+ ],
+ "example": "observation_encoded",
+ "type": "string"
+ },
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
+ }
+ },
+ "required": [
+ "data",
+ "is_binary"
+ ],
+ "type": "object"
+ },
+ "payload": {
+ "discriminator": {
+ "mapping": {
+ "acknowledgement": "#/components/schemas/acknowledgement",
+ "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_instruction_set": "#/components/schemas/platform_instruction_set",
+ "platform_status": "#/components/schemas/platform_status",
+ "platform_status_encoded": "#/components/schemas/platform_status_encoded",
+ "survey": "#/components/schemas/survey",
+ "survey_encoded": "#/components/schemas/survey_encoded",
+ "waypoints": "#/components/schemas/waypoints"
+ },
+ "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_instruction_set"
+ },
+ {
+ "$ref": "#/components/schemas/platform_status"
+ },
+ {
+ "$ref": "#/components/schemas/platform_status_encoded"
+ },
+ {
+ "$ref": "#/components/schemas/survey"
+ },
+ {
+ "$ref": "#/components/schemas/survey_encoded"
+ },
+ {
+ "$ref": "#/components/schemas/waypoints"
+ }
+ ]
+ },
+ "planning_configuration": {
+ "properties": {
+ "instructions": {
+ "items": {
+ "properties": {
+ "categories": {
+ "type": "object"
+ },
+ "files": {
+ "items": {
+ "properties": {
+ "content": {
+ "description": "Base64 encoded file content",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "mime_type": {
+ "description": "MIME type",
+ "example": "text/plain",
+ "type": "string"
+ },
+ "name": {
+ "description": "Name of file",
+ "example": "yo95.ma",
+ "type": "string"
+ },
+ "static": {
+ "description": "list of the fixed values set by the config file",
+ "type": "object"
}
- },
- "type": "object"
+ },
+ "required": [
+ "name",
+ "content"
+ ],
+ "type": "object"
+ },
+ "type": "array"
+ }
+ },
+ "required": [
+ "files"
+ ],
+ "type": "object"
+ },
+ "type": "array"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "planning_configuration"
+ ],
+ "example": "planning_configuration",
+ "type": "string"
+ },
+ "planning_config_ID": {
+ "description": "Unique identifier tagged to version of this configuration plan",
+ "example": 3,
+ "type": "integer"
+ },
+ "primitives": {
+ "description": "Specification primitives - campaign-wide such as operating area and obstacles",
+ "items": {
+ "oneOf": [
+ {
+ "properties": {
+ "feature": {
+ "$ref": "#/components/schemas/geojson.org.schema.Feature.json"
+ },
+ "instruction": {
+ "description": "How the associated feature should be used",
+ "enum": [
+ "navigate_to",
+ "follow"
+ ],
+ "type": "string"
+ },
+ "options": {
+ "properties": {
+ "acceptance_radius_m": {
+ "description": "Acceptance radius (if applicable) to points of geometry in metres",
+ "example": 10000,
+ "format": "float",
+ "type": "number"
+ },
+ "repeat": {
+ "description": "Repeat these set of primitives in order (e.g. 1-\u003E2-\u003E3-\u003E1-\u003E2...)",
+ "example": true,
+ "type": "boolean"
+ },
+ "reverse": {
+ "description": "Loop backwards through the set of primitives (e.g 1-\u003E2-\u003E-3-\u003E2-\u003E1...)",
+ "example": true,
+ "type": "boolean"
+ }
+ },
+ "type": "object"
+ }
+ },
+ "required": [
+ "feature",
+ "instruction"
+ ]
},
- "type": "array"
- },
- "squads": {
- "items": {
- "properties": {
- "no_of_platforms": {
- "description": "Number of platforms",
- "example": 3,
- "type": "integer"
+ {
+ "properties": {
+ "feature": {
+ "$ref": "#/components/schemas/geojson.org.schema.Feature.json"
+ },
+ "instruction": {
+ "description": "How the associated feature should be used",
+ "enum": [
+ "stay_inside",
+ "stay_outside",
+ "cover",
+ "informational"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "feature",
+ "instruction"
+ ]
+ }
+ ]
+ },
+ "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
+ },
+ "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,
+ "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"
+ ],
