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Commit f76a9847 authored by izzat's avatar izzat
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Merge branch '37-update-config-to-plymouth-real-data' into 'dev' 

add endurance rating, active status, warmup time

Closes #37

See merge request !24
parents c5b8f4bd aa13520e
dev 41-add-optional-operating_area-as-a-wider-zone-outside-region_of_interest 42-add-event-details-and-status-to-acknowledgement-schema 66-tag-current-dev-as-version-1 76-should-depth-and-altitude-be-coordinates 80-add-informational-type-primitive 87-remove-comment-for-platform-status-state 87-remove-todo-comment-from-platform-state action-refactor-test ci-js-test master missionmonitor v2.0.0 v2.0.0-beta.11 v2.0.0-beta.10 v2.0.0-beta.9 v2.0.0-beta.8 v2.0.0-beta.7 v2.0.0-beta.6 v2.0.0-beta.5 v2.0.0-beta.4 v2.0.0-beta.3 v2.0.0-beta.2 v2.0.0-beta.1 v1.0.0 v0.2.0
2 merge requests!30Resolve "Release v0.2",!24add endurance rating, active status, warmup time
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examples/autonomy_engine_adapter/emergency_mission_command.json
View file @ f76a9847
......@@ -15,7 +15,7 @@
"emergency": true,
"plan": [
{
"action": "safety_abort",
"action": "abort_now",
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
......
examples/autonomy_engine_adapter/emergency_mission_plan.json
View file @ f76a9847
......@@ -21,7 +21,7 @@
"depth": 5.0
},
{
"action": "safety_abort",
"action": "abort_now",
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
......
examples/autonomy_engine_adapter/mission_plan_AH1.json
View file @ f76a9847
......@@ -44,7 +44,7 @@
"timeout": 200
},
{
"action": "climb",
"action": "dive",
"start_point_latitude": 60.00000000000000,
"start_point_longitude": -0.237143188645706,
"target_waypoint_latitude": 52.37072283932642,
......
examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
View file @ f76a9847
......@@ -44,7 +44,7 @@
"timeout": 300
},
{
"action": "climb",
"action": "dive",
"start_point_latitude": 60.00000000000000,
"start_point_longitude": -0.237143188645706,
"target_waypoint_latitude": 52.37072283932642,
......
examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
View file @ f76a9847
......@@ -4,13 +4,13 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "soar.hydrosurv.reav-60.reav-60-1.to_platform.mission_plan",
"destination": "soar.hydrosurv.reav60.usvdecibel.to_platform.mission_plan",
"delivery_type": "publish",
"encoded": false
},
"payload":{
"message_type": "mission_plan",
"platform_ID": "reav-60-1",
"platform_ID": "usvdecibel",
"autonomy_engine_plan_ID": 1,
"plan": [
{
......
examples/autonomy_engine_adapter/planning_configuration.json
View file @ f76a9847
......@@ -5,12 +5,12 @@
"version": 2,
"source": "gui",
"destination": "soar.all.all.all.from_platform.planning_configuration",
"delivery_type": "publish",
"delivery_type": "broadcast",
"encoded": false
},
"payload":{
"message_type": "planning_configuration",
"planning_config_ID": 3,
"planning_config_ID": 1,
"exclusion_zones": [
{
"geometry_coordinates": [
......@@ -76,18 +76,8 @@
{
"operator": "hydrosurv",
"model": "reav",
"platform_ID": "reav-60-1",
"emergency": {
"target_waypoint_latitude": 50.33611100020795,
"target_waypoint_longitude": -4.189772466767039,
"safe_command": "go_home",
"target_depth": 10.0
},
"min_altitude": 0.0,
"max_velocity": 0.9,
"min_velocity": 0.1,
"target_altitude": 0.0,
"additional_data": {}
"platform_ID": "usvdecibel",
"active": true
}
]
},
......@@ -100,6 +90,7 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-1",
"model": "ecosub",
"active": true,
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": 50.32933594228737,
......@@ -112,8 +103,14 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"warmup_time": 60.0,
"swath_width": 38.0,
"frequency": 700.0,
"angle": 110.0
......@@ -127,6 +124,7 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-2",
"model": "ecosub",
"active": true,
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": 50.32775207068519,
......@@ -139,8 +137,14 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"warmup_time": 60.0,
"swath_width": 38.0,
"frequency": 700.0,
"angle": 110.0
......@@ -154,6 +158,7 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-3",
"model": "ecosub",
"active": true,
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": 50.326744124905844,
......@@ -166,8 +171,14 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"warmup_time": 60.0,
"swath_width": 38.0,
"frequency": 700.0,
"angle": 110.0
......@@ -181,6 +192,7 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-4",
"model": "ecosub",
"active": true,
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": 50.32616814629094,
......@@ -195,6 +207,7 @@
"turning_radius": 1.5,
"scan_sensor": {
"sensor_type": "SIDESCAN",
"warmup_time": 60.0,
"swath_width": 38.0,
"frequency": 700.0,
"angle": 110.0
......@@ -215,7 +228,8 @@
"operator": "noc",
"platform_ID": "ah-1",
"model": "autosub",
"beacon_ID":2407,
"active": true,
"beacon_ID": 2407,
"emergency": {
"target_waypoint_latitude": 50.3342284629413,
"target_waypoint_longitude": -4.19759350502369,
......@@ -227,8 +241,14 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"warmup_time": 60.0,
"swath_width": 38.0,
"frequency": 700.0,
"angle": 110.0
......
