diff --git a/__init__.py b/__init__.py
index 1aa4a33a1548f37a18a4090d184edc0b87c70732..67a301574900538773befb573daa0060c92ba527 100644
--- a/__init__.py
+++ b/__init__.py
@@ -6,8 +6,8 @@ from flask import Flask
# import os
__all__ = [
- "docs",
"formats",
+ "tests",
]
app = Flask(__name__)
api = Api(app)
diff --git a/examples/autonomy_engine_adapter/mission_plan_AH1.json b/examples/autonomy_engine_adapter/mission_plan_AH1.json
index f6289c462012eb1b0642bf6ff211d6b5faf83ce0..6dfe1a1a1d0bd895e6e0a23e3e2bb357b4e2b73d 100644
--- a/examples/autonomy_engine_adapter/mission_plan_AH1.json
+++ b/examples/autonomy_engine_adapter/mission_plan_AH1.json
@@ -11,14 +11,13 @@
"payload":{
"message_type": "mission_plan",
"platform_ID": "5-ah1",
- "autonomy_engine_mission_plan_ID": 1,
+ "autonomy_engine_plan_ID": 1,
"plan": [
{
"action": "move",
"flight_style": "go to waypoint",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
- "altitude": null,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
@@ -29,7 +28,6 @@
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": 10,
- "depth": null,
"activate_payload": false,
"send_environmental_data": false
},
@@ -39,7 +37,6 @@
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 60.00000000000000,
"altitude": 10,
- "depth": null,
"activate_payload": true,
"send_environmental_data": false
},
@@ -48,8 +45,7 @@
"flight_style": "go to surface",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 52.37072283932642,
- "altitude": null,
- "depth": 0,
+ "depth": 0.0,
"activate_payload": false,
"send_environmental_data": true
}
diff --git a/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json b/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
index 92ff09c0badfa3d561269c0167a683e9579747dd..f9a136d8030de85168ca276f727356481ac680fa 100644
--- a/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
+++ b/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
@@ -11,14 +11,13 @@
"payload":{
"message_type": "mission_plan",
"platform_ID": "ecosub-5",
- "autonomy_engine_mission_plan_ID": 1,
+ "autonomy_engine_plan_ID": 1,
"plan": [
{
"action": "move",
"flight_style": "go to waypoint",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
- "altitude": null,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
@@ -29,7 +28,6 @@
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": 10,
- "depth": null,
"activate_payload": false,
"send_environmental_data": false
},
@@ -39,7 +37,6 @@
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 60.00000000000000,
"altitude": 10,
- "depth": null,
"activate_payload": true,
"send_environmental_data": false
},
@@ -48,8 +45,7 @@
"flight_style": "go to surface",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 52.37072283932642,
- "altitude": null,
- "depth": 0,
+ "depth": 0.0,
"activate_payload": false,
"send_environmental_data": true
}
diff --git a/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json b/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
index 6cc34fd20124501e716231c36bb289e3d68d0032..f5c1c0d92f1577d30320abb4d1e7c6cd8b4de3dc 100644
--- a/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
+++ b/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
@@ -1,15 +1,18 @@
{
- "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
- "timestamp": "2022-11-16T00:00:00Z",
- "version": 2,
- "source": "autonomy_engine",
- "destination": "hydrosurv_adapter",
- "delivery_type": "publish",
- "encoded": false,
- "message_type": "mission_plan",
- "platform_ID": "reav-60-1",
- "autonomy_engine_plan_ID": 1,
- "plan": [
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "autonomy_engine",
+ "destination": "hydrosurv_adapter",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "mission_plan",
+ "platform_ID": "reav-60-1",
+ "autonomy_engine_plan_ID": 1,
+ "plan": [
{
"latitude_waypoint": -4.187143188645706,
"longitude_waypoint": 50.37072283932642
@@ -23,4 +26,5 @@
"longitude_waypoint": 52.37072283932642
}
]
+ }
}
\ No newline at end of file
diff --git a/examples/autonomy_engine_adapter/planning_configuration.json b/examples/autonomy_engine_adapter/planning_configuration.json
index 06078deac827aa4463f91a99db7bb5df91e6202e..f1191837bb12e4493bb9a534097e49500c39b014 100644
--- a/examples/autonomy_engine_adapter/planning_configuration.json
+++ b/examples/autonomy_engine_adapter/planning_configuration.json
@@ -40,7 +40,7 @@
"squad_ID": 1,
"no_of_platforms": 1,
"squad_mission_type": "tracking",
- "squad_state": false,
+ "squad_state": "active",
"platforms": [
{
"model": "reav",
@@ -86,7 +86,7 @@
"squad_ID": 2,
"no_of_platforms": 3,
"squad_mission_type": "survey",
- "squad_state": true,
+ "squad_state": "active",
"platforms": [
{
"platform_ID": "ecosub-1",
@@ -133,7 +133,7 @@
"squad_ID": 3,
"no_of_platforms": 1,
"squad_mission_type": "inspection",
- "squad_state": false,
+ "squad_state": "active",
"platforms": [
{
"platform_ID": "ah-1",
@@ -143,7 +143,7 @@
"additional_data": {},
"latitude_waypoint": 20.432,
"longitude_waypoint": 50.365,
- "safe_command": "safety_abort",
+ "safe_command": "abort_now",
"target_depth": 0.0
},
"max_velocity": 0.9,
diff --git a/examples/ecosub_adapter/mission_plan.json b/examples/ecosub_adapter/mission_plan.json
index 0a0dfdb71dc152ea64fd01be11a4d2ac92b2d250..83e836a27b1e3fe5f4d8b366cf53fc9e5daafa72 100644
--- a/examples/ecosub_adapter/mission_plan.json
+++ b/examples/ecosub_adapter/mission_plan.json
@@ -11,14 +11,13 @@
"payload":{
"message_type": "mission_plan",
"platform_ID": "ecosub-2",
- "autonomy_engine_mission_plan_ID": 1,
+ "autonomy_engine_plan_ID": 1,
"plan": [
{
"action": "move",
"flight_style": "go to waypoint",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
- "altitude": null,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
@@ -29,7 +28,6 @@
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": 10,
- "depth": null,
"activate_payload": false,
"send_environmental_data": false
},
@@ -39,7 +37,6 @@
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 60.00000000000000,
"altitude": 10,
- "depth": null,
"activate_payload": true,
"send_environmental_data": false
},
@@ -48,8 +45,7 @@
"flight_style": "go to surface",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 52.37072283932642,
- "altitude": null,
- "depth": 0,
+ "depth": 0.0,
"activate_payload": false,
"send_environmental_data": true
}
diff --git a/examples/ecosub_adapter/platform_status.json b/examples/ecosub_adapter/platform_status.json
index 7820d55e504f21479f74e3ff44e1ddf31d7ad0ad..b82beba2ed793f2c39fee7dd789ed142e6ce5b57 100644
--- a/examples/ecosub_adapter/platform_status.json
+++ b/examples/ecosub_adapter/platform_status.json
@@ -25,8 +25,8 @@
"altitude": 20,
"heading": 90.0,
"health_status": "Warning",
- "localisation_error": null,
- "usbl_fix_seconds_ago": null,
+ "localisation_error": 0,
+ "usbl_fix_seconds_ago": 0,
"range_to_go": 124.3,
"sensor_config": {
"sensor_ID": 22,
diff --git a/examples/gui_adapter/planning_configuration.json b/examples/gui_adapter/planning_configuration.json
index adff68c59afba7cd02e6b37750f7bdbbec83fd93..0f72c8aac86ca9204dad558fcec2471c88771031 100644
--- a/examples/gui_adapter/planning_configuration.json
+++ b/examples/gui_adapter/planning_configuration.json
@@ -40,7 +40,7 @@
"squad_ID": 1,
"no_of_platforms": 1,
"squad_mission_type": "tracking",
- "squad_state": false,
+ "squad_state": "active",
"platforms": [
{
"model": "reav",
@@ -86,7 +86,7 @@
"squad_ID": 2,
"no_of_platforms": 3,
"squad_mission_type": "survey",
- "squad_state": true,
+ "squad_state": "active",
"platforms": [
{
"platform_ID": "ecosub-2",
@@ -133,7 +133,7 @@
"squad_ID": 3,
"no_of_platforms": 1,
"squad_mission_type": "inspection",
- "squad_state": false,
+ "squad_state": "active",
"platforms": [
{
"platform_ID": "139-ah-1",
@@ -143,7 +143,7 @@
"additional_data": {},
"latitude_waypoint": 20.432,
"longitude_waypoint": 50.365,
- "safe_command": "safety_abort",
+ "safe_command": "abort_now",
"target_depth": 0.0
},
"max_velocity": 0.9,
diff --git a/formats/__init__.py b/formats/__init__.py
index 1af14101c50229a31de14e9c60dc6855fc1ae8d2..e7e9b0006c0178a09b011dff9ec343b9b1e6a637 100644
--- a/formats/__init__.py
+++ b/formats/__init__.py
@@ -55,4 +55,4 @@ message_header = {
"default": "publish",
},
},
-}
\ No newline at end of file
+}
diff --git a/formats/observation.py b/formats/observation.py
index 1da57a8d8fb9461290c17248d0814d1e1f3586a2..fdf3bb76e2c42c00747cb2ad0c07740990c47396 100644
--- a/formats/observation.py
+++ b/formats/observation.py
@@ -49,7 +49,6 @@ observation_schema = {
+ " platform if any found.", # TODO: DEFINE FORMAT.
