diff --git a/examples/hydrosurv_adapter/alert.json b/examples/hydrosurv_adapter/alert.json
new file mode 100644
index 0000000000000000000000000000000000000000..9abbbbbe47d4c840e786488cb4f0117424e4fafa
--- /dev/null
+++ b/examples/hydrosurv_adapter/alert.json
@@ -0,0 +1,21 @@
+{
+ "header": {
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 1,
+ "source": "hydrosurv_adapter",
+ "destination": "soar.hydrosurv.reav60.usvdecibel.from_platform.alert",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload": {
+ "message_type": "alert",
+ "platform_ID": "usvdecibel",
+ "code": 345,
+ "platform_timestamp": "2022-12-21T00:00:00Z",
+ "subsystem": "Onboard Fault Monitor",
+ "summary": "Steering Damage - Port Side",
+ "details": "Discrepancy between rudder and actuator positions : Rudder Pos=10.31°, Steering Actuator Pos=28.65°, Discrepancy=18.33°",
+ "severity": "Alarm"
+ }
+}
\ No newline at end of file
diff --git a/examples/hydrosurv_adapter/platform_status.json b/examples/hydrosurv_adapter/platform_status.json
index 082649aee6831b8c6feb2f4d4989fc1e228f8990..193e12a2791e73088c6282623d0b1a0dfe2ab90f 100644
--- a/examples/hydrosurv_adapter/platform_status.json
+++ b/examples/hydrosurv_adapter/platform_status.json
@@ -1,5 +1,5 @@
{
- "header":{
+ "header": {
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
@@ -8,11 +8,15 @@
"delivery_type": "publish",
"encoded": false
},
- "payload":{
+ "payload": {
"message_type": "platform_status",
"autonomy_engine_plan_ID": 1,
"status_source": "onboard_platform",
"battery_remaining_capacity": 80.2,
+ "battery_output": 3.8,
+ "fuel_volume": 13.2,
+ "fuel_remaining_capacity": 65.3,
+ "endurance": 3.4,
"heading": 310.0,
"health_status": false,
"latitude": 178.2,
diff --git a/formats/alert.py b/formats/alert.py
new file mode 100644
index 0000000000000000000000000000000000000000..3c13fe88527665486daf064e39985564e6d95a12
--- /dev/null
+++ b/formats/alert.py
@@ -0,0 +1,58 @@
+"""
+ schemas: Alert message sent on fault detection
+"""
+alert_schema = {
+ "type": "object",
+ "properties": {
+ "message_type": {
+ "type": "string",
+ "description": "Type of message",
+ "example": "alert",
+ "enum": ["alert"],
+ },
+ "code": { # changed from alert_ID because reasons
+ "type": "integer",
+ "description": "Alert code",
+ "example": 345,
+ },
+ "platform_ID": {
+ "type": "string",
+ "description": "Unique identifier for this platform",
+ "example": "usvdecibel",
+ },
+ "platform_timestamp": {
+ "type": "string",
+ "format": "date-time",
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ },
+ "subsystem": { # changed from suggested "source" could be device / subsystem or something
+ "type": "string",
+ "description": "System that generated the alert",
+ "example": "Onboard Fault Monitor",
+ },
+ "summary": {
+ "type": "string",
+ "description": "High level description of the alert",
+ "example": "Steering Damage - Port Side",
+ },
+ "details": {
+ "type": "string",
+ "description": "Detailed reason for the alert ",
+ "example": "Discrepancy between rudder and actuator positions" +
+ " : Rudder Pos=10.31°, Steering Actuator Pos=28.65°, Discrepancy=18.33°",
+ },
+ "severity": {
+ "type": "string",
+ "description": "Severity level of alert",
+ "example": "Alarm",
+ "enum": ["Emergency", "Alarm", "Warning", "Caution"],
+ },
+ },
+ "required": [
+ "message_type",
+ "platform_ID",
+ "code",
+ "severity",
+ ],
+}
diff --git a/formats/platform_status.py b/formats/platform_status.py
index f55910b948f9d3c5c301b957043666f940f38666..cc91a549054d8da081b63a9a6555d7d4ba4de140 100644
--- a/formats/platform_status.py
+++ b/formats/platform_status.py
@@ -170,6 +170,39 @@ platform_status_schema = {
"description": "Battery remaining % provided by respective C2",
"example": 80.2,
},
+
+ # Battery power (kw / float)
+ "battery_output": { # changed from battery_power
+ "type": "number",
+ "format": "float",
+ "description": "Battery output in kW",
+ "example": 80.2,
+ },
+ # Bunkers remaining capacity (litres, float)
+ # Bunkers percentage full (percentage, float)
+ # battery_remaining_capacity is % full if we want both these fields
+ # these names are going to cause confusion
+ "fuel_remaining_capacity": {
+ "type": "number",
+ "format": "float",
+ "description": "Percentage remaining capacity",
+ "example": 80.2,
+ },
+ "fuel_volume": {
+ "type": "number",
+ "format": "float",
+ "description": "Litres of liquid fuel",
+ "example": 12.5,
+ },
+ # Endurance (hours, float)
+ "endurance": {
+ "type": "number",
+ "format": "float",
+ "description": "Estimate of hours of operation remaining "
+ + "based on present output or performance",
+ "example": 7.4,
+ },
+
"sensor_config": sensor_schema,
},
"required": [
diff --git a/generate_schema_config.py b/generate_schema_config.py
index bc08138c4b8109a405372fc68581905e33576b0d..123de907cd461abfb03702e5c6f61f7ff25c5795 100644
--- a/generate_schema_config.py
+++ b/generate_schema_config.py
@@ -9,6 +9,7 @@ from formats.platform_status_encoded import platform_status_encoded_schema
from formats.survey import survey_schema
from formats.survey_encoded import survey_encoded_schema
from formats.acknowledgement import acknowledgement_schema
+from formats.alert import alert_schema
from flasgger import Swagger
from flask import Flask
@@ -55,6 +56,7 @@ swagger_config = {
"discriminator": {
"propertyName": "message_type",
"mapping": {
+ "alert": "#/components/schemas/alert",
"mission_plan": "#/components/schemas/mission_plan",
"mission_plan_encoded": "#/components/schemas/"
+ "mission_plan_encoded",
@@ -72,6 +74,7 @@ swagger_config = {
},
},
"oneOf": [
+ {"$ref": "#/components/schemas/alert"},
{"$ref": "#/components/schemas/acknowledgement"},
{"$ref": "#/components/schemas/mission_plan"},
{"$ref": "#/components/schemas/mission_plan_encoded"},
@@ -95,6 +98,7 @@ swagger_config = {
"survey": survey_schema,
"survey_encoded": survey_encoded_schema,
"acknowledgement": acknowledgement_schema,
+ "alert": alert_schema,
}
},
}
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index 70bc2c9c63b4d722a2a592d011f9085f1c876c68..85727bfca507e1c56a7e53cb064792d70cae1b7d 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -1,132 +1,193 @@
{
- "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"
+ "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":[
+ "required": [
"header",
"payload"
],
- "type":"object"
+ "type": "object"
},
- "acknowledgement":{
- "properties":{
- "approved":{
- "description":"Human-in-the-loop approval.1 - Plan approved; 0 - Plan Rejected",
- "type":"boolean"
- },
- "autonomy_engine_plan_ID":{
- "description":"Mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
- "example":1,
- "type":"integer"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "acknowledgement": {
+ "properties": {
+ "approved": {
+ "description": "Human-in-the-loop approval.1 - Plan approved; 0 - Plan Rejected",
+ "type": "boolean"
+ },
+ "autonomy_engine_plan_ID": {
+ "description": "Mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
+ "example": 1,
+ "type": "integer"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"acknowledgement"
],
- "example":"acknowledgement",
- "type":"string"
+ "example": "acknowledgement",
+ "type": "string"
},
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
}
},
- "required":[
+ "required": [
"message_type",
"autonomy_engine_plan_ID",
"platform_ID",
"approved"
],
- "type":"object"
+ "type": "object"
},
- "header":{
- "discriminator":{
- "propertyName":"message_type"
+ "alert": {
+ "properties": {
+ "code": {
+ "description": "Alert code",
+ "example": 345,
+ "type": "integer"
+ },
+ "details": {
+ "description": "Detailed reason for the alert ",
+ "example": "Discrepancy between rudder and actuator positions : Rudder Pos=10.31\u00b0, Steering Actuator Pos=28.65\u00b0, Discrepancy=18.33\u00b0",
+ "type": "string"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "alert"
+ ],
+ "example": "alert",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "usvdecibel",
+ "type": "string"
+ },
+ "platform_timestamp": {
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "severity": {
+ "description": "Severity level of alert",
+ "enum": [
+ "Emergency",
+ "Alarm",
+ "Warning",
+ "Caution"
+ ],
+ "example": "Alarm",
+ "type": "string"
+ },
+ "subsystem": {
+ "description": "System that generated the alert",
+ "example": "Onboard Fault Monitor",
+ "type": "string"
+ },
+ "summary": {
+ "description": "High level description of the alert",
+ "example": "Steering Damage - Port Side",
+ "type": "string"
+ }
+ },
+ "required": [
+ "message_type",
+ "platform_ID",
+ "code",
+ "severity"
+ ],
+ "type": "object"
+ },
+ "header": {
+ "discriminator": {
+ "propertyName": "message_type"
},
- "properties":{
- "delivery_type":{
- "default":"publish",
- "description":"To publish or broadcast this message.",
- "enum":[
+ "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"
+ "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"
+ "type": "object"
},
- "mission_plan":{
- "properties":{
- "autonomy_engine_plan_ID":{
- "description":"Unique identifier for this plangenerated by the Autonomy Engine",
- "example":3,
- "type":"integer"
- },
- "emergency":{
- "default":false,
- "description":"To indicate if this is an emergency. true = emergency and false = no emergency",
- "example":false,
- "type":"boolean"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "mission_plan": {
+ "properties": {
+ "autonomy_engine_plan_ID": {
+ "description": "Unique identifier for this plangenerated by the Autonomy Engine",
+ "example": 3,
+ "type": "integer"
+ },
+ "emergency": {
+ "default": false,
+ "description": "To indicate if this is an emergency. true = emergency and false = no emergency",
+ "example": false,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"mission_plan"
],
- "example":"mission_plan",
- "type":"string"
- },
- "plan":{
- "items":{
- "properties":{
- "action":{
- "description":"Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
- "enum":[
+ "example": "mission_plan",
+ "type": "string"
+ },
+ "plan": {
+ "items": {
+ "properties": {
+ "action": {
+ "description": "Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
+ "enum": [
"move",
"payload",
"dive",
@@ -138,275 +199,279 @@
"stop_mission",
"abort_now"
],
- "example":"move",
- "type":"string"
+ "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"
+ "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"
+ "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"
+ "depth": {
+ "description": "Depth of next action",
+ "example": 15.0,
+ "format": "float",
+ "type": "number"
},
- "start_point_latitude":{
- "description":"Start point, y-coordinate",
- "example":50.37072283932642,
- "format":"float",
- "type":"number"
+ "start_point_latitude": {
+ "description": "Start point, y-coordinate",
+ "example": 50.37072283932642,
+ "format": "float",
+ "type": "number"
},
- "start_point_longitude":{
- "description":"Start point, x-coordinate",
- "example":-4.187143188645706,
- "format":"float",
- "type":"number"
+ "start_point_longitude": {
+ "description": "Start point, x-coordinate",
+ "example": -4.187143188645706,
