diff --git a/CHANGELOG.md b/CHANGELOG.md
index a97354593a18135eb3083925202760f6f8294535..f763be93de34915fc5ec1a13ae9dbc8958f043e2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,12 +11,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
- Goal object in mission_plan message that consists of a GeoJSON feature (representing the part of primitive that is currently the goal of the given mission plan).
- A `partial` flag that indicates if a mission plan is a partial plan or the entire mission plan
+- Options to primitives (under planning_configuration message) which is only a property when a primitive has an instruction of "follow" or "navigate_to"
- Validate message_ID matches uuid format
- Add definition of instruction_set message
- Added optional primitives to squad schema
### Changed
+- Added "instruction" as required under the primitive schema (planning configuration)
- Refactor instructeion_set into platform_instruction_set
- Refactor mission_plan schema autonomy_engine_plan_ID oneOf
- Update all example messages with valid UUIDs
diff --git a/examples/mas-dt/planning_configuration.json b/examples/mas-dt/planning_configuration.json
index fc34ee7e5b9726acd6722252550da1258c2553c5..82445417e26772c3f794261aa4e5d9268c474cfe 100644
--- a/examples/mas-dt/planning_configuration.json
+++ b/examples/mas-dt/planning_configuration.json
@@ -153,6 +153,11 @@
50.335942
]
}
+ },
+ "options": {
+ "repeat": true,
+ "reverse": true,
+ "acceptance_radius_m": 3000
}
}
]
diff --git a/formats/planning_configuration.py b/formats/planning_configuration.py
index 7b5bc1721982c85d5ed220665254af3c68c20e50..c679e85da6fa2a4226ac149f1b497b29921b1d67 100644
--- a/formats/planning_configuration.py
+++ b/formats/planning_configuration.py
@@ -181,26 +181,66 @@ platform_schema = {
],
}
-primitive_schema = {
+options_schema = {
"type": "object",
"properties": {
- "instruction": {
- "type": "string",
- "enum": [
- "stay_inside",
- "stay_outside",
- "navigate_to",
- "follow",
- "repeat",
- "cover",
- ],
- "description": "How the associated feature should be used",
- },
- "feature": {
- "$ref": "https://geojson.org/schema/Feature.json",
+ "repeat": {
+ "type": "boolean",
+ "description": "Repeat these set of primitives in order (e.g. 1->2->3->1->2...)",
+ "example": True,
+ },
+ "reverse": {
+ "type": "boolean",
+ "description": "Loop backwards through the set of primitives (e.g 1->2->-3->2->1...)",
+ "example": True,
+ },
+ "acceptance_radius_m": {
+ "type": "number",
+ "format": "float",
+ "description": "Acceptance radius (if applicable) to points of geometry in metres",
+ "example": 10000,
},
},
- "required": ["feature"],
+}
+
+primitive_schema = {
+ "oneOf": [
+ {
+ "properties": {
+ "instruction": {
+ "type": "string",
+ "enum": [
+ "navigate_to",
+ "follow",
+ ],
+ "description": "How the associated feature should be used",
+ },
+ "options": options_schema,
+ "feature": {
+ "$ref": "https://geojson.org/schema/Feature.json",
+ },
+ },
+ "required": ["feature", "instruction"],
+ },
+ {
+ "properties": {
+ "instruction": {
+ "type": "string",
+ "enum": [
+ "stay_inside",
+ "stay_outside",
+ "repeat",
+ "cover",
+ ],
+ "description": "How the associated feature should be used",
+ },
+ "feature": {
+ "$ref": "https://geojson.org/schema/Feature.json",
+ },
+ },
+ "required": ["feature", "instruction"],
+ },
+ ]
}
squad_metadata_schema = {
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index 44e912ebeae1eb2144d385b8cfd36801c06458d9..8dc6f1155a196fa467974d77ced39006fe07b564 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -1947,27 +1947,69 @@
