diff --git a/examples/autonomy_engine_adapter/emergency_mission_command.json b/examples/autonomy_engine_adapter/emergency_mission_command.json
index 3937af2463aa9a7192c18ff6bb476ecb4b4e00f0..8e62e822cc93e5cbaf8cd6438b3ac319feabfb26 100644
--- a/examples/autonomy_engine_adapter/emergency_mission_command.json
+++ b/examples/autonomy_engine_adapter/emergency_mission_command.json
@@ -16,8 +16,8 @@
"plan": [
{
"action": "safety_abort",
- "target_waypoint_latitude": -3.237143188645706,
- "target_waypoint_longitude": 52.37072283932642
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706
}
]
}
diff --git a/examples/autonomy_engine_adapter/emergency_mission_plan.json b/examples/autonomy_engine_adapter/emergency_mission_plan.json
index 8ab9cd517ca78e09a57f7c696b787b2669a9ba28..a121dc42f55107905713fc42b04f08deed7a83b1 100644
--- a/examples/autonomy_engine_adapter/emergency_mission_plan.json
+++ b/examples/autonomy_engine_adapter/emergency_mission_plan.json
@@ -16,14 +16,14 @@
"plan": [
{
"action": "move",
- "target_waypoint_latitude": -3.237143188645706,
- "target_waypoint_longitude": 52.37072283932642,
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706,
"depth": 5.0
},
{
"action": "safety_abort",
- "target_waypoint_latitude": -3.237143188645706,
- "target_waypoint_longitude": 52.37072283932642
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706
}
]
}
diff --git a/examples/autonomy_engine_adapter/mission_plan_AH1.json b/examples/autonomy_engine_adapter/mission_plan_AH1.json
index 01319153d42bff4442acebd4bcc1c4e0befc48ce..195c88477e7faf067268e1c57b68815aca159169 100644
--- a/examples/autonomy_engine_adapter/mission_plan_AH1.json
+++ b/examples/autonomy_engine_adapter/mission_plan_AH1.json
@@ -15,40 +15,40 @@
"plan": [
{
"action": "move",
- "start_point_latitude": -3.007143188645706,
- "start_point_longitude": 50.37072283932642,
- "target_waypoint_latitude": -3.237143188645706,
- "target_waypoint_longitude": 52.37072283932642,
+ "start_point_latitude": 50.37072283932642,
+ "start_point_longitude": -3.007143188645706,
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706,
"depth": 0.0,
"activate_payload": false,
"timeout": 200
},
{
"action": "dive",
- "start_point_latitude": -3.237143188645706,
- "start_point_longitude": 52.37072283932642,
- "target_waypoint_latitude": -3.337143188645706,
- "target_waypoint_longitude": 56.37072283932642,
+ "start_point_latitude": 52.37072283932642,
+ "start_point_longitude": -3.237143188645706,
+ "target_waypoint_latitude": 56.37072283932642,
+ "target_waypoint_longitude": -3.337143188645706,
"altitude": 10,
"activate_payload": false,
"timeout": 200
},
{
"action": "scanline",
- "start_point_latitude": -3.337143188645706,
- "start_point_longitude": 56.37072283932642,
- "target_waypoint_latitude": -0.237143188645706,
- "target_waypoint_longitude": 60.00000000000000,
+ "start_point_latitude": 56.37072283932642,
+ "start_point_longitude": -3.337143188645706,
+ "target_waypoint_latitude": 60.00000000000000,
+ "target_waypoint_longitude": -0.237143188645706,
"altitude": 10,
"activate_payload": true,
"timeout": 200
},
{
"action": "climb",
- "start_point_latitude": -0.237143188645706,
- "start_point_longitude": 60.00000000000000,
- "target_waypoint_latitude": -0.237143188645706,
- "target_waypoint_longitude": 52.37072283932642,
+ "start_point_latitude": 60.00000000000000,
+ "start_point_longitude": -0.237143188645706,
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -0.237143188645706,
"depth": 0.0,
"activate_payload": false,
"timeout": 200
diff --git a/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json b/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
index b9d5a8b8d927a45164edea329407ea681141a007..96218fba642700748d25439d6c5d69c71d18c997 100644
--- a/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
+++ b/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
@@ -15,40 +15,40 @@
"plan": [
{
"action": "move",
- "start_point_latitude": -3.007143188645706,
- "start_point_longitude": 50.37072283932642,
- "target_waypoint_latitude": -3.237143188645706,
- "target_waypoint_longitude": 52.37072283932642,
+ "start_point_latitude": 50.37072283932642,
+ "start_point_longitude": -3.007143188645706,
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706,
"depth": 0.0,
"activate_payload": false,
"timeout": 300
},
{
"action": "dive",
- "start_point_latitude": -3.237143188645706,
- "start_point_longitude": 52.37072283932642,
- "target_waypoint_latitude": -3.337143188645706,
- "target_waypoint_longitude": 56.37072283932642,
+ "start_point_latitude": 52.37072283932642,
+ "start_point_longitude": -3.237143188645706,
+ "target_waypoint_latitude": 56.37072283932642,
+ "target_waypoint_longitude": -3.337143188645706,
"altitude": 10,
"activate_payload": false,
"timeout": 300
},
{
"action": "scanline",
- "start_point_latitude": -3.337143188645706,
- "start_point_longitude": 56.37072283932642,
- "target_waypoint_latitude": -0.237143188645706,
- "target_waypoint_longitude": 60.00000000000000,
+ "start_point_latitude": 56.37072283932642,
+ "start_point_longitude": -3.337143188645706,
+ "target_waypoint_latitude": 60.00000000000000,
+ "target_waypoint_longitude": -0.237143188645706,
"altitude": 10,
"activate_payload": true,
"timeout": 300
},
{
"action": "climb",
- "start_point_latitude": -0.237143188645706,
- "start_point_longitude": 60.00000000000000,
- "target_waypoint_latitude": -0.237143188645706,
- "target_waypoint_longitude": 52.37072283932642,
+ "start_point_latitude": 60.00000000000000,
+ "start_point_longitude": -0.237143188645706,
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -0.237143188645706,
"depth": 0.0,
"activate_payload": false,
"timeout": 300
diff --git a/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json b/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
index 54ffbeb0e079146190796d374dba59508d8a9b49..ec17a5e0e25ecd0bad0540e2700e03610ea782dd 100644
--- a/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
+++ b/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
@@ -14,16 +14,16 @@
"autonomy_engine_plan_ID": 1,
"plan": [
{
- "target_waypoint_latitude": -4.187143188645706,
- "target_waypoint_longitude": 50.37072283932642
+ "target_waypoint_latitude": 50.37072283932642,
+ "target_waypoint_longitude": -4.187143188645706
},
{
- "target_waypoint_latitude": -3.187143188645706,
- "target_waypoint_longitude": 51.37072283932642
+ "target_waypoint_latitude": 51.37072283932642,
+ "target_waypoint_longitude": -3.187143188645706
},
{
- "target_waypoint_latitude": -3.237143188645706,
- "target_waypoint_longitude": 52.37072283932642
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706
}
]
}
diff --git a/examples/autonomy_engine_adapter/planning_configuration.json b/examples/autonomy_engine_adapter/planning_configuration.json
index c5a4fb7f16d61bf1ccfb1889965d90a18249a062..30db669bdf9ca4acfae612868ce8ecf238905945 100644
--- a/examples/autonomy_engine_adapter/planning_configuration.json
+++ b/examples/autonomy_engine_adapter/planning_configuration.json
@@ -16,111 +16,192 @@
"geometry_coordinates": [
[
[
- -4.187143188645706,
- 50.37072283932642
+ -4.1777839187560915,
+ 50.34173405662855
],
[
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- 50.368816892405874
+ -4.1777839187560915,
+ 50.33820949229701
],
[
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- 50.365640144076906
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+ 50.33820949229701
],
[
- -4.19449868846155,
- 50.362267670845654
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
]
]
]
}
],
+ "region_of_interest": [
+ {
+ "geometry_coordinates": [
+ [
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.33820949229701
