diff --git a/examples/autonomy_engine_adapter/emergency_mission_command.json b/examples/autonomy_engine_adapter/emergency_mission_command.json
index 8e62e822cc93e5cbaf8cd6438b3ac319feabfb26..91f255e6409c5deb2bb1cc01392bdfa3b9e9a0cd 100644
--- a/examples/autonomy_engine_adapter/emergency_mission_command.json
+++ b/examples/autonomy_engine_adapter/emergency_mission_command.json
@@ -15,7 +15,7 @@
"emergency": true,
"plan": [
{
- "action": "safety_abort",
+ "action": "abort_now",
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
diff --git a/examples/autonomy_engine_adapter/emergency_mission_plan.json b/examples/autonomy_engine_adapter/emergency_mission_plan.json
index a121dc42f55107905713fc42b04f08deed7a83b1..d96b125d3c928f1f6a574feb0bfdb16c0e3b81f7 100644
--- a/examples/autonomy_engine_adapter/emergency_mission_plan.json
+++ b/examples/autonomy_engine_adapter/emergency_mission_plan.json
@@ -21,7 +21,7 @@
"depth": 5.0
},
{
- "action": "safety_abort",
+ "action": "abort_now",
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
diff --git a/examples/autonomy_engine_adapter/mission_plan_AH1.json b/examples/autonomy_engine_adapter/mission_plan_AH1.json
index 195c88477e7faf067268e1c57b68815aca159169..063332e1fe0f91a9beb3727240c833d8c0d01620 100644
--- a/examples/autonomy_engine_adapter/mission_plan_AH1.json
+++ b/examples/autonomy_engine_adapter/mission_plan_AH1.json
@@ -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,
diff --git a/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json b/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
index 96218fba642700748d25439d6c5d69c71d18c997..ad8bcba98cafe25e5ec15b86a275a21188409fd8 100644
--- a/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
+++ b/examples/autonomy_engine_adapter/mission_plan_ECOSUB.json
@@ -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,
diff --git a/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json b/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
index ec17a5e0e25ecd0bad0540e2700e03610ea782dd..774a9b996079ddc6ff2a1f68d1ae08f06b3cb3ff 100644
--- a/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
+++ b/examples/autonomy_engine_adapter/mission_plan_HYDROSURV.json
@@ -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": [
{
diff --git a/examples/autonomy_engine_adapter/planning_configuration.json b/examples/autonomy_engine_adapter/planning_configuration.json
index 30db669bdf9ca4acfae612868ce8ecf238905945..005fca7bee95eac72a3769a5292d72c6c21e766a 100644
--- a/examples/autonomy_engine_adapter/planning_configuration.json
+++ b/examples/autonomy_engine_adapter/planning_configuration.json
@@ -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
diff --git a/examples/ecosub_adapter/mission_plan.json b/examples/ecosub_adapter/mission_plan.json
index 96218fba642700748d25439d6c5d69c71d18c997..ad8bcba98cafe25e5ec15b86a275a21188409fd8 100644
--- a/examples/ecosub_adapter/mission_plan.json
+++ b/examples/ecosub_adapter/mission_plan.json
@@ -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,
diff --git a/examples/gui_adapter/emergency_mission_command.json b/examples/gui_adapter/emergency_mission_command.json
index 8e62e822cc93e5cbaf8cd6438b3ac319feabfb26..91f255e6409c5deb2bb1cc01392bdfa3b9e9a0cd 100644
--- a/examples/gui_adapter/emergency_mission_command.json
+++ b/examples/gui_adapter/emergency_mission_command.json
@@ -15,7 +15,7 @@
"emergency": true,
"plan": [
{
- "action": "safety_abort",
+ "action": "abort_now",
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
diff --git a/examples/gui_adapter/emergency_mission_plan.json b/examples/gui_adapter/emergency_mission_plan.json
index a121dc42f55107905713fc42b04f08deed7a83b1..d96b125d3c928f1f6a574feb0bfdb16c0e3b81f7 100644
--- a/examples/gui_adapter/emergency_mission_plan.json
+++ b/examples/gui_adapter/emergency_mission_plan.json
@@ -21,7 +21,7 @@
"depth": 5.0
},
{
- "action": "safety_abort",
+ "action": "abort_now",
"target_waypoint_latitude": 52.37072283932642,
"target_waypoint_longitude": -3.237143188645706
}
diff --git a/examples/gui_adapter/planning_configuration.json b/examples/gui_adapter/planning_configuration.json
index 30db669bdf9ca4acfae612868ce8ecf238905945..9c04569473fd56579e6e0bdf565ee88702aba341 100644
--- a/examples/gui_adapter/planning_configuration.json
+++ b/examples/gui_adapter/planning_configuration.json
@@ -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,
diff --git a/examples/hydrosurv_adapter/acknowledgement.json b/examples/hydrosurv_adapter/acknowledgement.json
index 0c130c46fc818d5fd913ed703c04e9341872b3c1..23c1028b712c08f0015b8db8ccdf1a1896684a51 100644
--- a/examples/hydrosurv_adapter/acknowledgement.json
+++ b/examples/hydrosurv_adapter/acknowledgement.json
@@ -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
diff --git a/examples/hydrosurv_adapter/mission_plan.json b/examples/hydrosurv_adapter/mission_plan.json
