From e15001f02f8af58740de89539bd5e2d8a60539ba Mon Sep 17 00:00:00 2001
From: Dan Jones <danjon@noc.ac.uk>
Date: Tue, 10 Sep 2024 10:36:05 +0100
Subject: [PATCH] refactor: add primitives at squad level
---
examples/mas-dt/planning_configuration.json | 125 ++++++++++++++++++++
formats/planning_configuration.py | 55 +++++----
project/soar/swagger.json | 32 ++++-
3 files changed, 186 insertions(+), 26 deletions(-)
create mode 100644 examples/mas-dt/planning_configuration.json
diff --git a/examples/mas-dt/planning_configuration.json b/examples/mas-dt/planning_configuration.json
new file mode 100644
index 0000000..ea4b7af
--- /dev/null
+++ b/examples/mas-dt/planning_configuration.json
@@ -0,0 +1,125 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "noc-c2",
+ "destination": "",
+ "delivery_type": "broadcast",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "planning_configuration",
+ "planning_config_ID": 1,
+ "primitives": [
+ {
+ "instruction": "stay_outside",
+ "feature": {
+ "type": "Feature",
+ "properties": {
+ "name": "The Rock",
+ "type": "exclusion_zone"
+ },
+ "geometry": {
+ "type": "Polygon",
+ "coordinates": [
+ [
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ]
+ ]
+ ]
+ }
+ }
+ },
+ {
+ "instruction": "stay_inside",
+ "feature": {
+ "type": "Feature",
+ "properties": {
+ "name": "Survey Zone Charlie",
+ "type": "operating area"
+ },
+ "geometry": {
+ "type": "Polygon",
+ "coordinates": [
+ [
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ]
+ ]
+ ]
+ }
+ }
+ }
+ ],
+ "squads": [
+ {
+ "squad_ID": 1,
+ "no_of_platforms": 1,
+ "squad_mission_type": "profiling",
+ "platforms": [
+ {
+ "operator": "noc",
+ "model": "slocum",
+ "platform_ID": "unit_xxx",
+ "active": true
+ }
+ ],
+ "primitives": [
+ {
+ "instruction": "navigate_to",
+ "feature": {
+ "type": "Feature",
+ "properties": {
+ "name": "Target a",
+ "type": "target"
+ },
+ "geometry": {
+ "type": "Point",
+ "coordinates": [
+ -4.183181,
+ 50.335942
+ ]
+ }
+ }
+ }
+ ]
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/formats/planning_configuration.py b/formats/planning_configuration.py
index 24fd18a..7fff4b5 100644
--- a/formats/planning_configuration.py
+++ b/formats/planning_configuration.py
@@ -180,6 +180,28 @@ platform_schema = {
],
}
+primitive_schema = {
+ "type": "object",
+ "properties": {
+ "instruction": {
+ "type": "string",
+ "enum": [
+ "stay_inside",
+ "stay_outside",
+ "navigate_to",
+ "follow",
+ "repeat",
+ "cover",
+ ],
+ "description": "How the associated feature should be used",
+ },
+ "feature": {
+ "$ref": "https://geojson.org/schema/Feature.json",
+ },
+ },
+ "required": ["feature"],
+}
+
squad_metadata_schema = {
"type": "object",
"properties": {
@@ -200,11 +222,17 @@ squad_metadata_schema = {
},
"squad_mission_type": {
"type": "string",
- "enum": ["tracking", "survey", "inspection"],
+ "enum": ["tracking", "survey", "inspection", "profiling"],
"description": "Mission of given squad: `tracking`, `survey`"
+ ", `inspection`",
"example": "survey",
},
+ "primitives": {
+ "type": "array",
+ "items": primitive_schema,
+ "description": "Squad primitives "
+ + "- includes platform group navigation instructions",
+ },
},
"required": [
"squad_ID",
@@ -214,28 +242,6 @@ squad_metadata_schema = {
],
}
-primitive_schema = {
- "type": "object",
- "properties": {
- "instruction": {
- "type": "string",
- "enum": [
- "stay_inside",
- "stay_outside",
- "navigate_to",
- "follow",
- "repeat",
- "cover",
- ],
- "description": "How the associated feature should be used",
- },
- "feature": {
- "$ref": "https://geojson.org/schema/Feature.json",
- },
- },
- "required": ["feature"],
-}
-
planning_configuration_schema = {
"type": "object",
"properties": {
@@ -254,7 +260,8 @@ planning_configuration_schema = {
"primitives": {
"type": "array",
"items": primitive_schema,
- "description": "Specification primitives",
+ "description": "Specification primitives "
+ + "- campaign-wide such as operating area and obstacles",
},
"squads": {
"type": "array",
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index 2ff1d4f..e76d2ff 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -1794,7 +1794,7 @@
"type": "integer"
},
"primitives": {
- "description": "Specification primitives",
+ "description": "Specification primitives - campaign-wide such as operating area and obstacles",
"items": {
"properties": {
"feature": {
@@ -2004,6 +2004,33 @@
},
"type": "array"
},
+ "primitives": {
+ "description": "Squad primitives - includes platform group navigation instructions",
+ "items": {
+ "properties": {
+ "feature": {
+ "$ref": "#/components/schemas/geojson.org.schema.Feature.json"
+ },
+ "instruction": {
+ "description": "How the associated feature should be used",
+ "enum": [
+ "stay_inside",
+ "stay_outside",
+ "navigate_to",
+ "follow",
+ "repeat",
+ "cover"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "feature"
+ ],
+ "type": "object"
+ },
+ "type": "array"
+ },
"squad_ID": {
"description": "Identifier of given squad",
"example": 23,
@@ -2014,7 +2041,8 @@
"enum": [
"tracking",
"survey",
- "inspection"
+ "inspection",
+ "profiling"
],
"example": "survey",
"type": "string"
--
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