diff --git a/CHANGELOG.md b/CHANGELOG.md
index 60798f945994fd0740d2c65c0fe443cdc514fcf3..115775a6d01c55d1c762b53302e79a795b2b32a6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
### Changed
+- Refactor action schema to accept geojson.Points
- Use geojson Point for platform_status
- Add waypoint to platform_status
- Store remote schemas as committed local files
diff --git a/examples/mas-dt/mission_plan.json b/examples/mas-dt/mission_plan.json
new file mode 100644
index 0000000000000000000000000000000000000000..10b7342ac211f0cc4121c2a6f4645beac807beb4
--- /dev/null
+++ b/examples/mas-dt/mission_plan.json
@@ -0,0 +1,36 @@
+{
+ "header": {
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "autonomy_engine",
+ "destination": "soar.noc.autosub.alr-52.to_platform.mission_plan",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "mission_plan",
+ "platform_ID": "alr-52",
+ "autonomy_engine_plan_ID": "a427003c-0000-11aa-a1eb-bvcdfghjgfcc",
+ "plan": [
+ {
+ "action": "move",
+ "start": {
+ "type": "Point",
+ "coordinates": [
+ -3.0071,
+ 50.3707
+ ]
+ },
+ "target": {
+ "type": "Point",
+ "coordinates": [
+ -3.2371,
+ 52.3707,
+ 0.0
+ ]
+ }
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/formats/mission_plan.py b/formats/mission_plan.py
index f62e823239d1106de2ebec06a331138e54f19fe3..0f582080d4842ceb4d741e4ce3a26d4f3a8ceef9 100644
--- a/formats/mission_plan.py
+++ b/formats/mission_plan.py
@@ -25,42 +25,6 @@ action_schema = {
],
"example": "move",
},
- "start_point_latitude": {
- "type": "number",
- "format": "float",
- "description": "Start point, y-coordinate",
- "example": 50.37072283932642,
- },
- "start_point_longitude": {
- "type": "number",
- "format": "float",
- "description": "Start point, x-coordinate",
- "example": -4.187143188645706,
- },
- "target_waypoint_latitude": {
- "type": "number",
- "format": "float",
- "description": "Target waypoint, y-coordinate",
- "example": 50.37072283932642,
- },
- "target_waypoint_longitude": {
- "type": "number",
- "format": "float",
- "description": "Target waypoint, x-coordinate",
- "example": -4.187143188645706,
- },
- "altitude": {
- "type": "number",
- "format": "float",
- "description": "Altitude of next action",
- "example": 15.0,
- },
- "depth": {
- "type": "number",
- "format": "float",
- "description": "Depth of next action",
- "example": 15.0,
- },
"activate_payload": {
"type": "boolean",
"description": "To activate/deactivate sensor for Autosub "
@@ -74,9 +38,66 @@ action_schema = {
"example": 1800.0,
},
},
- "required": [
- "target_waypoint_latitude",
- "target_waypoint_longitude",
+ "oneOf": [
+ {
+ "type": "object",
+ "properties": {
+ "start": {
+ "$ref": "https://geojson.org/schema/Point.json",
+ },
+ "target": {
+ "$ref": "https://geojson.org/schema/Point.json",
+ },
+ },
+ "required": [
+ "target",
+ ],
+ },
+ {
+ "type": "object",
+ "properties": {
+ "start_point_latitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Start point, y-coordinate",
+ "example": 50.37072283932642,
+ },
+ "start_point_longitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Start point, x-coordinate",
+ "example": -4.187143188645706,
+ },
+ "target_waypoint_latitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target waypoint, y-coordinate",
+ "example": 50.37072283932642,
+ },
+ "target_waypoint_longitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target waypoint, x-coordinate",
+ "example": -4.187143188645706,
+ },
+ "altitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Altitude of next action",
+ "example": 15.0,
+ },
+ "depth": {
+ "type": "number",
+ "format": "float",
+ "description": "Depth of next action",
+ "example": 15.0,
+ },
+ },
+ "required": [
+ "target_waypoint_latitude",
+ "target_waypoint_longitude",
+ ],
+ },
],
}
@@ -90,10 +111,20 @@ mission_plan_schema = {
"enum": ["mission_plan"],
},
"autonomy_engine_plan_ID": {
- "type": "integer",
- "description": "Unique identifier for this plan"
- + "generated by the Autonomy Engine",
- "example": 3,
+ "oneOf": [
+ {
+ "type": "string",
+ "format": "uuid",
+ "description": "Unique identifier for this plan"
+ + "generated by the Autonomy Engine",
+ },
+ {
+ "type": "integer",
+ "description": "Unique identifier for this plan"
+ + "generated by the Autonomy Engine",
+ "example": 3,
+ },
+ ]
},
"platform_ID": {
"type": "string",
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index 2296040560007075f67cb947f325f5499f1f0fb2..2ff1d4fd62cecb6b567e27c582a487011f59d76a 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -1449,9 +1449,18 @@
"mission_plan": {
"properties": {
"autonomy_engine_plan_ID": {
- "description": "Unique identifier for this plangenerated by the Autonomy Engine",
- "example": 3,
- "type": "integer"
+ "oneOf": [
+ {
+ "description": "Unique identifier for this plangenerated by the Autonomy Engine",
+ "format": "uuid",
+ "type": "string"
+ },
+ {
+ "description": "Unique identifier for this plangenerated by the Autonomy Engine",
+ "example": 3,
+ "type": "integer"
+ }
+ ]
},
"emergency": {
"default": false,
@@ -1469,6 +1478,67 @@
},
"plan": {
"items": {
+ "oneOf": [
+ {
+ "properties": {
+ "start": {
+ "$ref": "#/components/schemas/geojson.org.schema.Point.json"
+ },
+ "target": {
+ "$ref": "#/components/schemas/geojson.org.schema.Point.json"
+ }
+ },
+ "required": [
+ "target"
+ ],
+ "type": "object"
+ },
+ {
+ "properties": {
+ "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, y-coordinate",
+ "example": 50.37072283932642,
+ "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_longitude": {
+ "description": "Target waypoint, x-coordinate",
+ "example": -4.187143188645706,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "required": [
+ "target_waypoint_latitude",
+ "target_waypoint_longitude"
+ ],
+ "type": "object"
+ }
+ ],
"properties": {
"action": {
"description": "Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
@@ -1492,42 +1562,6 @@
"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, y-coordinate",
- "example": 50.37072283932642,
- "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_longitude": {
- "description": "Target waypoint, x-coordinate",
- "example": -4.187143188645706,
- "format": "float",
- "type": "number"
- },
"timeout": {
"description": "Timeout set to perform action",
"example": 1800.0,
@@ -1535,10 +1569,6 @@
"type": "number"
}
},
- "required": [
- "target_waypoint_latitude",
- "target_waypoint_longitude"
- ],
"type": "object"
},
"type": "array"