index ec17a5e0e25ecd0bad0540e2700e03610ea782dd..774a9b996079ddc6ff2a1f68d1ae08f06b3cb3ff 100644
--- a/examples/hydrosurv_adapter/mission_plan.json
+++ b/examples/hydrosurv_adapter/mission_plan.json
@@ -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": [
{
diff --git a/examples/hydrosurv_adapter/platform_status.json b/examples/hydrosurv_adapter/platform_status.json
index 72c30dd2857c30db3994a9b61fc781915f668e94..082649aee6831b8c6feb2f4d4989fc1e228f8990 100644
--- a/examples/hydrosurv_adapter/platform_status.json
+++ b/examples/hydrosurv_adapter/platform_status.json
@@ -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,
diff --git a/formats/mission_plan.py b/formats/mission_plan.py
index 004376b3d534bbf2f45e56cc01aa39f4296a0d4d..f62e823239d1106de2ebec06a331138e54f19fe3 100644
--- a/formats/mission_plan.py
+++ b/formats/mission_plan.py
@@ -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": {
diff --git a/formats/planning_configuration.py b/formats/planning_configuration.py
index 1e8dd5b194cca53c290efc14d861c2ee7de0b4a8..6a16e4272451365426cdd29874361db193bba0de 100644
--- a/formats/planning_configuration.py
+++ b/formats/planning_configuration.py
@@ -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",
],
}
diff --git a/project/soar/swagger.json b/project/soar/swagger.json
index e99a8438b8cde2fb7ee15d4c516a1289fcd2e55d..c9b04015ac06f15fe76fa101612f34484a980104 100644
--- a/project/soar/swagger.json
+++ b/project/soar/swagger.json
@@ -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"
},
diff --git a/tests/fixtures/schemas.py b/tests/fixtures/schemas.py
index 632a5ea64f2a22e7682ba46b35458dd92d7b19da..2aba8e7fa1282d43f447b058e04cbcd6de3742f9 100644
--- a/tests/fixtures/schemas.py
+++ b/tests/fixtures/schemas.py
@@ -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",
diff --git a/tests/fixtures/swagger.json b/tests/fixtures/swagger.json
index 3ef4b1572566192ca35435f5f4f85a3d03a40eb5..c9b04015ac06f15fe76fa101612f34484a980104 100644
--- a/tests/fixtures/swagger.json
+++ b/tests/fixtures/swagger.json
@@ -1,888 +1,1065 @@
{
- "components":{
- "schemas":{
- "MESSAGE":{
- "description":"Full message definition with message-metadata in `header` and different message type schemas under `payload`",
- "properties":{
- "header":{
- "$ref":"#/components/schemas/header"
- },
- "payload":{
- "$ref":"#/components/schemas/payload"
- }
- },
- "required":[
- "header",
- "payload"
- ],
- "type":"object"
- },
- "acknowledgement":{
- "properties":{
- "approved":{
- "description":"Human-in-the-loop approval.1 - Plan approved; 0 - Plan Rejected",
- "type":"boolean"
- },
- "autonomy_engine_plan_ID":{
- "description":"Mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
- "example":1,
- "type":"integer"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
- "acknowledgement"
- ],
- "example":"acknowledgement",
- "type":"string"
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
- }
- },
- "required":[
- "message_type",
- "autonomy_engine_plan_ID",
- "platform_ID",
- "approved"
- ],
- "type":"object"
- },
- "header":{
- "discriminator":{
- "propertyName":"message_type"
- },
- "properties":{
- "delivery_type":{
- "default":"publish",
- "description":"To publish or broadcast this message.",
- "enum":[
- "broadcast",
- "publish"
- ],
- "example":"publish",
- "type":"string"
- },
- "destination":{
- "description":"Publisher topic; What is the destination of this message",
- "example":"ah1",
- "type":"string"
- },
- "encoded":{
- "description":"Indicate that message raw (encoded) or decoded. Options: encoded=true, decoded=false",
- "example":false,
- "type":"boolean"
- },
- "message_ID":{
- "description":"An identifier for the type of message received.",
- "example":"b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
- "type":"string"
- },
- "source":{
- "description":"The sender; Where is this message from",
- "example":"autonomy_engine",
- "type":"string"
- },
- "timestamp":{
- "description":"Timestamp of message",
- "example":"2022-11-16T00:00:00Z",
- "format":"date-time",
- "type":"string"
- },
- "version":{
- "description":"Version of comms backbone message format protocol",
- "example":2.0,
- "format":"float",
- "type":"number"
- }
- },
- "type":"object"
- },
- "mission_plan":{
- "properties":{
- "autonomy_engine_plan_ID":{
- "description":"Unique identifier for this plangenerated by the Autonomy Engine",
- "example":3,
- "type":"integer"
- },
- "emergency":{
- "default":false,
- "description":"To indicate if this is an emergency. true = emergency and false = no emergency",
- "example":false,
- "type":"boolean"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
- "mission_plan"
- ],
- "example":"mission_plan",
- "type":"string"
- },
- "plan":{
- "items":{
- "properties":{
- "action":{
- "description":"Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