},
"region_surveyed": {
- # "type": "null",
"nullable": True,
"description": "Region surveyed by given platform."
+ " GEOJSON", # TODO: DEFINE FORMAT.
diff --git a/formats/planning_configuration.py b/formats/planning_configuration.py
index eb6f11439d7412563ac6a8697277bb24e01890fd..11387153486d456f9175a488c8794122a214c21d 100644
--- a/formats/planning_configuration.py
+++ b/formats/planning_configuration.py
@@ -109,7 +109,6 @@ region_schema = {
},
},
"description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
- "required": ["geometry_coordinates"],
}
squad_metadata_schema = {
diff --git a/formats/platform_status.py b/formats/platform_status.py
index 8e0ff3327f0bd566b381df8bd324b8db043ef490..450157068ddb992a7f57a0e01ab6f47ff672b465 100644
--- a/formats/platform_status.py
+++ b/formats/platform_status.py
@@ -24,7 +24,7 @@ sensor_schema = {
},
}
-platform_status_message_schema = {
+platform_status_schema = {
"type": "object",
"properties": {
"message_type": {
@@ -59,7 +59,7 @@ platform_status_message_schema = {
"example": "2022-12-21T00:00:00Z",
},
"platform_state": {
- "type": "string", # TODO: Define enum with potential STATES of each platform
+ "type": "string", # TODO: Define enum with potential STATES of each platform
"description": "Current state executed by platform. E.g. "
+ "STOP, IDLE, ABORT.",
"example": "ABORT",
diff --git a/generate_schema_config.py b/generate_schema_config.py
index b7c60a24370a63df2ddca88b0c22b15c1fbd3586..8cf02b6270484b3697c28476697b4f11c0534277 100644
--- a/generate_schema_config.py
+++ b/generate_schema_config.py
@@ -2,7 +2,7 @@ from formats import message_header
from formats.mission_plan import mission_plan_schema
from formats.observation import observation_schema
from formats.planning_configuration import planning_configuration_schema
-from formats.platform_status import platform_status_message_schema
+from formats.platform_status import platform_status_schema
from formats.acknowledgement import acknowledgement_schema
from flasgger import Swagger
@@ -15,10 +15,10 @@ swagger_config = {
"openapi": "3.0.2",
"swagger_ui": True,
"specs_route": "/",
- "info": {
+ "info": {
"title": "SoAR Backbone Message Formats",
"version": "1.0",
- "description": "SoAR message protocol in schemas"
+ "description": "SoAR message protocol in schemas",
},
"specs": [
{
@@ -36,16 +36,14 @@ swagger_config = {
"header": {
"$ref": "#/components/schemas/header",
},
- "payload": {
- "$ref": "#/components/schemas/payload"
- },
+ "payload": {"$ref": "#/components/schemas/payload"},
},
"required": ["header", "payload"],
},
"payload": {
"discriminator": {
"propertyName": "message_type",
- "mapping":{
+ "mapping": {
"mission_plan": "#/components/schemas/mission_plan",
"observation": "#/components/schemas/observation",
"planning_configuration": "#/components/schemas/planning_configuration",
@@ -53,34 +51,19 @@ swagger_config = {
"acknowledgement": "#/components/schemas/acknowledgement",
},
},
- "oneOf":[
- {
- "$ref": "#/components/schemas/"
- + "acknowledgement"
- },
- {
- "$ref": "#/components/schemas/"
- + "mission_plan"
- },
- {
- "$ref": "#/components/schemas/"
- + "observation"
- },
- {
- "$ref": "#/components/schemas/"
- + "planning_configuration"
- },
- {
- "$ref": "#/components/schemas/"
- + "platform_status"
- },
- ]
+ "oneOf": [
+ {"$ref": "#/components/schemas/" + "acknowledgement"},
+ {"$ref": "#/components/schemas/" + "mission_plan"},
+ {"$ref": "#/components/schemas/" + "observation"},
+ {"$ref": "#/components/schemas/" + "planning_configuration"},
+ {"$ref": "#/components/schemas/" + "platform_status"},
+ ],
},
"header": message_header,
"mission_plan": mission_plan_schema,
"observation": observation_schema,
"planning_configuration": planning_configuration_schema,
- "platform_status": platform_status_message_schema,
+ "platform_status": platform_status_schema,
"acknowledgement": acknowledgement_schema,
}
},
@@ -90,4 +73,4 @@ swag = Swagger(app, config=swagger_config, merge=True)
if __name__ == "__main__":
- app.run(debug=True)
\ No newline at end of file
+ app.run(debug=True)
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index 4f7d6a6d2a31c7dde160d3565971c556df2d6277..b60d60b6a76ccf30579f1e989496755f1ed500de 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -1,11 +1,4 @@
{
- "openapi": "3.0.2",
- "info": {
- "description": "SoAR message protocol in schemas",
- "title": "SoAR Backbone Message Formats",
- "version": "1.0"
- },
- "paths": {},
"components": {
"schemas": {
"MESSAGE": {
@@ -307,9 +300,6 @@
"type": "array"
}
},
- "required": [
- "geometry_coordinates"
- ],
"type": "object"
},
"type": "array"
@@ -458,9 +448,6 @@
"type": "array"
}
},
- "required": [
- "geometry_coordinates"
- ],
"type": "object"
},
"squad_ID": {
@@ -683,5 +670,12 @@
"type": "object"
}
}
- }
+ },
+ "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
diff --git a/tests/__init__.py b/tests/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..2253a07952dc605ffa662b625265c4b68b841e53
--- /dev/null
+++ b/tests/__init__.py
@@ -0,0 +1,8 @@
+import os
+
+
+__all__ = [
+ os.path.splitext(os.path.basename(x))[0]
+ for x in os.listdir(os.path.dirname(__file__))
+ if x.endswith(".py") and x != "__init__.py"
+]
diff --git a/tests/fixtures/__init__.py b/tests/fixtures/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..2253a07952dc605ffa662b625265c4b68b841e53
--- /dev/null
+++ b/tests/fixtures/__init__.py
@@ -0,0 +1,8 @@
+import os
+
+
+__all__ = [
+ os.path.splitext(os.path.basename(x))[0]
+ for x in os.listdir(os.path.dirname(__file__))
+ if x.endswith(".py") and x != "__init__.py"
+]
diff --git a/tests/fixtures/schemas.py b/tests/fixtures/schemas.py
new file mode 100644
index 0000000000000000000000000000000000000000..2d4ff053b3f21539596bb7678d3f244b5a471097
--- /dev/null
+++ b/tests/fixtures/schemas.py
@@ -0,0 +1,581 @@
+message_header = {
+ "type": "object",
+ "discriminator": {
+ "propertyName": "message_type",
+ },
+ "properties": {
+ "message_ID": {
+ "type": "string",
+ "description": "An identifier for the type of message received.",
+ "example": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ },
+ "timestamp": {
+ "type": "string",
+ "format": "date-time",
+ "description": "Timestamp of message",
+ "example": "2022-11-16T00:00:00Z",
+ },
+ "version": {
+ "type": "number",
+ "format": "float",
+ "description": "Version of comms backbone message format protocol",
+ "example": 2.0,
+ },
+ "source": {
+ "type": "string",
+ "description": "The sender; Where is this message from",
+ "example": "autonomy_engine",
+ },
+ "destination": {
+ "type": "string",
+ "description": "Publisher topic; What is the destination"
+ + " of this message",
+ "example": "ah1",
+ },
+ "encoded": {
+ "type": "boolean",
+ "description": "Indicate that message raw (encoded) or decoded. "
+ + "Options: encoded=True, decoded=False",
+ "example": False,
+ },
+ "delivery_type": {
+ "type": "string",
+ "description": "To publish or broadcast this message.",
+ "enum": ["broadcast", "publish"],
+ "example": "publish",
+ "default": "publish",
+ },
+ },
+}
+
+acknowledgement_schema = {
+ "type": "object",
+ "properties": {
+ "message_type": {
+ "type": "string",
+ "description": "Type of message",
+ "example": "acknowledgement",
+ },
+ "acknowledged_message_ID": {
+ "type": "string",
+ "description": "Identifier of message received and executed with "
+ + "success for mission plans sent by the Autonomy Engine.",
+ "example": "02125022255-7bc8-11ed-a1eb-0242ac999999",
+ },
+ "status": {
+ "type": "string",
+ "enum": ["c2_received", "operator_approved_and_sent", "executed"],
+ "description": "Highest level of acknowledgement. I.e."