+ "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,
+ "format": "float",
+ "type": "number"
+ },
+ "frequency": {
+ "description": "Frequency of scanning sensor (in kHz)",
+ "example": 700,
+ "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,
+ "format": "float",
+ "type": "number"
+ },
+ "warmup_time": {
+ "description": "Warmup time (seconds) for sensor to start up.",
+ "example": 180,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "type": "object"
},
- "platforms": {
- "description": "Squad consists of these platforms",
- "items": {
+ "target_altitude": {
+ "description": "Target altitude set for platform. This affects swath width",
+ "example": 15,
+ "format": "float",
+ "type": "number"
+ },
+ "turning_radius": {
+ "description": "Turning radius of platform (in metres)",
+ "example": 1,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "required": [
+ "operator",
+ "platform_ID",
+ "active",
+ "model"
+ ],
+ "type": "object"
+ },
+ "type": "array"
+ },
+ "primitives": {
+ "description": "Squad primitives - includes platform group navigation instructions",
+ "items": {
+ "oneOf": [
+ {
+ "properties": {
+ "feature": {
+ "$ref": "#/components/schemas/geojson.org.schema.Feature.json"
+ },
+ "instruction": {
+ "description": "How the associated feature should be used",
+ "enum": [
+ "navigate_to",
+ "follow"
+ ],
+ "type": "string"
+ },
+ "options": {
"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"
- }
+ "acceptance_radius_m": {
+ "description": "Acceptance radius (if applicable) to points of geometry in metres",
+ "example": 10000,
+ "format": "float",
+ "type": "number"
+ },
+ "repeat": {
+ "description": "Repeat these set of primitives in order (e.g. 1-\u003E2-\u003E3-\u003E1-\u003E2...)",
+ "example": true,
+ "type": "boolean"
+ },
+ "reverse": {
+ "description": "Loop backwards through the set of primitives (e.g 1-\u003E2-\u003E-3-\u003E2-\u003E1...)",
+ "example": true,
+ "type": "boolean"
+ }
},
- "required": [
- "operator",
- "platform_ID",
- "active",
- "model"
- ],
"type": "object"
- },
- "type": "array"
+ }
+ },
+ "required": [
+ "feature",
+ "instruction"
+ ]
},
- "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"
+ {
+ "properties": {
+ "feature": {
+ "$ref": "#/components/schemas/geojson.org.schema.Feature.json"
+ },
+ "instruction": {
+ "description": "How the associated feature should be used",
+ "enum": [
+ "stay_inside",
+ "stay_outside",
+ "cover",
+ "informational"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "feature",
+ "instruction"
+ ]
}
- },
- "required": [
- "squad_ID",
- "no_of_platforms",
- "platforms",
- "squad_mission_type"
- ],
- "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",
+ "profiling"
+ ],
+ "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",
+ "primitives"
+ ],
+ "type": "object"
+ },
+ "platform_instruction_set": {
+ "properties": {
+ "instruction_set": {
+ "properties": {
+ "categories": {
+ "type": "object"
+ },
+ "files": {
+ "items": {
+ "properties": {
+ "content": {
+ "description": "Base64 encoded file content",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "mime_type": {
+ "description": "MIME type",
+ "example": "text/plain",
+ "type": "string"
+ },
+ "name": {
+ "description": "Name of file",
+ "example": "yo95.ma",
+ "type": "string"
+ },
+ "static": {
+ "description": "list of the fixed values set by the config file",
+ "type": "object"
+ }
+ },
+ "required": [
+ "name",
+ "content"
+ ],
+ "type": "object"
},
"type": "array"
- }
- },
- "required": [
- "message_type",
- "planning_config_ID",
- "squads",
- "exclusion_zones",
- "region_of_interest"
- ],
- "type": "object"
- },
- "platform_status": {
- "properties": {
- "altitude": {
+ }
+ },
+ "required": [
+ "files"
+ ],
+ "type": "object"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "platform_instruction_set"
+ ],
+ "example": "platform_instruction_set",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
