diff --git a/CHANGELOG.md b/CHANGELOG.md
index d21ae68f3e6b78e581550a2d41fb1385c95f89a3..60798f945994fd0740d2c65c0fe443cdc514fcf3 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,41 +7,44 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
## [Unreleased]
-### Changed
+### Changed
+- Use geojson Point for platform_status
+- Add waypoint to platform_status
+- Store remote schemas as committed local files
+ This prevents the live runtime loading untested changes
- Updated header version to accept semver, branch or commit
- Store remote schemas as committed local files
- This prevents the live runtime loading untested changes
- Refactored planning_configuration message definition
- - Remove region_of_interest and exclusion_zones
+ - Remove region_of_interest and exclusion_zones
- Add primitives array of classified geojson Features
- Inject remote geojson schema definitions
- Use geojson Polygon instead of region_schema
- Upgraded openapi-spec-validator to latest release (0.7.1)
- Upgraded openapi-schema-validator to latest release (0.6.2)
-## [v1.0.0] - 2024-08-28
+## [v1.0.0] - 2024-08-28
### Changed
-- Use discover to find all unit tests
-- Run tests against current format definitions
-- Test that formats match saved schema
+- Use discover to find all unit tests
+- Run tests against current format definitions
+- Test that formats match saved schema
- Run python and javascript tests in CI
- Refactor schema script to remove invalid definitions object automatically
-- Refactor generate_schema_config script to output file on -f flag
+- Refactor generate_schema_config script to output file on -f flag
### Fixed
- Add `--remove-orphans` to javascript CI test docker compose arguments
-## [v0.2.0] - 2024-02-06
+## [v0.2.0] - 2024-02-06
-### Added
+### Added
-- New alert message definition
+- New alert message definition
- Emergency flag in mission plan schemas
-- Added additional battery and fuel fields to platform status for SPINE project
+- Added additional battery and fuel fields to platform status for SPINE project
### Changed
@@ -53,13 +56,13 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
JSON schema definitions for the SoAR project
- outer wrapper MESSAGE definition
-- header object
+- header object
- payload object
- acknowledgement
- mission_plan (raw and encoded)
- observation (raw and encoded)
- - platform_status (raw and encoded)
- - planning_configuration
+ - platform_status (raw and encoded)
+ - planning_configuration
Example messages matching the schema for each partner
diff --git a/examples/geojson/platform_status.json b/examples/geojson/platform_status.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c8522f762cef4718cc96eb78781f10579052b25
--- /dev/null
+++ b/examples/geojson/platform_status.json
@@ -0,0 +1,38 @@
+{
+ "header":{
+ "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "timestamp": "2024-09-06T00:00:00Z",
+ "version": 2,
+ "source": "ecosub_c2",
+ "destination": "mas-dt.noc.slocum.unit_xxx.from_platform.platform_status",
+ "delivery_type": "publish",
+ "encoded": false
+ },
+ "payload":{
+ "message_type": "platform_status",
+ "platform_ID": "unit_xxx",
+ "platform_timestamp": "2024-09-06T00:00:00Z",
+ "status_source": "onboard_platform",
+ "autonomy_engine_plan_ID": 1,
+ "battery_remaining_capacity": 80.2,
+ "platform_state": "ABORT",
+ "mission_plan_ID": 1,
+ "mission_track_ID": 4,
+ "position": {
+ "type": "Point",
+ "coordinates": [
+ -10.122,
+ 178.2,
+ 50.0,
+ 20
+ ]
+ },
+ "waypoint": {
+ "type": "Point",
+ "coordinates": [
+ -10.5,
+ 178.5
+ ]
+ }
+ }
+}
diff --git a/formats/platform_status.py b/formats/platform_status.py
index 81b452f08fddecdc800e4992d046595b02642d2e..47807805ec41636fc35064f96560015644c549b1 100644
--- a/formats/platform_status.py
+++ b/formats/platform_status.py
@@ -72,31 +72,6 @@ platform_status_schema = {
+ " Engine's mission plan number sent) executed by platform",
"example": 1,
},
- "latitude": {
- "type": "number",
- "format": "float",
- "description": "Latitude (Y-coordinate) in decimal degrees.",
- "example": 178.2,
- },
- "longitude": {
- "type": "number",
- "format": "float",
- "description": "Longitude (X-coordinate) in decimal degrees.",
- "example": -10.122,
- },
- "depth": {
- "type": "number",
- "format": "float",
- "description": "Target depth in metres",
- "example": 50.0,
- "default": 0.0,
- },
- "altitude": {
- "type": "number",
- "format": "float",
- "description": "Target altitude in metres",