+ + " `c2_received`: Received by C2, `operator_approved_and_sent`"
+ + " : Approved by operator and sent from C2->Platform,"
+ + " `executed`: Executed by platform",
+ "example": "executed by platform",
+ },
+ },
+ "required": ["message_type", "acknowledged_message_ID", "status"],
+}
+
+
+action_schema = {
+ "type": "object",
+ "properties": {
+ "action": {
+ "type": "string",
+ "description": "Autonomy Engine's action from `move`, `payload`,"
+ + " `dive`, `send_hits`, `scanline`, `scanpoint`.",
+ "example": "move",
+ },
+ "flight_style": {
+ "type": "string",
+ "description": "Platform-specific modes/flight styles to perform"
+ + " next action",
+ "example": "orbit",
+ },
+ "latitude_waypoint": {
+ "type": "number",
+ "format": "float",
+ "description": "Next waypoint, x-coordinate",
+ "example": -4.187143188645706,
+ },
+ "longitude_waypoint": {
+ "type": "number",
+ "format": "float",
+ "description": "Next waypoint, y-coordinate",
+ "example": 50.37072283932642,
+ },
+ "altitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Altitude of next action",
+ "example": 15.0,
+ },
+ "depth": {
+ "type": "number",
+ "format": "float",
+ "description": "Depth of next action",
+ "example": 15.0,
+ },
+ "activate_payload": {
+ "type": "boolean",
+ "description": "To activate/deactivate sensor for Autosub "
+ + "Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
+ "example": True,
+ },
+ "send_environmental_data": {
+ "type": "boolean",
+ "description": "To trigger the platform to send list of"
+ + " observations if any found",
+ "example": False,
+ },
+ },
+ "required": [
+ "latitude_waypoint",
+ "longitude_waypoint",
+ ],
+}
+
+mission_plan_schema = {
+ "type": "object",
+ "properties": {
+ "message_type": {
+ "type": "string",
+ "description": "Type of message",
+ "example": "mission_plan",
+ },
+ "autonomy_engine_plan_ID": {
+ "type": "integer",
+ "description": "Unique identifier for this plan"
+ + "generated by the Autonomy Engine",
+ "example": 3,
+ },
+ "platform_ID": {
+ "type": "string",
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ },
+ "plan": {
+ "type": "array",
+ "items": action_schema,
+ },
+ },
+ "required": ["message_type", "autonomy_engine_plan_ID", "platform_ID", "plan"],
+}
+
+
+hits_schema = {
+ "type": "object",
+ "properties": {
+ "latitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Identified x-coordinate of point of interest",
+ "example": 178.2,
+ },
+ "longitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Identified y-coordinate of point of interest",
+ "example": -10.122,
+ },
+ "quality_of_point": {
+ "type": "number",
+ "format": "float",
+ "description": "Quality/strength of points from features of"
+ + " interest identified by platform.", # TODO: DEFINE FORMAT.
+ "example": 0.98,
+ },
+ },
+ "required": ["latitude", "longitude"],
+}
+
+observation_schema = {
+ "type": "object",
+ "properties": {
+ "message_type": {
+ "type": "string",
+ "description": "Type of message",
+ "example": "observation",
+ },
+ "platform_ID": {
+ "type": "string",
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ },
+ "points_of_interest": {
+ "type": "array",
+ "items": hits_schema,
+ "description": "Points from features of interest identified by"
+ + " platform if any found.", # TODO: DEFINE FORMAT.
+ },
+ "region_surveyed": {
+ "nullable": True,
+ "description": "Region surveyed by given platform."
+ + " GEOJSON", # TODO: DEFINE FORMAT.
+ "example": "",
+ },
+ "additional_data": {
+ "description": "Placeholder field for any additional data",
+ "example": {"sensor_payload": False},
+ },
+ },
+ "required": ["message_type", "platform_ID"],
+}
+
+emergency_schema = {
+ "type": "object",
+ "properties": {
+ "safe_command": {
+ "type": "string",
+ "enum": ["go_home", "abort_now", "stop_mission"],
+ "description": "Command/Action that is native to respective"
+ + " partner's platform/C2",
+ "example": "go_home",
+ },
+ "latitude_waypoint": {
+ "type": "number",
+ "format": "float",
+ "description": "X-coordinate safe place for respective platform",
+ "example": -7.432,
+ },
+ "longitude_waypoint": {
+ "type": "number",
+ "format": "float",
+ "description": "Y-coordinate safe place for respective platform",
+ "example": 50.365,
+ },
+ "target_depth": {
+ "type": "number",
+ "format": "float",
+ "description": "Z-coordinate safe place for respective platform"
+ + " . If platform to NOT stay at depth, key in `0.0`",
+ "example": 10,
+ },
+ "additional_data": {
+ "description": "Any addition fields/data to be added here",
+ "example": {},
+ },
+ },
+ "required": ["latitude_waypoint", "longitude_waypoint", "target_depth"],
+}
+
+
+platform_schema = {
+ "type": "object",
+ "properties": {
+ "platform_ID": {
+ "type": "string",
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ },
+ "serial": {
+ "type": "string",
+ "description": "platform serial number",
+ "example": "reav-60",
+ },
+ "model": {
+ "type": "string",
+ "example": "reav",
+ },
+ "emergency": emergency_schema,
+ "min_altitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Minimum altitude set for squad.",
+ "example": 15.2,
+ },
+ "min_velocity": {
+ "type": "number",
+ "format": "float",
+ "description": "Minimum velocity set for squad.",
+ "example": 0.1,
+ },
+ "max_velocity": {
+ "type": "number",
+ "format": "float",
+ "description": "Maximum altitude set for squad.",
+ "example": 0.9,
+ },
+ "additional_specs": {
+ "description": "Any addition fields/data to be added here",
+ "example": {"swath_width": 10.0, "scan_type": "DVL"},
+ },
+ },
+ "required": [
+ "platform_ID",
+ "serial",
+ "model",
+ "emergency",
+ "min_altitude",
+ "min_velocity",
+ "max_velocity",
+ ],
+}
+
+region_schema = {
+ "type": "object",
+ "properties": {
+ "geometry_coordinates": {
+ "type": "array", # TODO: Check if config defn is right.
+ "example": [
+ [
+ [-4.187143188645706, 50.37072283932642],
+ [-4.202697005964865, 50.368816892405874],
+ [-4.203156724702808, 50.365640144076906],
+ [-4.19449868846155, 50.362267670845654],
+ ]
+ ],
+ },
+ },
+ "description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
+}
+
+squad_metadata_schema = {
+ "type": "object",
+ "properties": {
+ "squad_ID": {
+ "type": "integer",
+ "description": "Identifier of given squad",
+ "example": 23,
+ },
+ "no_of_platforms": {
+ "type": "integer",
+ "description": "Number of platforms",
+ "example": 3,
+ },
+ "platforms": {
+ "type": "array",
+ "items": platform_schema,
+ "description": "Squad consists of these platforms",
+ },
+ "squad_mission_type": {
+ "type": "string",
+ "enum": ["tracking", "survey", "inspection"],
+ "description": "Mission of given squad: `tracking`, `survey`"
+ + ", `inspection`",
+ "example": "survey",
+ },
+ "squad_state": {
+ "type": "string",
+ "description": "In execution, Waiting.. <define further>",
+ "example": False,
+ },
+ "region_of_interest": region_schema,
+ },
+ "required": [
+ "squad_ID",
+ "no_of_platforms",
+ "platforms",
+ "squad_mission_type",
+ "squad_state",
+ ],
+}
+
+planning_configuration_schema = {
+ "type": "object",
+ "properties": {
+ "message_type": {
+ "type": "string",
+ "description": "Type of message",
+ "example": "planning_configuration",
+ },
+ "planning_config_ID": {
+ "type": "integer",
+ "description": "Unique identifier tagged to version of this"
+ + " configuration plan",
+ "example": 3,
+ },
+ "exclusion_zones": {
+ "type": "array",
+ "items": region_schema,
+ "description": "Exclusion zones for all platforms",
+ },
+ "squads": {
+ "type": "array",
+ "items": squad_metadata_schema,
+ },
+ },
+ "required": [
+ "message_type",
+ "planning_config_ID",
+ "squads",
+ "exclusion_zones",
+ ],
+}
+
+
+sensor_schema = {
+ "type": "object",
+ "description": "Scanning sensor on platform available"
+ + " to be controlled by the Autonomy Engine",
+ "properties": {
+ "sensor_serial": {
+ "type": "string",
+ "description": "serial number of sensor",
+ "example": "mbes-002a",
+ },
+ "sensor_on": {
+ "type": "boolean",
+ "description": "Sensor switched on (True) or off (False)",
+ "example": True,
+ },
+ "additional_data": {
+ "description": "Any addition fields/data to be added here",
+ "example": {"payload": [1.2, 434]},
+ },
+ },
+}
+
+platform_status_schema = {
+ "type": "object",
+ "properties": {
+ "message_type": {