+ }
+ },
+ "required": [
+ "message_type",
+ "platform_ID",
+ "instruction_set"
+ ],
+ "type": "object"
+ },
+ "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": {
+ "$ref": "#/components/schemas/geojson.org.schema.Point.json"
+ },
+ "waypoint": {
+ "$ref": "#/components/schemas/geojson.org.schema.Point.json"
+ }
+ },
+ "required": [
+ "position"
+ ],
+ "type": "object"
+ },
+ {
+ "properties": {
+ "altitude": {
"description": "Target altitude in metres",
- "example": 20.0,
+ "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_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,
+ },
+ "depth": {
+ "default": 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,
+ "example": 50,
"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": {
+ },
+ "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": {
+ },
+ "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": "object"
- },
- "sensor_on": {
- "description": "Sensor switched on (true) or off (false)",
- "example": true,
- "type": "boolean"
- },
- "sensor_serial": {
- "description": "serial number of sensor",
- "example": "mbes-002a",
- "type": "string"
- }
- },
- "type": "object"
- },
- "speed_over_ground": {
- "description": "Speed over ground",
- "example": 124.3,
- "format": "float",
- "type": "number"
- },
- "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"
- },
- "platform_status_encoded": {
- "properties": {
- "data": {
- "description": "encoded string. E.g. Base64 encoded",
- "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type": "string"
- },
- "file_name": {
- "description": "Name of file",
- "example": "ah1-0238126349247372.bin",
- "type": "string"
- },
- "is_binary": {
- "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
- "example": true,
- "type": "boolean"
- },
- "message_type": {
- "description": "Type of message",
- "enum": [
- "platform_status_encoded"
- ],
- "example": "platform_status_encoded",
- "type": "string"
- },
- "mime_type": {
- "description": "MIME type",
- "example": "application/gzip",
- "type": "string"
- }
- },
- "required": [
- "data",
- "is_binary"
- ],
- "type": "object"
- },
- "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,
+ },
+ "waypoint_altitude": {
+ "description": "Target altitude in metres",
+ "example": 20,
"format": "float",
"type": "number"
- },
- "latitude_D": {
- "description": "Latitude of point D(intersection of normal)from waypoint D to survey line",
- "example": 178.2,
+ },
+ "waypoint_depth": {
+ "default": 0,
+ "description": "Target depth in metres",
+ "example": 50,
"format": "float",
"type": "number"
- },
- "latitude_E": {
- "description": "Latitude of point E(intersection of normal)from waypoint E to survey line",
+ },
+ "waypoint_latitude": {
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
"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",
+ },
+ "waypoint_longitude": {
+ "description": "Longitude (X-coordinate) in decimal degrees.",
"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.",
+ }
+ },
+ "required": [
+ "latitude",
+ "longitude"
+ ],
+ "type": "object"
+ }
+ ],
+ "properties": {
+ "additional_data": {
+ "description": "Any addition fields/data to be added here",
+ "example": {
+ "m_coulomb_amphr_total": 95.45837
+ },
+ "type": "object"
+ },
+ "autonomy_engine_plan_ID": {
+ "description": "Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
+ "example": 1,
+ "type": "integer"
+ },
+ "battery_output": {
+ "description": "Battery output in kW",
+ "example": 80.2,
+ "format": "float",
+ "type": "number"
+ },
+ "battery_remaining_capacity": {
+ "description": "Battery remaining % provided by respective C2",
+ "example": 80.2,
+ "format": "float",
+ "type": "number"
+ },
+ "endurance": {
+ "description": "Estimate of hours of operation remaining based on present output or performance",
+ "example": 7.4,
+ "format": "float",
+ "type": "number"
+ },
+ "fuel_remaining_capacity": {