+ "format": "float",
+ "type": "number"
},
- "target_waypoint_latitude":{
- "description":"Target waypoint, y-coordinate",
- "example":50.37072283932642,
- "format":"float",
- "type":"number"
+ "target_waypoint_latitude": {
+ "description": "Target waypoint, y-coordinate",
+ "example": 50.37072283932642,
+ "format": "float",
+ "type": "number"
},
- "target_waypoint_longitude":{
- "description":"Target waypoint, x-coordinate",
- "example":-4.187143188645706,
- "format":"float",
- "type":"number"
+ "target_waypoint_longitude": {
+ "description": "Target waypoint, x-coordinate",
+ "example": -4.187143188645706,
+ "format": "float",
+ "type": "number"
},
- "timeout":{
- "description":"Timeout set to perform action",
- "example":1800.0,
- "format":"float",
- "type":"number"
+ "timeout": {
+ "description": "Timeout set to perform action",
+ "example": 1800.0,
+ "format": "float",
+ "type": "number"
}
},
- "required":[
+ "required": [
"target_waypoint_latitude",
"target_waypoint_longitude"
],
- "type":"object"
+ "type": "object"
},
- "type":"array"
+ "type": "array"
},
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
}
},
- "required":[
+ "required": [
"message_type",
"autonomy_engine_plan_ID",
"platform_ID",
"plan"
],
- "type":"object"
+ "type": "object"
},
- "mission_plan_encoded":{
- "properties":{
- "data":{
- "description":"encoded string. E.g. Base64 encoded",
- "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type":"string"
- },
- "file_name":{
- "description":"Name of file",
- "example":"ah1-0238126349247372.bin",
- "type":"string"
- },
- "is_binary":{
- "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
- "example":true,
- "type":"boolean"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "mission_plan_encoded": {
+ "properties": {
+ "data": {
+ "description": "encoded string. E.g. Base64 encoded",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "file_name": {
+ "description": "Name of file",
+ "example": "ah1-0238126349247372.bin",
+ "type": "string"
+ },
+ "is_binary": {
+ "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example": true,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"mission_plan_encoded"
],
- "example":"mission_plan_encoded",
- "type":"string"
+ "example": "mission_plan_encoded",
+ "type": "string"
},
- "mime_type":{
- "description":"MIME type",
- "example":"application/gzip",
- "type":"string"
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
}
},
- "required":[
+ "required": [
"data",
"is_binary"
],
- "type":"object"
+ "type": "object"
},
- "observation":{
- "properties":{
- "additional_data":{
- "description":"Placeholder field for any additional data",
- "example":{
- "sensor_payload":false
+ "observation": {
+ "properties": {
+ "additional_data": {
+ "description": "Placeholder field for any additional data",
+ "example": {
+ "sensor_payload": false
}
},
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"observation"
],
- "example":"observation",
- "type":"string"
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
- },
- "points_of_interest":{
- "description":"Points from features of interest identified by platform if any found.",
- "items":{
- "properties":{
- "latitude":{
- "description":"Identified y-coordinate of point of interest",
- "example":178.2,
- "format":"float",
- "type":"number"
+ "example": "observation",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
+ },
+ "points_of_interest": {
+ "description": "Points from features of interest identified by platform if any found.",
+ "items": {
+ "properties": {
+ "latitude": {
+ "description": "Identified y-coordinate of point of interest",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
},
- "longitude":{
- "description":"Identified x-coordinate of point of interest",
- "example":-10.122,
- "format":"float",
- "type":"number"
+ "longitude": {
+ "description": "Identified x-coordinate of point of interest",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
},
- "quality_of_point":{
- "description":"Quality/strength of points from features of interest identified by platform.",
- "example":0.98,
- "format":"float",
- "type":"number"
+ "quality_of_point": {
+ "description": "Quality/strength of points from features of interest identified by platform.",
+ "example": 0.98,
+ "format": "float",
+ "type": "number"
}
},
- "required":[
+ "required": [
"latitude",
"longitude"
],
- "type":"object"
+ "type": "object"
},
- "type":"array"
+ "type": "array"
},
- "region_surveyed":{
- "description":"Region surveyed by given platform. GEOJSON",
- "example":"",
- "nullable":true
+ "region_surveyed": {
+ "description": "Region surveyed by given platform. GEOJSON",
+ "example": "",
+ "nullable": true
}
},
- "required":[
+ "required": [
"message_type",
"platform_ID"
],
- "type":"object"
+ "type": "object"
},
- "observation_encoded":{
- "properties":{
- "data":{
- "description":"encoded string. E.g. Base64 encoded",
- "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type":"string"
- },
- "file_name":{
- "description":"Name of file",
- "example":"ah1-0238126349247372.bin",
- "type":"string"
- },
- "is_binary":{
- "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
- "example":true,
- "type":"boolean"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "observation_encoded": {
+ "properties": {
+ "data": {
+ "description": "encoded string. E.g. Base64 encoded",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "file_name": {
+ "description": "Name of file",
+ "example": "ah1-0238126349247372.bin",
+ "type": "string"
+ },
+ "is_binary": {
+ "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example": true,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"observation_encoded"
],
- "example":"observation_encoded",
- "type":"string"
+ "example": "observation_encoded",
+ "type": "string"
},
- "mime_type":{
- "description":"MIME type",
- "example":"application/gzip",
- "type":"string"
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
}
},
- "required":[
+ "required": [
"data",
"is_binary"
],
- "type":"object"
+ "type": "object"
},
- "payload":{
- "discriminator":{
- "mapping":{
- "acknowledgement":"#/components/schemas/acknowledgement",
- "mission_plan":"#/components/schemas/mission_plan",
- "mission_plan_encoded":"#/components/schemas/mission_plan_encoded",
- "observation":"#/components/schemas/observation",
- "observation_encoded":"#/components/schemas/observation_encoded",
- "planning_configuration":"#/components/schemas/planning_configuration",
- "platform_status":"#/components/schemas/platform_status",
- "platform_status_encoded":"#/components/schemas/platform_status_encoded",
- "survey":"#/components/schemas/survey",
- "survey_encoded":"#/components/schemas/survey_encoded"
- },
- "propertyName":"message_type"
+ "payload": {
+ "discriminator": {
+ "mapping": {
+ "acknowledgement": "#/components/schemas/acknowledgement",
+ "alert": "#/components/schemas/alert",
+ "mission_plan": "#/components/schemas/mission_plan",
+ "mission_plan_encoded": "#/components/schemas/mission_plan_encoded",
+ "observation": "#/components/schemas/observation",
+ "observation_encoded": "#/components/schemas/observation_encoded",
+ "planning_configuration": "#/components/schemas/planning_configuration",
+ "platform_status": "#/components/schemas/platform_status",
+ "platform_status_encoded": "#/components/schemas/platform_status_encoded",
+ "survey": "#/components/schemas/survey",
+ "survey_encoded": "#/components/schemas/survey_encoded"
+ },
+ "propertyName": "message_type"
},
- "oneOf":[
+ "oneOf": [
+ {
+ "$ref": "#/components/schemas/alert"
+ },
{
- "$ref":"#/components/schemas/acknowledgement"
+ "$ref": "#/components/schemas/acknowledgement"
},
{
- "$ref":"#/components/schemas/mission_plan"
+ "$ref": "#/components/schemas/mission_plan"
},
{
- "$ref":"#/components/schemas/mission_plan_encoded"
+ "$ref": "#/components/schemas/mission_plan_encoded"
},
{
- "$ref":"#/components/schemas/observation"
+ "$ref": "#/components/schemas/observation"
},
{
- "$ref":"#/components/schemas/observation_encoded"
+ "$ref": "#/components/schemas/observation_encoded"
},
{
- "$ref":"#/components/schemas/planning_configuration"
+ "$ref": "#/components/schemas/planning_configuration"
},
{
- "$ref":"#/components/schemas/platform_status"
+ "$ref": "#/components/schemas/platform_status"
},
{
- "$ref":"#/components/schemas/platform_status_encoded"
+ "$ref": "#/components/schemas/platform_status_encoded"
},
{
- "$ref":"#/components/schemas/survey"
+ "$ref": "#/components/schemas/survey"
},
{
- "$ref":"#/components/schemas/survey_encoded"
+ "$ref": "#/components/schemas/survey_encoded"
}
]
},
- "planning_configuration":{
- "properties":{
- "exclusion_zones":{
- "description":"Exclusion zones for all platforms",
- "items":{
- "description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
- "properties":{
- "geometry_coordinates":{
- "example":[
+ "planning_configuration": {
+ "properties": {
+ "exclusion_zones": {
+ "description": "Exclusion zones for all platforms",
+ "items": {
+ "description": "Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
+ "properties": {
+ "geometry_coordinates": {
+ "example": [
[
[
-4.1777839187560915,
@@ -430,33 +495,33 @@
]
]
],
- "type":"array"
+ "type": "array"
}
},
- "type":"object"
+ "type": "object"
},
- "type":"array"
+ "type": "array"
},
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"planning_configuration"
],
- "example":"planning_configuration",
- "type":"string"
- },
- "planning_config_ID":{
- "description":"Unique identifier tagged to version of this configuration plan",
- "example":3,
- "type":"integer"
- },
- "region_of_interest":{
- "description":"Region of interest for the entire operation",
- "items":{
- "description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
- "properties":{
- "geometry_coordinates":{
- "example":[
+ "example": "planning_configuration",
+ "type": "string"
+ },
+ "planning_config_ID": {
+ "description": "Unique identifier tagged to version of this configuration plan",
+ "example": 3,
+ "type": "integer"
+ },
+ "region_of_interest": {
+ "description": "Region of interest for the entire operation",
+ "items": {
+ "description": "Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
+ "properties": {
+ "geometry_coordinates": {
+ "example": [
[
[
-4.1777839187560915,
@@ -480,406 +545,430 @@
]
]
],
- "type":"array"
+ "type": "array"
}
},
- "type":"object"
+ "type": "object"
},
- "type":"array"
- },
- "squads":{
- "items":{
- "properties":{
- "no_of_platforms":{
- "description":"Number of platforms",
- "example":3,
- "type":"integer"
+ "type": "array"
+ },
+ "squads": {
+ "items": {
+ "properties": {
+ "no_of_platforms": {
+ "description": "Number of platforms",
+ "example": 3,
+ "type": "integer"
},
- "platforms":{
- "description":"Squad consists of these platforms",
- "items":{
- "properties":{
- "active":{
- "description":"If platform is active = True, and inactive = False",
- "example":true,
- "type":"boolean"
+ "platforms": {
+ "description": "Squad consists of these platforms",
+ "items": {
+ "properties": {
+ "active": {