+ "type": "string",
+ "description": "Type of message",
+ "example": "platform_status",
+ },
+ "platform_ID": {
+ "type": "string",
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ },
+ "status_source": {
+ "type": "string",
+ "enum": ["usbl", "onboard_platform"],
+ "description": "Indicate if this status message is from the"
+ + " platform or USBL",
+ "example": "usbl",
+ },
+ "transmission_mode": {
+ "type": "string",
+ "enum": ["acoustics", "iridium", "wifi", "starlink"],
+ "description": "Mode in which status message was transmitted"
+ + " when on the surface (e.g. iridium/wifi) or underwater"
+ + " (e.g. acoustics)",
+ "example": "wifi",
+ },
+ "platform_timestamp": {
+ "type": "string",
+ "format": "date-time",
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ },
+ "platform_state": {
+ "type": "string", # TODO: Define enum with potential STATES of each platform
+ "description": "Current state executed by platform. E.g. "
+ + "STOP, IDLE, ABORT.",
+ "example": "ABORT",
+ },
+ "autonomy_engine_plan_ID": {
+ "type": "integer",
+ "description": "Last mission plan ID (according to Autonomy"
+ + " Engine's mission plan number sent) executed by platform",
+ "example": 1,
+ },
+ "latitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Latitude in decimal degrees.",
+ "example": 178.2,
+ },
+ "longitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Longitude in decimal degrees.",
+ "example": -10.122,
+ },
+ "depth": {
+ "type": "number",
+ "format": "float",
+ "description": "Target depth in metres",
+ "example": 50,
+ "default": 0,
+ },
+ "altitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target altitude in metres",
+ "example": 20,
+ },
+ "mission_track_ID": {
+ "type": "integer",
+ "description": "Track number - stage in mission (e.g. "
+ + "4 --> Waypoint 3 to Waypoint 4)",
+ "example": 4,
+ },
+ "mission_action_ID": {
+ "type": "integer",
+ "description": "", # TODO: Add description
+ "example": 1,
+ },
+ "range_to_go": {
+ "type": "number",
+ "format": "float",
+ "description": "Estimated distance to reach next waypoint",
+ "example": 124.3,
+ },
+ "speed_over_ground": {
+ "type": "number",
+ "format": "float",
+ "description": "", # TODO: Add description
+ "example": 124.3,
+ },
+ "water_current_velocity": {
+ "type": "number",
+ "format": "float",
+ "description": "", # TODO: Add description
+ "example": 124.3,
+ },
+ "thrust_applied": {
+ "type": "number",
+ "format": "float",
+ "description": "", # TODO: Add description
+ "example": 124.3,
+ },
+ "heading": {
+ "type": "number",
+ "format": "float",
+ "description": "Angular distance relative to north, usually 000°"
+ + " at north, clockwise through 359°, in degrees",
+ "example": 124.3,
+ },
+ "health_status": {
+ "type": "string",
+ "description": "Health status extracted by respective platform "
+ + "if any diagnosis is available to check sensors",
+ "example": "Warning",
+ },
+ "localisation_error": {
+ "type": "number",
+ "format": "float",
+ "description": "Localisation error at last USBL update.",
+ "example": 0.000129,
+ },
+ "usbl_fix_seconds_ago": {
+ "type": "number",
+ "format": "float",
+ "description": "USBL Fix received x second ago.",
+ "example": 10.0,
+ },
+ "battery_remaining_capacity": {
+ "type": "number",
+ "format": "float",
+ "description": "Battery remaining % provided by respective C2",
+ "example": 80.2,
+ },
+ "current_pitch": {
+ "type": "number",
+ "format": "float",
+ "description": "Current pitch of platform",
+ "example": -4.0,
+ },
+ "sensor_config": sensor_schema,
+ },
+ "required": [
+ "message_type",
+ "platform_ID",
+ "status_source",
+ "platform_timestamp",
+ "latitude",
+ "longitude",
+ ],
+}
diff --git a/tests/fixtures/swagger.json b/tests/fixtures/swagger.json
new file mode 100644
index 0000000000000000000000000000000000000000..31d4c95d9eed95ae9ce8036a37862c7ac0c9caae
--- /dev/null
+++ b/tests/fixtures/swagger.json
@@ -0,0 +1,680 @@
+{
+ "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": {
+ "acknowledged_message_ID": {
+ "description": "Identifier of message received and executed with success for mission plans sent by the Autonomy Engine.",
+ "example": "02125022255-7bc8-11ed-a1eb-0242ac999999",
+ "type": "string"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "example": "acknowledgement",
+ "type": "string"
+ },
+ "status": {
+ "description": "Highest level of acknowledgement. I.e. `c2_received`: Received by C2, `operator_approved_and_sent` : Approved by operator and sent from C2->Platform, `executed`: Executed by platform",
+ "enum": [
+ "c2_received",
+ "operator_approved_and_sent",
+ "executed"
+ ],
+ "example": "executed by platform",
+ "type": "string"
+ }
+ },
+ "required": [
+ "message_type",
+ "acknowledged_message_ID",
+ "status"
+ ],
+ "type": "object"
+ },
+ "header": {
+ "discriminator": {
+ "propertyName": "message_type"
+ },
+ "properties": {
+ "delivery_type": {
+ "default": "publish",
+ "description": "To publish or broadcast this message.",
+ "enum": [
+ "broadcast",
+ "publish"
+ ],
+ "example": "publish",
+ "type": "string"
+ },
+ "destination": {
+ "description": "Publisher topic; What is the destination of this message",
+ "example": "ah1",
+ "type": "string"
+ },
+ "encoded": {
+ "description": "Indicate that message raw (encoded) or decoded. Options: encoded=True, decoded=False",
+ "example": false,
+ "type": "boolean"
+ },
+ "message_ID": {
+ "description": "An identifier for the type of message received.",
+ "example": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "type": "string"
+ },
+ "source": {
+ "description": "The sender; Where is this message from",
+ "example": "autonomy_engine",
+ "type": "string"
+ },
+ "timestamp": {
+ "description": "Timestamp of message",
+ "example": "2022-11-16T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "version": {
+ "description": "Version of comms backbone message format protocol",
+ "example": 2.0,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "type": "object"
+ },
+ "mission_plan": {
+ "properties": {
+ "autonomy_engine_plan_ID": {
+ "description": "Unique identifier for this plangenerated by the Autonomy Engine",
+ "example": 3,
+ "type": "integer"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "example": "mission_plan",
+ "type": "string"
+ },
+ "plan": {
+ "items": {
+ "properties": {
+ "action": {
+ "description": "Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
+ "example": "move",
+ "type": "string"
+ },
+ "activate_payload": {
+ "description": "To activate/deactivate sensor for Autosub Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
+ "example": true,
+ "type": "boolean"
+ },
+ "altitude": {
+ "description": "Altitude of next action",
+ "example": 15.0,
+ "format": "float",
+ "type": "number"
+ },
+ "depth": {
+ "description": "Depth of next action",
+ "example": 15.0,
+ "format": "float",
+ "type": "number"
+ },
+ "flight_style": {
+ "description": "Platform-specific modes/flight styles to perform next action",
+ "example": "orbit",
+ "type": "string"
+ },
+ "latitude_waypoint": {
+ "description": "Next waypoint, x-coordinate",
+ "example": -4.187143188645706,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_waypoint": {
+ "description": "Next waypoint, y-coordinate",
+ "example": 50.37072283932642,
+ "format": "float",
+ "type": "number"
+ },
+ "send_environmental_data": {
+ "description": "To trigger the platform to send list of observations if any found",
+ "example": false,
+ "type": "boolean"
+ }
+ },
+ "required": [
+ "latitude_waypoint",
+ "longitude_waypoint"
+ ],
+ "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"
+ },
+ "observation": {
+ "properties": {
+ "additional_data": {
+ "description": "Placeholder field for any additional data",
+ "example": {
+ "sensor_payload": false
+ }
+ },
+ "message_type": {
+ "description": "Type of message",
+ "example": "observation",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
+ },
+ "points_of_interest": {
+ "description": "Points from features of interest identified by platform if any found.",
+ "items": {
+ "properties": {
+ "latitude": {
+ "description": "Identified x-coordinate of point of interest",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude": {