- "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"
- },
- "altitude":{
- "description":"Altitude of next action",
- "example":15.0,
- "format":"float",
- "type":"number"
- },
- "depth":{
- "description":"Depth of next action",
- "example":15.0,
- "format":"float",
- "type":"number"
- },
- "start_point_latitude":{
- "description":"Start point, x-coordinate",
- "example":-4.187143188645706,
- "format":"float",
- "type":"number"
- },
- "start_point_longitude":{
- "description":"Start point, y-coordinate",
- "example":50.37072283932642,
- "format":"float",
- "type":"number"
- },
- "target_waypoint_latitude":{
- "description":"Target waypoint, x-coordinate",
- "example":-4.187143188645706,
- "format":"float",
- "type":"number"
- },
- "target_waypoint_longitude":{
- "description":"Target waypoint, y-coordinate",
- "example":50.37072283932642,
- "format":"float",
- "type":"number"
- },
- "timeout":{
- "description":"Timeout set to perform action",
- "example":1800.0,
- "format":"float",
- "type":"number"
- }
- },
- "required":[
- "target_waypoint_latitude",
- "target_waypoint_longitude"
- ],
- "type":"object"
- },
- "type":"array"
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
- }
- },
- "required":[
- "message_type",
- "autonomy_engine_plan_ID",
- "platform_ID",
- "plan"
- ],
- "type":"object"
- },
- "mission_plan_encoded":{
- "properties":{
- "data":{
- "description":"encoded string. E.g. Base64 encoded",
- "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type":"string"
- },
- "file_name":{
- "description":"Name of file",
- "example":"ah1-0238126349247372.bin",
- "type":"string"
- },
- "is_binary":{
- "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
- "example":true,
- "type":"boolean"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
- "mission_plan_encoded"
- ],
- "example":"mission_plan_encoded",
- "type":"string"
- },
- "mime_type":{
- "description":"MIME type",
- "example":"application/gzip",
- "type":"string"
- }
- },
- "required":[
- "data",
- "is_binary"
- ],
- "type":"object"
- },
- "observation":{
- "properties":{
- "additional_data":{
- "description":"Placeholder field for any additional data",
- "example":{
- "sensor_payload":false
- }
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
- "observation"
- ],
- "example":"observation",
- "type":"string"
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
- },
- "points_of_interest":{
- "description":"Points from features of interest identified by platform if any found.",
- "items":{
- "properties":{
- "latitude":{
- "description":"Identified x-coordinate of point of interest",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "longitude":{
- "description":"Identified y-coordinate of point of interest",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "quality_of_point":{
- "description":"Quality/strength of points from features of interest identified by platform.",
- "example":0.98,
- "format":"float",
- "type":"number"
- }
- },
- "required":[
- "latitude",
- "longitude"
- ],
- "type":"object"
- },
- "type":"array"
- },
- "region_surveyed":{
- "description":"Region surveyed by given platform. GEOJSON",
- "example":"",
- "nullable":true
- }
- },
- "required":[
- "message_type",
- "platform_ID"
- ],
- "type":"object"
- },
- "observation_encoded":{
- "properties":{
- "data":{
- "description":"encoded string. E.g. Base64 encoded",
- "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type":"string"
- },
- "file_name":{
- "description":"Name of file",
- "example":"ah1-0238126349247372.bin",
- "type":"string"
- },
- "is_binary":{
- "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
- "example":true,
- "type":"boolean"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
- "observation_encoded"
- ],
- "example":"observation_encoded",
- "type":"string"
- },
- "mime_type":{
- "description":"MIME type",
- "example":"application/gzip",
- "type":"string"
- }
- },
- "required":[
- "data",
- "is_binary"
- ],
- "type":"object"
- },
- "payload":{
- "discriminator":{
- "mapping":{
- "acknowledgement":"#/components/schemas/acknowledgement",
- "mission_plan":"#/components/schemas/mission_plan",
- "mission_plan_encoded":"#/components/schemas/mission_plan_encoded",
- "observation":"#/components/schemas/observation",
- "observation_encoded":"#/components/schemas/observation_encoded",
- "planning_configuration":"#/components/schemas/planning_configuration",
- "platform_status":"#/components/schemas/platform_status",
- "platform_status_encoded":"#/components/schemas/platform_status_encoded"
- },
- "propertyName":"message_type"
- },
- "oneOf":[
- {
- "$ref":"#/components/schemas/acknowledgement"
- },
- {
- "$ref":"#/components/schemas/mission_plan"
- },
- {
- "$ref":"#/components/schemas/mission_plan_encoded"
- },
- {
- "$ref":"#/components/schemas/observation"
- },
- {