+ "description": "If platform is active = True, and inactive = False",
+ "example": true,
+ "type": "boolean"
},
- "additional_data":{
- "description":"Any addition fields/data to be added here",
- "example":{
- "new_sensor_a":"test_sensor",
- "range":10.0
+ "additional_data": {
+ "description": "Any addition fields/data to be added here",
+ "example": {
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
},
- "type":"object"
+ "type": "object"
},
- "beacon_ID":{
- "description":"Unique identifier (number) for the beacon associated to this platform",
- "example":2407,
- "type":"number"
+ "beacon_ID": {
+ "description": "Unique identifier (number) for the beacon associated to this platform",
+ "example": 2407,
+ "type": "number"
},
- "emergency":{
- "properties":{
- "safe_command":{
- "description":"Command/Action that is native to respective partner's platform/C2",
- "enum":[
+ "emergency": {
+ "properties": {
+ "safe_command": {
+ "description": "Command/Action that is native to respective partner's platform/C2",
+ "enum": [
"go_home",
"abort_now",
"stop_now",
"surface_now"
],
- "example":"go_home",
- "type":"string"
+ "example": "go_home",
+ "type": "string"
},
- "target_depth":{
- "description":"Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
- "example":10.0,
- "format":"float",
- "type":"number"
+ "target_depth": {
+ "description": "Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
+ "example": 10.0,
+ "format": "float",
+ "type": "number"
},
- "target_waypoint_latitude":{
- "description":"Y-coordinate safe place for respective platform",
- "example":50.365,
- "format":"float",
- "type":"number"
+ "target_waypoint_latitude": {
+ "description": "Y-coordinate safe place for respective platform",
+ "example": 50.365,
+ "format": "float",
+ "type": "number"
},
- "target_waypoint_longitude":{
- "description":"X-coordinate safe place for respective platform",
- "example":-7.432,
- "format":"float",
- "type":"number"
+ "target_waypoint_longitude": {
+ "description": "X-coordinate safe place for respective platform",
+ "example": -7.432,
+ "format": "float",
+ "type": "number"
}
},
- "required":[
+ "required": [
"target_waypoint_latitude",
"target_waypoint_longitude",
"target_depth"
],
- "type":"object"
+ "type": "object"
},
- "endurance_relative_to_water_speed":{
- "properties":{
- "avg_battery_rating":{
- "description":"Battery endurance rating during standard operational speed usage (m/s)",
- "example":1.9,
- "format":"float",
- "type":"number"
+ "endurance_relative_to_water_speed": {
+ "properties": {
+ "avg_battery_rating": {
+ "description": "Battery endurance rating during standard operational speed usage (m/s)",
+ "example": 1.9,
+ "format": "float",
+ "type": "number"
},
- "max_battery_rating":{
- "description":"Battery endurance rating during maximum speed usage (m/s)",
- "example":1.23,
- "format":"float",
- "type":"number"
+ "max_battery_rating": {
+ "description": "Battery endurance rating during maximum speed usage (m/s)",
+ "example": 1.23,
+ "format": "float",
+ "type": "number"
},
- "min_battery_rating":{
- "description":"Battery endurance rating during maximum speed usage (m/s)",
- "example":3.32,
- "format":"float",
- "type":"number"
+ "min_battery_rating": {
+ "description": "Battery endurance rating during maximum speed usage (m/s)",
+ "example": 3.32,
+ "format": "float",
+ "type": "number"
}
},
- "type":"object"
+ "type": "object"
},
- "max_velocity":{
- "description":"Maximum velocity set for platform",
- "example":0.9,
- "format":"float",
- "type":"number"
+ "max_velocity": {
+ "description": "Maximum velocity set for platform",
+ "example": 0.9,
+ "format": "float",
+ "type": "number"
},
- "min_altitude":{
- "description":"Minimum altitude set for platform",
- "example":15.2,
- "format":"float",
- "type":"number"
+ "min_altitude": {
+ "description": "Minimum altitude set for platform",
+ "example": 15.2,
+ "format": "float",
+ "type": "number"
},
- "min_velocity":{
- "description":"Minimum velocity set for platform",
- "example":0.1,
- "format":"float",
- "type":"number"
+ "min_velocity": {
+ "description": "Minimum velocity set for platform",
+ "example": 0.1,
+ "format": "float",
+ "type": "number"
},
- "model":{
- "example":"reav",
- "type":"string"
+ "model": {
+ "example": "reav",
+ "type": "string"
},
- "operator":{
- "description":"Operator of platform",
- "example":"noc",
- "type":"string"
+ "operator": {
+ "description": "Operator of platform",
+ "example": "noc",
+ "type": "string"
},
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
},
- "scan_sensor":{
- "properties":{
- "angle":{
- "description":"Angle of range of swath width (in degrees)",
- "example":140.0,
- "format":"float",
- "type":"number"
+ "scan_sensor": {
+ "properties": {
+ "angle": {
+ "description": "Angle of range of swath width (in degrees)",
+ "example": 140.0,
+ "format": "float",
+ "type": "number"
},
- "frequency":{
- "description":"Frequency of scanning sensor (in kHz)",
- "example":700.0,
- "format":"float",
- "type":"number"
+ "frequency": {
+ "description": "Frequency of scanning sensor (in kHz)",
+ "example": 700.0,
+ "format": "float",
+ "type": "number"
},
- "sensor_type":{
- "description":"Unique identifier for this platform",
- "enum":[
+ "sensor_type": {
+ "description": "Unique identifier for this platform",
+ "enum": [
"SIDESCAN",
"MBES"
],
- "example":"MBES",
- "type":"string"
+ "example": "MBES",
+ "type": "string"
},
- "swath_width":{
- "description":"Function of `target_altitude` for the platform's swath width (in metres)",
- "example":38.0,
- "format":"float",
- "type":"number"
+ "swath_width": {
+ "description": "Function of `target_altitude` for the platform's swath width (in metres)",
+ "example": 38.0,
+ "format": "float",
+ "type": "number"
},
- "warmup_time":{
- "description":"Warmup time (seconds) for sensor to start up.",
- "example":180.0,
- "format":"float",
- "type":"number"
+ "warmup_time": {
+ "description": "Warmup time (seconds) for sensor to start up.",
+ "example": 180.0,
+ "format": "float",
+ "type": "number"
}
},
- "type":"object"
+ "type": "object"
},
- "target_altitude":{
- "description":"Target altitude set for platform. This affects swath width",
- "example":15.0,
- "format":"float",
- "type":"number"
+ "target_altitude": {
+ "description": "Target altitude set for platform. This affects swath width",
+ "example": 15.0,
+ "format": "float",
+ "type": "number"
},
- "turning_radius":{
- "description":"Turning radius of platform (in metres)",
- "example":1.0,
- "format":"float",
- "type":"number"
+ "turning_radius": {
+ "description": "Turning radius of platform (in metres)",
+ "example": 1.0,
+ "format": "float",
+ "type": "number"
}
},
- "required":[
+ "required": [
"operator",
"platform_ID",
"active",
"model"
],
- "type":"object"
+ "type": "object"
},
- "type":"array"
+ "type": "array"
},
- "squad_ID":{
- "description":"Identifier of given squad",
- "example":23,
- "type":"integer"
+ "squad_ID": {
+ "description": "Identifier of given squad",
+ "example": 23,
+ "type": "integer"
},
- "squad_mission_type":{
- "description":"Mission of given squad: `tracking`, `survey`, `inspection`",
- "enum":[
+ "squad_mission_type": {
+ "description": "Mission of given squad: `tracking`, `survey`, `inspection`",
+ "enum": [
"tracking",
"survey",
"inspection"
],
- "example":"survey",
- "type":"string"
+ "example": "survey",
+ "type": "string"
}
},
- "required":[
+ "required": [
"squad_ID",
"no_of_platforms",
"platforms",
"squad_mission_type"
],
- "type":"object"
+ "type": "object"
},
- "type":"array"
+ "type": "array"
}
},
- "required":[
+ "required": [
"message_type",
"planning_config_ID",
"squads",
"exclusion_zones",
"region_of_interest"
],
- "type":"object"
+ "type": "object"
},
- "platform_status":{
- "properties":{
- "altitude":{
- "description":"Target altitude in metres",
- "example":20.0,
- "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"
- },
- "depth":{
- "default":0.0,
- "description":"Target depth in metres",
- "example":50.0,
- "format":"float",
- "type":"number"
- },
- "heading":{
- "description":"Angular distance relative to north, usually 000\u00b0 at north, clockwise through 359\u00b0, in degrees",
- "example":124.3,
- "format":"float",
- "type":"number"
- },
- "health_status":{
- "description":"Health status where 0 is OK, 1 is platform has an ERROR",
- "example":false,
- "type":"boolean"
- },
- "latitude":{
- "description":"Latitude (Y-coordinate) in decimal degrees.",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "localisation_east_error":{
- "description":"Difference in EAST between deadreckoningand USBL update.",
- "example":0.000129,
- "format":"float",
- "type":"number"
- },
- "localisation_north_error":{
- "description":"Difference in NORTH between deadreckoning and USBL update.",
- "example":0.000129,
- "format":"float",
- "type":"number"
- },
- "longitude":{
- "description":"Longitude (X-coordinate) in decimal degrees.",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "platform_status": {
+ "properties": {
+ "altitude": {
+ "description": "Target altitude in metres",
+ "example": 20.0,
+ "format": "float",
+ "type": "number"
+ },
+ "autonomy_engine_plan_ID": {
+ "description": "Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
+ "example": 1,
+ "type": "integer"
+ },
+ "battery_output": {
+ "description": "Battery output in kW",
+ "example": 80.2,
+ "format": "float",
+ "type": "number"
+ },
+ "battery_remaining_capacity": {
+ "description": "Battery remaining % provided by respective C2",
+ "example": 80.2,
+ "format": "float",
+ "type": "number"
+ },
+ "depth": {
+ "default": 0.0,
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "format": "float",
+ "type": "number"
+ },
+ "endurance": {
+ "description": "Estimate of hours of operation remaining based on present output or performance",
+ "example": 7.4,
+ "format": "float",
+ "type": "number"
+ },
+ "fuel_remaining_capacity": {
+ "description": "Percentage remaining capacity",
+ "example": 80.2,
+ "format": "float",
+ "type": "number"
+ },
+ "fuel_volume": {
+ "description": "Litres of liquid fuel",
+ "example": 12.5,
+ "format": "float",
+ "type": "number"
+ },
+ "heading": {
+ "description": "Angular distance relative to north, usually 000\u00b0 at north, clockwise through 359\u00b0, in degrees",
+ "example": 124.3,
+ "format": "float",
+ "type": "number"
+ },
+ "health_status": {
+ "description": "Health status where 0 is OK, 1 is platform has an ERROR",
+ "example": false,
+ "type": "boolean"
+ },
+ "latitude": {
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "localisation_east_error": {
+ "description": "Difference in EAST between deadreckoningand USBL update.",
+ "example": 0.000129,
+ "format": "float",
+ "type": "number"
+ },
+ "localisation_north_error": {
+ "description": "Difference in NORTH between deadreckoning and USBL update.",
+ "example": 0.000129,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude": {
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"platform_status"
],
- "example":"platform_status",
- "type":"string"