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+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ]
+ ]
+ ]
+ }
+ ],
"squads": [
{
"squad_ID": 1,
"no_of_platforms": 1,
"squad_mission_type": "tracking",
- "squad_state": "active",
"platforms": [
{
+ "operator": "hydrosurv",
"model": "reav",
"platform_ID": "reav-60-1",
"emergency": {
- "additional_data": {},
- "target_waypoint_latitude": -7.432,
- "target_waypoint_longitude": 50.365,
+ "target_waypoint_latitude": 50.33611100020795,
+ "target_waypoint_longitude": -4.189772466767039,
"safe_command": "go_home",
"target_depth": 10.0
},
+ "min_altitude": 0.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 0.0,
"additional_data": {}
}
- ],
- "region_of_interest": {
- "geometry_coordinates": [
- [
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
- ]
- ]
- }
+ ]
},
{
"squad_ID": 2,
- "no_of_platforms": 3,
+ "no_of_platforms": 4,
"squad_mission_type": "survey",
- "squad_state": "active",
"platforms": [
{
+ "operator": "planet-ocean",
"platform_ID": "ecosub-1",
"model": "ecosub",
+ "beacon_ID": 10021,
"emergency": {
- "additional_data": {},
- "target_waypoint_latitude": -7.432,
- "target_waypoint_longitude": 50.365,
+ "target_waypoint_latitude": 50.32933594228737,
+ "target_waypoint_longitude": -4.192219151149999,
"safe_command": "go_home",
"target_depth": 10.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "DVL",
- "swath_width": 10
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
},
{
+ "operator": "planet-ocean",
"platform_ID": "ecosub-2",
"model": "ecosub",
+ "beacon_ID": 10021,
"emergency": {
- "additional_data": {},
- "target_waypoint_latitude": -0.432,
- "target_waypoint_longitude": 20.365,
+ "target_waypoint_latitude": 50.32775207068519,
+ "target_waypoint_longitude": -4.192219151149999,
"safe_command": "go_home",
"target_depth": 0.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "DVL",
- "swath_width": 10
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
+ }
+ },
+ {
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-3",
+ "model": "ecosub",
+ "beacon_ID": 10021,
+ "emergency": {
+ "target_waypoint_latitude": 50.326744124905844,
+ "target_waypoint_longitude": -4.184550412882118,
+ "safe_command": "go_home",
+ "target_depth": 0.0
+ },
+ "min_altitude": 5.0,
+ "max_velocity": 0.9,
+ "min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
+ "additional_data": {
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
+ }
+ },
+ {
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-4",
+ "model": "ecosub",
+ "beacon_ID": 10021,
+ "emergency": {
+ "target_waypoint_latitude": 50.32616814629094,
+ "target_waypoint_longitude": -4.188610333142037,
+ "safe_command": "go_home",
+ "target_depth": 0.0
+ },
+ "min_altitude": 5.0,
+ "max_velocity": 0.9,
+ "min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
+ "additional_data": {
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
}
]
@@ -129,23 +210,32 @@
"squad_ID": 3,
"no_of_platforms": 1,
"squad_mission_type": "inspection",
- "squad_state": "active",
"platforms": [
{
+ "operator": "noc",
"platform_ID": "ah-1",
"model": "autosub",
+ "beacon_ID":2407,
"emergency": {
- "additional_data": {},
- "target_waypoint_latitude": 20.432,
- "target_waypoint_longitude": 50.365,
+ "target_waypoint_latitude": 50.3342284629413,
+ "target_waypoint_longitude": -4.19759350502369,
"safe_command": "abort_now",
"target_depth": 0.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "MBES"
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
}
]
diff --git a/examples/ecosub_adapter/mission_plan.json b/examples/ecosub_adapter/mission_plan.json
index b9d5a8b8d927a45164edea329407ea681141a007..96218fba642700748d25439d6c5d69c71d18c997 100644
--- a/examples/ecosub_adapter/mission_plan.json
+++ b/examples/ecosub_adapter/mission_plan.json
@@ -15,40 +15,40 @@
"plan": [
{
"action": "move",
- "start_point_latitude": -3.007143188645706,
- "start_point_longitude": 50.37072283932642,
- "target_waypoint_latitude": -3.237143188645706,
- "target_waypoint_longitude": 52.37072283932642,
+ "start_point_latitude": 50.37072283932642,
+ "start_point_longitude": -3.007143188645706,
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706,
"depth": 0.0,
"activate_payload": false,
"timeout": 300
},
{
"action": "dive",
- "start_point_latitude": -3.237143188645706,
- "start_point_longitude": 52.37072283932642,
- "target_waypoint_latitude": -3.337143188645706,
- "target_waypoint_longitude": 56.37072283932642,
+ "start_point_latitude": 52.37072283932642,
+ "start_point_longitude": -3.237143188645706,
+ "target_waypoint_latitude": 56.37072283932642,
+ "target_waypoint_longitude": -3.337143188645706,
"altitude": 10,
"activate_payload": false,
"timeout": 300
},
{
"action": "scanline",
- "start_point_latitude": -3.337143188645706,
- "start_point_longitude": 56.37072283932642,
- "target_waypoint_latitude": -0.237143188645706,
- "target_waypoint_longitude": 60.00000000000000,
+ "start_point_latitude": 56.37072283932642,
+ "start_point_longitude": -3.337143188645706,
+ "target_waypoint_latitude": 60.00000000000000,
+ "target_waypoint_longitude": -0.237143188645706,
"altitude": 10,
"activate_payload": true,
"timeout": 300
},
{
"action": "climb",
- "start_point_latitude": -0.237143188645706,
- "start_point_longitude": 60.00000000000000,
- "target_waypoint_latitude": -0.237143188645706,
- "target_waypoint_longitude": 52.37072283932642,
+ "start_point_latitude": 60.00000000000000,
+ "start_point_longitude": -0.237143188645706,
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -0.237143188645706,
"depth": 0.0,
"activate_payload": false,
"timeout": 300
diff --git a/examples/gui_adapter/emergency_mission_command.json b/examples/gui_adapter/emergency_mission_command.json
index 3937af2463aa9a7192c18ff6bb476ecb4b4e00f0..8e62e822cc93e5cbaf8cd6438b3ac319feabfb26 100644
--- a/examples/gui_adapter/emergency_mission_command.json
+++ b/examples/gui_adapter/emergency_mission_command.json
@@ -16,8 +16,8 @@
"plan": [
{
"action": "safety_abort",
- "target_waypoint_latitude": -3.237143188645706,
- "target_waypoint_longitude": 52.37072283932642
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706
}
]
}
diff --git a/examples/gui_adapter/emergency_mission_plan.json b/examples/gui_adapter/emergency_mission_plan.json
index 8ab9cd517ca78e09a57f7c696b787b2669a9ba28..a121dc42f55107905713fc42b04f08deed7a83b1 100644
--- a/examples/gui_adapter/emergency_mission_plan.json
+++ b/examples/gui_adapter/emergency_mission_plan.json
@@ -16,14 +16,14 @@
"plan": [
{
"action": "move",
- "target_waypoint_latitude": -3.237143188645706,
- "target_waypoint_longitude": 52.37072283932642,
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706,
"depth": 5.0
},
{
"action": "safety_abort",
- "target_waypoint_latitude": -3.237143188645706,
- "target_waypoint_longitude": 52.37072283932642
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706
}
]
}
diff --git a/examples/gui_adapter/planning_configuration.json b/examples/gui_adapter/planning_configuration.json
index 319d9bda8fcf3e95382d4d801c7a556e6af0f52d..30db669bdf9ca4acfae612868ce8ecf238905945 100644
--- a/examples/gui_adapter/planning_configuration.json
+++ b/examples/gui_adapter/planning_configuration.json
@@ -16,108 +16,192 @@
"geometry_coordinates": [
[
[
- -4.187143188645706,
- 50.37072283932642
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],
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],
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],
[
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+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
]
]
]
}
],
+ "region_of_interest": [
+ {
+ "geometry_coordinates": [
+ [
+ [
+ -4.1777839187560915,
+ 50.34173405662855
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+ ]