- "$ref":"#/components/schemas/observation_encoded"
- },
- {
- "$ref":"#/components/schemas/planning_configuration"
- },
- {
- "$ref":"#/components/schemas/platform_status"
- },
- {
- "$ref":"#/components/schemas/platform_status_encoded"
- }
- ]
- },
- "planning_configuration":{
- "properties":{
- "exclusion_zones":{
- "description":"Exclusion zones for all platforms",
- "items":{
- "description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
- "properties":{
- "geometry_coordinates":{
- "example":[
- [
- [
- -4.1777839187560915,
- 50.34173405662855
- ],
- [
- -4.1777839187560915,
- 50.33820949229701
- ],
- [
- -4.143667777943875,
- 50.33820949229701
- ],
- [
- -4.143667777943875,
- 50.34173405662855
- ],
- [
- -4.1777839187560915,
- 50.34173405662855
- ]
- ]
- ],
- "type":"array"
- }
- },
- "type":"object"
- },
- "type":"array"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
- "planning_configuration"
- ],
- "example":"planning_configuration",
- "type":"string"
- },
- "planning_config_ID":{
- "description":"Unique identifier tagged to version of this configuration plan",
- "example":3,
- "type":"integer"
- },
- "region_of_interest":{
- "description":"Region of interest for the entire operation",
- "items":{
- "description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
- "properties":{
- "geometry_coordinates":{
- "example":[
- [
- [
- -4.1777839187560915,
- 50.34173405662855
- ],
- [
- -4.1777839187560915,
- 50.33820949229701
- ],
- [
- -4.143667777943875,
- 50.33820949229701
- ],
- [
- -4.143667777943875,
- 50.34173405662855
- ],
- [
- -4.1777839187560915,
- 50.34173405662855
- ]
- ]
- ],
- "type":"array"
- }
- },
- "type":"object"
- },
- "type":"array"
- },
- "squads":{
- "items":{
- "properties":{
- "no_of_platforms":{
- "description":"Number of platforms",
- "example":3,
- "type":"integer"
- },
- "platforms":{
- "description":"Squad consists of these platforms",
- "items":{
- "properties":{
- "additional_data":{
- "description":"Any addition fields/data to be added here",
- "example":{
- "new_sensor_a":"test_sensor",
- "range":10.0
- },
- "type":"object"
- },
- "beacon_ID":{
- "description":"Unique identifier (number) for the beacon associated to this platform",
- "example":9407,
- "type":"number"
- },
- "emergency":{
- "properties":{
- "safe_command":{
- "description":"Command/Action that is native to respective partner's platform/C2",
- "enum":[
- "go_home",
- "abort_now",
- "stop_mission"
- ],
- "example":"go_home",
- "type":"string"
- },
- "target_depth":{
- "description":"Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
- "example":10.0,
- "format":"float",
- "type":"number"
- },
- "target_waypoint_latitude":{
- "description":"X-coordinate safe place for respective platform",
- "example":-7.432,
- "format":"float",
- "type":"number"
- },
- "target_waypoint_longitude":{
- "description":"Y-coordinate safe place for respective platform",
- "example":50.365,
- "format":"float",
- "type":"number"
- }
- },
- "required":[
- "target_waypoint_latitude",
- "target_waypoint_longitude",
- "target_depth"
- ],
- "type":"object"
- },
- "max_velocity":{
- "description":"Maximum velocity set for platform",
- "example":0.9,
- "format":"float",
- "type":"number"
- },
- "min_altitude":{
- "description":"Minimum altitude set for platform",
- "example":15.2,
- "format":"float",
- "type":"number"
- },
- "min_velocity":{
- "description":"Minimum velocity set for platform",
- "example":0.1,
- "format":"float",
- "type":"number"
- },
- "model":{
- "example":"reav",
- "type":"string"
- },
- "operator":{
- "description":"Operator of platform",
- "example":"noc",
- "type":"string"
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
- },
- "scan_sensor":{
- "properties":{
- "angle":{
- "description":"Angle of range of swath width (in degrees)",
- "example":140.0,
- "format":"float",
- "type":"number"
- },
- "frequency":{
- "description":"Frequency of scanning sensor (in kHz)",
- "example":700.0,
- "format":"float",
- "type":"number"
- },
- "sensor_type":{
- "description":"Unique identifier for this platform",
- "enum":[
- "SIDESCAN",
- "MBES"
- ],
- "example":"MBES",
- "type":"string"
- },
- "swath_width":{
- "description":"Function of `target_altitude` for the platform's swath width (in metres)",
- "example":38.0,
- "format":"float",
- "type":"number"
- }
- },
- "type":"object"
- },
- "target_altitude":{
- "description":"Target altitude set for platform. This affects swath width",
- "example":15.0,
- "format":"float",
- "type":"number"
- },
- "turning_radius":{
- "description":"Turning radius of platform (in metres)",
- "example":1.0,
- "format":"float",
- "type":"number"
- }
- },
- "required":[
- "operator",
- "platform_ID",
- "model",
- "emergency",
- "min_altitude",
- "min_velocity",
- "max_velocity"
- ],
- "type":"object"
- },
- "type":"array"
- },
- "squad_ID":{