- },
- "mission_plan_ID":{
- "description":"Mission plan ID according to platform-C2 system",
- "example":1,
- "type":"integer"
- },
- "mission_track_ID":{
- "description":"Track number - stage in mission (e.g. 4 --> Waypoint 3 to Waypoint 4)",
- "example":4,
- "type":"integer"
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
- },
- "platform_state":{
- "description":"Current state executed by platform. E.g. STOP, IDLE, ABORT.",
- "example":"ABORT",
- "type":"string"
- },
- "platform_timestamp":{
- "description":"Timestamp for onboard platform status message",
- "example":"2022-12-21T00:00:00Z",
- "format":"date-time",
- "type":"string"
- },
- "range_to_go":{
- "description":"Estimated distance to reach next waypoint",
- "example":124.3,
- "format":"float",
- "type":"number"
- },
- "sensor_config":{
- "description":"Scanning sensor on platform available to be controlled by the Autonomy Engine",
- "properties":{
- "additional_data":{
- "description":"Any addition fields/data to be added here",
- "example":{
- "payload":[
+ "example": "platform_status",
+ "type": "string"
+ },
+ "mission_plan_ID": {
+ "description": "Mission plan ID according to platform-C2 system",
+ "example": 1,
+ "type": "integer"
+ },
+ "mission_track_ID": {
+ "description": "Track number - stage in mission (e.g. 4 --> Waypoint 3 to Waypoint 4)",
+ "example": 4,
+ "type": "integer"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
+ },
+ "platform_state": {
+ "description": "Current state executed by platform. E.g. STOP, IDLE, ABORT.",
+ "example": "ABORT",
+ "type": "string"
+ },
+ "platform_timestamp": {
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "range_to_go": {
+ "description": "Estimated distance to reach next waypoint",
+ "example": 124.3,
+ "format": "float",
+ "type": "number"
+ },
+ "sensor_config": {
+ "description": "Scanning sensor on platform available to be controlled by the Autonomy Engine",
+ "properties": {
+ "additional_data": {
+ "description": "Any addition fields/data to be added here",
+ "example": {
+ "payload": [
1.2,
434
]
},
- "type":"object"
+ "type": "object"
},
- "sensor_on":{
- "description":"Sensor switched on (true) or off (false)",
- "example":true,
- "type":"boolean"
+ "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"
+ "sensor_serial": {
+ "description": "serial number of sensor",
+ "example": "mbes-002a",
+ "type": "string"
}
},
- "type":"object"
+ "type": "object"
},
- "speed_over_ground":{
- "description":"Speed over ground",
- "example":124.3,
- "format":"float",
- "type":"number"
+ "speed_over_ground": {
+ "description": "Speed over ground",
+ "example": 124.3,
+ "format": "float",
+ "type": "number"
},
- "status_source":{
- "description":"Indicate if this status message is from the platform or USBL",
- "enum":[
+ "status_source": {
+ "description": "Indicate if this status message is from the platform or USBL",
+ "enum": [
"usbl",
"onboard_platform"
],
- "example":"usbl",
- "type":"string"
- },
- "thrust_applied":{
- "description":"Thrust applied",
- "example":124.3,
- "format":"float",
- "type":"number"
- },
- "transmission_mode":{
- "description":"Mode in which status message was transmitted when on the surface (e.g. iridium/wifi) or underwater (e.g. acoustics)",
- "enum":[
+ "example": "usbl",
+ "type": "string"
+ },
+ "thrust_applied": {
+ "description": "Thrust applied",
+ "example": 124.3,
+ "format": "float",
+ "type": "number"
+ },
+ "transmission_mode": {
+ "description": "Mode in which status message was transmitted when on the surface (e.g. iridium/wifi) or underwater (e.g. acoustics)",
+ "enum": [
"acoustics",
"iridium",
"wifi",
"starlink"
],
- "example":"wifi",
- "type":"string"
- },
- "usbl_fix_seconds_ago":{
- "description":"USBL Fix received x second ago.",
- "example":10.0,
- "format":"float",
- "type":"number"
- },
- "water_current_velocity":{
- "description":"Water current magnitude and direction",
- "example":"124.3NE",
- "type":"string"
+ "example": "wifi",
+ "type": "string"
+ },
+ "usbl_fix_seconds_ago": {
+ "description": "USBL Fix received x second ago.",
+ "example": 10.0,
+ "format": "float",
+ "type": "number"
+ },
+ "water_current_velocity": {
+ "description": "Water current magnitude and direction",
+ "example": "124.3NE",
+ "type": "string"
}
},
- "required":[
+ "required": [
"message_type",
"platform_ID",
"status_source",
@@ -887,187 +976,186 @@
"latitude",
"longitude"
],
- "type":"object"
+ "type": "object"
},
- "platform_status_encoded":{
- "properties":{
- "data":{
- "description":"encoded string. E.g. Base64 encoded",
- "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type":"string"
- },
- "file_name":{
- "description":"Name of file",
- "example":"ah1-0238126349247372.bin",
- "type":"string"
- },
- "is_binary":{
- "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
- "example":true,
- "type":"boolean"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "platform_status_encoded": {
+ "properties": {
+ "data": {
+ "description": "encoded string. E.g. Base64 encoded",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "file_name": {
+ "description": "Name of file",
+ "example": "ah1-0238126349247372.bin",
+ "type": "string"
+ },
+ "is_binary": {
+ "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example": true,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"platform_status_encoded"
],
- "example":"platform_status_encoded",
- "type":"string"
+ "example": "platform_status_encoded",
+ "type": "string"
},
- "mime_type":{
- "description":"MIME type",
- "example":"application/gzip",
- "type":"string"
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
}
},
- "required":[
+ "required": [
"data",
"is_binary"
],
- "type":"object"
+ "type": "object"
},
- "survey":{
- "properties":{
- "latitude_A":{
- "description":"Latitude of point A(intersection of normal)from waypoint A to survey line",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "latitude_B":{
- "description":"Latitude of point B(intersection of normal)from waypoint B to survey line",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "latitude_C":{
- "description":"Latitude of point C(intersection of normal)from waypoint C to survey line",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "latitude_D":{
- "description":"Latitude of point D(intersection of normal)from waypoint D to survey line",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "latitude_E":{
- "description":"Latitude of point E(intersection of normal)from waypoint E to survey line",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "longitude_A":{
- "description":"Longitude of point A(intersection of normal)from waypoint A to survey line",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "longitude_B":{
- "description":"Longitude of point B(intersection of normal)from waypoint B to survey line",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "longitude_C":{
- "description":"Longitude of point C(intersection of normal)from waypoint C to survey line",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "longitude_D":{
- "description":"Longitude of point D(intersection of normal)from waypoint D to survey line",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "longitude_E":{
- "description":"Longitude of point E(intersection of normal)from waypoint E to survey line",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "survey": {
+ "properties": {
+ "latitude_A": {
+ "description": "Latitude of point A(intersection of normal)from waypoint A to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_B": {
+ "description": "Latitude of point B(intersection of normal)from waypoint B to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_C": {
+ "description": "Latitude of point C(intersection of normal)from waypoint C to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_D": {
+ "description": "Latitude of point D(intersection of normal)from waypoint D to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_E": {
+ "description": "Latitude of point E(intersection of normal)from waypoint E to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_A": {
+ "description": "Longitude of point A(intersection of normal)from waypoint A to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_B": {
+ "description": "Longitude of point B(intersection of normal)from waypoint B to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_C": {
+ "description": "Longitude of point C(intersection of normal)from waypoint C to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_D": {
+ "description": "Longitude of point D(intersection of normal)from waypoint D to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_E": {
+ "description": "Longitude of point E(intersection of normal)from waypoint E to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"survey"
],
- "example":"survey",
- "type":"string"
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"ecosub-2",
- "type":"string"
- },
- "timestamp":{
- "description":"Timestamp for onboard message",
- "example":"2022-12-21T00:00:00Z",
- "format":"date-time",
- "type":"string"
- },
- "track_ID":{
- "description":"Track number of action(s) currently executed by platform",
- "example":1,
- "type":"integer"
+ "example": "survey",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "ecosub-2",
+ "type": "string"
+ },
+ "timestamp": {
+ "description": "Timestamp for onboard message",
+ "example": "2022-12-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "track_ID": {
+ "description": "Track number of action(s) currently executed by platform",
+ "example": 1,
+ "type": "integer"
}
},
- "required":[
+ "required": [
"latitude_A",
"longitude_A",
"latitude_B",
"longitude_B",
"platform_ID"
],
- "type":"object"
+ "type": "object"
},
- "survey_encoded":{
- "properties":{
- "data":{
- "description":"encoded string. E.g. Base64 encoded",
- "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type":"string"
- },
- "file_name":{
- "description":"Name of file",
- "example":"ah1-0238126349247372.bin",
- "type":"string"
- },
- "is_binary":{
- "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
- "example":true,
- "type":"boolean"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "survey_encoded": {
+ "properties": {
+ "data": {
+ "description": "encoded string. E.g. Base64 encoded",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "file_name": {
+ "description": "Name of file",
+ "example": "ah1-0238126349247372.bin",
+ "type": "string"
+ },
+ "is_binary": {
+ "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example": true,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"survey_encoded"
],
- "example":"survey_encoded",
- "type":"string"
+ "example": "survey_encoded",
+ "type": "string"
},
- "mime_type":{
- "description":"MIME type",
- "example":"application/gzip",
- "type":"string"
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
}
},
- "required":[
+ "required": [
"data",
"is_binary"
],
- "type":"object"
+ "type": "object"
}
}
},
- "info":{
- "description":"SoAR message protocol in schemas",
- "title":"SoAR Backbone Message Formats",