+ ]
+ }
+ ],
"squads": [
{
"squad_ID": 1,
"no_of_platforms": 1,
"squad_mission_type": "tracking",
- "squad_state": "active",
"platforms": [
{
+ "operator": "hydrosurv",
"model": "reav",
"platform_ID": "reav-60-1",
"emergency": {
- "target_waypoint_latitude": -7.432,
- "target_waypoint_longitude": 50.365,
+ "target_waypoint_latitude": 50.33611100020795,
+ "target_waypoint_longitude": -4.189772466767039,
"safe_command": "go_home",
"target_depth": 10.0
},
+ "min_altitude": 0.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
- "min_velocity": 0.1
+ "min_velocity": 0.1,
+ "target_altitude": 0.0,
+ "additional_data": {}
}
- ],
- "region_of_interest": {
- "geometry_coordinates": [
- [
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
- ]
- ]
- }
+ ]
},
{
"squad_ID": 2,
- "no_of_platforms": 3,
+ "no_of_platforms": 4,
"squad_mission_type": "survey",
- "squad_state": "active",
"platforms": [
{
- "platform_ID": "ecosub-2",
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-1",
"model": "ecosub",
+ "beacon_ID": 10021,
"emergency": {
- "target_waypoint_latitude": -7.432,
- "target_waypoint_longitude": 50.365,
+ "target_waypoint_latitude": 50.32933594228737,
+ "target_waypoint_longitude": -4.192219151149999,
"safe_command": "go_home",
"target_depth": 10.0
},
+ "min_altitude": 5.0,
+ "max_velocity": 0.9,
+ "min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
+ "additional_data": {
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
+ }
+ },
+ {
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-2",
+ "model": "ecosub",
+ "beacon_ID": 10021,
+ "emergency": {
+ "target_waypoint_latitude": 50.32775207068519,
+ "target_waypoint_longitude": -4.192219151149999,
+ "safe_command": "go_home",
+ "target_depth": 0.0
+ },
+ "min_altitude": 5.0,
+ "max_velocity": 0.9,
+ "min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
+ "additional_data": {
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
+ }
+ },
+ {
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-3",
+ "model": "ecosub",
+ "beacon_ID": 10021,
+ "emergency": {
+ "target_waypoint_latitude": 50.326744124905844,
+ "target_waypoint_longitude": -4.184550412882118,
+ "safe_command": "go_home",
+ "target_depth": 0.0
+ },
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "DVL",
- "swath_width": 10
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
},
{
- "platform_ID": "ecosub-5",
+ "operator": "planet-ocean",
+ "platform_ID": "ecosub-4",
"model": "ecosub",
+ "beacon_ID": 10021,
"emergency": {
- "additional_data": {},
- "target_waypoint_latitude": -0.432,
- "target_waypoint_longitude": 20.365,
+ "target_waypoint_latitude": 50.32616814629094,
+ "target_waypoint_longitude": -4.188610333142037,
"safe_command": "go_home",
"target_depth": 0.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "DVL",
- "swath_width": 10
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
}
]
@@ -126,23 +210,32 @@
"squad_ID": 3,
"no_of_platforms": 1,
"squad_mission_type": "inspection",
- "squad_state": "active",
"platforms": [
{
- "platform_ID": "139-ah-1",
+ "operator": "noc",
+ "platform_ID": "ah-1",
"model": "autosub",
+ "beacon_ID":2407,
"emergency": {
- "additional_data": {},
- "target_waypoint_latitude": 20.432,
- "target_waypoint_longitude": 50.365,
+ "target_waypoint_latitude": 50.3342284629413,
+ "target_waypoint_longitude": -4.19759350502369,
"safe_command": "abort_now",
"target_depth": 0.0
},
+ "min_altitude": 5.0,
"max_velocity": 0.9,
- "min_altitude": 15.2,
"min_velocity": 0.1,
+ "target_altitude": 15.0,
+ "turning_radius": 1.5,
+ "scan_sensor": {
+ "sensor_type": "SIDESCAN",
+ "swath_width": 38.0,
+ "frequency": 700.0,
+ "angle": 110.0
+ },
"additional_data": {
- "scan_type": "MBES"
+ "new_sensor_a": "test_sensor",
+ "range": 10.0
}
}
]
diff --git a/examples/hydrosurv_adapter/mission_plan.json b/examples/hydrosurv_adapter/mission_plan.json
index 54ffbeb0e079146190796d374dba59508d8a9b49..ec17a5e0e25ecd0bad0540e2700e03610ea782dd 100644
--- a/examples/hydrosurv_adapter/mission_plan.json
+++ b/examples/hydrosurv_adapter/mission_plan.json
@@ -14,16 +14,16 @@
"autonomy_engine_plan_ID": 1,
"plan": [
{
- "target_waypoint_latitude": -4.187143188645706,
- "target_waypoint_longitude": 50.37072283932642
+ "target_waypoint_latitude": 50.37072283932642,
+ "target_waypoint_longitude": -4.187143188645706
},
{
- "target_waypoint_latitude": -3.187143188645706,
- "target_waypoint_longitude": 51.37072283932642
+ "target_waypoint_latitude": 51.37072283932642,
+ "target_waypoint_longitude": -3.187143188645706
},
{
- "target_waypoint_latitude": -3.237143188645706,
- "target_waypoint_longitude": 52.37072283932642
+ "target_waypoint_latitude": 52.37072283932642,
+ "target_waypoint_longitude": -3.237143188645706
}
]
}
diff --git a/formats/mission_plan.py b/formats/mission_plan.py
index 6aa69d95a362e16816982ed96a49c0cb41ec95eb..004376b3d534bbf2f45e56cc01aa39f4296a0d4d 100644
--- a/formats/mission_plan.py
+++ b/formats/mission_plan.py
@@ -16,26 +16,26 @@ action_schema = {
"start_point_latitude": {
"type": "number",
"format": "float",
- "description": "Start point, x-coordinate",
- "example": -4.187143188645706,
+ "description": "Start point, y-coordinate",
+ "example": 50.37072283932642,
},
"start_point_longitude": {
"type": "number",
"format": "float",
- "description": "Start point, y-coordinate",
- "example": 50.37072283932642,
+ "description": "Start point, x-coordinate",
+ "example": -4.187143188645706,
},
"target_waypoint_latitude": {
"type": "number",
"format": "float",
- "description": "Target waypoint, x-coordinate",
- "example": -4.187143188645706,
+ "description": "Target waypoint, y-coordinate",
+ "example": 50.37072283932642,
},
"target_waypoint_longitude": {
"type": "number",
"format": "float",
- "description": "Target waypoint, y-coordinate",
- "example": 50.37072283932642,
+ "description": "Target waypoint, x-coordinate",
+ "example": -4.187143188645706,
},
"altitude": {
"type": "number",
diff --git a/formats/mission_plan_encoded.py b/formats/mission_plan_encoded.py
index bc32ab4f0921816ca33ccbd6a327c6403973ba6d..62f89088c47d44d7d8b894fbafd15139015d2a6c 100644
--- a/formats/mission_plan_encoded.py
+++ b/formats/mission_plan_encoded.py
@@ -1,6 +1,7 @@
from formats.encoded import encoded_schema
+from copy import deepcopy
-mission_plan_encoded_schema = encoded_schema
+mission_plan_encoded_schema = deepcopy(encoded_schema)
mission_plan_encoded_schema["properties"]["message_type"]["enum"] = [
"mission_plan_encoded"
diff --git a/formats/observation.py b/formats/observation.py
index 4ecf017e13cbc202897e688dbf84cbbc3d6e46bd..9a65d4bd12c171c1151c9905d0dbc76d7cae7f33 100644
--- a/formats/observation.py
+++ b/formats/observation.py
@@ -9,13 +9,13 @@ hits_schema = {
"latitude": {
"type": "number",
"format": "float",
- "description": "Identified x-coordinate of point of interest",
+ "description": "Identified y-coordinate of point of interest",
"example": 178.2,
},
"longitude": {
"type": "number",
"format": "float",
- "description": "Identified y-coordinate of point of interest",
+ "description": "Identified x-coordinate of point of interest",
"example": -10.122,
},
"quality_of_point": {
diff --git a/formats/observation_encoded.py b/formats/observation_encoded.py
index 257c21a7a55703f0cc55cc69da6bb4a62d606576..520758bf381fd63a4df758180fe2c792ed309666 100644
--- a/formats/observation_encoded.py
+++ b/formats/observation_encoded.py
@@ -1,6 +1,7 @@
from formats.encoded import encoded_schema
+from copy import deepcopy
-observation_encoded_schema = encoded_schema
+observation_encoded_schema = deepcopy(encoded_schema)
observation_encoded_schema["properties"]["message_type"]["enum"] = [
"observation_encoded"