- "example": 20.0,
- },
"mission_track_ID": {
"type": "integer",
"description": "Track number - stage in mission (e.g. "
@@ -197,12 +172,85 @@ platform_status_schema = {
},
"sensor_config": sensor_schema,
},
+ "oneOf": [
+ {
+ "type": "object",
+ "properties": {
+ "position": {
+ "$ref": "https://geojson.org/schema/Point.json",
+ },
+ "waypoint": {
+ "$ref": "https://geojson.org/schema/Point.json",
+ },
+ },
+ "required": [
+ "position",
+ ],
+ },
+ {
+ "type": "object",
+ "properties": {
+ "latitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ },
+ "longitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ },
+ "depth": {
+ "type": "number",
+ "format": "float",
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "default": 0.0,
+ },
+ "altitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target altitude in metres",
+ "example": 20.0,
+ },
+ "waypoint_latitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ },
+ "waypoint_longitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ },
+ "waypoint_depth": {
+ "type": "number",
+ "format": "float",
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "default": 0.0,
+ },
+ "waypoint_altitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target altitude in metres",
+ "example": 20.0,
+ },
+ },
+ "required": [
+ "latitude",
+ "longitude",
+ ],
+ },
+ ],
"required": [
"message_type",
"platform_ID",
"status_source",
"platform_timestamp",
- "latitude",
- "longitude",
],
}
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index aaee112ff84400f7bb02044ca6692dfbbcc4c049..2296040560007075f67cb947f325f5499f1f0fb2 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -2010,13 +2010,82 @@
"type": "object"
},
"platform_status": {
- "properties": {
- "altitude": {
- "description": "Target altitude in metres",
- "example": 20.0,
- "format": "float",
- "type": "number"
+ "oneOf": [
+ {
+ "properties": {
+ "position": {
+ "$ref": "#/components/schemas/geojson.org.schema.Point.json"
+ },
+ "waypoint": {
+ "$ref": "#/components/schemas/geojson.org.schema.Point.json"
+ }
+ },
+ "required": [
+ "position"
+ ],
+ "type": "object"
},
+ {
+ "properties": {
+ "altitude": {
+ "description": "Target altitude in metres",
+ "example": 20.0,
+ "format": "float",
+ "type": "number"
+ },
+ "depth": {
+ "default": 0.0,
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "format": "float",
+ "type": "number"
+ },
+ "latitude": {
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "longitude": {
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ },
+ "waypoint_altitude": {
+ "description": "Target altitude in metres",
+ "example": 20.0,
+ "format": "float",
+ "type": "number"
+ },
+ "waypoint_depth": {
+ "default": 0.0,
+ "description": "Target depth in metres",
+ "example": 50.0,
+ "format": "float",
+ "type": "number"
+ },
+ "waypoint_latitude": {
+ "description": "Latitude (Y-coordinate) in decimal degrees.",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "waypoint_longitude": {
+ "description": "Longitude (X-coordinate) in decimal degrees.",
+ "example": -10.122,
+ "format": "float",
+ "type": "number"
+ }
+ },
+ "required": [
+ "latitude",
+ "longitude"
+ ],
+ "type": "object"
+ }
+ ],
+ "properties": {
"autonomy_engine_plan_ID": {
"description": "Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
"example": 1,
@@ -2034,13 +2103,6 @@
"format": "float",
"type": "number"
},
- "depth": {
- "default": 0.0,
- "description": "Target depth in metres",
- "example": 50.0,
- "format": "float",
- "type": "number"
- },
"endurance": {
"description": "Estimate of hours of operation remaining based on present output or performance",
"example": 7.4,
@@ -2070,12 +2132,6 @@
"example": false,
"type": "boolean"
},
- "latitude": {
- "description": "Latitude (Y-coordinate) in decimal degrees.",
- "example": 178.2,
- "format": "float",
- "type": "number"
- },
"localisation_east_error": {
"description": "Difference in EAST between deadreckoningand USBL update.",
"example": 0.000129,
@@ -2088,12 +2144,6 @@
"format": "float",
"type": "number"
},
- "longitude": {
- "description": "Longitude (X-coordinate) in decimal degrees.",
- "example": -10.122,
- "format": "float",
- "type": "number"
- },
"message_type": {
"description": "Type of message",
"enum": [
@@ -2208,9 +2258,7 @@
"message_type",
"platform_ID",
"status_source",
- "platform_timestamp",
- "latitude",
- "longitude"
+ "platform_timestamp"
],
"type": "object"
},