- "version":"1.0"
+ "definitions": {},
+ "info": {
+ "description": "SoAR message protocol in schemas",
+ "title": "SoAR Backbone Message Formats",
+ "version": "1.0"
},
- "openapi":"3.0.2",
- "paths":{
-
- }
+ "openapi": "3.0.2",
+ "paths": {}
}
\ No newline at end of file
diff --git a/tests/fixtures/schemas.py b/tests/fixtures/schemas.py
index 2aba8e7fa1282d43f447b058e04cbcd6de3742f9..6d365989c15d4fc5abacce689a25f363ae6e306f 100644
--- a/tests/fixtures/schemas.py
+++ b/tests/fixtures/schemas.py
@@ -454,6 +454,7 @@ platform_status_schema = {
"type": "string",
"description": "Type of message",
"example": "platform_status",
+ "enum": ["platform_status"],
},
"platform_ID": {
"type": "string",
@@ -486,7 +487,7 @@ platform_status_schema = {
"description": "Current state executed by platform. E.g. "
+ "STOP, IDLE, ABORT.",
"example": "ABORT",
- },
+ }, # TODO: Define enum with potential STATES of each platform
"autonomy_engine_plan_ID": {
"type": "integer",
"description": "Last mission plan ID (according to Autonomy"
@@ -496,13 +497,13 @@ platform_status_schema = {
"latitude": {
"type": "number",
"format": "float",
- "description": "Latitude in decimal degrees.",
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
"example": 178.2,
},
"longitude": {
"type": "number",
"format": "float",
- "description": "Longitude in decimal degrees.",
+ "description": "Longitude (X-coordinate) in decimal degrees.",
"example": -10.122,
},
"depth": {
@@ -516,7 +517,7 @@ platform_status_schema = {
"type": "number",
"format": "float",
"description": "Target altitude in metres",
- "example": 20,
+ "example": 20.0,
},
"mission_track_ID": {
"type": "integer",
@@ -542,7 +543,7 @@ platform_status_schema = {
"example": 124.3,
},
"water_current_velocity": {
- "format": "string",
+ "type": "string",
"description": "Water current magnitude and direction",
"example": "124.3NE",
},
@@ -561,8 +562,8 @@ platform_status_schema = {
},
"health_status": {
"type": "boolean",
- "description": "Health status where 0 is OK, 1 is platform"
- + " has an ERROR",
+ "description": "Health status where 0 is OK, 1 is platform has"
+ + " an ERROR",
"example": False,
},
"localisation_north_error": {
@@ -576,7 +577,7 @@ platform_status_schema = {
"type": "number",
"format": "float",
"description": "Difference in EAST between deadreckoning"
- + " and USBL update.",
+ + "and USBL update.",
"example": 0.000129,
},
"usbl_fix_seconds_ago": {
@@ -591,6 +592,39 @@ platform_status_schema = {
"description": "Battery remaining % provided by respective C2",
"example": 80.2,
},
+
+ # Battery power (kw / float)
+ "battery_output": { # changed from battery_power
+ "type": "number",
+ "format": "float",
+ "description": "Battery output in kW",
+ "example": 80.2,
+ },
+ # Bunkers remaining capacity (litres, float)
+ # Bunkers percentage full (percentage, float)
+ # battery_remaining_capacity is % full if we want both these fields
+ # these names are going to cause confusion
+ "fuel_remaining_capacity": {
+ "type": "number",
+ "format": "float",
+ "description": "Percentage remaining capacity",
+ "example": 80.2,
+ },
+ "fuel_volume": {
+ "type": "number",
+ "format": "float",
+ "description": "Litres of liquid fuel",
+ "example": 12.5,
+ },
+ # Endurance (hours, float)
+ "endurance": {
+ "type": "number",
+ "format": "float",
+ "description": "Estimate of hours of operation remaining "
+ + "based on present output or performance",
+ "example": 7.4,
+ },
+
"sensor_config": sensor_schema,
},
"required": [
@@ -602,3 +636,59 @@ platform_status_schema = {
"longitude",
],
}
+
+alert_schema = {
+ "type": "object",
+ "properties": {
+ "message_type": {
+ "type": "string",
+ "description": "Type of message",
+ "example": "alert",
+ "enum": ["alert"],
+ },
+ "code": { # changed from alert_ID because reasons
+ "type": "integer",
+ "description": "Alert code",
+ "example": 345,
+ },
+ "platform_ID": {
+ "type": "string",
+ "description": "Unique identifier for this platform",
+ "example": "usvdecibel",
+ },
+ "platform_timestamp": {
+ "type": "string",
+ "format": "date-time",
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ },
+ "subsystem": { # changed from suggested "source" could be device / subsystem or something
+ "type": "string",
+ "description": "System that generated the alert",
+ "example": "Onboard Fault Monitor",
+ },
+ "summary": {
+ "type": "string",
+ "description": "High level description of the alert",
+ "example": "Steering Damage - Port Side",
+ },
+ "details": {
+ "type": "string",
+ "description": "Detailed reason for the alert ",
+ "example": "Discrepancy between rudder and actuator positions" +
+ " : Rudder Pos=10.31°, Steering Actuator Pos=28.65°, Discrepancy=18.33°",
+ },
+ "severity": {
+ "type": "string",
+ "description": "Severity level of alert",
+ "example": "Alarm",
+ "enum": ["Emergency", "Alarm", "Warning", "Caution"],
+ },
+ },
+ "required": [
+ "message_type",
+ "platform_ID",
+ "code",
+ "severity",
+ ],
+}
\ No newline at end of file
diff --git a/tests/fixtures/swagger.json b/tests/fixtures/swagger.json
index c9b04015ac06f15fe76fa101612f34484a980104..85727bfca507e1c56a7e53cb064792d70cae1b7d 100644
--- a/tests/fixtures/swagger.json
+++ b/tests/fixtures/swagger.json
@@ -1,132 +1,193 @@
{
- "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":{
- "$ref":"#/components/schemas/payload"
+ "components": {
+ "schemas": {
+ "MESSAGE": {
+ "description": "Full message definition with message-metadata in `header` and different message type schemas under `payload`",
+ "properties": {
+ "header": {
+ "$ref": "#/components/schemas/header"
+ },
+ "payload": {
+ "$ref": "#/components/schemas/payload"
}
},
- "required":[
+ "required": [
"header",
"payload"
],
- "type":"object"
+ "type": "object"
},
- "acknowledgement":{
- "properties":{
- "approved":{
- "description":"Human-in-the-loop approval.1 - Plan approved; 0 - Plan Rejected",
- "type":"boolean"
- },
- "autonomy_engine_plan_ID":{
- "description":"Mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
- "example":1,
- "type":"integer"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "acknowledgement": {
+ "properties": {
+ "approved": {
+ "description": "Human-in-the-loop approval.1 - Plan approved; 0 - Plan Rejected",
+ "type": "boolean"
+ },
+ "autonomy_engine_plan_ID": {
+ "description": "Mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
+ "example": 1,
+ "type": "integer"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"acknowledgement"
],
- "example":"acknowledgement",
- "type":"string"
+ "example": "acknowledgement",
+ "type": "string"
},
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
}
},
- "required":[
+ "required": [
"message_type",
"autonomy_engine_plan_ID",
"platform_ID",
"approved"
],
- "type":"object"
+ "type": "object"
},
- "header":{
- "discriminator":{
- "propertyName":"message_type"
+ "alert": {
+ "properties": {
+ "code": {
+ "description": "Alert code",
+ "example": 345,
+ "type": "integer"
+ },
+ "details": {
+ "description": "Detailed reason for the alert ",
+ "example": "Discrepancy between rudder and actuator positions : Rudder Pos=10.31\u00b0, Steering Actuator Pos=28.65\u00b0, Discrepancy=18.33\u00b0",
+ "type": "string"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "alert"
+ ],
+ "example": "alert",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "usvdecibel",
+ "type": "string"
+ },
+ "platform_timestamp": {
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "severity": {
+ "description": "Severity level of alert",
+ "enum": [
+ "Emergency",
+ "Alarm",
+ "Warning",
+ "Caution"
+ ],
+ "example": "Alarm",
+ "type": "string"
+ },
+ "subsystem": {
+ "description": "System that generated the alert",
+ "example": "Onboard Fault Monitor",
+ "type": "string"
+ },
+ "summary": {
+ "description": "High level description of the alert",
+ "example": "Steering Damage - Port Side",
+ "type": "string"
+ }
},
- "properties":{
- "delivery_type":{
- "default":"publish",
- "description":"To publish or broadcast this message.",
- "enum":[
+ "required": [
+ "message_type",
+ "platform_ID",
+ "code",
+ "severity"
+ ],
+ "type": "object"
+ },
+ "header": {
+ "discriminator": {
+ "propertyName": "message_type"
+ },
+ "properties": {
+ "delivery_type": {
+ "default": "publish",
+ "description": "To publish or broadcast this message.",
+ "enum": [
"broadcast",
"publish"
],
- "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"
+ "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"
+ "type": "object"
},
- "mission_plan":{
- "properties":{
- "autonomy_engine_plan_ID":{
- "description":"Unique identifier for this plangenerated by the Autonomy Engine",
- "example":3,
- "type":"integer"
- },
- "emergency":{
- "default":false,
- "description":"To indicate if this is an emergency. true = emergency and false = no emergency",
- "example":false,
- "type":"boolean"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "mission_plan": {
+ "properties": {
+ "autonomy_engine_plan_ID": {
+ "description": "Unique identifier for this plangenerated by the Autonomy Engine",
+ "example": 3,
+ "type": "integer"
+ },
+ "emergency": {
+ "default": false,
+ "description": "To indicate if this is an emergency. true = emergency and false = no emergency",
+ "example": false,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"mission_plan"
],
- "example":"mission_plan",
- "type":"string"
- },
- "plan":{
- "items":{
- "properties":{
- "action":{
- "description":"Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
- "enum":[
+ "example": "mission_plan",
+ "type": "string"
+ },
+ "plan": {
+ "items": {
+ "properties": {
+ "action": {
+ "description": "Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
+ "enum": [
"move",
"payload",
"dive",
@@ -138,275 +199,279 @@
"stop_mission",
"abort_now"
],
- "example":"move",
- "type":"string"
+ "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"
+ "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"
+ "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"
+ "depth": {
+ "description": "Depth of next action",
+ "example": 15.0,
+ "format": "float",
+ "type": "number"
},
- "start_point_latitude":{
- "description":"Start point, y-coordinate",
- "example":50.37072283932642,
- "format":"float",
- "type":"number"
+ "start_point_latitude": {
+ "description": "Start point, y-coordinate",
+ "example": 50.37072283932642,
+ "format": "float",
+ "type": "number"
},
- "start_point_longitude":{
- "description":"Start point, x-coordinate",
- "example":-4.187143188645706,
- "format":"float",
- "type":"number"
+ "start_point_longitude": {
+ "description": "Start point, x-coordinate",
+ "example": -4.187143188645706,
+ "format": "float",
+ "type": "number"
},
- "target_waypoint_latitude":{
- "description":"Target waypoint, y-coordinate",
- "example":50.37072283932642,
- "format":"float",
- "type":"number"
+ "target_waypoint_latitude": {
+ "description": "Target waypoint, y-coordinate",
+ "example": 50.37072283932642,
+ "format": "float",
+ "type": "number"
},
- "target_waypoint_longitude":{
- "description":"Target waypoint, x-coordinate",
- "example":-4.187143188645706,
