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Commit ee5e43ba authored by Dan Jones's avatar Dan Jones
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Merge branch '61-mas-dt-refactor-action-schema' into '67-mas-dt' 

Resolve "MAS-DT refactor action schema"

See merge request !43
parents eec6dc80 fe5bd983
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CHANGELOG.md
View file @ ee5e43ba
...@@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0. ...@@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
### Changed ### Changed
- Refactor action schema to accept geojson.Points
- Use geojson Point for platform_status - Use geojson Point for platform_status
- Add waypoint to platform_status - Add waypoint to platform_status
- Store remote schemas as committed local files - Store remote schemas as committed local files
......
examples/mas-dt/mission_plan.json 0 → 100644
View file @ ee5e43ba
{
"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
formats/mission_plan.py
View file @ ee5e43ba
...@@ -25,6 +25,37 @@ action_schema = { ...@@ -25,6 +25,37 @@ action_schema = {
], ],
"example": "move", "example": "move",
}, },
"activate_payload": {
"type": "boolean",
"description": "To activate/deactivate sensor for Autosub "
+ "Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
"example": True,
},
"timeout": {
"type": "number",
"format": "float",
"description": "Timeout set to perform action",
"example": 1800.0,
},
},
"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": { "start_point_latitude": {
"type": "number", "type": "number",
"format": "float", "format": "float",
...@@ -61,23 +92,13 @@ action_schema = { ...@@ -61,23 +92,13 @@ action_schema = {
"description": "Depth of next action", "description": "Depth of next action",
"example": 15.0, "example": 15.0,
}, },
"activate_payload": {
"type": "boolean",
"description": "To activate/deactivate sensor for Autosub "
+ "Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
"example": True,
},
"timeout": {
"type": "number",
"format": "float",
"description": "Timeout set to perform action",
"example": 1800.0,
},
}, },
"required": [ "required": [
"target_waypoint_latitude", "target_waypoint_latitude",
"target_waypoint_longitude", "target_waypoint_longitude",
], ],
},
],
} }
mission_plan_schema = { mission_plan_schema = {
...@@ -90,11 +111,21 @@ mission_plan_schema = { ...@@ -90,11 +111,21 @@ mission_plan_schema = {
"enum": ["mission_plan"], "enum": ["mission_plan"],
}, },
"autonomy_engine_plan_ID": { "autonomy_engine_plan_ID": {
"oneOf": [
{
"type": "string",
"format": "uuid",
"description": "Unique identifier for this plan"
+ "generated by the Autonomy Engine",
},
{
"type": "integer", "type": "integer",
"description": "Unique identifier for this plan" "description": "Unique identifier for this plan"
+ "generated by the Autonomy Engine", + "generated by the Autonomy Engine",
"example": 3, "example": 3,
}, },
]
},
"platform_ID": { "platform_ID": {
"type": "string", "type": "string",
"description": "Unique identifier for this platform", "description": "Unique identifier for this platform",
......
project/soar/swagger.json
View file @ ee5e43ba
...@@ -1449,9 +1449,18 @@ ...@@ -1449,9 +1449,18 @@
"mission_plan": { "mission_plan": {
"properties": { "properties": {
"autonomy_engine_plan_ID": { "autonomy_engine_plan_ID": {
"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", "description": "Unique identifier for this plangenerated by the Autonomy Engine",
"example": 3, "example": 3,
"type": "integer" "type": "integer"
}
]
}, },
"emergency": { "emergency": {
"default": false, "default": false,
...@@ -1469,29 +1478,23 @@ ...@@ -1469,29 +1478,23 @@
}, },
"plan": { "plan": {
"items": { "items": {
"oneOf": [
{
"properties": { "properties": {
"action": { "start": {
"description": "Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.", "$ref": "#/components/schemas/geojson.org.schema.Point.json"
"enum": [
"move",
"payload",
"dive",
"send_hits",
"scanline",
"scanpoint",
"go_home",
"surface_now",
"stop_mission",
"abort_now"
],
"example": "move",
"type": "string"
}, },
"activate_payload": { "target": {
"description": "To activate/deactivate sensor for Autosub Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`", "$ref": "#/components/schemas/geojson.org.schema.Point.json"
"example": true, }
"type": "boolean" },
"required": [
"target"
],
"type": "object"
}, },
{
"properties": {
"altitude": { "altitude": {
"description": "Altitude of next action", "description": "Altitude of next action",
"example": 15.0, "example": 15.0,
...@@ -1527,6 +1530,37 @@ ...@@ -1527,6 +1530,37 @@
"example": -4.187143188645706, "example": -4.187143188645706,
"format": "float", "format": "float",
"type": "number" "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`.",
"enum": [
"move",
"payload",
"dive",
"send_hits",
"scanline",
"scanpoint",
"go_home",
"surface_now",
"stop_mission",
"abort_now"
],
"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": { "timeout": {
"description": "Timeout set to perform action", "description": "Timeout set to perform action",
...@@ -1535,10 +1569,6 @@ ...@@ -1535,10 +1569,6 @@
"type": "number" "type": "number"
} }
}, },
"required": [
"target_waypoint_latitude",
"target_waypoint_longitude"
],
"type": "object" "type": "object"
}, },
"type": "array" "type": "array"
......
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