"primitives": {
"description": "Specification primitives - campaign-wide such as operating area and obstacles",
"items": {
- "properties": {
- "feature": {
- "$ref": "#/components/schemas/geojson.org.schema.Feature.json"
+ "oneOf": [
+ {
+ "properties": {
+ "feature": {
+ "$ref": "#/components/schemas/geojson.org.schema.Feature.json"
+ },
+ "instruction": {
+ "description": "How the associated feature should be used",
+ "enum": [
+ "navigate_to",
+ "follow"
+ ],
+ "type": "string"
+ },
+ "options": {
+ "properties": {
+ "acceptance_radius_m": {
+ "description": "Acceptance radius (if applicable) to points of geometry in metres",
+ "example": 10000,
+ "format": "float",
+ "type": "number"
+ },
+ "repeat": {
+ "description": "Repeat these set of primitives in order (e.g. 1->2->3->1->2...)",
+ "example": true,
+ "type": "boolean"
+ },
+ "reverse": {
+ "description": "Loop backwards through the set of primitives (e.g 1->2->-3->2->1...)",
+ "example": true,
+ "type": "boolean"
+ }
+ },
+ "type": "object"
+ }
+ },
+ "required": [
+ "feature",
+ "instruction"
+ ]
},
- "instruction": {
- "description": "How the associated feature should be used",
- "enum": [
- "stay_inside",
- "stay_outside",
- "navigate_to",
- "follow",
- "repeat",
- "cover"
- ],
- "type": "string"
+ {
+ "properties": {
+ "feature": {
+ "$ref": "#/components/schemas/geojson.org.schema.Feature.json"
+ },
+ "instruction": {
+ "description": "How the associated feature should be used",
+ "enum": [
+ "stay_inside",
+ "stay_outside",
+ "repeat",
+ "cover"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "feature",
+ "instruction"
+ ]
}
- },
- "required": [
- "feature"
- ],
- "type": "object"
+ ]
},
"type": "array"
},
@@ -2158,27 +2200,69 @@
"primitives": {
"description": "Squad primitives - includes platform group navigation instructions",
"items": {
- "properties": {
- "feature": {
- "$ref": "#/components/schemas/geojson.org.schema.Feature.json"
+ "oneOf": [
+ {
+ "properties": {
+ "feature": {
+ "$ref": "#/components/schemas/geojson.org.schema.Feature.json"
+ },
+ "instruction": {
+ "description": "How the associated feature should be used",
+ "enum": [
+ "navigate_to",
+ "follow"
+ ],
+ "type": "string"
+ },
+ "options": {
+ "properties": {
+ "acceptance_radius_m": {
+ "description": "Acceptance radius (if applicable) to points of geometry in metres",
+ "example": 10000,
+ "format": "float",
+ "type": "number"
+ },
+ "repeat": {
+ "description": "Repeat these set of primitives in order (e.g. 1->2->3->1->2...)",
+ "example": true,
+ "type": "boolean"
+ },
+ "reverse": {
+ "description": "Loop backwards through the set of primitives (e.g 1->2->-3->2->1...)",
+ "example": true,
+ "type": "boolean"
+ }
+ },
+ "type": "object"
+ }
+ },
+ "required": [
+ "feature",
+ "instruction"
+ ]
},
- "instruction": {
- "description": "How the associated feature should be used",
- "enum": [
- "stay_inside",
- "stay_outside",
- "navigate_to",
- "follow",
- "repeat",
- "cover"
- ],
- "type": "string"
+ {
+ "properties": {
+ "feature": {
+ "$ref": "#/components/schemas/geojson.org.schema.Feature.json"
+ },
+ "instruction": {
+ "description": "How the associated feature should be used",
+ "enum": [
+ "stay_inside",
+ "stay_outside",
+ "repeat",
+ "cover"
+ ],
+ "type": "string"
+ }
+ },
+ "required": [
+ "feature",
+ "instruction"
+ ]
}
- },
- "required": [
- "feature"
- ],
- "type": "object"
+ ]
},
"type": "array"
},