- "format":"float",
- "type":"number"
+ "target_waypoint_longitude": {
+ "description": "Target waypoint, x-coordinate",
+ "example": -4.187143188645706,
+ "format": "float",
+ "type": "number"
},
- "timeout":{
- "description":"Timeout set to perform action",
- "example":1800.0,
- "format":"float",
- "type":"number"
+ "timeout": {
+ "description": "Timeout set to perform action",
+ "example": 1800.0,
+ "format": "float",
+ "type": "number"
}
},
- "required":[
+ "required": [
"target_waypoint_latitude",
"target_waypoint_longitude"
],
- "type":"object"
+ "type": "object"
},
- "type":"array"
+ "type": "array"
},
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
}
},
- "required":[
+ "required": [
"message_type",
"autonomy_engine_plan_ID",
"platform_ID",
"plan"
],
- "type":"object"
+ "type": "object"
},
- "mission_plan_encoded":{
- "properties":{
- "data":{
- "description":"encoded string. E.g. Base64 encoded",
- "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type":"string"
- },
- "file_name":{
- "description":"Name of file",
- "example":"ah1-0238126349247372.bin",
- "type":"string"
- },
- "is_binary":{
- "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
- "example":true,
- "type":"boolean"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "mission_plan_encoded": {
+ "properties": {
+ "data": {
+ "description": "encoded string. E.g. Base64 encoded",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "file_name": {
+ "description": "Name of file",
+ "example": "ah1-0238126349247372.bin",
+ "type": "string"
+ },
+ "is_binary": {
+ "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example": true,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"mission_plan_encoded"
],
- "example":"mission_plan_encoded",
- "type":"string"
+ "example": "mission_plan_encoded",
+ "type": "string"
},
- "mime_type":{
- "description":"MIME type",
- "example":"application/gzip",
- "type":"string"
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
}
},
- "required":[
+ "required": [
"data",
"is_binary"
],
- "type":"object"
+ "type": "object"
},
- "observation":{
- "properties":{
- "additional_data":{
- "description":"Placeholder field for any additional data",
- "example":{
- "sensor_payload":false
+ "observation": {
+ "properties": {
+ "additional_data": {
+ "description": "Placeholder field for any additional data",
+ "example": {
+ "sensor_payload": false
}
},
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"observation"
],
- "example":"observation",
- "type":"string"
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
- },
- "points_of_interest":{
- "description":"Points from features of interest identified by platform if any found.",
- "items":{
- "properties":{
- "latitude":{
- "description":"Identified y-coordinate of point of interest",
- "example":178.2,
- "format":"float",
- "type":"number"
+ "example": "observation",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
+ },
+ "points_of_interest": {
+ "description": "Points from features of interest identified by platform if any found.",
+ "items": {
+ "properties": {
+ "latitude": {
+ "description": "Identified y-coordinate of point of interest",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
},
- "longitude":{
- "description":"Identified x-coordinate of point of interest",
- "example":-10.122,
- "format":"float",
- "type":"number"
+ "longitude": {
+ "description": "Identified x-coordinate of point of interest",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
},
- "quality_of_point":{
- "description":"Quality/strength of points from features of interest identified by platform.",
- "example":0.98,
- "format":"float",
- "type":"number"
+ "quality_of_point": {
+ "description": "Quality/strength of points from features of interest identified by platform.",
+ "example": 0.98,
+ "format": "float",
+ "type": "number"
}
},
- "required":[
+ "required": [
"latitude",
"longitude"
],
- "type":"object"
+ "type": "object"
},
- "type":"array"
+ "type": "array"
},
- "region_surveyed":{
- "description":"Region surveyed by given platform. GEOJSON",
- "example":"",
- "nullable":true
+ "region_surveyed": {
+ "description": "Region surveyed by given platform. GEOJSON",
+ "example": "",
+ "nullable": true
}
},
- "required":[
+ "required": [
"message_type",
"platform_ID"
],
- "type":"object"
+ "type": "object"
},
- "observation_encoded":{
- "properties":{
- "data":{
- "description":"encoded string. E.g. Base64 encoded",
- "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type":"string"
- },
- "file_name":{
- "description":"Name of file",
- "example":"ah1-0238126349247372.bin",
- "type":"string"
- },
- "is_binary":{
- "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
- "example":true,
- "type":"boolean"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "observation_encoded": {
+ "properties": {
+ "data": {
+ "description": "encoded string. E.g. Base64 encoded",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "file_name": {
+ "description": "Name of file",
+ "example": "ah1-0238126349247372.bin",
+ "type": "string"
+ },
+ "is_binary": {
+ "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example": true,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"observation_encoded"
],
- "example":"observation_encoded",
- "type":"string"
+ "example": "observation_encoded",
+ "type": "string"
},
- "mime_type":{
- "description":"MIME type",
- "example":"application/gzip",
- "type":"string"
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
}
},
- "required":[
+ "required": [
"data",
"is_binary"
],
- "type":"object"
+ "type": "object"
},
- "payload":{
- "discriminator":{
- "mapping":{
- "acknowledgement":"#/components/schemas/acknowledgement",
- "mission_plan":"#/components/schemas/mission_plan",
- "mission_plan_encoded":"#/components/schemas/mission_plan_encoded",
- "observation":"#/components/schemas/observation",
- "observation_encoded":"#/components/schemas/observation_encoded",
- "planning_configuration":"#/components/schemas/planning_configuration",
- "platform_status":"#/components/schemas/platform_status",
- "platform_status_encoded":"#/components/schemas/platform_status_encoded",
- "survey":"#/components/schemas/survey",
- "survey_encoded":"#/components/schemas/survey_encoded"
- },
- "propertyName":"message_type"
+ "payload": {
+ "discriminator": {
+ "mapping": {
+ "acknowledgement": "#/components/schemas/acknowledgement",
+ "alert": "#/components/schemas/alert",
+ "mission_plan": "#/components/schemas/mission_plan",
+ "mission_plan_encoded": "#/components/schemas/mission_plan_encoded",
+ "observation": "#/components/schemas/observation",
+ "observation_encoded": "#/components/schemas/observation_encoded",
+ "planning_configuration": "#/components/schemas/planning_configuration",
+ "platform_status": "#/components/schemas/platform_status",
+ "platform_status_encoded": "#/components/schemas/platform_status_encoded",
+ "survey": "#/components/schemas/survey",
+ "survey_encoded": "#/components/schemas/survey_encoded"
+ },
+ "propertyName": "message_type"
},
- "oneOf":[
+ "oneOf": [
{
- "$ref":"#/components/schemas/acknowledgement"
+ "$ref": "#/components/schemas/alert"
},
{
- "$ref":"#/components/schemas/mission_plan"
+ "$ref": "#/components/schemas/acknowledgement"
},
{
- "$ref":"#/components/schemas/mission_plan_encoded"
+ "$ref": "#/components/schemas/mission_plan"
},
{
- "$ref":"#/components/schemas/observation"
+ "$ref": "#/components/schemas/mission_plan_encoded"
},
{
- "$ref":"#/components/schemas/observation_encoded"
+ "$ref": "#/components/schemas/observation"
},
{
- "$ref":"#/components/schemas/planning_configuration"
+ "$ref": "#/components/schemas/observation_encoded"
},
{
- "$ref":"#/components/schemas/platform_status"
+ "$ref": "#/components/schemas/planning_configuration"
},
{
- "$ref":"#/components/schemas/platform_status_encoded"
+ "$ref": "#/components/schemas/platform_status"
},
{
- "$ref":"#/components/schemas/survey"
+ "$ref": "#/components/schemas/platform_status_encoded"
},
{
- "$ref":"#/components/schemas/survey_encoded"
+ "$ref": "#/components/schemas/survey"
+ },
+ {
+ "$ref": "#/components/schemas/survey_encoded"
}
]
},
- "planning_configuration":{
- "properties":{
- "exclusion_zones":{
- "description":"Exclusion zones for all platforms",
- "items":{
- "description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
- "properties":{
- "geometry_coordinates":{
- "example":[
+ "planning_configuration": {
+ "properties": {
+ "exclusion_zones": {
+ "description": "Exclusion zones for all platforms",
+ "items": {
+ "description": "Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
+ "properties": {
+ "geometry_coordinates": {
+ "example": [
[
[
-4.1777839187560915,
@@ -430,33 +495,33 @@
]
]
],
- "type":"array"
+ "type": "array"
}
},
- "type":"object"
+ "type": "object"
},
- "type":"array"
+ "type": "array"
},
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"planning_configuration"
],
- "example":"planning_configuration",
- "type":"string"
- },
- "planning_config_ID":{
- "description":"Unique identifier tagged to version of this configuration plan",
- "example":3,
- "type":"integer"
- },
- "region_of_interest":{
- "description":"Region of interest for the entire operation",
- "items":{
- "description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
- "properties":{
- "geometry_coordinates":{
- "example":[
+ "example": "planning_configuration",
+ "type": "string"
+ },
+ "planning_config_ID": {
+ "description": "Unique identifier tagged to version of this configuration plan",
+ "example": 3,
+ "type": "integer"
+ },
+ "region_of_interest": {
+ "description": "Region of interest for the entire operation",
+ "items": {
+ "description": "Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
+ "properties": {
+ "geometry_coordinates": {
+ "example": [
[
[
-4.1777839187560915,
@@ -480,406 +545,430 @@
]
]
],
- "type":"array"
+ "type": "array"
}
},
- "type":"object"
+ "type": "object"
},
- "type":"array"
- },
- "squads":{
- "items":{
- "properties":{
- "no_of_platforms":{
- "description":"Number of platforms",
- "example":3,
- "type":"integer"
+ "type": "array"
+ },
+ "squads": {
+ "items": {
+ "properties": {
+ "no_of_platforms": {
+ "description": "Number of platforms",
+ "example": 3,
+ "type": "integer"
},
- "platforms":{
- "description":"Squad consists of these platforms",
- "items":{
- "properties":{
- "active":{
- "description":"If platform is active = True, and inactive = False",
- "example":true,
- "type":"boolean"
+ "platforms": {
+ "description": "Squad consists of these platforms",
+ "items": {
+ "properties": {
+ "active": {
+ "description": "If platform is active = True, and inactive = False",
+ "example": true,
+ "type": "boolean"
},
- "additional_data":{
- "description":"Any addition fields/data to be added here",
- "example":{
- "new_sensor_a":"test_sensor",
- "range":10.0
+ "additional_data": {
+ "description": "Any addition fields/data to be added here",
+ "example": {
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
},
- "type":"object"
+ "type": "object"
},