- "description":"Identifier of given squad",
- "example":23,
- "type":"integer"
- },
- "squad_mission_type":{
- "description":"Mission of given squad: `tracking`, `survey`, `inspection`",
- "enum":[
- "tracking",
- "survey",
- "inspection"
- ],
- "example":"survey",
- "type":"string"
- }
- },
- "required":[
- "squad_ID",
- "no_of_platforms",
- "platforms",
- "squad_mission_type"
- ],
- "type":"object"
- },
- "type":"array"
- }
- },
- "required":[
- "message_type",
- "planning_config_ID",
- "squads",
- "exclusion_zones",
- "region_of_interest"
- ],
- "type":"object"
- },
- "platform_status":{
- "properties":{
- "altitude":{
- "description":"Target altitude in metres",
- "example":20.0,
- "format":"float",
- "type":"number"
- },
- "autonomy_engine_plan_ID":{
- "description":"Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
- "example":1,
- "type":"integer"
- },
- "battery_remaining_capacity":{
- "description":"Battery remaining % provided by respective C2",
- "example":80.2,
- "format":"float",
- "type":"number"
- },
- "depth":{
- "default":0.0,
- "description":"Target depth in metres",
- "example":50.0,
- "format":"float",
- "type":"number"
- },
- "heading":{
- "description":"Angular distance relative to north, usually 000\u00b0 at north, clockwise through 359\u00b0, in degrees",
- "example":124.3,
- "format":"float",
- "type":"number"
- },
- "health_status":{
- "description":"Health status where 0 is OK, 1 is platform has an ERROR",
- "example":false,
- "type":"boolean"
- },
- "latitude":{
- "description":"Latitude in decimal degrees.",
- "example":178.2,
- "format":"float",
- "type":"number"
- },
- "localisation_east_error":{
- "description":"Difference in EAST between deadreckoningand USBL update.",
- "example":0.000129,
- "format":"float",
- "type":"number"
- },
- "localisation_north_error":{
- "description":"Difference in NORTH between deadreckoning and USBL update.",
- "example":0.000129,
- "format":"float",
- "type":"number"
- },
- "longitude":{
- "description":"Longitude in decimal degrees.",
- "example":-10.122,
- "format":"float",
- "type":"number"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
- "platform_status"
- ],
- "example":"platform_status",
- "type":"string"
- },
- "mission_plan_ID":{
- "description":"Mission plan ID according to platform-C2 system",
- "example":1,
- "type":"integer"
- },
- "mission_track_ID":{
- "description":"Track number - stage in mission (e.g. 4 --> Waypoint 3 to Waypoint 4)",
- "example":4,
- "type":"integer"
- },
- "platform_ID":{
- "description":"Unique identifier for this platform",
- "example":"reav-x-1",
- "type":"string"
- },
- "platform_state":{
- "description":"Current state executed by platform. E.g. STOP, IDLE, ABORT.",
- "example":"ABORT",
- "type":"string"
- },
- "platform_timestamp":{
- "description":"Timestamp for onboard platform status message",
- "example":"2022-12-21T00:00:00Z",
- "format":"date-time",
- "type":"string"
- },
- "range_to_go":{
- "description":"Estimated distance to reach next waypoint",
- "example":124.3,
- "format":"float",
- "type":"number"
- },
- "sensor_config":{
- "description":"Scanning sensor on platform available to be controlled by the Autonomy Engine",
- "properties":{
- "additional_data":{
- "description":"Any addition fields/data to be added here",
- "example":{
- "payload":[
- 1.2,
- 434
- ]
- },
- "type":"object"
- },
- "sensor_on":{
- "description":"Sensor switched on (true) or off (false)",
- "example":true,
- "type":"boolean"
- },
- "sensor_serial":{
- "description":"serial number of sensor",
- "example":"mbes-002a",
- "type":"string"
- }
- },
- "type":"object"
- },
- "speed_over_ground":{
- "description":"Speed over ground",
- "example":124.3,
- "format":"float",
- "type":"number"
- },
- "status_source":{
- "description":"Indicate if this status message is from the platform or USBL",
- "enum":[
- "usbl",
- "onboard_platform"
- ],
- "example":"usbl",
- "type":"string"
- },
- "thrust_applied":{
- "description":"Thrust applied",
- "example":124.3,
- "format":"float",
- "type":"number"
- },
- "transmission_mode":{
- "description":"Mode in which status message was transmitted when on the surface (e.g. iridium/wifi) or underwater (e.g. acoustics)",
- "enum":[
- "acoustics",
- "iridium",
- "wifi",
- "starlink"
- ],
- "example":"wifi",
- "type":"string"
- },
- "usbl_fix_seconds_ago":{
- "description":"USBL Fix received x second ago.",
- "example":10.0,
- "format":"float",
- "type":"number"
- },
- "water_current_velocity":{
- "description":"Water current magnitude and direction",
- "example":"124.3NE",
- "type":"string"
- }
- },
- "required":[
- "message_type",
- "platform_ID",
- "status_source",
- "platform_timestamp",
- "latitude",
- "longitude"
- ],
- "type":"object"
- },
- "platform_status_encoded":{
- "properties":{
- "data":{
- "description":"encoded string. E.g. Base64 encoded",