+ "description": "Identified y-coordinate of point of interest",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "quality_of_point": {
+ "description": "Quality/strength of points from features of interest identified by platform.",
+ "example": 0.98,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "required": [
+ "latitude",
+ "longitude"
+ ],
+ "type": "object"
+ },
+ "type": "array"
+ },
+ "region_surveyed": {
+ "description": "Region surveyed by given platform. GEOJSON",
+ "example": ""
+ }
+ },
+ "required": [
+ "message_type",
+ "platform_ID"
+ ],
+ "type": "object"
+ },
+ "payload": {
+ "discriminator": {
+ "mapping": {
+ "acknowledgement": "#/components/schemas/acknowledgement",
+ "mission_plan": "#/components/schemas/mission_plan",
+ "observation": "#/components/schemas/observation",
+ "planning_configuration": "#/components/schemas/planning_configuration",
+ "platform_status": "#/components/schemas/platform_status"
+ },
+ "propertyName": "message_type"
+ },
+ "oneOf": [
+ {
+ "$ref": "#/components/schemas/acknowledgement"
+ },
+ {
+ "$ref": "#/components/schemas/mission_plan"
+ },
+ {
+ "$ref": "#/components/schemas/observation"
+ },
+ {
+ "$ref": "#/components/schemas/planning_configuration"
+ },
+ {
+ "$ref": "#/components/schemas/platform_status"
+ }
+ ]
+ },
+ "planning_configuration": {
+ "properties": {
+ "exclusion_zones": {
+ "description": "Exclusion zones for all platforms",
+ "items": {
+ "description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
+ "properties": {
+ "geometry_coordinates": {
+ "example": [
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ]
+ ]
+ ],
+ "type": "array"
+ }
+ },
+ "type": "object"
+ },
+ "type": "array"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "example": "planning_configuration",
+ "type": "string"
+ },
+ "planning_config_ID": {
+ "description": "Unique identifier tagged to version of this configuration plan",
+ "example": 3,
+ "type": "integer"
+ },
+ "squads": {
+ "items": {
+ "properties": {
+ "no_of_platforms": {
+ "description": "Number of platforms",
+ "example": 3,
+ "type": "integer"
+ },
+ "platforms": {
+ "description": "Squad consists of these platforms",
+ "items": {
+ "properties": {
+ "additional_specs": {
+ "description": "Any addition fields/data to be added here",
+ "example": {
+ "scan_type": "DVL",
+ "swath_width": 10.0
+ }
+ },
+ "emergency": {
+ "properties": {
+ "additional_data": {
+ "description": "Any addition fields/data to be added here",
+ "example": {}
+ },
+ "latitude_waypoint": {
+ "description": "X-coordinate safe place for respective platform",
+ "example": -7.432,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_waypoint": {
+ "description": "Y-coordinate safe place for respective platform",
+ "example": 50.365,
+ "format": "float",
+ "type": "number"
+ },
+ "safe_command": {
+ "description": "Command/Action that is native to respective partner's platform/C2",
+ "enum": [
+ "go_home",
+ "abort_now",
+ "stop_mission"
+ ],
+ "example": "go_home",
+ "type": "string"
+ },
+ "target_depth": {
+ "description": "Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
+ "example": 10,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "required": [
+ "latitude_waypoint",
+ "longitude_waypoint",
+ "target_depth"
+ ],
+ "type": "object"
+ },
+ "max_velocity": {
+ "description": "Maximum altitude set for squad.",
+ "example": 0.9,
+ "format": "float",
+ "type": "number"
+ },
+ "min_altitude": {
+ "description": "Minimum altitude set for squad.",
+ "example": 15.2,
+ "format": "float",
+ "type": "number"
+ },
+ "min_velocity": {
+ "description": "Minimum velocity set for squad.",
+ "example": 0.1,
+ "format": "float",
+ "type": "number"
+ },
+ "model": {
+ "example": "reav",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
+ },
+ "serial": {
+ "description": "platform serial number",
+ "example": "reav-60",
+ "type": "string"
+ }
+ },
+ "required": [
+ "platform_ID",
+ "serial",
+ "model",
+ "emergency",
+ "min_altitude",
+ "min_velocity",
+ "max_velocity"
+ ],
+ "type": "object"
+ },
+ "type": "array"
+ },
+ "region_of_interest": {
+ "description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
+ "properties": {
+ "geometry_coordinates": {
+ "example": [
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ]
+ ]
+ ],
+ "type": "array"
+ }
+ },
+ "type": "object"
+ },
+ "squad_ID": {
+ "description": "Identifier of given squad",
+ "example": 23,
+ "type": "integer"
+ },
+ "squad_mission_type": {
+ "description": "Mission of given squad: `tracking`, `survey`, `inspection`",
+ "enum": [
+ "tracking",
+ "survey",
+ "inspection"
+ ],
+ "example": "survey",
+ "type": "string"
+ },
+ "squad_state": {
+ "description": "In execution, Waiting.. <define further>",
+ "example": false,
+ "type": "string"
+ }
+ },
+ "required": [
+ "squad_ID",
+ "no_of_platforms",
+ "platforms",
+ "squad_mission_type",
+ "squad_state"
+ ],
+ "type": "object"
+ },
+ "type": "array"
+ }
+ },
+ "required": [
+ "message_type",
+ "planning_config_ID",
+ "squads",
+ "exclusion_zones"
+ ],
+ "type": "object"
+ },
+ "platform_status": {
+ "properties": {
+ "altitude": {
+ "description": "Target altitude in metres",
+ "example": 20,
+ "format": "float",
+ "type": "number"
+ },
+ "autonomy_engine_plan_ID": {
+ "description": "Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
+ "example": 1,
+ "type": "integer"
+ },
+ "battery_remaining_capacity": {
+ "description": "Battery remaining % provided by respective C2",
+ "example": 80.2,
+ "format": "float",
+ "type": "number"
+ },
+ "current_pitch": {
+ "description": "Current pitch of platform",
+ "example": -4.0,
+ "format": "float",
+ "type": "number"
+ },
+ "depth": {
+ "default": 0,
+ "description": "Target depth in metres",
+ "example": 50,
+ "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 extracted by respective platform if any diagnosis is available to check sensors",
+ "example": "Warning",
+ "type": "string"
+ },
+ "latitude": {
+ "description": "Latitude in decimal degrees.",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "localisation_error": {
+ "description": "Localisation error at last USBL update.",
+ "example": 0.000129,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude": {
+ "description": "Longitude in decimal degrees.",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "example": "platform_status",
+ "type": "string"
+ },
+ "mission_action_ID": {
+ "description": "",
+ "example": 1,
+ "type": "integer"
+ },
+ "mission_track_ID": {
+ "description": "Track number - stage in mission (e.g. 4 --> Waypoint 3 to Waypoint 4)",
+ "example": 4,
+ "type": "integer"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
+ },
+ "platform_state": {
+ "description": "Current state executed by platform. E.g. STOP, IDLE, ABORT.",
+ "example": "ABORT",
+ "type": "string"
+ },
+ "platform_timestamp": {
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "range_to_go": {
+ "description": "Estimated distance to reach next waypoint",
+ "example": 124.3,
+ "format": "float",
+ "type": "number"
+ },
+ "sensor_config": {
+ "description": "Scanning sensor on platform available to be controlled by the Autonomy Engine",
+ "properties": {
+ "additional_data": {
+ "description": "Any addition fields/data to be added here",
+ "example": {
+ "payload": [
+ 1.2,
+ 434
+ ]
+ }
+ },
+ "sensor_on": {
+ "description": "Sensor switched on (True) or off (False)",
+ "example": true,
+ "type": "boolean"
+ },
+ "sensor_serial": {
+ "description": "serial number of sensor",
+ "example": "mbes-002a",
+ "type": "string"
+ }
+ },
+ "type": "object"
+ },
+ "speed_over_ground": {
+ "description": "",
+ "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": "",
+ "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": "",
+ "example": 124.3,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "required": [
+ "message_type",
+ "platform_ID",
+ "status_source",
+ "platform_timestamp",
+ "latitude",
+ "longitude"
+ ],
+ "type": "object"
+ }
+ }
+ },
+ "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
diff --git a/tests/mock_data/autonomy_engine_adapter/acknowledgement.json b/tests/mock_data/autonomy_engine_adapter/acknowledgement.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5290f54e90ddbad8eadb13c4c4e4d5f6abe6843
--- /dev/null