- "beacon_ID":{
- "description":"Unique identifier (number) for the beacon associated to this platform",
- "example":2407,
- "type":"number"
+ "beacon_ID": {
+ "description": "Unique identifier (number) for the beacon associated to this platform",
+ "example": 2407,
+ "type": "number"
},
- "emergency":{
- "properties":{
- "safe_command":{
- "description":"Command/Action that is native to respective partner's platform/C2",
- "enum":[
+ "emergency": {
+ "properties": {
+ "safe_command": {
+ "description": "Command/Action that is native to respective partner's platform/C2",
+ "enum": [
"go_home",
"abort_now",
"stop_now",
"surface_now"
],
- "example":"go_home",
- "type":"string"
+ "example": "go_home",
+ "type": "string"
},
- "target_depth":{
- "description":"Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
- "example":10.0,
- "format":"float",
- "type":"number"
+ "target_depth": {
+ "description": "Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
+ "example": 10.0,
+ "format": "float",
+ "type": "number"
},
- "target_waypoint_latitude":{
- "description":"Y-coordinate safe place for respective platform",
- "example":50.365,
- "format":"float",
- "type":"number"
+ "target_waypoint_latitude": {
+ "description": "Y-coordinate safe place for respective platform",
+ "example": 50.365,
+ "format": "float",
+ "type": "number"
},
- "target_waypoint_longitude":{
- "description":"X-coordinate safe place for respective platform",
- "example":-7.432,
- "format":"float",
- "type":"number"
+ "target_waypoint_longitude": {
+ "description": "X-coordinate safe place for respective platform",
+ "example": -7.432,
+ "format": "float",
+ "type": "number"
}
},
- "required":[
+ "required": [
"target_waypoint_latitude",
"target_waypoint_longitude",
"target_depth"
],
- "type":"object"
+ "type": "object"
},
- "endurance_relative_to_water_speed":{
- "properties":{
- "avg_battery_rating":{
- "description":"Battery endurance rating during standard operational speed usage (m/s)",
- "example":1.9,
- "format":"float",
- "type":"number"
+ "endurance_relative_to_water_speed": {
+ "properties": {
+ "avg_battery_rating": {
+ "description": "Battery endurance rating during standard operational speed usage (m/s)",
+ "example": 1.9,
+ "format": "float",
+ "type": "number"
},
- "max_battery_rating":{
- "description":"Battery endurance rating during maximum speed usage (m/s)",
- "example":1.23,
- "format":"float",
- "type":"number"
+ "max_battery_rating": {
+ "description": "Battery endurance rating during maximum speed usage (m/s)",
+ "example": 1.23,
+ "format": "float",
+ "type": "number"
},
- "min_battery_rating":{
- "description":"Battery endurance rating during maximum speed usage (m/s)",
- "example":3.32,
- "format":"float",
- "type":"number"
+ "min_battery_rating": {
+ "description": "Battery endurance rating during maximum speed usage (m/s)",
+ "example": 3.32,
+ "format": "float",
+ "type": "number"
}
},
- "type":"object"
+ "type": "object"
},
- "max_velocity":{
- "description":"Maximum velocity set for platform",
- "example":0.9,
- "format":"float",
- "type":"number"
+ "max_velocity": {
+ "description": "Maximum velocity set for platform",
+ "example": 0.9,
+ "format": "float",
+ "type": "number"
},
- "min_altitude":{
- "description":"Minimum altitude set for platform",
- "example":15.2,
- "format":"float",
- "type":"number"
+ "min_altitude": {
+ "description": "Minimum altitude set for platform",
+ "example": 15.2,
+ "format": "float",
+ "type": "number"
},
- "min_velocity":{
- "description":"Minimum velocity set for platform",
- "example":0.1,
- "format":"float",
- "type":"number"
+ "min_velocity": {
+ "description": "Minimum velocity set for platform",
+ "example": 0.1,
+ "format": "float",
+ "type": "number"
},
- "model":{
- "example":"reav",
- "type":"string"
+ "model": {
+ "example": "reav",
+ "type": "string"
},
- "operator":{
- "description":"Operator of platform",
- "example":"noc",
- "type":"string"
+ "operator": {
+ "description": "Operator of platform",
+ "example": "noc",
+ "type": "string"
},
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
},
- "scan_sensor":{
- "properties":{
- "angle":{
- "description":"Angle of range of swath width (in degrees)",
- "example":140.0,
- "format":"float",
- "type":"number"
+ "scan_sensor": {
+ "properties": {
+ "angle": {
+ "description": "Angle of range of swath width (in degrees)",
+ "example": 140.0,
+ "format": "float",
+ "type": "number"
},
- "frequency":{
- "description":"Frequency of scanning sensor (in kHz)",
- "example":700.0,
- "format":"float",
- "type":"number"
+ "frequency": {
+ "description": "Frequency of scanning sensor (in kHz)",
+ "example": 700.0,
+ "format": "float",
+ "type": "number"
},
- "sensor_type":{
- "description":"Unique identifier for this platform",
- "enum":[
+ "sensor_type": {
+ "description": "Unique identifier for this platform",
+ "enum": [
"SIDESCAN",
"MBES"
],
- "example":"MBES",
- "type":"string"
+ "example": "MBES",
+ "type": "string"
},
- "swath_width":{
- "description":"Function of `target_altitude` for the platform's swath width (in metres)",
- "example":38.0,
- "format":"float",
- "type":"number"
+ "swath_width": {
+ "description": "Function of `target_altitude` for the platform's swath width (in metres)",
+ "example": 38.0,
+ "format": "float",
+ "type": "number"
},
- "warmup_time":{
- "description":"Warmup time (seconds) for sensor to start up.",
- "example":180.0,
- "format":"float",
- "type":"number"
+ "warmup_time": {
+ "description": "Warmup time (seconds) for sensor to start up.",
+ "example": 180.0,
+ "format": "float",
+ "type": "number"
}
},
- "type":"object"
+ "type": "object"
},
- "target_altitude":{
- "description":"Target altitude set for platform. This affects swath width",
- "example":15.0,
- "format":"float",
- "type":"number"
+ "target_altitude": {
+ "description": "Target altitude set for platform. This affects swath width",
+ "example": 15.0,
+ "format": "float",
+ "type": "number"
},
- "turning_radius":{
- "description":"Turning radius of platform (in metres)",
- "example":1.0,
- "format":"float",
- "type":"number"
+ "turning_radius": {
+ "description": "Turning radius of platform (in metres)",
+ "example": 1.0,
+ "format": "float",
+ "type": "number"
}
},
- "required":[
+ "required": [
"operator",
"platform_ID",
"active",
"model"
],
- "type":"object"
+ "type": "object"
},
- "type":"array"
+ "type": "array"
},
- "squad_ID":{
- "description":"Identifier of given squad",
- "example":23,
- "type":"integer"
+ "squad_ID": {
+ "description": "Identifier of given squad",
+ "example": 23,
+ "type": "integer"
},
- "squad_mission_type":{
- "description":"Mission of given squad: `tracking`, `survey`, `inspection`",
- "enum":[
+ "squad_mission_type": {
+ "description": "Mission of given squad: `tracking`, `survey`, `inspection`",
+ "enum": [
"tracking",
"survey",
"inspection"
],
- "example":"survey",
- "type":"string"
+ "example": "survey",
+ "type": "string"
}
},
- "required":[
+ "required": [
"squad_ID",
"no_of_platforms",
"platforms",
"squad_mission_type"
],
- "type":"object"
+ "type": "object"
},
- "type":"array"
+ "type": "array"
}
},
- "required":[
+ "required": [
"message_type",
"planning_config_ID",
"squads",
"exclusion_zones",
"region_of_interest"
],
- "type":"object"
+ "type": "object"
},
- "platform_status":{
- "properties":{
- "altitude":{
- "description":"Target altitude in metres",
- "example":20.0,
- "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"
- },
- "depth":{
- "default":0.0,
- "description":"Target depth in metres",
- "example":50.0,
- "format":"float",
- "type":"number"
- },
- "heading":{
- "description":"Angular distance relative to north, usually 000\u00b0 at north, clockwise through 359\u00b0, in degrees",
- "example":124.3,
- "format":"float",
- "type":"number"
- },
- "health_status":{
- "description":"Health status where 0 is OK, 1 is platform has an ERROR",
- "example":false,
- "type":"boolean"
- },
- "latitude":{
- "description":"Latitude (Y-coordinate) in decimal degrees.",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "localisation_east_error":{
- "description":"Difference in EAST between deadreckoningand USBL update.",
- "example":0.000129,
- "format":"float",
- "type":"number"
- },
- "localisation_north_error":{
- "description":"Difference in NORTH between deadreckoning and USBL update.",
- "example":0.000129,
- "format":"float",
- "type":"number"
- },
- "longitude":{
- "description":"Longitude (X-coordinate) in decimal degrees.",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "platform_status": {
+ "properties": {
+ "altitude": {
+ "description": "Target altitude in metres",
+ "example": 20.0,
+ "format": "float",
+ "type": "number"
+ },
+ "autonomy_engine_plan_ID": {
+ "description": "Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
+ "example": 1,
+ "type": "integer"
+ },
+ "battery_output": {
+ "description": "Battery output in kW",
+ "example": 80.2,
+ "format": "float",
+ "type": "number"
+ },
+ "battery_remaining_capacity": {
+ "description": "Battery remaining % provided by respective C2",
+ "example": 80.2,
+ "format": "float",
+ "type": "number"
+ },
+ "depth": {
+ "default": 0.0,
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "format": "float",
+ "type": "number"
+ },
+ "endurance": {
+ "description": "Estimate of hours of operation remaining based on present output or performance",
+ "example": 7.4,
+ "format": "float",
+ "type": "number"
+ },
+ "fuel_remaining_capacity": {
+ "description": "Percentage remaining capacity",
+ "example": 80.2,
+ "format": "float",
+ "type": "number"
+ },
+ "fuel_volume": {
+ "description": "Litres of liquid fuel",
+ "example": 12.5,
+ "format": "float",
+ "type": "number"
+ },
+ "heading": {
+ "description": "Angular distance relative to north, usually 000\u00b0 at north, clockwise through 359\u00b0, in degrees",
+ "example": 124.3,
+ "format": "float",
+ "type": "number"
+ },
+ "health_status": {
+ "description": "Health status where 0 is OK, 1 is platform has an ERROR",
+ "example": false,
+ "type": "boolean"
+ },
+ "latitude": {
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "localisation_east_error": {
+ "description": "Difference in EAST between deadreckoningand USBL update.",
+ "example": 0.000129,
+ "format": "float",
+ "type": "number"
+ },
+ "localisation_north_error": {
+ "description": "Difference in NORTH between deadreckoning and USBL update.",
+ "example": 0.000129,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude": {
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"platform_status"
],
- "example":"platform_status",
- "type":"string"
- },
- "mission_plan_ID":{
- "description":"Mission plan ID according to platform-C2 system",
- "example":1,
- "type":"integer"
- },
- "mission_track_ID":{
- "description":"Track number - stage in mission (e.g. 4 --> Waypoint 3 to Waypoint 4)",
- "example":4,
- "type":"integer"
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
- },
- "platform_state":{
- "description":"Current state executed by platform. E.g. STOP, IDLE, ABORT.",
- "example":"ABORT",