examples/ecosub_adapter/mission_plan.json
View file @ f76a9847
......@@ -44,7 +44,7 @@
"timeout": 300
},
{
"action": "climb",
"action": "dive",
"start_point_latitude": 60.00000000000000,
"start_point_longitude": -0.237143188645706,
"target_waypoint_latitude": 52.37072283932642,
......
examples/gui_adapter/emergency_mission_command.json
View file @ f76a9847
......@@ -15,7 +15,7 @@
"emergency": true,
"plan": [
{
"action": "safety_abort",
"action": "abort_now",
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
......
examples/gui_adapter/emergency_mission_plan.json
View file @ f76a9847
......@@ -21,7 +21,7 @@
"depth": 5.0
},
{
"action": "safety_abort",
"action": "abort_now",
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
......
examples/gui_adapter/planning_configuration.json
View file @ f76a9847
......@@ -10,7 +10,7 @@
},
"payload":{
"message_type": "planning_configuration",
"planning_config_ID": 3,
"planning_config_ID": 1,
"exclusion_zones": [
{
"geometry_coordinates": [
......@@ -75,8 +75,9 @@
"platforms": [
{
"operator": "hydrosurv",
"model": "reav",
"platform_ID": "reav-60-1",
"model": "reav60",
"platform_ID": "usvdecibel",
"active": true,
"emergency": {
"target_waypoint_latitude": 50.33611100020795,
"target_waypoint_longitude": -4.189772466767039,
......@@ -87,6 +88,11 @@
"max_velocity": 0.9,
"min_velocity": 0.1,
"target_altitude": 0.0,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"additional_data": {}
}
]
......@@ -100,6 +106,7 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-1",
"model": "ecosub",
"active": true,
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": 50.32933594228737,
......@@ -112,6 +119,11 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"swath_width": 38.0,
......@@ -127,6 +139,7 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-2",
"model": "ecosub",
"active": true,
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": 50.32775207068519,
......@@ -139,6 +152,11 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"swath_width": 38.0,
......@@ -154,6 +172,7 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-3",
"model": "ecosub",
"active": true,
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": 50.326744124905844,
......@@ -166,6 +185,11 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"swath_width": 38.0,
......@@ -181,6 +205,7 @@
"operator": "planet-ocean",
"platform_ID": "ecosub-4",
"model": "ecosub",
"active": true,
"beacon_ID": 10021,
"emergency": {
"target_waypoint_latitude": 50.32616814629094,
......@@ -215,7 +240,8 @@
"operator": "noc",
"platform_ID": "ah-1",
"model": "autosub",
"beacon_ID":2407,
"active": true,
"beacon_ID": 2407,
"emergency": {
"target_waypoint_latitude": 50.3342284629413,
"target_waypoint_longitude": -4.19759350502369,
......@@ -227,6 +253,11 @@
"min_velocity": 0.1,
"target_altitude": 15.0,
"turning_radius": 1.5,
"endurance_relative_to_water_speed": {
"min_battery_rating": 2.25,
"max_battery_rating": 1.23,
"avg_battery_rating": 1.9
},
"scan_sensor": {
"sensor_type": "SIDESCAN",
"swath_width": 38.0,
......
examples/hydrosurv_adapter/acknowledgement.json
View file @ f76a9847
......@@ -4,14 +4,14 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 1,
"source": "hydrosurv_adapter",
"destination": "soar.hydrosurv.reav-60.reav-60-1.from_platform.acknowledgement",
"destination": "soar.hydrosurv.reav60.usvdecibel.from_platform.acknowledgement",
"delivery_type": "publish",
"encoded": false
},
"payload":{
"message_type": "acknowledgement",
"autonomy_engine_plan_ID": 1,
"platform_ID": "reav-60-1",
"platform_ID": "usvdecibel",
"approved": false
}
}
\ No newline at end of file
examples/hydrosurv_adapter/mission_plan.json
View file @ f76a9847
......@@ -4,13 +4,13 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "soar.hydrosurv.reav-60.reav-60-1.to_platform.mission_plan",
"destination": "soar.hydrosurv.reav60.usvdecibel.to_platform.mission_plan",
"delivery_type": "publish",
"encoded": false
},
"payload":{
"message_type": "mission_plan",
"platform_ID": "reav-60-1",
"platform_ID": "usvdecibel",
"autonomy_engine_plan_ID": 1,
"plan": [
{
......
examples/hydrosurv_adapter/platform_status.json
View file @ f76a9847
......@@ -4,7 +4,7 @@
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "hydrosurv_adapter",
"destination": "soar.hydrosurv.reav-60.reav-60-1.from_platform.platform_status",
"destination": "soar.hydrosurv.reav60.usvdecibel.from_platform.platform_status",
"delivery_type": "publish",
"encoded": false
},
......@@ -19,7 +19,7 @@
"longitude": -10.122,
"mission_plan_ID": 1,
"mission_track_ID": 4,
"platform_ID": "reav-60-1",
"platform_ID": "usvdecibel",
"platform_state": "ABORT",
"platform_timestamp": "2022-12-21T00:00:00Z",
"speed_over_ground": 4.5,
......