+++ b/tests/mock_data/autonomy_engine_adapter/acknowledgement.json
@@ -0,0 +1,16 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 1,
+ "source": "hydrosurv_adapter",
+ "destination": "autonomy_engine",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "acknowledgement",
+ "acknowledged_message_ID": "11111111-7bc8-11ed-a1eb-0242ac999999",
+ "status": "c2_received"
+ }
+}
\ No newline at end of file
diff --git a/tests/mock_data/autonomy_engine_adapter/mission_plan_AH1.json b/tests/mock_data/autonomy_engine_adapter/mission_plan_AH1.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dfe1a1a1d0bd895e6e0a23e3e2bb357b4e2b73d
--- /dev/null
+++ b/tests/mock_data/autonomy_engine_adapter/mission_plan_AH1.json
@@ -0,0 +1,54 @@
+{
+ "header": {
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "autonomy_engine",
+ "destination": "noc_c2",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "mission_plan",
+ "platform_ID": "5-ah1",
+ "autonomy_engine_plan_ID": 1,
+ "plan": [
+ {
+ "action": "move",
+ "flight_style": "go to waypoint",
+ "latitude_waypoint": -3.237143188645706,
+ "longitude_waypoint": 52.37072283932642,
+ "depth": 0.0,
+ "activate_payload": false,
+ "send_environmental_data": false
+ },
+ {
+ "action": "dive",
+ "flight_style": "dive to depth",
+ "latitude_waypoint": -3.237143188645706,
+ "longitude_waypoint": 52.37072283932642,
+ "altitude": 10,
+ "activate_payload": false,
+ "send_environmental_data": false
+ },
+ {
+ "action": "scanline",
+ "flight_style": "go to waypoint",
+ "latitude_waypoint": -0.237143188645706,
+ "longitude_waypoint": 60.00000000000000,
+ "altitude": 10,
+ "activate_payload": true,
+ "send_environmental_data": false
+ },
+ {
+ "action": "climb",
+ "flight_style": "go to surface",
+ "latitude_waypoint": -0.237143188645706,
+ "longitude_waypoint": 52.37072283932642,
+ "depth": 0.0,
+ "activate_payload": false,
+ "send_environmental_data": true
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/tests/mock_data/autonomy_engine_adapter/mission_plan_ECOSUB.json b/tests/mock_data/autonomy_engine_adapter/mission_plan_ECOSUB.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7fd238976ca6d4c93dbf00e808aa29891317076
--- /dev/null
+++ b/tests/mock_data/autonomy_engine_adapter/mission_plan_ECOSUB.json
@@ -0,0 +1,54 @@
+{
+ "header": {
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "autonomy_engine",
+ "destination": "ecosub_c2",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "mission_plan",
+ "platform_ID": "ecosub-5",
+ "autonomy_engine_plan_ID": 1,
+ "plan": [
+ {
+ "action": "move",
+ "flight_style": "go to waypoint",
+ "latitude_waypoint": -3.237143188645706,
+ "longitude_waypoint": 52.37072283932642,
+ "depth": 0.0,
+ "activate_payload": false,
+ "send_environmental_data": false
+ },
+ {
+ "action": "dive",
+ "flight_style": "dive to depth",
+ "latitude_waypoint": -3.237143188645706,
+ "longitude_waypoint": 52.37072283932642,
+ "altitude": 10,
+ "activate_payload": false,
+ "send_environmental_data": false
+ },
+ {
+ "action": "scanline",
+ "flight_style": "go to waypoint",
+ "latitude_waypoint": -0.237143188645706,
+ "longitude_waypoint": 60.00000000000000,
+ "altitude": 10,
+ "activate_payload": true,
+ "send_environmental_data": false
+ },
+ {
+ "action": "climb",
+ "flight_style": "go to surface",
+ "latitude_waypoint": -0.237143188645706,
+ "longitude_waypoint": 52.37072283932642,
+ "depth": 0,
+ "activate_payload": false,
+ "send_environmental_data": true
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/tests/mock_data/autonomy_engine_adapter/mission_plan_HYDROSURV.json b/tests/mock_data/autonomy_engine_adapter/mission_plan_HYDROSURV.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5c1c0d92f1577d30320abb4d1e7c6cd8b4de3dc
--- /dev/null
+++ b/tests/mock_data/autonomy_engine_adapter/mission_plan_HYDROSURV.json
@@ -0,0 +1,30 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "autonomy_engine",
+ "destination": "hydrosurv_adapter",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "mission_plan",
+ "platform_ID": "reav-60-1",
+ "autonomy_engine_plan_ID": 1,
+ "plan": [
+ {
+ "latitude_waypoint": -4.187143188645706,
+ "longitude_waypoint": 50.37072283932642
+ },
+ {
+ "latitude_waypoint": -3.187143188645706,
+ "longitude_waypoint": 51.37072283932642
+ },
+ {
+ "latitude_waypoint": -3.237143188645706,
+ "longitude_waypoint": 52.37072283932642
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/tests/mock_data/autonomy_engine_adapter/planning_configuration.json b/tests/mock_data/autonomy_engine_adapter/planning_configuration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1191837bb12e4493bb9a534097e49500c39b014
--- /dev/null
+++ b/tests/mock_data/autonomy_engine_adapter/planning_configuration.json
@@ -0,0 +1,161 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "ecosub_c2",
+ "destination": "autonomy_engine",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "platform_status",
+ "planning_config_ID": 3,
+ "exclusion_zones": [
+ {
+ "geometry_coordinates": [
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ]
+ ]
+ ]
+ }
+ ],
+ "squads": [
+ {
+ "squad_ID": 1,
+ "no_of_platforms": 1,
+ "squad_mission_type": "tracking",
+ "squad_state": "active",
+ "platforms": [
+ {
+ "model": "reav",
+ "platform_ID": "reav-60-1",
+ "serial": "reav-60",
+ "emergency": {
+ "additional_data": {},
+ "latitude_waypoint": -7.432,
+ "longitude_waypoint": 50.365,
+ "safe_command": "go_home",
+ "target_depth": 10
+ },
+ "max_velocity": 0.9,
+ "min_altitude": 15.2,
+ "min_velocity": 0.1,
+ "additional_data": {}
+ }
+ ],
+ "region_of_interest": {
+ "geometry_coordinates": [
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ]
+ ]
+ ]
+ }
+ },
+ {
+ "squad_ID": 2,
+ "no_of_platforms": 3,
+ "squad_mission_type": "survey",
+ "squad_state": "active",
+ "platforms": [
+ {
+ "platform_ID": "ecosub-1",
+ "serial": "ecosub-2",
+ "model": "ecosub",
+ "emergency": {
+ "additional_data": {},
+ "latitude_waypoint": -7.432,
+ "longitude_waypoint": 50.365,
+ "safe_command": "go_home",
+ "target_depth": 10.0
+ },
+ "max_velocity": 0.9,
+ "min_altitude": 15.2,
+ "min_velocity": 0.1,
+ "additional_data": {
+ "scan_type": "DVL",
+ "swath_width": 10
+ }
+ },
+ {
+ "platform_ID": "ecosub-2",
+ "serial": "ecosubxyz-5",
+ "model": "ecosub",
+ "emergency": {
+ "additional_data": {},
+ "latitude_waypoint": -0.432,
+ "longitude_waypoint": 20.365,
+ "safe_command": "go_home",
+ "target_depth": 0.0
+ },
+ "max_velocity": 0.9,
+ "min_altitude": 15.2,
+ "min_velocity": 0.1,
+ "additional_data": {
+ "scan_type": "DVL",
+ "swath_width": 10
+ }
+ }
+ ],
+ "region_of_interest": {}
+ },
+ {
+ "squad_ID": 3,
+ "no_of_platforms": 1,
+ "squad_mission_type": "inspection",
+ "squad_state": "active",
+ "platforms": [
+ {
+ "platform_ID": "ah-1",
+ "serial": "autosubhover-1",
+ "model": "autosub",
+ "emergency": {
+ "additional_data": {},
+ "latitude_waypoint": 20.432,
+ "longitude_waypoint": 50.365,
+ "safe_command": "abort_now",
+ "target_depth": 0.0
+ },
+ "max_velocity": 0.9,
+ "min_altitude": 15.2,
+ "min_velocity": 0.1,
+ "additional_data": {
+ "scan_type": "MBES"
+ }
+ }
+ ],
+ "region_of_interest": {}
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/tests/mock_data/autonomy_engine_adapter/platform_status-from_usbl_example.json b/tests/mock_data/autonomy_engine_adapter/platform_status-from_usbl_example.json
new file mode 100644
index 0000000000000000000000000000000000000000..6721a35ffe5177d21fa0594dbf5c9d90bf6043bf
--- /dev/null
+++ b/tests/mock_data/autonomy_engine_adapter/platform_status-from_usbl_example.json
@@ -0,0 +1,21 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "hermes",
+ "destination": "autonomy_engine",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "platform_status",
+ "platform_ID": "ecosub-5",
+ "platform_timestamp": "2022-12-21T00:00:00Z",
+ "status_source": "usbl",
+ "latitude": 178.2,
+ "longitude": -10.122,
+ "depth": 50,
+ "altitude": 20
+ }
+}
diff --git a/tests/mock_data/autonomy_engine_adapter/platform_status.json b/tests/mock_data/autonomy_engine_adapter/platform_status.json
new file mode 100644
index 0000000000000000000000000000000000000000..b82beba2ed793f2c39fee7dd789ed142e6ce5b57
--- /dev/null
+++ b/tests/mock_data/autonomy_engine_adapter/platform_status.json