- "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
- "type":"string"
- },
- "file_name":{
- "description":"Name of file",
- "example":"ah1-0238126349247372.bin",
- "type":"string"
- },
- "is_binary":{
- "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
- "example":true,
- "type":"boolean"
- },
- "message_type":{
- "description":"Type of message",
- "enum":[
- "platform_status_encoded"
- ],
- "example":"platform_status_encoded",
- "type":"string"
- },
- "mime_type":{
- "description":"MIME type",
- "example":"application/gzip",
- "type":"string"
- }
- },
- "required":[
- "data",
- "is_binary"
- ],
- "type":"object"
- }
- }
- },
- "info":{
- "description":"SoAR message protocol in schemas",
- "title":"SoAR Backbone Message Formats",
- "version":"1.0"
- },
- "openapi":"3.0.2",
- "paths":{
-
- }
+ "components":{
+ "schemas":{
+ "MESSAGE":{
+ "description":"Full message definition with message-metadata in `header` and different message type schemas under `payload`",
+ "properties":{
+ "header":{
+ "$ref":"#/components/schemas/header"
+ },
+ "payload":{
+ "$ref":"#/components/schemas/payload"
+ }
+ },
+ "required":[
+ "header",
+ "payload"
+ ],
+ "type":"object"
+ },
+ "acknowledgement":{
+ "properties":{
+ "approved":{
+ "description":"Human-in-the-loop approval.1 - Plan approved; 0 - Plan Rejected",
+ "type":"boolean"
+ },
+ "autonomy_engine_plan_ID":{
+ "description":"Mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
+ "example":1,
+ "type":"integer"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "acknowledgement"
+ ],
+ "example":"acknowledgement",
+ "type":"string"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ }
+ },
+ "required":[
+ "message_type",
+ "autonomy_engine_plan_ID",
+ "platform_ID",
+ "approved"
+ ],
+ "type":"object"
+ },
+ "header":{
+ "discriminator":{
+ "propertyName":"message_type"
+ },
+ "properties":{
+ "delivery_type":{
+ "default":"publish",
+ "description":"To publish or broadcast this message.",
+ "enum":[
+ "broadcast",
+ "publish"
+ ],
+ "example":"publish",
+ "type":"string"
+ },
+ "destination":{
+ "description":"Publisher topic; What is the destination of this message",
+ "example":"ah1",
+ "type":"string"
+ },
+ "encoded":{
+ "description":"Indicate that message raw (encoded) or decoded. Options: encoded=true, decoded=false",
+ "example":false,
+ "type":"boolean"
+ },
+ "message_ID":{
+ "description":"An identifier for the type of message received.",
+ "example":"b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+ "type":"string"
+ },
+ "source":{
+ "description":"The sender; Where is this message from",
+ "example":"autonomy_engine",
+ "type":"string"
+ },
+ "timestamp":{
+ "description":"Timestamp of message",
+ "example":"2022-11-16T00:00:00Z",
+ "format":"date-time",
+ "type":"string"
+ },
+ "version":{
+ "description":"Version of comms backbone message format protocol",
+ "example":2.0,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "type":"object"
+ },
+ "mission_plan":{
+ "properties":{
+ "autonomy_engine_plan_ID":{
+ "description":"Unique identifier for this plangenerated by the Autonomy Engine",
+ "example":3,
+ "type":"integer"
+ },
+ "emergency":{
+ "default":false,
+ "description":"To indicate if this is an emergency. true = emergency and false = no emergency",
+ "example":false,
+ "type":"boolean"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "mission_plan"
+ ],
+ "example":"mission_plan",
+ "type":"string"
+ },
+ "plan":{
+ "items":{
+ "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"
+ },
+ "altitude":{
+ "description":"Altitude of next action",
+ "example":15.0,
+ "format":"float",
+ "type":"number"
+ },
+ "depth":{
+ "description":"Depth of next action",
+ "example":15.0,
+ "format":"float",
+ "type":"number"
+ },
+ "start_point_latitude":{
+ "description":"Start point, y-coordinate",
+ "example":50.37072283932642,
+ "format":"float",
+ "type":"number"
+ },
+ "start_point_longitude":{
+ "description":"Start point, x-coordinate",
+ "example":-4.187143188645706,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_latitude":{
+ "description":"Target waypoint, y-coordinate",
+ "example":50.37072283932642,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_longitude":{
+ "description":"Target waypoint, x-coordinate",
+ "example":-4.187143188645706,
+ "format":"float",
+ "type":"number"
+ },
+ "timeout":{
+ "description":"Timeout set to perform action",
+ "example":1800.0,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "target_waypoint_latitude",
+ "target_waypoint_longitude"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ }
+ },
+ "required":[
+ "message_type",
+ "autonomy_engine_plan_ID",
+ "platform_ID",
+ "plan"
+ ],
+ "type":"object"
+ },
+ "mission_plan_encoded":{
+ "properties":{
+ "data":{
+ "description":"encoded string. E.g. Base64 encoded",