diff --git a/formats/planning_configuration.py b/formats/planning_configuration.py
index c741b6c8d42bc9e0460c83a86ea55c7c5ab7a5af..1e8dd5b194cca53c290efc14d861c2ee7de0b4a8 100644
--- a/formats/planning_configuration.py
+++ b/formats/planning_configuration.py
@@ -16,14 +16,14 @@ emergency_schema = {
"target_waypoint_latitude": {
"type": "number",
"format": "float",
- "description": "X-coordinate safe place for respective platform",
- "example": -7.432,
+ "description": "Y-coordinate safe place for respective platform",
+ "example": 50.365,
},
"target_waypoint_longitude": {
"type": "number",
"format": "float",
- "description": "Y-coordinate safe place for respective platform",
- "example": 50.365,
+ "description": "X-coordinate safe place for respective platform",
+ "example": -7.432,
},
"target_depth": {
"type": "number",
@@ -32,11 +32,6 @@ emergency_schema = {
+ " . If platform to NOT stay at depth, key in `0.0`",
"example": 10.0,
},
- "additional_data": {
- "type": "object",
- "description": "Any addition fields/data to be added here",
- "example": {},
- },
},
"required": [
"target_waypoint_latitude",
@@ -46,9 +41,46 @@ emergency_schema = {
}
+scan_sensor_schema = {
+ "type": "object",
+ "properties": {
+ "sensor_type": {
+ "type": "string",
+ "description": "Unique identifier for this platform",
+ "example": "MBES",
+ "enum": ["SIDESCAN", "MBES"],
+ },
+ "swath_width": {
+ "type": "number",
+ "format": "float",
+ "description": "Function of `target_altitude` for the platform's "
+ + "swath width (in metres)",
+ "example": 38.0,
+ },
+ "frequency": {
+ "type": "number",
+ "format": "float",
+ "description": "Frequency of scanning sensor (in kHz)",
+ "example": 700.0,
+ },
+ "angle": {
+ "type": "number",
+ "format": "float",
+ "description": "Angle of range of swath width (in degrees)",
+ "example": 140.0,
+ },
+ },
+}
+
+
platform_schema = {
"type": "object",
"properties": {
+ "operator": {
+ "type": "string",
+ "description": "Operator of platform",
+ "example": "noc",
+ },
"platform_ID": {
"type": "string",
"description": "Unique identifier for this platform",
@@ -58,32 +90,52 @@ platform_schema = {
"type": "string",
"example": "reav",
},
+ "beacon_ID": {
+ "type": "number",
+ "description": "Unique identifier (number) for the beacon "
+ + "associated to this platform",
+ "example": 2407,
+ },
"emergency": emergency_schema,
"min_altitude": {
"type": "number",
"format": "float",
- "description": "Minimum altitude set for squad.",
+ "description": "Minimum altitude set for platform",
"example": 15.2,
},
"min_velocity": {
"type": "number",
"format": "float",
- "description": "Minimum velocity set for squad.",
+ "description": "Minimum velocity set for platform",
"example": 0.1,
},
"max_velocity": {
"type": "number",
"format": "float",
- "description": "Maximum altitude set for squad.",
+ "description": "Maximum velocity set for platform",
"example": 0.9,
},
+ "target_altitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target altitude set for platform. This affects swath width",
+ "example": 15.0,
+ },
+ "turning_radius": {
+ "type": "number",
+ "format": "float",
+ "description": "Turning radius of platform (in metres)",
+ "example": 1.0,
+ },
+ "scan_sensor": scan_sensor_schema,
"additional_data": {
"description": "Any addition fields/data to be added here",
- "example": {"swath_width": 10.0, "scan_type": "DVL"},
+ "example": {"new_sensor_a": "test_sensor", "range": 10.0},
"type": "object",
},
},
"required": [
+ "operator",
"platform_ID",
"model",
"emergency",
@@ -97,18 +149,19 @@ region_schema = {
"type": "object",
"properties": {
"geometry_coordinates": {
- "type": "array", # TODO: Check if config defn is right.
+ "type": "array",
"example": [
[
- [-4.187143188645706, 50.37072283932642],
- [-4.202697005964865, 50.368816892405874],
- [-4.203156724702808, 50.365640144076906],
- [-4.19449868846155, 50.362267670845654],
+ [-4.1777839187560915, 50.34173405662855],
+ [-4.1777839187560915, 50.33820949229701],
+ [-4.143667777943875, 50.33820949229701],
+ [-4.143667777943875, 50.34173405662855],
+ [-4.1777839187560915, 50.34173405662855],
]
],
},
},
- "description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
+ "description": "Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
}
squad_metadata_schema = {
@@ -136,19 +189,12 @@ squad_metadata_schema = {
+ ", `inspection`",
"example": "survey",
},
- "squad_state": {
- "type": "string",
- "description": "In execution, Waiting.. <define further>",
- "example": False,
- },
- "region_of_interest": region_schema,
},
"required": [
"squad_ID",
"no_of_platforms",
"platforms",
"squad_mission_type",
- "squad_state",
],
}
@@ -167,6 +213,11 @@ planning_configuration_schema = {
+ " configuration plan",
"example": 3,
},
+ "region_of_interest": {
+ "type": "array",
+ "items": region_schema,
+ "description": "Region of interest for the entire operation",
+ },
"exclusion_zones": {
"type": "array",
"items": region_schema,
@@ -182,5 +233,6 @@ planning_configuration_schema = {
"planning_config_ID",
"squads",
"exclusion_zones",
+ "region_of_interest",
],
}
diff --git a/formats/platform_status.py b/formats/platform_status.py
index ff31eac345ad92694a9c3480bd9f6ca1f9a36022..f55910b948f9d3c5c301b957043666f940f38666 100644
--- a/formats/platform_status.py
+++ b/formats/platform_status.py
@@ -75,13 +75,13 @@ 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": {
diff --git a/formats/platform_status_encoded.py b/formats/platform_status_encoded.py
index 23b54a9a9cb28f228c4781a481c7318c294185dc..fcca15903929f67b350b7716560e447d65951276 100644
--- a/formats/platform_status_encoded.py
+++ b/formats/platform_status_encoded.py
@@ -1,6 +1,7 @@
from formats.encoded import encoded_schema
+from copy import deepcopy
-platform_status_encoded_schema = encoded_schema
+platform_status_encoded_schema = deepcopy(encoded_schema)
platform_status_encoded_schema["properties"]["message_type"]["enum"] = [
"platform_status_encoded"
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index bdbda617a744ee60a429f6dbe11e65dc37a5df1f..1bd3a36a64ca37c426a5c09f282d4a59e13aa572 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -107,6 +107,12 @@
"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":[
@@ -115,12 +121,6 @@
"example":"mission_plan",
"type":"string"
},
- "emergency": {
- "default": false,
- "description": "To indicate if this is an emergency. true = emergency and false = no emergency",
- "example": false,
- "type": "boolean"
- },
"plan":{
"items":{
"properties":{
@@ -383,26 +383,30 @@
"exclusion_zones":{
"description":"Exclusion zones for all platforms",
"items":{
- "description":"Using GEOJSON, exact 4-point region (rectangle shaped)",
+ "description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
"properties":{
"geometry_coordinates":{
"example":[
[
[
- -4.187143188645706,
- 50.37072283932642
+ -4.1777839187560915,
+ 50.34173405662855
],
[
- -4.202697005964865,
- 50.368816892405874
+ -4.1777839187560915,
+ 50.33820949229701
],
[
- -4.203156724702808,
- 50.365640144076906
+ -4.143667777943875,
+ 50.33820949229701
],
[
- -4.19449868846155,
- 50.362267670845654
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
]
]
],
@@ -426,6 +430,43 @@
"example":3,
"type":"integer"
},
+ "region_of_interest":{
+ "description":"Region of interest for the entire operation",
+ "items":{
+ "description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
+ "properties":{
+ "geometry_coordinates":{
+ "example":[
+ [
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ]
+ ]
+ ],
+ "type":"array"
+ }
+ },
+ "type":"object"
+ },
+ "type":"array"
+ },
"squads":{
"items":{
"properties":{
@@ -441,20 +482,18 @@
"additional_data":{
"description":"Any addition fields/data to be added here",
