diff --git a/README.md b/README.md
index 28e9ef8de8407138a40cbdff741dfdd272be1907..84c31a3cd222da5cc19fa46f76949bd0bdc116f3 100644
--- a/README.md
+++ b/README.md
@@ -15,7 +15,7 @@ Each message below will be wrapped in a `message_wrapper`:
```
python3 generate_swagger.py
```
-2. Go to `http://127.0.0.1:5000/soardocs/`
+2. Go to `http://127.0.0.1:5000`
# Quick Links
1. [Schema Fields Definitions](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/tree/7-message-formats-initial/formats)
diff --git a/examples/all/platform_status.json b/examples/all/platform_status.json
index 8a24e980f8a347f58a85e195853d8917d68af9cd..d169523752479aade6a610d7e3eb199018e66d2d 100644
--- a/examples/all/platform_status.json
+++ b/examples/all/platform_status.json
@@ -1,41 +1,40 @@
{
- "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,
- "message_type": "platform_status",
- "active": true,
- "autonomy_plan_ID": 1,
- "battery_remaining_capacity": 80.2,
- "gps_data": [
- {
- "altitude": 20,
- "depth": 50,
- "gps_source": "internal",
- "latitude": 178.2,
- "latitude_type": "string",
- "longitude": -10.122,
- "longitude_type": "string"
- }
- ],
- "health_status": "Warning",
- "localisation_error": null,
- "mission_action_ID": 1,
- "mission_track_ID": 4,
- "platform_ID": 1,
- "platform_state": "ABORT",
- "platform_timestamp": "2022-12-21T00:00:00Z",
- "range_to_go": 124.3,
- "sensor_config": {
- "additional_data": {},
- "sensor_serial": null,
- "sensor_status": null
+ "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,
+ "message_type": "platform_status",
+ "autonomy_engine_mission_plan_ID": 1,
+ "active": true,
+ "status_source": "onboard_platform",
+ "altitude": 20,
+ "battery_remaining_capacity": 80.2,
+ "depth": 50,
+ "health_status": "Warning",
+ "latitude": 178.2,
+ "localisation_error": 0.000129,
+ "longitude": -10.122,
+ "mission_action_ID": 1,
+ "mission_track_ID": 4,
+ "platform_ID": 1,
+ "platform_state": "ABORT",
+ "platform_timestamp": "2022-12-21T00:00:00Z",
+ "range_to_go": 124.3,
+ "sensor_config": {
+ "additional_data": {
+ "payload": [
+ 1.2,
+ 434
+ ]
},
- "speed_over_ground": 124.3,
- "thrust_applied": 124.3,
- "usbl_fix_seconds_ago": null,
- "water_current_velocity": 124.3
- }
+ "sensor_serial": "mbes-002a",
+ "sensor_status": true
+ },
+ "speed_over_ground": 124.3,
+ "thrust_applied": 124.3,
+ "usbl_fix_seconds_ago": 10,
+ "water_current_velocity": 124.3
+}
\ No newline at end of file
diff --git a/examples/ecosub_c2/mission_plan.json b/examples/ecosub_c2/mission_plan.json
index 07591cffe02303be3dc2f7a6c256f9a37a4a6275..14256ffd7dd08f0216c29d7292a7ef37bc6bcb4f 100644
--- a/examples/ecosub_c2/mission_plan.json
+++ b/examples/ecosub_c2/mission_plan.json
@@ -1,25 +1,54 @@
{
- "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
- "timestamp": "2022-11-16T00:00:00Z",
- "version": 2,
- "source": "autonomy_engine",
- "destination": "ecosub_c2",
- "encoded": false,
- "type": "mission_plan",
- "payload": {
- "plan_ID": 3,
- "platform_serial": "ecosub-4",
- "plan": [
- {
- "action": "move",
- "flight_style": "dive",
- "latitude_waypoint": -4.187143188645706,
- "longitude_waypoint": 50.37072283932642,
- "altitude": 20,
- "depth": null,
- "activate_payload": true,
- "send_environmental_data": false
- }
- ]
+ "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,
+ "message_type": "mission_plan",
+ "platform_serial": "reav-60",
+ "autonomy_engine_mission_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
+ },
+ {
+ "action": "dive",
+ "flight_style": "dive to depth",
+ "latitude_waypoint": -3.237143188645706,
+ "longitude_waypoint": 52.37072283932642,
+ "altitude": 10,
+ "depth": null,
+ "activate_payload": false,
+ "send_environmental_data": false