- "type":"string"
- },
- "platform_timestamp":{
- "description":"Timestamp for onboard platform status message",
- "example":"2022-12-21T00:00:00Z",
- "format":"date-time",
- "type":"string"
- },
- "range_to_go":{
- "description":"Estimated distance to reach next waypoint",
- "example":124.3,
- "format":"float",
- "type":"number"
- },
- "sensor_config":{
- "description":"Scanning sensor on platform available to be controlled by the Autonomy Engine",
- "properties":{
- "additional_data":{
- "description":"Any addition fields/data to be added here",
- "example":{
- "payload":[
+ "example": "platform_status",
+ "type": "string"
+ },
+ "mission_plan_ID": {
+ "description": "Mission plan ID according to platform-C2 system",
+ "example": 1,
+ "type": "integer"
+ },
+ "mission_track_ID": {
+ "description": "Track number - stage in mission (e.g. 4 --> Waypoint 3 to Waypoint 4)",
+ "example": 4,
+ "type": "integer"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "reav-x-1",
+ "type": "string"
+ },
+ "platform_state": {
+ "description": "Current state executed by platform. E.g. STOP, IDLE, ABORT.",
+ "example": "ABORT",
+ "type": "string"
+ },
+ "platform_timestamp": {
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "range_to_go": {
+ "description": "Estimated distance to reach next waypoint",
+ "example": 124.3,
+ "format": "float",
+ "type": "number"
+ },
+ "sensor_config": {
+ "description": "Scanning sensor on platform available to be controlled by the Autonomy Engine",
+ "properties": {
+ "additional_data": {
+ "description": "Any addition fields/data to be added here",
+ "example": {
+ "payload": [
1.2,
434
]
},
- "type":"object"
+ "type": "object"
},
- "sensor_on":{
- "description":"Sensor switched on (true) or off (false)",
- "example":true,
- "type":"boolean"
+ "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"
+ "sensor_serial": {
+ "description": "serial number of sensor",
+ "example": "mbes-002a",
+ "type": "string"
}
},
- "type":"object"
+ "type": "object"
},
- "speed_over_ground":{
- "description":"Speed over ground",
- "example":124.3,
- "format":"float",
- "type":"number"
+ "speed_over_ground": {
+ "description": "Speed over ground",
+ "example": 124.3,
+ "format": "float",
+ "type": "number"
},
- "status_source":{
- "description":"Indicate if this status message is from the platform or USBL",
- "enum":[
+ "status_source": {
+ "description": "Indicate if this status message is from the platform or USBL",
+ "enum": [
"usbl",
"onboard_platform"
],
- "example":"usbl",
- "type":"string"
- },
- "thrust_applied":{
- "description":"Thrust applied",
- "example":124.3,
- "format":"float",
- "type":"number"
- },
- "transmission_mode":{
- "description":"Mode in which status message was transmitted when on the surface (e.g. iridium/wifi) or underwater (e.g. acoustics)",
- "enum":[
+ "example": "usbl",
+ "type": "string"
+ },
+ "thrust_applied": {
+ "description": "Thrust applied",
+ "example": 124.3,
+ "format": "float",
+ "type": "number"
+ },
+ "transmission_mode": {
+ "description": "Mode in which status message was transmitted when on the surface (e.g. iridium/wifi) or underwater (e.g. acoustics)",
+ "enum": [
"acoustics",
"iridium",
"wifi",
"starlink"
],
- "example":"wifi",
- "type":"string"
- },
- "usbl_fix_seconds_ago":{
- "description":"USBL Fix received x second ago.",
- "example":10.0,
- "format":"float",
- "type":"number"
- },
- "water_current_velocity":{
- "description":"Water current magnitude and direction",
- "example":"124.3NE",
- "type":"string"
+ "example": "wifi",
+ "type": "string"
+ },
+ "usbl_fix_seconds_ago": {
+ "description": "USBL Fix received x second ago.",
+ "example": 10.0,
+ "format": "float",
+ "type": "number"
+ },
+ "water_current_velocity": {
+ "description": "Water current magnitude and direction",
+ "example": "124.3NE",
+ "type": "string"
}
},
- "required":[
+ "required": [
"message_type",
"platform_ID",
"status_source",
@@ -887,179 +976,186 @@
"latitude",
"longitude"
],
- "type":"object"
+ "type": "object"
},
- "platform_status_encoded":{
- "properties":{
- "data":{
- "description":"encoded string. E.g. Base64 encoded",
- "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type":"string"
- },
- "file_name":{
- "description":"Name of file",
- "example":"ah1-0238126349247372.bin",
- "type":"string"
- },
- "is_binary":{
- "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
- "example":true,
- "type":"boolean"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "platform_status_encoded": {
+ "properties": {
+ "data": {
+ "description": "encoded string. E.g. Base64 encoded",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "file_name": {
+ "description": "Name of file",
+ "example": "ah1-0238126349247372.bin",
+ "type": "string"
+ },
+ "is_binary": {
+ "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example": true,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"platform_status_encoded"
],
- "example":"platform_status_encoded",
- "type":"string"
+ "example": "platform_status_encoded",
+ "type": "string"
},
- "mime_type":{
- "description":"MIME type",
- "example":"application/gzip",
- "type":"string"
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
}
},
- "required":[
+ "required": [
"data",
"is_binary"
],
- "type":"object"
+ "type": "object"
},
- "survey":{
- "properties":{
- "latitude_A":{
- "description":"Latitude of point A(intersection of normal)from waypoint A to survey line",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "latitude_B":{
- "description":"Latitude of point B(intersection of normal)from waypoint B to survey line",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "latitude_C":{
- "description":"Latitude of point C(intersection of normal)from waypoint C to survey line",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "latitude_D":{
- "description":"Latitude of point D(intersection of normal)from waypoint D to survey line",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "latitude_E":{
- "description":"Latitude of point E(intersection of normal)from waypoint E to survey line",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "longitude_A":{
- "description":"Longitude of point A(intersection of normal)from waypoint A to survey line",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "longitude_B":{
- "description":"Longitude of point B(intersection of normal)from waypoint B to survey line",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "longitude_C":{
- "description":"Longitude of point C(intersection of normal)from waypoint C to survey line",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "longitude_D":{
- "description":"Longitude of point D(intersection of normal)from waypoint D to survey line",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "longitude_E":{
- "description":"Longitude of point E(intersection of normal)from waypoint E to survey line",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"ecosub-2",
- "type":"string"
- },
- "timestamp":{
- "description":"Timestamp for onboard message",
- "example":"2022-12-21T00:00:00Z",
- "format":"date-time",
- "type":"string"
- },
- "track_ID":{
- "description":"Track number of action(s) currently executed by platform",
- "example":1,
- "type":"integer"
+ "survey": {
+ "properties": {
+ "latitude_A": {
+ "description": "Latitude of point A(intersection of normal)from waypoint A to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_B": {
+ "description": "Latitude of point B(intersection of normal)from waypoint B to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_C": {
+ "description": "Latitude of point C(intersection of normal)from waypoint C to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_D": {
+ "description": "Latitude of point D(intersection of normal)from waypoint D to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude_E": {
+ "description": "Latitude of point E(intersection of normal)from waypoint E to survey line",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_A": {
+ "description": "Longitude of point A(intersection of normal)from waypoint A to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_B": {
+ "description": "Longitude of point B(intersection of normal)from waypoint B to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_C": {
+ "description": "Longitude of point C(intersection of normal)from waypoint C to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_D": {
+ "description": "Longitude of point D(intersection of normal)from waypoint D to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude_E": {
+ "description": "Longitude of point E(intersection of normal)from waypoint E to survey line",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
+ "survey"
+ ],
+ "example": "survey",
+ "type": "string"
+ },
+ "platform_ID": {
+ "description": "Unique identifier for this platform",
+ "example": "ecosub-2",
+ "type": "string"
+ },
+ "timestamp": {
+ "description": "Timestamp for onboard message",
+ "example": "2022-12-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ },
+ "track_ID": {
+ "description": "Track number of action(s) currently executed by platform",
+ "example": 1,
+ "type": "integer"
}
},
- "required":[
+ "required": [
"latitude_A",
"longitude_A",
"latitude_B",
"longitude_B",
"platform_ID"
],
- "type":"object"
+ "type": "object"
},
- "survey_encoded":{
- "properties":{
- "data":{
- "description":"encoded string. E.g. Base64 encoded",
- "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type":"string"
- },
- "file_name":{
- "description":"Name of file",
- "example":"ah1-0238126349247372.bin",
- "type":"string"
- },
- "is_binary":{
- "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
- "example":true,
- "type":"boolean"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
+ "survey_encoded": {
+ "properties": {
+ "data": {
+ "description": "encoded string. E.g. Base64 encoded",
+ "example": "SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type": "string"
+ },
+ "file_name": {
+ "description": "Name of file",
+ "example": "ah1-0238126349247372.bin",
+ "type": "string"
+ },
+ "is_binary": {
+ "description": "true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example": true,
+ "type": "boolean"
+ },
+ "message_type": {
+ "description": "Type of message",
+ "enum": [
"survey_encoded"
],
- "example":"survey_encoded",
- "type":"string"
+ "example": "survey_encoded",
+ "type": "string"
},
- "mime_type":{
- "description":"MIME type",
- "example":"application/gzip",
- "type":"string"
+ "mime_type": {
+ "description": "MIME type",
+ "example": "application/gzip",
+ "type": "string"
}
},
- "required":[
+ "required": [
"data",
"is_binary"
],
- "type":"object"
+ "type": "object"
}
}
},
- "info":{
- "description":"SoAR message protocol in schemas",
- "title":"SoAR Backbone Message Formats",
- "version":"1.0"
+ "definitions": {},
+ "info": {
+ "description": "SoAR message protocol in schemas",
+ "title": "SoAR Backbone Message Formats",
+ "version": "1.0"
},
- "openapi":"3.0.2",
- "paths":{
-
- }
+ "openapi": "3.0.2",
+ "paths": {}
}
\ No newline at end of file