"example":{
- "scan_type":"DVL",
- "swath_width":10.0
+ "new_sensor_a":"test_sensor",
+ "range":10.0
},
"type":"object"
},
+ "beacon_ID":{
+ "description":"Unique identifier (number) for the beacon associated to this platform",
+ "example":9407,
+ "type":"number"
+ },
"emergency":{
"properties":{
- "additional_data":{
- "type": "object",
- "description":"Any addition fields/data to be added here",
- "example":{
-
- }
- },
"safe_command":{
"description":"Command/Action that is native to respective partner's platform/C2",
"enum":[
@@ -492,19 +531,19 @@
"type":"object"
},
"max_velocity":{
- "description":"Maximum altitude set for squad.",
+ "description":"Maximum velocity set for platform",
"example":0.9,
"format":"float",
"type":"number"
},
"min_altitude":{
- "description":"Minimum altitude set for squad.",
+ "description":"Minimum altitude set for platform",
"example":15.2,
"format":"float",
"type":"number"
},
"min_velocity":{
- "description":"Minimum velocity set for squad.",
+ "description":"Minimum velocity set for platform",
"example":0.1,
"format":"float",
"type":"number"
@@ -513,13 +552,63 @@
"example":"reav",
"type":"string"
},
+ "operator":{
+ "description":"Operator of platform",
+ "example":"noc",
+ "type":"string"
+ },
"platform_ID":{
"description":"Unique identifier for this platform",
"example":"reav-x-1",
"type":"string"
+ },
+ "scan_sensor":{
+ "properties":{
+ "angle":{
+ "description":"Angle of range of swath width (in degrees)",
+ "example":140.0,
+ "format":"float",
+ "type":"number"
+ },
+ "frequency":{
+ "description":"Frequency of scanning sensor (in kHz)",
+ "example":700.0,
+ "format":"float",
+ "type":"number"
+ },
+ "sensor_type":{
+ "description":"Unique identifier for this platform",
+ "enum":[
+ "SIDESCAN",
+ "MBES"
+ ],
+ "example":"MBES",
+ "type":"string"
+ },
+ "swath_width":{
+ "description":"Function of `target_altitude` for the platform's swath width (in metres)",
+ "example":38.0,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "type":"object"
+ },
+ "target_altitude":{
+ "description":"Target altitude set for platform. This affects swath width",
+ "example":15.0,
+ "format":"float",
+ "type":"number"
+ },
+ "turning_radius":{
+ "description":"Turning radius of platform (in metres)",
+ "example":1.0,
+ "format":"float",
+ "type":"number"
}
},
"required":[
+ "operator",
"platform_ID",
"model",
"emergency",
@@ -531,35 +620,6 @@
},
"type":"array"
},
- "region_of_interest":{
- "description":"Using GEOJSON, exact 4-point region (rectangle shaped)",
- "properties":{
- "geometry_coordinates":{
- "example":[
- [
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
- ]
- ],
- "type":"array"
- }
- },
- "type":"object"
- },
"squad_ID":{
"description":"Identifier of given squad",
"example":23,
@@ -574,19 +634,13 @@
],
"example":"survey",
"type":"string"
- },
- "squad_state":{
- "description":"In execution, Waiting.. <define further>",
- "example":false,
- "type":"string"
}
},
"required":[
"squad_ID",
"no_of_platforms",
"platforms",
- "squad_mission_type",
- "squad_state"
+ "squad_mission_type"
],
"type":"object"
},
@@ -597,7 +651,8 @@
"message_type",
"planning_config_ID",
"squads",
- "exclusion_zones"
+ "exclusion_zones",
+ "region_of_interest"
],
"type":"object"
},
@@ -830,4 +885,4 @@
"paths":{
}
-}
\ No newline at end of file
+ }
\ No newline at end of file
diff --git a/tests/fixtures/schemas.py b/tests/fixtures/schemas.py
index 9cbc2151a6aaa8b263ecf883e14de1210918fa62..632a5ea64f2a22e7682ba46b35458dd92d7b19da 100644
--- a/tests/fixtures/schemas.py
+++ b/tests/fixtures/schemas.py
@@ -259,13 +259,13 @@ emergency_schema = {
"type": "number",
"format": "float",
"description": "X-coordinate safe place for respective platform",
- "example": -7.432,
+ "example": 50.365,
},
"target_waypoint_longitude": {
"type": "number",
"format": "float",
"description": "Y-coordinate safe place for respective platform",
- "example": 50.365,
+ "example": -7.432,
},
"target_depth": {
"type": "number",
@@ -315,7 +315,7 @@ platform_schema = {
"max_velocity": {
"type": "number",
"format": "float",
- "description": "Maximum altitude set for squad.",
+ "description": "Maximum velocity set for squad.",
"example": 0.9,
},
"additional_data": {
diff --git a/tests/fixtures/swagger.json b/tests/fixtures/swagger.json
index eca6c9bfd728535d7a6509c597f4e532efcc6460..3ef4b1572566192ca35435f5f4f85a3d03a40eb5 100644
--- a/tests/fixtures/swagger.json
+++ b/tests/fixtures/swagger.json
@@ -1,670 +1,888 @@
{
- "components": {
- "schemas": {
- "MESSAGE": {
- "description": "Full message definition with message-metadata in `header` and different message type schemas under `payload`",
- "properties": {
- "header": {
- "$ref": "#/components/schemas/header"
- },
- "payload": {
- "$ref": "#/components/schemas/payload"
- }
- },
- "required": [
- "header",
- "payload"
- ],
- "type": "object"
- },
- "acknowledgement": {
- "properties": {
- "approved": {
- "type": "boolean",
- "description": "Human-in-the-loop approval. 1 - Plan approved; 0 - Plan Rejected",
- "example": 1
- },
- "autonomy_engine_plan_ID": {
- "type": "integer",
- "description": "Mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
- "example": 1
- },
- "message_type": {
- "description": "Type of message",
- "type": "string",
- "example": "acknowledgement"
- },
- "platform_ID": {
- "type": "string",
- "description": "Unique identifier for this platform",
- "example": "reav-x-1"
- }
- },
- "required": [
- "message_type",
- "autonomy_engine_plan_ID",
- "platform_ID",
- "approved"
- ],
- "type": "object"
- },
- "header": {
- "discriminator": {
- "propertyName": "message_type"
+ "components":{
+ "schemas":{
+ "MESSAGE":{
+ "description":"Full message definition with message-metadata in `header` and different message type schemas under `payload`",
+ "properties":{
+ "header":{
+ "$ref":"#/components/schemas/header"
+ },
+ "payload":{
+ "$ref":"#/components/schemas/payload"
+ }
+ },
+ "required":[
+ "header",
+ "payload"
+ ],
+ "type":"object"
},
- "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"
- }
+ "acknowledgement":{
+ "properties":{
+ "approved":{
+ "description":"Human-in-the-loop approval.1 - Plan approved; 0 - Plan Rejected",
+ "type":"boolean"
+ },
+ "autonomy_engine_plan_ID":{
+ "description":"Mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
+ "example":1,
+ "type":"integer"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "acknowledgement"
+ ],
+ "example":"acknowledgement",
+ "type":"string"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ }
+ },
+ "required":[
+ "message_type",
+ "autonomy_engine_plan_ID",
+ "platform_ID",
+ "approved"
+ ],
+ "type":"object"
},
- "type": "object"
- },
- "mission_plan": {
- "properties": {
- "autonomy_engine_plan_ID": {
- "description": "Unique identifier for this plangenerated by the Autonomy Engine",
- "example": 3,
- "type": "integer"
- },
- "message_type": {
- "description": "Type of message",
- "example": "mission_plan",
- "type": "string"
- },
- "emergency": {
- "default": false,
- "description": "To indicate if this is an emergency. true = emergency and false = no emergency",
- "example": false,
- "type": "boolean"
- },
- "plan": {
- "items": {
- "properties": {
- "action": {
- "description": "Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
- "example": "move",
- "type": "string"
- },
- "activate_payload": {
- "description": "To activate/deactivate sensor for Autosub Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
- "example": true,
- "type": "boolean"
- },
- "timeout": {
- "description": "Timeout set to perform action",
- "example": 1800.0,
- "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"
- },
- "target_waypoint_latitude": {
- "description": "Next waypoint, x-coordinate",