@@ -0,0 +1,44 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "ecosub_c2",
+ "destination": "autonomy_engine",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "platform_status",
+ "platform_ID": "ecosub-2",
+ "platform_timestamp": "2022-12-21T00:00:00Z",
+ "status_source": "onboard_platform",
+ "autonomy_engine_plan_ID": 1,
+ "battery_remaining_capacity": 80.2,
+ "active": true,
+ "platform_state": "ABORT",
+ "mission_action_ID": 1,
+ "mission_track_ID": 4,
+ "latitude": 178.2,
+ "longitude": -10.122,
+ "depth": 50,
+ "altitude": 20,
+ "heading": 90.0,
+ "health_status": "Warning",
+ "localisation_error": 0,
+ "usbl_fix_seconds_ago": 0,
+ "range_to_go": 124.3,
+ "sensor_config": {
+ "sensor_ID": 22,
+ "serial": "sidescan-2x",
+ "sensor_on": true,
+ "additional_data": {
+ "whiskers_on": true
+ }
+ },
+ "current_pitch": -4,
+ "speed_over_ground": 4.3,
+ "thrust_applied": 124.3,
+ "water_current_velocity": 124.3
+ }
+}
diff --git a/tests/mock_data/ecosub_adapter/mission_plan.json b/tests/mock_data/ecosub_adapter/mission_plan.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b49981bf409fb509466ab301e259e7174aa4bd3
--- /dev/null
+++ b/tests/mock_data/ecosub_adapter/mission_plan.json
@@ -0,0 +1,54 @@
+{
+ "header": {
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "autonomy_engine",
+ "destination": "ecosub_c2",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "mission_plan",
+ "platform_ID": "ecosub-2",
+ "autonomy_engine_plan_ID": 1,
+ "plan": [
+ {
+ "action": "move",
+ "flight_style": "go to waypoint",
+ "latitude_waypoint": -3.237143188645706,
+ "longitude_waypoint": 52.37072283932642,
+ "depth": 0.0,
+ "activate_payload": false,
+ "send_environmental_data": false
+ },
+ {
+ "action": "dive",
+ "flight_style": "dive to depth",
+ "latitude_waypoint": -3.237143188645706,
+ "longitude_waypoint": 52.37072283932642,
+ "altitude": 10,
+ "activate_payload": false,
+ "send_environmental_data": false
+ },
+ {
+ "action": "scanline",
+ "flight_style": "go to waypoint",
+ "latitude_waypoint": -0.237143188645706,
+ "longitude_waypoint": 60.00000000000000,
+ "altitude": 10,
+ "activate_payload": true,
+ "send_environmental_data": false
+ },
+ {
+ "action": "climb",
+ "flight_style": "go to surface",
+ "latitude_waypoint": -0.237143188645706,
+ "longitude_waypoint": 52.37072283932642,
+ "depth": 0,
+ "activate_payload": false,
+ "send_environmental_data": true
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/tests/mock_data/ecosub_adapter/observation.json b/tests/mock_data/ecosub_adapter/observation.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb0571baaefb70ee0813d8f5054ca1bdf6a724e
--- /dev/null
+++ b/tests/mock_data/ecosub_adapter/observation.json
@@ -0,0 +1,28 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "ecosub_c2",
+ "destination": "autonomy_engine",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "observation",
+ "platform_ID": "ecosub-2",
+ "points_of_interest": [
+ {
+ "latitude": 178.2,
+ "longitude": -10.122,
+ "quality_of_point": 0.98
+ },
+ {
+ "latitude": 50.1382,
+ "longitude": -11.122,
+ "quality_of_point": 0.50
+ }
+ ],
+ "region_surveyed": ""
+ }
+}
\ No newline at end of file
diff --git a/tests/mock_data/ecosub_adapter/platform_status-from_usbl_example.json b/tests/mock_data/ecosub_adapter/platform_status-from_usbl_example.json
new file mode 100644
index 0000000000000000000000000000000000000000..6721a35ffe5177d21fa0594dbf5c9d90bf6043bf
--- /dev/null
+++ b/tests/mock_data/ecosub_adapter/platform_status-from_usbl_example.json
@@ -0,0 +1,21 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "hermes",
+ "destination": "autonomy_engine",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "platform_status",
+ "platform_ID": "ecosub-5",
+ "platform_timestamp": "2022-12-21T00:00:00Z",
+ "status_source": "usbl",
+ "latitude": 178.2,
+ "longitude": -10.122,
+ "depth": 50,
+ "altitude": 20
+ }
+}
diff --git a/tests/mock_data/ecosub_adapter/platform_status.json b/tests/mock_data/ecosub_adapter/platform_status.json
new file mode 100644
index 0000000000000000000000000000000000000000..b82beba2ed793f2c39fee7dd789ed142e6ce5b57
--- /dev/null
+++ b/tests/mock_data/ecosub_adapter/platform_status.json
@@ -0,0 +1,44 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "ecosub_c2",
+ "destination": "autonomy_engine",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "platform_status",
+ "platform_ID": "ecosub-2",
+ "platform_timestamp": "2022-12-21T00:00:00Z",
+ "status_source": "onboard_platform",
+ "autonomy_engine_plan_ID": 1,
+ "battery_remaining_capacity": 80.2,
+ "active": true,
+ "platform_state": "ABORT",
+ "mission_action_ID": 1,
+ "mission_track_ID": 4,
+ "latitude": 178.2,
+ "longitude": -10.122,
+ "depth": 50,
+ "altitude": 20,
+ "heading": 90.0,
+ "health_status": "Warning",
+ "localisation_error": 0,
+ "usbl_fix_seconds_ago": 0,
+ "range_to_go": 124.3,
+ "sensor_config": {
+ "sensor_ID": 22,
+ "serial": "sidescan-2x",
+ "sensor_on": true,
+ "additional_data": {
+ "whiskers_on": true
+ }
+ },
+ "current_pitch": -4,
+ "speed_over_ground": 4.3,
+ "thrust_applied": 124.3,
+ "water_current_velocity": 124.3
+ }
+}
diff --git a/tests/mock_data/ecosub_adapter/sample_decoded_ecosub_status.txt b/tests/mock_data/ecosub_adapter/sample_decoded_ecosub_status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bacf8886dc4225ed6676b7759f9d095b3c3f3797
--- /dev/null
+++ b/tests/mock_data/ecosub_adapter/sample_decoded_ecosub_status.txt
@@ -0,0 +1,23 @@
+#C2#
+4338
+(4338,)
+11111111111111111000000000000000
+Health : 722
+Content_Mask : 4
+Battery Voltage : 82045
+Battery Amps : 0
+Battery Acc charge : 767
+Battery Max Amps : 548
+Battery Max Voltage : 18
+Inner pressure : 43
+Inner Temp : 4
+Inner Humidity : 0
+Max depth : 0
+Current Pitch : -80
+Max pitch : 0
+Current RPM : 0
+Surface Time : 1636015764
+last GPS Time : 0
+(b'A', 0, 60, 1636016049, 57.33663558959961, -4.444321632385254, 0, 4294934528, 722, 4, 82045, 0, 767, 548, 18, 43, 4, 0, 0, -80, 0, 0, 1636015764, 0)
+['Type', 'Version', 'Sub_Num', 'Time', 'Latitude', 'Longitude', 'Health', 'Content_Mask', 'Battery Voltage', 'Battery Amps', 'Battery Acc charge', 'Battery Max Amps', 'Battery Max Voltage', 'Inner pressure', 'Inner Temp', 'Inner Humidity', 'Max depth', 'Current Pitch', 'Max pitch', 'Current RPM', 'Surface Time', 'last GPS Time']
+(b'A', 0, 60, 1636016049, 57.33663558959961, -4.444321632385254, 0, 4294934528, 722, 4, 82045, 0, 767, 548, 18, 43, 4, 0, 0, -80, 0, 0, 1636015764, 0)
\ No newline at end of file
diff --git a/tests/mock_data/gui_adapter/planning_configuration.json b/tests/mock_data/gui_adapter/planning_configuration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ce3766d249ca20393e825609211ddbddee9abb2
--- /dev/null
+++ b/tests/mock_data/gui_adapter/planning_configuration.json
@@ -0,0 +1,160 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "ecosub_c2",
+ "destination": "autonomy_engine",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "platform_status",
+ "planning_config_ID": 3,
+ "exclusion_zones": [
+ {
+ "geometry_coordinates": [
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ]
+ ]
+ ]
+ }
+ ],
+ "squads": [
+ {
+ "squad_ID": 1,
+ "no_of_platforms": 1,
+ "squad_mission_type": "tracking",
+ "squad_state": "active",
+ "platforms": [
+ {
+ "model": "reav",
+ "platform_ID": "reav-60-1",
+ "serial": "reav-60",
+ "emergency": {
+ "additional_data": {},
+ "latitude_waypoint": -7.432,
+ "longitude_waypoint": 50.365,
+ "safe_command": "go_home",
+ "target_depth": 10
+ },
+ "max_velocity": 0.9,
+ "min_altitude": 15.2,
+ "min_velocity": 0.1,
+ "additional_data": {}
+ }
+ ],
+ "region_of_interest": {
+ "geometry_coordinates": [
+ [
+ [
+ -4.187143188645706,
+ 50.37072283932642
+ ],
+ [
+ -4.202697005964865,
+ 50.368816892405874
+ ],
+ [
+ -4.203156724702808,
+ 50.365640144076906
+ ],
+ [
+ -4.19449868846155,
+ 50.362267670845654
+ ]
+ ]
+ ]
+ }
+ },
+ {
+ "squad_ID": 2,
+ "no_of_platforms": 3,
+ "squad_mission_type": "survey",
+ "squad_state": "active",
+ "platforms": [
+ {
+ "platform_ID": "ecosub-2",
+ "serial": "ecosub-2",
+ "model": "ecosub",
+ "emergency": {
+ "additional_data": {},
+ "latitude_waypoint": -7.432,
+ "longitude_waypoint": 50.365,
+ "safe_command": "go_home",
+ "target_depth": 10.0
+ },
+ "max_velocity": 0.9,
+ "min_altitude": 15.2,