+ },
+ {
+ "action": "scanline",
+ "flight_style": "go to waypoint",
+ "latitude_waypoint": -0.237143188645706,
+ "longitude_waypoint": 60.00000000000000,
+ "altitude": 10,
+ "depth": null,
+ "activate_payload": true,
+ "send_environmental_data": false
+ },
+ {
+ "action": "climb",
+ "flight_style": "go to surface",
+ "latitude_waypoint": -0.237143188645706,
+ "longitude_waypoint": 52.37072283932642,
+ "altitude": null,
+ "depth": 0,
+ "activate_payload": false,
+ "send_environmental_data": true
}
+ ]
}
\ No newline at end of file
diff --git a/examples/ecosub_c2/observation.json b/examples/ecosub_c2/observation.json
index a4a857461b03f20b1e05700697645a7f52f06bee..ad763177f9d8d9995c62d97c6ade7c803a188b8c 100644
--- a/examples/ecosub_c2/observation.json
+++ b/examples/ecosub_c2/observation.json
@@ -1,18 +1,24 @@
{
- "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
+ "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,
- "type": "platform_status",
- "payload": {
- "platform_serial":"ecosub-3",
- "points_of_interest": [],
- "region_surveyed": [],
- "quality_of_points": 0.98,
- "additional_data": {
- "sensor_x": false
+ "message_type": "observation",
+ "platform_ID": 3,
+ "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/examples/ecosub_c2/platform_status-from_usbl_example.json b/examples/ecosub_c2/platform_status-from_usbl_example.json
new file mode 100644
index 0000000000000000000000000000000000000000..839428334fe0f485c3b6ead3325e4bee29315ac9
--- /dev/null
+++ b/examples/ecosub_c2/platform_status-from_usbl_example.json
@@ -0,0 +1,17 @@
+{
+ "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,
+ "message_type": "platform_status",
+ "platform_ID": 1,
+ "platform_timestamp": "2022-12-21T00:00:00Z",
+ "status_source": "usbl",
+ "latitude": 178.2,
+ "longitude": -10.122,
+ "depth": 50,
+ "altitude": 20
+}
diff --git a/examples/ecosub_c2/platform_status.json b/examples/ecosub_c2/platform_status.json
index 460bc82ca5c11494bd0d8913029be74f5886673e..ab543803c8454588bea9e3ea40dbfa27375dd4ff 100644
--- a/examples/ecosub_c2/platform_status.json
+++ b/examples/ecosub_c2/platform_status.json
@@ -1,44 +1,39 @@
{
- "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
- "version": 1,
- "source": "hermes_ecosub",
+ "version": 2,
+ "source": "ecosub_c2",
"destination": "autonomy_engine",
+ "delivery_type": "publish",
"encoded": false,
- "type": "platform_status",
- "payload": {
- "platform_ID": 2,
- "active": true,
- "platform_state": "IDLE",
- "autonomy_plan_ID": 1,
- "mission_track_ID": 4,
- "mission_action_ID": 1,
- "range_to_go": 12.3,
- "speed_over_ground": 10.3,
- "water_current_velocity": 10.3,
- "thrust_applied": 0.3,
- "health_status": "Warning",
- "gps_data": [
- {
- "gps_source": "internal",
- "latitude_type": "",
- "longitude_type": "",
- "latitude": -7.432,
- "longitude": 50.365,
- "depth": 5.0,
- "altitude": 20.0
- }
- ],
- "localisation_error": null,
- "usbl_fix_seconds_ago": null,
- "battery_remaining_capacity": 80,
- "sensor_config": {
- "sensor_ID": 22,
- "serial": "sidescan-2x",
- "sensor_status": true,
- "additional_data": {
- "whiskers_on": true
- }
- }
- }
- }
\ No newline at end of file
+ "message_type": "platform_status",
+ "platform_ID": 1,
+ "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,
+ "health_status": "Warning",
+ "localisation_error": null,
+ "usbl_fix_seconds_ago": null,
+ "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/examples/hydrosurv_adapter/acknowledgement.json b/examples/hydrosurv_adapter/acknowledgement.json
index e8ca46085718cb42f6917b069700f6248ab666e5..21ca73e1336953fea34e1b707748b01fb37666ec 100644
--- a/examples/hydrosurv_adapter/acknowledgement.json