formats/mission_plan.py
View file @ f76a9847
......@@ -11,6 +11,18 @@ action_schema = {
"type": "string",
"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",
},
"start_point_latitude": {
......
formats/planning_configuration.py
View file @ f76a9847
......@@ -8,7 +8,7 @@ emergency_schema = {
"properties": {
"safe_command": {
"type": "string",
"enum": ["go_home", "abort_now", "stop_mission"],
"enum": ["go_home", "abort_now", "stop_now", "surface_now"],
"description": "Command/Action that is native to respective"
+ " partner's platform/C2",
"example": "go_home",
......@@ -40,6 +40,33 @@ emergency_schema = {
],
}
endurance_relative_water_speed_schema = {
"type": "object",
"properties": {
"min_battery_rating": {
"type": "number",
"format": "float",
"description": "Battery endurance rating during maximum speed usage (m/s)",
"example": 3.32,
},
"max_battery_rating": {
"type": "number",
"format": "float",
"description": "Battery endurance rating during maximum speed usage (m/s)",
"example": 1.23,
},
"avg_battery_rating": {
"type": "number",
"format": "float",
"description": (
"Battery endurance rating during standard operational"
+ " speed usage (m/s)"
),
"example": 1.9,
},
},
}
scan_sensor_schema = {
"type": "object",
......@@ -50,6 +77,12 @@ scan_sensor_schema = {
"example": "MBES",
"enum": ["SIDESCAN", "MBES"],
},
"warmup_time": {
"type": "number",
"format": "float",
"description": "Warmup time (seconds) for sensor to start up.",
"example": 180.0,
},
"swath_width": {
"type": "number",
"format": "float",
......@@ -96,6 +129,11 @@ platform_schema = {
+ "associated to this platform",
"example": 2407,
},
"active": {
"type": "boolean",
"description": "If platform is active = True, and inactive = False",
"example": True,
},
"emergency": emergency_schema,
"min_altitude": {
"type": "number",
......@@ -127,6 +165,7 @@ platform_schema = {
"description": "Turning radius of platform (in metres)",
"example": 1.0,
},
"endurance_relative_to_water_speed": endurance_relative_water_speed_schema,
"scan_sensor": scan_sensor_schema,
"additional_data": {
"description": "Any addition fields/data to be added here",
......@@ -137,11 +176,8 @@ platform_schema = {
"required": [
"operator",
"platform_ID",
"active",
"model",
"emergency",
"min_altitude",
"min_velocity",
"max_velocity",
],
}
......
project/soar/swagger.json
View file @ f76a9847
......@@ -126,6 +126,18 @@
"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"
},
......@@ -487,6 +499,11 @@
"description":"Squad consists of these platforms",
"items":{
"properties":{
"active":{
"description":"If platform is active = True, and inactive = False",
"example":true,
"type":"boolean"
},
"additional_data":{
"description":"Any addition fields/data to be added here",
"example":{
......@@ -507,7 +524,8 @@
"enum":[
"go_home",
"abort_now",
"stop_mission"
"stop_now",
"surface_now"
],
"example":"go_home",
"type":"string"
......@@ -538,6 +556,29 @@
],
"type":"object"
},
"endurance_relative_to_water_speed":{
"properties":{
"avg_battery_rating":{
"description":"Battery endurance rating during standard operational speed usage (m/s)",
"example":1.9,
"format":"float",
"type":"number"
},
"max_battery_rating":{
"description":"Battery endurance rating during maximum speed usage (m/s)",
"example":1.23,
"format":"float",
"type":"number"
},
"min_battery_rating":{
"description":"Battery endurance rating during maximum speed usage (m/s)",
"example":3.32,
"format":"float",
"type":"number"
}
},
"type":"object"
},
"max_velocity":{
"description":"Maximum velocity set for platform",
"example":0.9,
......@@ -598,6 +639,12 @@
"example":38.0,
"format":"float",
"type":"number"
},
"warmup_time":{
"description":"Warmup time (seconds) for sensor to start up.",
"example":180.0,
"format":"float",
"type":"number"
}
},
"type":"object"
......@@ -618,11 +665,8 @@
"required":[
"operator",
"platform_ID",
"model",
"emergency",
"min_altitude",
"min_velocity",
"max_velocity"
"active",
"model"
],
"type":"object"
},
......
tests/fixtures/schemas.py
View file @ f76a9847
......@@ -250,7 +250,7 @@ emergency_schema = {
"properties": {
"safe_command": {
"type": "string",
"enum": ["go_home", "abort_now", "stop_mission"],
"enum": ["go_home", "abort_now", "stop_now", "surface_now"],
"description": "Command/Action that is native to respective"
+ " partner's platform/C2",
"example": "go_home",
......
tests/fixtures/swagger.json
View file @ f76a9847
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