+ "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type":"string"
+ },
+ "file_name":{
+ "description":"Name of file",
+ "example":"ah1-0238126349247372.bin",
+ "type":"string"
+ },
+ "is_binary":{
+ "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example":true,
+ "type":"boolean"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "mission_plan_encoded"
+ ],
+ "example":"mission_plan_encoded",
+ "type":"string"
+ },
+ "mime_type":{
+ "description":"MIME type",
+ "example":"application/gzip",
+ "type":"string"
+ }
+ },
+ "required":[
+ "data",
+ "is_binary"
+ ],
+ "type":"object"
+ },
+ "observation":{
+ "properties":{
+ "additional_data":{
+ "description":"Placeholder field for any additional data",
+ "example":{
+ "sensor_payload":false
+ }
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "observation"
+ ],
+ "example":"observation",
+ "type":"string"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ },
+ "points_of_interest":{
+ "description":"Points from features of interest identified by platform if any found.",
+ "items":{
+ "properties":{
+ "latitude":{
+ "description":"Identified y-coordinate of point of interest",
+ "example":178.2,
+ "format":"float",
+ "type":"number"
+ },
+ "longitude":{
+ "description":"Identified x-coordinate of point of interest",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "quality_of_point":{
+ "description":"Quality/strength of points from features of interest identified by platform.",
+ "example":0.98,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "latitude",
+ "longitude"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "region_surveyed":{
+ "description":"Region surveyed by given platform. GEOJSON",
+ "example":"",
+ "nullable":true
+ }
+ },
+ "required":[
+ "message_type",
+ "platform_ID"
+ ],
+ "type":"object"
+ },
+ "observation_encoded":{
+ "properties":{
+ "data":{
+ "description":"encoded string. E.g. Base64 encoded",
+ "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type":"string"
+ },
+ "file_name":{
+ "description":"Name of file",
+ "example":"ah1-0238126349247372.bin",
+ "type":"string"
+ },
+ "is_binary":{
+ "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example":true,
+ "type":"boolean"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "observation_encoded"
+ ],
+ "example":"observation_encoded",
+ "type":"string"
+ },
+ "mime_type":{
+ "description":"MIME type",
+ "example":"application/gzip",
+ "type":"string"
+ }
+ },
+ "required":[
+ "data",
+ "is_binary"
+ ],
+ "type":"object"
+ },
+ "payload":{
+ "discriminator":{
+ "mapping":{
+ "acknowledgement":"#/components/schemas/acknowledgement",
+ "mission_plan":"#/components/schemas/mission_plan",
+ "mission_plan_encoded":"#/components/schemas/mission_plan_encoded",
+ "observation":"#/components/schemas/observation",
+ "observation_encoded":"#/components/schemas/observation_encoded",
+ "planning_configuration":"#/components/schemas/planning_configuration",
+ "platform_status":"#/components/schemas/platform_status",
+ "platform_status_encoded":"#/components/schemas/platform_status_encoded",
+ "survey":"#/components/schemas/survey",
+ "survey_encoded":"#/components/schemas/survey_encoded"
+ },
+ "propertyName":"message_type"
+ },
+ "oneOf":[
+ {
+ "$ref":"#/components/schemas/acknowledgement"
+ },
+ {
+ "$ref":"#/components/schemas/mission_plan"
+ },
+ {
+ "$ref":"#/components/schemas/mission_plan_encoded"
+ },
+ {
+ "$ref":"#/components/schemas/observation"
+ },
+ {
+ "$ref":"#/components/schemas/observation_encoded"
+ },
+ {
+ "$ref":"#/components/schemas/planning_configuration"
+ },
+ {
+ "$ref":"#/components/schemas/platform_status"
+ },
+ {
+ "$ref":"#/components/schemas/platform_status_encoded"
+ },
+ {
+ "$ref":"#/components/schemas/survey"
+ },
+ {
+ "$ref":"#/components/schemas/survey_encoded"
+ }
+ ]
+ },
+ "planning_configuration":{
+ "properties":{
+ "exclusion_zones":{
+ "description":"Exclusion zones for all platforms",
+ "items":{
+ "description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
+ "properties":{
+ "geometry_coordinates":{
+ "example":[
+ [
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ]
+ ]
+ ],
+ "type":"array"
+ }
+ },
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "planning_configuration"
+ ],
+ "example":"planning_configuration",
+ "type":"string"
+ },
+ "planning_config_ID":{
+ "description":"Unique identifier tagged to version of this configuration plan",
+ "example":3,
+ "type":"integer"
+ },
+ "region_of_interest":{
+ "description":"Region of interest for the entire operation",
+ "items":{
+ "description":"Using GEOJSON, exact 4-point region (rectangle shaped - 5 points)",
+ "properties":{
+ "geometry_coordinates":{
+ "example":[
+ [
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.33820949229701
+ ],
+ [
+ -4.143667777943875,
+ 50.34173405662855
+ ],
+ [
+ -4.1777839187560915,