+++ b/examples/hydrosurv_adapter/acknowledgement.json
@@ -1,12 +1,12 @@
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
- "version": 2,
- "source": "autonomy_engine",
- "destination": "ah1",
+ "version": 1,
+ "source": "hydrosurv_adapter",
+ "destination": "autonomy_engine",
"delivery_type": "publish",
"encoded": false,
- "message_type": "platform_status",
- "acknowledged_message_ID": "02125022255-7bc8-11ed-a1eb-0242ac999999",
- "status": "executed by platform"
+ "message_type": "acknowledgement",
+ "acknowledged_message_ID": "11111111-7bc8-11ed-a1eb-0242ac999999",
+ "status": "Approved and sent to platform"
}
\ No newline at end of file
diff --git a/examples/hydrosurv_adapter/mission_plan.json b/examples/hydrosurv_adapter/mission_plan.json
index c99d52bf2e386eff6470b1d2077c057ac78928d4..81a6ff71a426f0c5ff72b50a56fa178013ce764b 100644
--- a/examples/hydrosurv_adapter/mission_plan.json
+++ b/examples/hydrosurv_adapter/mission_plan.json
@@ -1,24 +1,26 @@
{
- "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",
- "plan_ID": 1,
- "plan": [
- {
- "action": "move",
- "flight_style": "orbit",
- "activate_payload": true,
- "altitude": 15,
- "depth": 15,
- "latitude_waypoint": -4.187143188645706,
- "longitude_waypoint": 50.37072283932642,
- "send_environmental_data": false
- }
- ],
- "platform_serial": "reav-60"
-}
+ "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_serial": "reav-60",
+ "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/examples/hydrosurv_adapter/platform_status.json b/examples/hydrosurv_adapter/platform_status.json
index 8a24e980f8a347f58a85e195853d8917d68af9cd..dc24112255a1946bf5e9b238322a1f7d5f237f27 100644
--- a/examples/hydrosurv_adapter/platform_status.json
+++ b/examples/hydrosurv_adapter/platform_status.json
@@ -1,41 +1,25 @@
{
- "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,
- "message_type": "platform_status",
- "active": true,
- "autonomy_plan_ID": 1,
- "battery_remaining_capacity": 80.2,
- "gps_data": [
- {
- "altitude": 20,
- "depth": 50,
- "gps_source": "internal",
- "latitude": 178.2,
- "latitude_type": "string",
- "longitude": -10.122,
- "longitude_type": "string"
- }
- ],
- "health_status": "Warning",
- "localisation_error": null,
- "mission_action_ID": 1,
- "mission_track_ID": 4,
- "platform_ID": 1,
- "platform_state": "ABORT",
- "platform_timestamp": "2022-12-21T00:00:00Z",
- "range_to_go": 124.3,
- "sensor_config": {
- "additional_data": {},
- "sensor_serial": null,
- "sensor_status": null
- },
- "speed_over_ground": 124.3,
- "thrust_applied": 124.3,
- "usbl_fix_seconds_ago": null,
- "water_current_velocity": 124.3
- }
+ "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,
+ "message_type": "platform_status",
+ "autonomy_engine_plan_ID": 1,
+ "active": true,
+ "status_source": "onboard_platform",
+ "battery_remaining_capacity": 80.2,
+ "health_status": "Lost Connection",
+ "latitude": 178.2,
+ "longitude": -10.122,
+ "mission_action_ID": 1,
+ "mission_track_ID": 4,
+ "platform_ID": 1,
+ "platform_state": "ABORT",
+ "platform_timestamp": "2022-12-21T00:00:00Z",
+ "speed_over_ground": 4.5,
+ "range_to_go": null,
+ "thrust_applied": null
+}
\ No newline at end of file
diff --git a/formats/acknowledgement.py b/formats/acknowledgement.py
index 5021b4f6eb75634203c07cdfbacd288073d3a1c0..4f3352cfc21b138c46dfe9bab64ca2ea504617fb 100644
--- a/formats/acknowledgement.py
+++ b/formats/acknowledgement.py
@@ -14,9 +14,9 @@ acknowledgement_schema = {
},
"status": {
"type": "string",
- "description": "Highest level of acknowledgement. I.e. `c2_received`:"
- + " Received by C2, `c2_sent`: Sent from C2->Platform, `executed`:"
- + " Executed by platform",
+ "description": "Highest level of acknowledgement. I.e."