- "example": -4.187143188645706,
- "format": "float",
- "type": "number"
- },
- "target_waypoint_longitude": {
- "description": "Next waypoint, y-coordinate",
- "example": 50.37072283932642,
- "format": "float",
- "type": "number"
- }
- },
- "required": [
- "target_waypoint_latitude",
- "target_waypoint_longitude"
- ],
- "type": "object"
- },
- "type": "array"
- },
- "platform_ID": {
- "description": "Unique identifier for this platform",
- "example": "reav-x-1",
- "type": "string"
- }
+ "header":{
+ "discriminator":{
+ "propertyName":"message_type"
+ },
+ "properties":{
+ "delivery_type":{
+ "default":"publish",
+ "description":"To publish or broadcast this message.",
+ "enum":[
+ "broadcast",
+ "publish"
+ ],
+ "example":"publish",
+ "type":"string"
+ },
+ "destination":{
+ "description":"Publisher topic; What is the destination of this message",
+ "example":"ah1",
+ "type":"string"
+ },
+ "encoded":{
+ "description":"Indicate that message raw (encoded) or decoded. Options: encoded=true, decoded=false",
+ "example":false,
+ "type":"boolean"
+ },
+ "message_ID":{
+ "description":"An identifier for the type of message received.",
+ "example":"b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "type":"string"
+ },
+ "source":{
+ "description":"The sender; Where is this message from",
+ "example":"autonomy_engine",
+ "type":"string"
+ },
+ "timestamp":{
+ "description":"Timestamp of message",
+ "example":"2022-11-16T00:00:00Z",
+ "format":"date-time",
+ "type":"string"
+ },
+ "version":{
+ "description":"Version of comms backbone message format protocol",
+ "example":2.0,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "type":"object"
},
- "required": [
- "message_type",
- "autonomy_engine_plan_ID",
- "platform_ID",
- "plan"
- ],
- "type": "object"
- },
- "observation": {
- "properties": {
- "additional_data": {
- "description": "Placeholder field for any additional data",
- "example": {
- "sensor_payload": false
- }
- },
- "message_type": {
- "description": "Type of message",
- "example": "observation",
- "type": "string"
- },
- "platform_ID": {
- "description": "Unique identifier for this platform",
- "example": "reav-x-1",
- "type": "string"
- },
- "points_of_interest": {
- "description": "Points from features of interest identified by platform if any found.",
- "items": {
- "properties": {
- "latitude": {
- "description": "Identified x-coordinate of point of interest",
- "example": 178.2,
- "format": "float",
- "type": "number"
- },
- "longitude": {
- "description": "Identified y-coordinate of point of interest",
- "example": -10.122,
- "format": "float",
- "type": "number"
- },
- "quality_of_point": {
- "description": "Quality/strength of points from features of interest identified by platform.",
- "example": 0.98,
- "format": "float",
- "type": "number"
- }
- },
- "required": [
- "latitude",
- "longitude"
- ],
- "type": "object"
- },
- "type": "array"
- },
- "region_surveyed": {
- "description": "Region surveyed by given platform. GEOJSON",
- "example": ""
- }
+ "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`.",
+ "example":"move",
+ "type":"string"
+ },
+ "activate_payload":{
+ "description":"To activate/deactivate sensor for Autosub Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
+ "example":true,
+ "type":"boolean"
+ },
+ "altitude":{
+ "description":"Altitude of next action",
+ "example":15.0,
+ "format":"float",
+ "type":"number"
+ },
+ "depth":{
+ "description":"Depth of next action",
+ "example":15.0,
+ "format":"float",
+ "type":"number"
+ },
+ "start_point_latitude":{
+ "description":"Start point, x-coordinate",
+ "example":-4.187143188645706,
+ "format":"float",
+ "type":"number"
+ },
+ "start_point_longitude":{
+ "description":"Start point, y-coordinate",
+ "example":50.37072283932642,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_latitude":{
+ "description":"Target waypoint, x-coordinate",
+ "example":-4.187143188645706,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_longitude":{
+ "description":"Target waypoint, y-coordinate",
+ "example":50.37072283932642,
+ "format":"float",
+ "type":"number"
+ },
+ "timeout":{
+ "description":"Timeout set to perform action",
+ "example":1800.0,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "target_waypoint_latitude",
+ "target_waypoint_longitude"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ }
+ },
+ "required":[
+ "message_type",
+ "autonomy_engine_plan_ID",
+ "platform_ID",
+ "plan"
+ ],
+ "type":"object"
},
- "required": [
- "message_type",
- "platform_ID"
- ],
- "type": "object"
- },
- "payload": {
- "discriminator": {
- "mapping": {
- "acknowledgement": "#/components/schemas/acknowledgement",
- "mission_plan": "#/components/schemas/mission_plan",
- "observation": "#/components/schemas/observation",
- "planning_configuration": "#/components/schemas/planning_configuration",
- "platform_status": "#/components/schemas/platform_status"
- },
- "propertyName": "message_type"
+ "mission_plan_encoded":{
+ "properties":{
+ "data":{
+ "description":"encoded string. E.g. Base64 encoded",
+ "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type":"string"
+ },
+ "file_name":{
+ "description":"Name of file",
+ "example":"ah1-0238126349247372.bin",
+ "type":"string"
+ },
+ "is_binary":{
+ "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example":true,
+ "type":"boolean"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "mission_plan_encoded"
+ ],
+ "example":"mission_plan_encoded",
+ "type":"string"
+ },
+ "mime_type":{
+ "description":"MIME type",
+ "example":"application/gzip",
+ "type":"string"
+ }
+ },
+ "required":[
+ "data",
+ "is_binary"
+ ],
+ "type":"object"
},
- "oneOf": [
- {
- "$ref": "#/components/schemas/acknowledgement"
- },
- {
- "$ref": "#/components/schemas/mission_plan"
- },
- {
- "$ref": "#/components/schemas/observation"
- },
- {
- "$ref": "#/components/schemas/planning_configuration"
- },
- {
- "$ref": "#/components/schemas/platform_status"
- }
- ]
- },
- "planning_configuration": {
- "properties": {
- "exclusion_zones": {
- "description": "Exclusion zones for all platforms",
- "items": {
- "description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
- "properties": {
- "geometry_coordinates": {
- "example": [
- [
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
- ]
- ],
- "type": "array"
- }
- },
- "type": "object"
- },
- "type": "array"
- },
- "message_type": {
- "description": "Type of message",
- "example": "planning_configuration",
- "type": "string"
- },
- "planning_config_ID": {
- "description": "Unique identifier tagged to version of this configuration plan",
- "example": 3,
- "type": "integer"
- },
- "squads": {
- "items": {
- "properties": {
- "no_of_platforms": {
- "description": "Number of platforms",
- "example": 3,
- "type": "integer"
- },
- "platforms": {
- "description": "Squad consists of these platforms",
- "items": {
- "properties": {
- "additional_data": {
- "description": "Any addition fields/data to be added here",
- "example": {
- "scan_type": "DVL",
- "swath_width": 10.0
- }
- },
- "emergency": {
- "properties": {
- "additional_data": {
- "description": "Any addition fields/data to be added here",
- "example": {}
- },
- "target_waypoint_latitude": {
- "description": "X-coordinate safe place for respective platform",
- "example": -7.432,
- "format": "float",
- "type": "number"
- },
- "target_waypoint_longitude": {
- "description": "Y-coordinate safe place for respective platform",
- "example": 50.365,
- "format": "float",
- "type": "number"
- },
- "safe_command": {
- "description": "Command/Action that is native to respective partner's platform/C2",
- "enum": [
- "go_home",
- "abort_now",
- "stop_mission"
