Merge branch '47-mas-dt-update-platform-status-message' into '67-mas-dt'

Resolve "MAS-DT update platform status message"

See merge request !45

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
 

examples/geojson/platform_status.json

+{
+  "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
+          ]
+      }
+  }
+}

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",
     ],
 }

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"
       },