+ + " `c2_received`: Received by C2, `c2_sent`: Sent from"
+ + " C2->Platform, `executed`: Executed by platform",
"example": "executed by platform",
},
},
@@ -39,9 +39,9 @@ acknowledgement_schema = {
# ),
# "status": fields.String(
# required=True,
-# description="Highest level of acknowledgement. I.e. `c2_received`:"
-# + " Received by C2, `c2_sent`: Sent from C2->Platform, `executed`:"
-# + " Executed by platform",
+# description="Highest level of acknowledgement. "
+# + " I.e. `c2_received`: Received by C2, `c2_sent`:"
+# + " Sent from C2->Platform, `executed`: Executed by platform",
# ),
# },
# )
diff --git a/formats/message_wrapper.py b/formats/message_wrapper.py
index 8762dd6e44b31217f620c4574b738d46393672a1..ead7cf1102d2dd32bff39bf5a4ddb7ee9788e2e3 100644
--- a/formats/message_wrapper.py
+++ b/formats/message_wrapper.py
@@ -1,7 +1,7 @@
"""
schemas: Message Wrapper is used to wrap all message types that contain
- details of where the message is coming from, which end client is its destination
- and the type of message.
+ details of where the message is coming from, which end client is its
+ destination and the type of message.
"""
message_wrapper_schema = {
@@ -12,7 +12,7 @@ message_wrapper_schema = {
"properties": {
"message_ID": {
"type": "string",
- "description": "An identifier for the type of " + "message received.",
+ "description": "An identifier for the type of message received.",
"example": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
},
"timestamp": {
@@ -27,7 +27,7 @@ message_wrapper_schema = {
},
"version": {
"type": "string",
- "description": "Version of comms bacbone messaging format protocol",
+ "description": "Version of comms bacbone message format protocol",
"example": 2.0,
},
"source": {
@@ -37,7 +37,8 @@ message_wrapper_schema = {
},
"destination": {
"type": "string",
- "description": "Publisher topic; What is the destination of this message",
+ "description": "Publisher topic; What is the destination"
+ + " of this message",
"example": "ah1",
},
"encoded": {
diff --git a/formats/mission_plan.py b/formats/mission_plan.py
index 46243caa4b2bb5a4c93ee134b476f3b22292105b..e46096c2f3c35fb25137d01ea7ef914a22aecdff 100644
--- a/formats/mission_plan.py
+++ b/formats/mission_plan.py
@@ -1,5 +1,5 @@
"""
- schemas: Mission plan (un-complied) geenrated by the Autonomy Engine
+ schemas: Mission plan (un-compiled) geenrated by the Autonomy Engine
sent to the respective platform's C2 to compile into a platform-specific
mission plan.