- ],
- "example": "go_home",
- "type": "string"
- },
- "target_depth": {
- "description": "Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
- "example": 10.0,
- "format": "float",
- "type": "number"
- }
- },
- "required": [
- "target_waypoint_latitude",
- "target_waypoint_longitude",
- "target_depth"
- ],
- "type": "object"
- },
- "max_velocity": {
- "description": "Maximum altitude set for squad.",
- "example": 0.9,
- "format": "float",
- "type": "number"
- },
- "min_altitude": {
- "description": "Minimum altitude set for squad.",
- "example": 15.2,
- "format": "float",
- "type": "number"
- },
- "min_velocity": {
- "description": "Minimum velocity set for squad.",
- "example": 0.1,
- "format": "float",
- "type": "number"
- },
- "model": {
- "example": "reav",
- "type": "string"
- },
- "platform_ID": {
- "description": "Unique identifier for this platform",
- "example": "reav-x-1",
- "type": "string"
- }
+ "observation":{
+ "properties":{
+ "additional_data":{
+ "description":"Placeholder field for any additional data",
+ "example":{
+ "sensor_payload":false
+ }
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "observation"
+ ],
+ "example":"observation",
+ "type":"string"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ },
+ "points_of_interest":{
+ "description":"Points from features of interest identified by platform if any found.",
+ "items":{
+ "properties":{
+ "latitude":{
+ "description":"Identified x-coordinate of point of interest",
+ "example":178.2,
+ "format":"float",
+ "type":"number"
+ },
+ "longitude":{
+ "description":"Identified y-coordinate of point of interest",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "quality_of_point":{
+ "description":"Quality/strength of points from features of interest identified by platform.",
+ "example":0.98,
+ "format":"float",
+ "type":"number"
+ }
},
- "required": [
- "platform_ID",
- "model",
- "emergency",
- "min_altitude",
- "min_velocity",
- "max_velocity"
+ "required":[
+ "latitude",
+ "longitude"
],
- "type": "object"
- },
- "type": "array"
- },
- "region_of_interest": {
- "description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
- "properties": {
- "geometry_coordinates": {
- "example": [
- [
- [
- -4.187143188645706,
- 50.37072283932642
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "region_surveyed":{
+ "description":"Region surveyed by given platform. GEOJSON",
+ "example":"",
+ "nullable":true
+ }
+ },
+ "required":[
+ "message_type",
+ "platform_ID"
+ ],
+ "type":"object"
+ },
+ "observation_encoded":{
+ "properties":{
+ "data":{
+ "description":"encoded string. E.g. Base64 encoded",
+ "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type":"string"
+ },
+ "file_name":{
+ "description":"Name of file",
+ "example":"ah1-0238126349247372.bin",
+ "type":"string"
+ },
+ "is_binary":{
+ "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example":true,
+ "type":"boolean"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "observation_encoded"
+ ],
+ "example":"observation_encoded",
+ "type":"string"
+ },
+ "mime_type":{
+ "description":"MIME type",
+ "example":"application/gzip",
+ "type":"string"
+ }
+ },
+ "required":[
+ "data",
+ "is_binary"
+ ],
+ "type":"object"
+ },
+ "payload":{
+ "discriminator":{
+ "mapping":{
+ "acknowledgement":"#/components/schemas/acknowledgement",
+ "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"
+ },
+ "propertyName":"message_type"
+ },
+ "oneOf":[
+ {
+ "$ref":"#/components/schemas/acknowledgement"
+ },
+ {
+ "$ref":"#/components/schemas/mission_plan"
+ },
+ {
+ "$ref":"#/components/schemas/mission_plan_encoded"
+ },
+ {
+ "$ref":"#/components/schemas/observation"
+ },
+ {
+ "$ref":"#/components/schemas/observation_encoded"
+ },
+ {
+ "$ref":"#/components/schemas/planning_configuration"
+ },
+ {
+ "$ref":"#/components/schemas/platform_status"
+ },
+ {
+ "$ref":"#/components/schemas/platform_status_encoded"
+ }
+ ]
+ },
+ "planning_configuration":{
+ "properties":{
+ "exclusion_zones":{
+ "description":"Exclusion zones for all platforms",
+ "items":{
+ "description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
+ "properties":{
+ "geometry_coordinates":{
+ "example":[
+ [
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ]
+ ]
],
- [
- -4.202697005964865,
- 50.368816892405874
+ "type":"array"
+ }
+ },
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "planning_configuration"
+ ],
+ "example":"planning_configuration",
+ "type":"string"
+ },
+ "planning_config_ID":{
+ "description":"Unique identifier tagged to version of this configuration plan",
+ "example":3,
+ "type":"integer"
+ },
+ "region_of_interest":{
+ "description":"Region of interest for the entire operation",
+ "items":{
+ "description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
+ "properties":{
+ "geometry_coordinates":{
+ "example":[
+ [
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ]
+ ]
],
- [
- -4.203156724702808,
- 50.365640144076906
+ "type":"array"
+ }
+ },
+ "type":"object"
+ },
+ "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":{
+ "additional_data":{
+ "description":"Any addition fields/data to be added here",
+ "example":{
+ "new_sensor_a":"test_sensor",
+ "range":10.0
+ },
+ "type":"object"
+ },
+ "beacon_ID":{
+ "description":"Unique identifier (number) for the beacon associated to this platform",
+ "example":9407,
+ "type":"number"
+ },
+ "emergency":{
+ "properties":{
+ "safe_command":{
+ "description":"Command/Action that is native to respective partner's platform/C2",
+ "enum":[
+ "go_home",
+ "abort_now",
+ "stop_mission"
+ ],
+ "example":"go_home",
+ "type":"string"
+ },
+ "target_depth":{
+ "description":"Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
+ "example":10.0,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_latitude":{
+ "description":"X-coordinate safe place for respective platform",
+ "example":-7.432,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_longitude":{
+ "description":"Y-coordinate safe place for respective platform",
+ "example":50.365,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "target_waypoint_latitude",
+ "target_waypoint_longitude",
+ "target_depth"
+ ],
+ "type":"object"
+ },
+ "max_velocity":{
+ "description":"Maximum velocity set for platform",
+ "example":0.9,
+ "format":"float",
+ "type":"number"
+ },
+ "min_altitude":{
+ "description":"Minimum altitude set for platform",
+ "example":15.2,
+ "format":"float",
+ "type":"number"
+ },
+ "min_velocity":{
+ "description":"Minimum velocity set for platform",
+ "example":0.1,
+ "format":"float",
+ "type":"number"
+ },
+ "model":{
+ "example":"reav",
+ "type":"string"
+ },
+ "operator":{
+ "description":"Operator of platform",
+ "example":"noc",
+ "type":"string"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ },
+ "scan_sensor":{
+ "properties":{
+ "angle":{
+ "description":"Angle of range of swath width (in degrees)",
+ "example":140.0,
+ "format":"float",
+ "type":"number"
+ },
+ "frequency":{
+ "description":"Frequency of scanning sensor (in kHz)",
+ "example":700.0,
+ "format":"float",
+ "type":"number"
+ },
+ "sensor_type":{
+ "description":"Unique identifier for this platform",
+ "enum":[
+ "SIDESCAN",
+ "MBES"
+ ],
+ "example":"MBES",
+ "type":"string"
+ },
+ "swath_width":{
+ "description":"Function of `target_altitude` for the platform's swath width (in metres)",
+ "example":38.0,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "type":"object"
+ },
+ "target_altitude":{
+ "description":"Target altitude set for platform. This affects swath width",
+ "example":15.0,
+ "format":"float",
+ "type":"number"
+ },
+ "turning_radius":{
+ "description":"Turning radius of platform (in metres)",
