From f40b2551b6a20b502df42a9bbb32641165ba0f11 Mon Sep 17 00:00:00 2001
From: Trishna Saeharaseelan <trishna.saeharaseelan@noc.ac.uk>
Date: Thu, 21 Nov 2024 15:07:09 +0000
Subject: [PATCH] feat: add goal obj and partial flag to mission plan
---
CHANGELOG.md | 2 ++
examples/mas-dt/mission_plan.json | 20 +++++++++++++++++++-
formats/mission_plan.py | 23 +++++++++++++++++++++++
project/soar/swagger.json | 19 +++++++++++++++++++
4 files changed, 63 insertions(+), 1 deletion(-)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 48bcf42..a973545 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
### Added
+- 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
- Validate message_ID matches uuid format
- Add definition of instruction_set message
- Added optional primitives to squad schema
diff --git a/examples/mas-dt/mission_plan.json b/examples/mas-dt/mission_plan.json
index 3a76f4f..0899a5d 100644
--- a/examples/mas-dt/mission_plan.json
+++ b/examples/mas-dt/mission_plan.json
@@ -12,6 +12,7 @@
"message_type": "mission_plan",
"platform_ID": "alr-52",
"autonomy_engine_plan_ID": "a427003c-0000-11aa-a1eb-b1cdf2342fcc",
+ "partial": false,
"plan": [
{
"action": "move",
@@ -31,6 +32,23 @@
]
}
}
- ]
+ ],
+ "goal": {
+ "timestamp": "2024-11-21T00:00:00Z",
+ "feature": {
+ "type": "Feature",
+ "properties": {
+ "name": "MAS-DT west",
+ "type": "target primitive"
+ },
+ "geometry": {
+ "type": "Point",
+ "coordinates": [
+ -3.0071,
+ 50.3707
+ ]
+ }
+ }
+ }
}
}
\ No newline at end of file
diff --git a/formats/mission_plan.py b/formats/mission_plan.py
index fe46d11..d118d76 100644
--- a/formats/mission_plan.py
+++ b/formats/mission_plan.py
@@ -101,6 +101,21 @@ action_schema = {
],
}
+goal_schema = {
+ "type": "object",
+ "properties": {
+ "timestamp": {
+ "type": "string",
+ "format": "date-time",
+ "description": "Timestamp of last state change when autonomy model"
+ + " sets this goal",
+ "example": "2024-11-21T00:00:00Z",
+ },
+ "feature": {
+ "$ref": "https://geojson.org/schema/Feature.json",
+ },
+ },
+}
mission_plan_schema = {
"type": "object",
"properties": {
@@ -122,10 +137,18 @@ mission_plan_schema = {
"default": False,
"example": False,
},
+ "partial": {
+ "type": "boolean",
+ "description": "To indicate if this mission plan represents a "
+ + "partial (`true`) or the entire (`false`) mission plan. E.g."
+ + "Partial would be `true` if a full mission plan is broken down into multiple plans.",
+ "example": False,
+ },
"plan": {
"type": "array",
"items": action_schema,
},
+ "goal": goal_schema,
},
"oneOf": [
{
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index 4ba43f1..44e912e 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -1547,6 +1547,20 @@
"example": false,
"type": "boolean"
},
+ "goal": {
+ "properties": {
+ "feature": {
+ "$ref": "#/components/schemas/geojson.org.schema.Feature.json"
+ },
+ "timestamp": {
+ "description": "Timestamp of last state change when autonomy model sets this goal",
+ "example": "2024-11-21T00:00:00Z",
+ "format": "date-time",
+ "type": "string"
+ }
+ },
+ "type": "object"
+ },
"message_type": {
"description": "Type of message",
"enum": [
@@ -1555,6 +1569,11 @@
"example": "mission_plan",
"type": "string"
},
+ "partial": {
+ "description": "To indicate if this mission plan represents a partial (`true`) or the entire (`false`) mission plan. E.g.Partial would be `true` if a full mission plan is broken down into multiple plans.",
+ "example": false,
+ "type": "boolean"
+ },
"plan": {
"items": {
"oneOf": [
--
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