"""
@@ -49,13 +49,12 @@ action_schema = {
},
"send_environmental_data": {
"type": "boolean",
- "description": "To trigger the platform to send list of observations"
- + " if any found",
+ "description": "To trigger the platform to send list of"
+ + " observations if any found",
"example": False,
},
},
"required": [
- "action",
"latitude_waypoint",
"longitude_waypoint",
],
@@ -65,7 +64,7 @@ mission_plan_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
- "plan_ID": {"type": "integer"},
+ "autonomy_engine_plan_ID": {"type": "integer"},
"platform_serial": {"type": "string"},
"plan": {
"type": "array",
@@ -118,8 +117,8 @@ mission_plan_schema = {
# ),
# "send_environmental_data": fields.Boolean(
# required=False,
-# description="To trigger the platform to send list of observations"
-# + " if any found",
+# description="To trigger the platform to send list of"
+# + " observations if any found",
# example=False,
# ),
# },
@@ -146,8 +145,9 @@ mission_plan_schema = {
# "plan": fields.List(
# fields.Nested(action_schema),
# required=True,
-# description="Sequence of actions/instructions generated by the "
-# + " Autonomy Engine that should be compiled by the respective C2.",
+# description="Sequence of actions/instructions generated by the"
+# + " Autonomy Engine that should be compiled by the",
+# + " respective C2.",
# ),
# },
# )
diff --git a/formats/observation.py b/formats/observation.py
index da8cd04ccacbebef0b704f38727c2a88b6579079..8d0097a246b494b560196d8850b9b8a5f056c023 100644
--- a/formats/observation.py
+++ b/formats/observation.py
@@ -1,34 +1,55 @@
"""
- schema: Observation Message sent by platforms when points of interest are found.
+ schema: Observation Message sent by platforms when points of
+ interest are found.
"""
# from . import full_message_schema, api
# from flask_restx import fields
+hits_schema = {
+ "type": "object",
+ "properties": {
+ "latitude": {
+ "type": "number",
+ "description": "Identified x-coordinate of point of interest",
+ "example": 178.2,
+ },
+ "longitude": {
+ "type": "number",
+ "description": "Identified y-coordinate of point of interest",
+ "example": -10.122,
+ },
+ "quality_of_point": {
+ "type": "number",
+ "description": "Quality/strength of points from features of"
+ + " interest identified by platform. TODO: DEFINE FORMAT.",
+ "example": 0.98,
+ },
+ },
+ "required": [],
+}
+
observation_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
- "platform_serial": {
- "description": "Serial of platform to sendign observations",
+ "platform_ID": {
+ "type": "integer",
+ "description": "ID of platform to sending observations",
"example": "ecosub-3",
},
# "observation_type" ==> payloads tied to different types maybe?
# properties of each observation?
"points_of_interest": {
+ "type": "array",
+ "items": hits_schema,
"description": "Points from features of interest identified by"
+ " platform if any found. DEFINE FORMAT.",
- "example": "",
},
"region_surveyed": {
"description": "Region surveyed by given platform. DEFINE FORMAT."
- + " GEOJSON?",
+ + " GEOJSON",
"example": "",
},
- "quality_of_points": {
- "description": "Quality/strength of points from features of interest"
- + " identified by platform. DEFINE FORMAT.",
- "example": 0.98,
- },
"additional_data": {
"description": "Placeholder field for any additional data",
"example": {"sensor_payload": False},
@@ -66,8 +87,8 @@ observation_schema = {
# ),
# "quality_of_points": fields.Float(
# required=False,
-# description="Quality/strength of points from features of interest"
-# + " identified by platform. DEFINE FORMAT.",
+# description="Quality/strength of points from features of"
+# + " interest identified by platform. DEFINE FORMAT.",
# example=0.98,
# ),
# "additional_data": fields.Raw(
diff --git a/formats/planning_configuration.py b/formats/planning_configuration.py
index 7f1d84eff6d75defec19601c961552f7b504c7ff..d4fb1e58847cb123730f793101cee4671e183385 100644
--- a/formats/planning_configuration.py