+ "example":1.0,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "operator",
+ "platform_ID",
+ "model",
+ "emergency",
+ "min_altitude",
+ "min_velocity",
+ "max_velocity"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "squad_ID":{
+ "description":"Identifier of given squad",
+ "example":23,
+ "type":"integer"
+ },
+ "squad_mission_type":{
+ "description":"Mission of given squad: `tracking`, `survey`, `inspection`",
+ "enum":[
+ "tracking",
+ "survey",
+ "inspection"
],
- [
- -4.19449868846155,
- 50.362267670845654
+ "example":"survey",
+ "type":"string"
+ }
+ },
+ "required":[
+ "squad_ID",
+ "no_of_platforms",
+ "platforms",
+ "squad_mission_type"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ }
+ },
+ "required":[
+ "message_type",
+ "planning_config_ID",
+ "squads",
+ "exclusion_zones",
+ "region_of_interest"
+ ],
+ "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 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 in decimal degrees.",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "platform_status"
+ ],
+ "example":"platform_status",
+ "type":"string"
+ },
+ "mission_plan_ID":{
+ "description":"Mission plan ID according to platform-C2 system",
+ "example":1,
+ "type":"integer"
+ },
+ "mission_track_ID":{
+ "description":"Track number - stage in mission (e.g. 4 --> Waypoint 3 to Waypoint 4)",
+ "example":4,
+ "type":"integer"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ },
+ "platform_state":{
+ "description":"Current state executed by platform. E.g. STOP, IDLE, ABORT.",
+ "example":"ABORT",
+ "type":"string"
+ },
+ "platform_timestamp":{
+ "description":"Timestamp for onboard platform status message",
+ "example":"2022-12-21T00:00:00Z",
+ "format":"date-time",
+ "type":"string"
+ },
+ "range_to_go":{
+ "description":"Estimated distance to reach next waypoint",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "sensor_config":{
+ "description":"Scanning sensor on platform available to be controlled by the Autonomy Engine",
+ "properties":{
+ "additional_data":{
+ "description":"Any addition fields/data to be added here",
+ "example":{
+ "payload":[
+ 1.2,
+ 434
]
- ]
- ],
- "type": "array"
+ },
+ "type":"object"
+ },
+ "sensor_on":{
+ "description":"Sensor switched on (true) or off (false)",
+ "example":true,
+ "type":"boolean"
+ },
+ "sensor_serial":{
+ "description":"serial number of sensor",
+ "example":"mbes-002a",
+ "type":"string"
}
- },
- "type": "object"
- },
- "squad_ID": {
- "description": "Identifier of given squad",
- "example": 23,
- "type": "integer"
- },
- "squad_mission_type": {
- "description": "Mission of given squad: `tracking`, `survey`, `inspection`",
- "enum": [
- "tracking",
- "survey",
- "inspection"
- ],
- "example": "survey",
- "type": "string"
- },
- "squad_state": {
- "description": "In execution, Waiting.. <define further>",
- "example": false,
- "type": "string"
- }
- },
- "required": [
- "squad_ID",
- "no_of_platforms",
- "platforms",
- "squad_mission_type",
- "squad_state"
- ],
- "type": "object"
- },
- "type": "array"
- }
- },
- "required": [
- "message_type",
- "planning_config_ID",
- "squads",
- "exclusion_zones"
- ],
- "type": "object"
- },
- "platform_status": {
- "properties": {
- "altitude": {
- "description": "Target altitude in metres",
- "example": 20,
- "format": "float",
- "type": "number"
- },
- "autonomy_engine_plan_ID": {
- "description": "Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
- "example": 1,
- "type": "integer"
- },
- "battery_remaining_capacity": {
- "description": "Battery remaining % provided by respective C2",
- "example": 80.2,
- "format": "float",
- "type": "number"
- },
- "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 in decimal degrees.",
- "example": 178.2,
- "format": "float",
- "type": "number"
- },
- "localisation_error": {
- "description": "Difference in NORTH between deadreckoning and USBL update.",
- "example": 0.000129,
- "format": "float",
- "type": "number"
- },
- "longitude": {
- "description": "Longitude in decimal degrees.",
- "example": -10.122,
- "format": "float",
- "type": "number"
- },
- "message_type": {
- "description": "Type of message",
- "example": "platform_status",
- "type": "string"
- },
- "mission_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
- ]
- }
- },
- "sensor_on": {
- "description": "Sensor switched on (true) or off (false)",
- "example": true,
- "type": "boolean"
- },
- "sensor_serial": {
- "description": "serial number of sensor",
- "example": "mbes-002a",
- "type": "string"
+ },
+ "type":"object"
+ },
+ "speed_over_ground":{
+ "description":"Speed over ground",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "status_source":{
+ "description":"Indicate if this status message is from the platform or USBL",
+ "enum":[
+ "usbl",
+ "onboard_platform"
+ ],
+ "example":"usbl",
+ "type":"string"
+ },
+ "thrust_applied":{
+ "description":"Thrust applied",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "transmission_mode":{
+ "description":"Mode in which status message was transmitted when on the surface (e.g. iridium/wifi) or underwater (e.g. acoustics)",
+ "enum":[
+ "acoustics",
+ "iridium",
+ "wifi",
+ "starlink"
+ ],
+ "example":"wifi",
+ "type":"string"
+ },
+ "usbl_fix_seconds_ago":{
+ "description":"USBL Fix received x second ago.",
+ "example":10.0,
+ "format":"float",
+ "type":"number"
+ },
+ "water_current_velocity":{
+ "description":"Water current magnitude and direction",
+ "example":"124.3NE",
+ "type":"string"
}
- },
- "type": "object"
- },
- "speed_over_ground": {
- "description": "Speed over ground",
- "example": 124.3,
- "format": "float",
- "type": "number"
- },
- "status_source": {
- "description": "Indicate if this status message is from the platform or USBL",
- "enum": [
- "usbl",
- "onboard_platform"
- ],
- "example": "usbl",
- "type": "string"
- },
- "thrust_applied": {
- "description": "Thrust applied",
- "example": 124.3,
- "format": "float",
- "type": "number"
- },
- "transmission_mode": {
- "description": "Mode in which status message was transmitted when on the surface (e.g. iridium/wifi) or underwater (e.g. acoustics)",
- "enum": [
- "acoustics",
- "iridium",
- "wifi",
- "starlink"
- ],
- "example": "wifi",
- "type": "string"
- },
- "usbl_fix_seconds_ago": {
- "description": "USBL Fix received x second ago.",
- "example": 10.0,
- "format": "float",
- "type": "number"
- },
- "water_current_velocity": {
- "description": "Water current magnitude and direction",
- "example": "124.3NE",
- "format": "string"
- }
+ },
+ "required":[
+ "message_type",
+ "platform_ID",
+ "status_source",
+ "platform_timestamp",
+ "latitude",
+ "longitude"
+ ],
+ "type":"object"
},
- "required": [
- "message_type",
- "platform_ID",
- "status_source",
- "platform_timestamp",
- "latitude",
- "longitude"
- ],
- "type": "object"
- }
- }
+ "platform_status_encoded":{
+ "properties":{
+ "data":{
+ "description":"encoded string. E.g. Base64 encoded",
+ "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type":"string"
+ },
+ "file_name":{
+ "description":"Name of file",
+ "example":"ah1-0238126349247372.bin",
+ "type":"string"
+ },
+ "is_binary":{
+ "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example":true,
+ "type":"boolean"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "platform_status_encoded"
+ ],
+ "example":"platform_status_encoded",
+ "type":"string"
+ },
+ "mime_type":{
+ "description":"MIME type",
+ "example":"application/gzip",
+ "type":"string"
+ }
+ },
+ "required":[
+ "data",
+ "is_binary"
+ ],
+ "type":"object"
+ }
+ }
},
- "info": {
- "description": "SoAR message protocol in schemas",
- "title": "SoAR Backbone Message Formats",
- "version": "1.0"
+ "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