+ "description": "Percentage remaining capacity",
+ "example": 80.2,
+ "format": "float",
+ "type": "number"
+ },
+ "fuel_volume": {
+ "description": "Litres of liquid fuel",
+ "example": 12.5,
+ "format": "float",
+ "type": "number"
+ },
+ "heading": {
+ "description": "Angular distance relative to north, usually 000° at north, clockwise through 359°, in degrees",
+ "example": 124.3,
+ "format": "float",
+ "type": "number"
+ },
+ "health_status": {
+ "description": "Health status where 0 is OK, 1 is platform has an ERROR",
+ "example": false,
+ "type": "boolean"
+ },
+ "localisation_east_error": {
+ "description": "Difference in EAST between deadreckoningand USBL update.",
+ "example": 0.000129,
+ "format": "float",
+ "type": "number"
+ },
+ "localisation_north_error": {
+ "description": "Difference in NORTH between deadreckoning and USBL update.",
+ "example": 0.000129,
+ "format": "float",
+ "type": "number"
+ },
+ "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 --\u003E Waypoint 3 to Waypoint 4)",
+ "example": 4,
+ "type": "integer"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
+ },
+ "platform_state": {
+ "description": "Current state executed by platform. E.g. STOP, IDLE, ABORT.",
+ "example": "ABORT",
+ "type": "string"
+ },
+ "platform_timestamp": {
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "range_to_go": {
+ "description": "Estimated distance to reach next waypoint",
+ "example": 124.3,
+ "format": "float",
+ "type": "number"
+ },
+ "sensor_config": {
+ "description": "Scanning sensor on platform available to be controlled by the Autonomy Engine",
+ "properties": {
+ "additional_data": {
+ "description": "Any addition fields/data to be added here",
+ "example": {
+ "payload": [1.2, 434]
+ },
+ "type": "object"
+ },
+ "sensor_on": {
+ "description": "Sensor switched on (true) or off (false)",
"example": true,
"type": "boolean"
- },
- "message_type": {
- "description": "Type of message",
- "enum": [
- "survey_encoded"
- ],
- "example": "survey_encoded",
+ },
+ "sensor_serial": {
+ "description": "serial number of sensor",
+ "example": "mbes-002a",
"type": "string"
- },
- "mime_type": {
- "description": "MIME type",
- "example": "application/gzip",
- "type": "string"
- }
- },
- "required": [
- "data",
- "is_binary"
- ],
- "type": "object"
- }
+ }
+ },
+ "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",
+ "simulated"
+ ],
+ "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,
+ "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"
+ ],
+ "type": "object"
+ },
+ "platform_status_encoded": {
+ "properties": {
+ "data": {
+ "description": "encoded string. E.g. Base64 encoded",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "file_name": {
+ "description": "Name of file",
+ "example": "ah1-0238126349247372.bin",
+ "type": "string"
+ },
+ "is_binary": {
+ "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example": true,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "platform_status_encoded"
+ ],
+ "example": "platform_status_encoded",
+ "type": "string"
+ },
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
+ }
+ },
+ "required": [
+ "data",
+ "is_binary"
+ ],
+ "type": "object"
+ },
+ "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"
+ },
+ "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,
+ "format": "float",
+ "type": "number"
+ },
+ "depth": {
+ "default": 0,
+ "description": "Target depth in metres",
+ "example": 50,
+ "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"
+ }
}
- },
- "info":{
- "description":"SoAR message protocol in schemas",
- "title":"SoAR Backbone Message Formats",
- "version":"0.2"
- },
- "openapi": "3.0.2",
- "paths": {}
-}
\ No newline at end of file
+ },
+ "info": {
+ "description": "SoAR message protocol in schemas",
+ "title": "SoAR Backbone Message Formats",
+ "version": "1.0"
+ },
+ "openapi": "3.0.2",
+ "paths": {
+
+ }
+ }
\ No newline at end of file