+++ b/formats/planning_configuration.py
@@ -5,29 +5,41 @@
# from . import api, full_message_schema, platform_schema
# from flask_restx import fields
-
-constraints_schema = {
+emergency_schema = {
"type": "object",
"properties": {
- "min_altitude": {
+ "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",
- "description": "Minimum altitude set for squad.",
- "example": 15.2,
+ "description": "X-coordinate of safe place for respective platform",
+ "example": -7.432,
},
- "min_velocity": {
+ "longitude_waypoint": {
"type": "number",
- "description": "Minimum velocity set for squad.",
- "example": 0.1,
+ "description": "Y-coordinate of safe place for respective platform",
+ "example": 50.365,
},
- "max_velocity": {
+ "target_depth": {
"type": "number",
- "description": "Maximum altitude set for squad.",
- "example": 0.9,
+ "description": "Z-coordinate of safe place for respective platform"
+ + " . If platform to NOT stay at depth, key in `0.0`",
+ "example": 10,
+ },
+ "additional_data": {
+ "type": "null",
+ "description": "Any addition fields/data to be added here",
+ "example": {},
},
},
- "required": ["min_altitude", "min_velocity", "max_velocity"],
+ "required": ["latitude_waypoint", "longitude_waypoint", "target_depth"],
}
+
platform_schema = {
"type": "object",
"properties": {
@@ -45,9 +57,29 @@ platform_schema = {
"type": "string",
"example": "reav",
},
- "constraints": constraints_schema,
+ "emergency": emergency_schema,
+ "min_altitude": {
+ "type": "number",
+ "description": "Minimum altitude set for squad.",
+ "example": 15.2,
+ },
+ "min_velocity": {
+ "type": "number",
+ "description": "Minimum velocity set for squad.",
+ "example": 0.1,
+ },
+ "max_velocity": {
+ "type": "number",
+ "description": "Maximum altitude set for squad.",
+ "example": 0.9,
+ },
+ "additional_data": {
+ "type": "null",
+ "description": "Any addition fields/data to be added here",
+ "example": {"swath_width": 10.0, "scan_type": "DVL"},
+ },
},
- "required": ["platform_ID", "serial", "model", "constraints"],
+ "required": ["platform_ID", "serial", "model", "emergency", "min_altitude", "min_velocity", "max_velocity"],
}
region_schema = {
@@ -100,11 +132,6 @@ squad_metadata_schema = {
"example": False,
},
"region_of_interest": region_schema,
- "exclusion_zones": {
- "type": "array",
- "items": region_schema,
- "description": "Exclusion zones per squad.",
- },
},
"required": [
"squad_ID",
@@ -120,18 +147,27 @@ planning_configuration_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
- "config_ID": {
+ "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": ["config_ID", "squads"],
+ "required": [
+ "config_ID",
+ "squads",
+ "exclusion_zones",
+ ],
}
# region_schema = api.model(
@@ -139,8 +175,8 @@ planning_configuration_schema = {
# {
# "region": fields.Raw(
# required=True,
-# description="Using GEOJSON, exact region of interest in rectangle"
-# + " format polygon",
+# description="Using GEOJSON, exact region of "
+# + "interest in rectangle format polygon",
# example={
# "type": "FeatureCollection",
# "features": [
diff --git a/formats/platform_status.py b/formats/platform_status.py
index d3c81579eb6ddb9f4de01fa89ce638ef5bee1b45..0bb15a5e698926ddaa4a1ab6271871e41eb2ee12 100644
--- a/formats/platform_status.py
+++ b/formats/platform_status.py
@@ -1,66 +1,17 @@
"""
schema: platform-specific decoded status message
"""
-# from . import full_message_schema, api
-# from flask_restx import fields
-
-
-gps_schema = {
- "type": "object",
- "properties": {
- "gps_source": {
- "type": "string",
- "description": "Source of gps position. E.g. USBL (external),"
- + "platform itself (internal)",
- "example": "internal",
- },
- "latitude_type": {
- "type": "string",
- "description": "TODO: Add description",
- },
- "longitude_type": {
- "type": "string",
- "description": "TODO: Add description",
- },
- "latitude": {
- "type": "number",
- "description": "Latitude in decimal degrees.",