+ "min_velocity": 0.1,
+ "additional_data": {
+ "scan_type": "DVL",
+ "swath_width": 10
+ }
+ },
+ {
+ "platform_ID": "ecosub-5",
+ "serial": "ecosub-5",
+ "model": "ecosub",
+ "emergency": {
+ "additional_data": {},
+ "latitude_waypoint": -0.432,
+ "longitude_waypoint": 20.365,
+ "safe_command": "go_home",
+ "target_depth": 0.0
+ },
+ "max_velocity": 0.9,
+ "min_altitude": 15.2,
+ "min_velocity": 0.1,
+ "additional_data": {
+ "scan_type": "DVL",
+ "swath_width": 10
+ }
+ }
+ ]
+ },
+ {
+ "squad_ID": 3,
+ "no_of_platforms": 1,
+ "squad_mission_type": "inspection",
+ "squad_state": "active",
+ "platforms": [
+ {
+ "platform_ID": "139-ah-1",
+ "serial": "ah-1",
+ "model": "autosub",
+ "emergency": {
+ "additional_data": {},
+ "latitude_waypoint": 20.432,
+ "longitude_waypoint": 50.365,
+ "safe_command": "abort_now",
+ "target_depth": 0.0
+ },
+ "max_velocity": 0.9,
+ "min_altitude": 15.2,
+ "min_velocity": 0.1,
+ "additional_data": {
+ "scan_type": "MBES"
+ }
+ }
+ ],
+ "region_of_interest": {}
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/tests/mock_data/hydrosurv_adapter/acknowledgement.json b/tests/mock_data/hydrosurv_adapter/acknowledgement.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5290f54e90ddbad8eadb13c4c4e4d5f6abe6843
--- /dev/null
+++ b/tests/mock_data/hydrosurv_adapter/acknowledgement.json
@@ -0,0 +1,16 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 1,
+ "source": "hydrosurv_adapter",
+ "destination": "autonomy_engine",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "acknowledgement",
+ "acknowledged_message_ID": "11111111-7bc8-11ed-a1eb-0242ac999999",
+ "status": "c2_received"
+ }
+}
\ No newline at end of file
diff --git a/tests/mock_data/hydrosurv_adapter/mission_plan.json b/tests/mock_data/hydrosurv_adapter/mission_plan.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5c1c0d92f1577d30320abb4d1e7c6cd8b4de3dc
--- /dev/null
+++ b/tests/mock_data/hydrosurv_adapter/mission_plan.json
@@ -0,0 +1,30 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "autonomy_engine",
+ "destination": "hydrosurv_adapter",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "mission_plan",
+ "platform_ID": "reav-60-1",
+ "autonomy_engine_plan_ID": 1,
+ "plan": [
+ {
+ "latitude_waypoint": -4.187143188645706,
+ "longitude_waypoint": 50.37072283932642
+ },
+ {
+ "latitude_waypoint": -3.187143188645706,
+ "longitude_waypoint": 51.37072283932642
+ },
+ {
+ "latitude_waypoint": -3.237143188645706,
+ "longitude_waypoint": 52.37072283932642
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/tests/mock_data/hydrosurv_adapter/platform_status.json b/tests/mock_data/hydrosurv_adapter/platform_status.json
new file mode 100644
index 0000000000000000000000000000000000000000..43bac1f1630354a39abc2d5b1adc764d09ca8a5a
--- /dev/null
+++ b/tests/mock_data/hydrosurv_adapter/platform_status.json
@@ -0,0 +1,30 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "hydrosurv_adapter",
+ "destination": "autonomy_engine",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "platform_status",
+ "autonomy_engine_plan_ID": 1,
+ "active": true,
+ "status_source": "onboard_platform",
+ "battery_remaining_capacity": 80.2,
+ "heading": 310.0,
+ "health_status": "Lost Connection",
+ "latitude": 178.2,
+ "longitude": -10.122,
+ "mission_action_ID": 1,
+ "mission_track_ID": 4,
+ "platform_ID": "reav-60-1",
+ "platform_state": "ABORT",
+ "platform_timestamp": "2022-12-21T00:00:00Z",
+ "speed_over_ground": 4.5,
+ "range_to_go": 0.0,
+ "thrust_applied": 2.3
+ }
+}
\ No newline at end of file
diff --git a/tests/test.py b/tests/test.py
new file mode 100644
index 0000000000000000000000000000000000000000..00182118c941365a031536a57bc35e8ba308d9b9
--- /dev/null
+++ b/tests/test.py
@@ -0,0 +1,168 @@
+from openapi_spec_validator import openapi_v30_spec_validator, openapi_v3_spec_validator
+from openapi_spec_validator.readers import read_from_filename
+from openapi_schema_validator import validate
+from jsonschema import FormatChecker
+from jsonschema import validate
+
+from fixtures.schemas import (
+ acknowledgement_schema,
+ message_header,
+ observation_schema,
+ planning_configuration_schema,
+ platform_status_schema,
+ mission_plan_schema,
+)
+import json
+"""
+Test specs
+"""
+schema, spec_url = read_from_filename("fixtures/swagger.json")
+errors_iterator = openapi_v3_spec_validator.iter_errors(schema)
+print(errors_iterator)
+print(openapi_v30_spec_validator.validate(schema))
+
+"""
+Test schema - Hydrosurv Messages
+"""
+message_types = ["acknowledgement", "mission_plan", "platform_status"]
+for item in message_types:
+ f = open("mock_data/hydrosurv_adapter/%s.json" % item)
+ mock_data = json.load(f)
+ header_data = mock_data["header"]
+ payload_data = mock_data["payload"]
+ print(validate(header_data, message_header, format_checker=FormatChecker()))
+ if item == "acknowledgement":
+ print(
+ validate(
+ payload_data, acknowledgement_schema, format_checker=FormatChecker()
+ )
+ )
+ elif item == "mission_plan":
+ print(
+ validate(payload_data, mission_plan_schema, format_checker=FormatChecker())
+ )
+ elif item == "platform_status":
+ print(
+ validate(
+ payload_data, platform_status_schema, format_checker=FormatChecker()
+ )
+ )
+
+
+"""
+Test schema - GUI Messages
+"""
+message_types = ["planning_configuration"]
+for item in message_types:
+ f = open("mock_data/gui_adapter/%s.json" % item)
+ mock_data = json.load(f)
+ header_data = mock_data["header"]
+ payload_data = mock_data["payload"]
+ print(validate(header_data, message_header, format_checker=FormatChecker()))
+ if item == "planning_configuration":
+ print(
+ validate(
+ payload_data,
+ planning_configuration_schema,
+ format_checker=FormatChecker(),
+ )
+ )
+
+
+"""
+Test schema - Ecosub Messages
+"""
+message_types = [
+ "observation",
+ "mission_plan",
+ "platform_status",
+ "platform_status-from_usbl_example",
+]
+for item in message_types:
+ f = open("mock_data/ecosub_adapter/%s.json" % item)
+ mock_data = json.load(f)
+ header_data = mock_data["header"]
+ payload_data = mock_data["payload"]
+ print(validate(header_data, message_header, format_checker=FormatChecker()))
+ if item == "platform_status-from_usbl_example.json":
+ print(
+ validate(
+ payload_data, platform_status_schema, format_checker=FormatChecker()
+ )
+ )
+ elif item == "mission_plan":
+ print(
+ validate(payload_data, mission_plan_schema, format_checker=FormatChecker())
+ )
+ elif item == "platform_status":
+ print(
+ validate(
+ payload_data, platform_status_schema, format_checker=FormatChecker()
+ )
+ )
+ elif item == "observation":
+ print(
+ validate(payload_data, observation_schema, format_checker=FormatChecker())
+ )
+
+
+"""
+Test schema - Autonomy Engine Messages
+"""
+message_types = [
+ "planning_configuration",
+ "mission_plan_AH1",
+ "mission_plan_ECOSUB",
+ "mission_plan_HYDROSURV",
+ "platform_status",
+ "platform_status-from_usbl_example",
+ "acknowledgement",
+]
+for item in message_types:
+ f = open("mock_data/autonomy_engine_adapter/%s.json" % item)
+ mock_data = json.load(f)
+ header_data = mock_data["header"]
+ payload_data = mock_data["payload"]
+ print(validate(header_data, message_header, format_checker=FormatChecker()))
+ if item == "platform_status-from_usbl_example.json":
+ print(
+ validate(
+ payload_data, platform_status_schema, format_checker=FormatChecker()
+ )
+ )
+ elif item == "mission_plan_AH1":
+ print(
+ validate(payload_data, mission_plan_schema, format_checker=FormatChecker())
+ )
+ elif item == "mission_plan_ECOSUB":
+ print(
+ validate(payload_data, mission_plan_schema, format_checker=FormatChecker())
+ )
+ elif item == "mission_plan_HYDROSURV":
+ print(
+ validate(payload_data, mission_plan_schema, format_checker=FormatChecker())
+ )
+ elif item == "platform_status":
+ print(
+ validate(
+ payload_data, platform_status_schema, format_checker=FormatChecker()
+ )
+ )
+ elif item == "observation":
+ print(
+ validate(payload_data, observation_schema, format_checker=FormatChecker())
+ )
+ elif item == "planning_configuration":
+ print(
+ validate(
+ payload_data,
+ planning_configuration_schema,
+ format_checker=FormatChecker(),
+ )
+ )
+ elif item == "acknowledgement":
+ print(
+ validate(
+ payload_data, acknowledgement_schema, format_checker=FormatChecker()
+ )
+ )