- "example": 178.2,
- },
- "longitude": {
- "type": "number",
- "description": "Longitude in decimal degrees.",
- "example": -10.122,
- },
- "depth": {
- "type": "number",
- "description": "Target depth in metres",
- "example": 50,
- "default": 0,
- },
- "altitude": {
- "type": "number",
- "description": "Target altitude in metres",
- "example": 20,
- },
- },
- "required": [
- "gps_source",
- "latitude",
- "longitude",
- ],
-}
-
sensor_schema = {
"type": "object",
- "description": "Scanning sensor on platform available to be controlled by the Autonomy Engine",
+ "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_status": {
+ "sensor_on": {
"type": "boolean",
"description": "Sensor switched on (True) or off (False)",
"example": True,
@@ -83,6 +34,13 @@ platform_status_message_schema = {
"description": "Identifier for platform",
"example": 1,
},
+ "status_source": {
+ "type": "string",
+ "enum": ["usbl", "onboard_platform"],
+ "description": "Indicate if this status message is from the"
+ + " platform or USBL",
+ "example": "usbl",
+ },
"platform_timestamp": {
"type": "date-time",
"decription": "Timestamp for onboard platform status message",
@@ -101,12 +59,33 @@ platform_status_message_schema = {
+ "STOP, IDLE, ABORT.",
"example": "ABORT",
},
- "autonomy_plan_ID": {
+ "autonomy_engine_plan_ID": {
"type": "integer",
- "description": "Last mission plan ID (according to Autonomy Engine's"
- + " mission plan number) executed by platform",
+ "description": "Last mission plan ID (according to Autonomy"
+ + " Engine's mission plan number sent) executed by platform",
"example": 1,
},
+ "latitude": {
+ "type": "number",
+ "description": "Latitude in decimal degrees.",
+ "example": 178.2,
+ },
+ "longitude": {
+ "type": "number",
+ "description": "Longitude in decimal degrees.",
+ "example": -10.122,
+ },
+ "depth": {
+ "type": "number",
+ "description": "Target depth in metres",
+ "example": 50,
+ "default": 0,
+ },
+ "altitude": {
+ "type": "number",
+ "description": "Target altitude in metres",
+ "example": 20,
+ },
"mission_track_ID": {
"type": "integer",
"description": "Track number - stage in mission (e.g. "
@@ -144,11 +123,6 @@ platform_status_message_schema = {
+ "if any diagnosis is available to check sensors",
"example": "Warning",
},
- "gps_data": {
- "type": "array",
- "description": "position of platform",
- "items": gps_schema,
- },
"localisation_error": {
"type": "number",
"description": "Localisation error at last USBL update.",
@@ -161,16 +135,22 @@ platform_status_message_schema = {
},
"battery_remaining_capacity": {
"type": "number",
- "description": "Battery remaining capacity % provided by respective",
+ "description": "Battery remaining % provided by respective C2",
"example": 80.2,
},
+ "current_pitch": {
+ "type": "number",
+ "description": "Current pitch of platform",
+ "example": -4.0,
+ },
"sensor_config": sensor_schema,
},
"required": [
"platform_ID",
+ "status_source",
"platform_timestamp",
- "gps_data",
- "battery_remaining_capacity",
+ "latitude",
+ "longitude",
],
}
@@ -272,7 +252,8 @@ platform_status_message_schema = {
# ),
# "autonomy_plan_ID": fields.Integer(
# required=False,
-# description="Last mission plan ID (according to Autonomy Engine's"
+# description="Last mission plan ID (
+# + "according to Autonomy Engine's"
# + " mission plan number) executed by platform",
# example=1,
# ),
diff --git a/generate_swagger.py b/generate_swagger.py
index 1abd4b92e520aef7f0fb8880eaaa5013db00ab29..dc0657e1291dfa5f7626983ef177e869d913b7d3 100644
--- a/generate_swagger.py
+++ b/generate_swagger.py
@@ -15,7 +15,7 @@ swagger_config = {
"headers": [],
"openapi": "3.0.2",
"swagger_ui": True,
- "specs_route": "/soardocs/",
+ "specs_route": "/",
"info": {
"title": "Backbone Message Formats",
"version": "0.1",
@@ -90,7 +90,7 @@ swagger_config = {
"consumes": ["application/json"],
}
message_types = [
- "Message",
+ # "Message",
"Acknowledgement",
"MissionPlan",
"Observation",