+ 50.34173405662855
+ ]
+ ]
+ ],
+ "type":"array"
+ }
+ },
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "squads":{
+ "items":{
+ "properties":{
+ "no_of_platforms":{
+ "description":"Number of platforms",
+ "example":3,
+ "type":"integer"
+ },
+ "platforms":{
+ "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":{
+ "new_sensor_a":"test_sensor",
+ "range":10.0
+ },
+ "type":"object"
+ },
+ "beacon_ID":{
+ "description":"Unique identifier (number) for the beacon associated to this platform",
+ "example":2407,
+ "type":"number"
+ },
+ "emergency":{
+ "properties":{
+ "safe_command":{
+ "description":"Command/Action that is native to respective partner's platform/C2",
+ "enum":[
+ "go_home",
+ "abort_now",
+ "stop_now",
+ "surface_now"
+ ],
+ "example":"go_home",
+ "type":"string"
+ },
+ "target_depth":{
+ "description":"Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
+ "example":10.0,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_latitude":{
+ "description":"Y-coordinate safe place for respective platform",
+ "example":50.365,
+ "format":"float",
+ "type":"number"
+ },
+ "target_waypoint_longitude":{
+ "description":"X-coordinate safe place for respective platform",
+ "example":-7.432,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "target_waypoint_latitude",
+ "target_waypoint_longitude",
+ "target_depth"
+ ],
+ "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,
+ "format":"float",
+ "type":"number"
+ },
+ "min_altitude":{
+ "description":"Minimum altitude set for platform",
+ "example":15.2,
+ "format":"float",
+ "type":"number"
+ },
+ "min_velocity":{
+ "description":"Minimum velocity set for platform",
+ "example":0.1,
+ "format":"float",
+ "type":"number"
+ },
+ "model":{
+ "example":"reav",
+ "type":"string"
+ },
+ "operator":{
+ "description":"Operator of platform",
+ "example":"noc",
+ "type":"string"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ },
+ "scan_sensor":{
+ "properties":{
+ "angle":{
+ "description":"Angle of range of swath width (in degrees)",
+ "example":140.0,
+ "format":"float",
+ "type":"number"
+ },
+ "frequency":{
+ "description":"Frequency of scanning sensor (in kHz)",
+ "example":700.0,
+ "format":"float",
+ "type":"number"
+ },
+ "sensor_type":{
+ "description":"Unique identifier for this platform",
+ "enum":[
+ "SIDESCAN",
+ "MBES"
+ ],
+ "example":"MBES",
+ "type":"string"
+ },
+ "swath_width":{
+ "description":"Function of `target_altitude` for the platform's swath width (in metres)",
+ "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"
+ },
+ "target_altitude":{
+ "description":"Target altitude set for platform. This affects swath width",
+ "example":15.0,
+ "format":"float",
+ "type":"number"
+ },
+ "turning_radius":{
+ "description":"Turning radius of platform (in metres)",
+ "example":1.0,
+ "format":"float",
+ "type":"number"
+ }
+ },
+ "required":[
+ "operator",
+ "platform_ID",
+ "active",
+ "model"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ },
+ "squad_ID":{
+ "description":"Identifier of given squad",
+ "example":23,
+ "type":"integer"
+ },
+ "squad_mission_type":{
+ "description":"Mission of given squad: `tracking`, `survey`, `inspection`",
+ "enum":[
+ "tracking",
+ "survey",
+ "inspection"
+ ],
+ "example":"survey",
+ "type":"string"
+ }
+ },
+ "required":[
+ "squad_ID",
+ "no_of_platforms",
+ "platforms",
+ "squad_mission_type"
+ ],
+ "type":"object"
+ },
+ "type":"array"
+ }
+ },
+ "required":[
+ "message_type",
+ "planning_config_ID",
+ "squads",
+ "exclusion_zones",
+ "region_of_interest"
+ ],
+ "type":"object"
+ },
+ "platform_status":{
+ "properties":{
+ "altitude":{
+ "description":"Target altitude in metres",
+ "example":20.0,
+ "format":"float",
+ "type":"number"
+ },
+ "autonomy_engine_plan_ID":{
+ "description":"Last mission plan ID (according to Autonomy Engine's mission plan number sent) executed by platform",
+ "example":1,
+ "type":"integer"
+ },
+ "battery_remaining_capacity":{
+ "description":"Battery remaining % provided by respective C2",
+ "example":80.2,
+ "format":"float",
+ "type":"number"
+ },
+ "depth":{
+ "default":0.0,
+ "description":"Target depth in metres",
+ "example":50.0,
+ "format":"float",
+ "type":"number"
+ },
+ "heading":{
+ "description":"Angular distance relative to north, usually 000\u00b0 at north, clockwise through 359\u00b0, in degrees",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "health_status":{
+ "description":"Health status where 0 is OK, 1 is platform has an ERROR",
+ "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,
+ "format":"float",
+ "type":"number"
+ },
+ "localisation_north_error":{
+ "description":"Difference in NORTH between deadreckoning and USBL update.",
+ "example":0.000129,
+ "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":[
+ "platform_status"
+ ],
+ "example":"platform_status",
+ "type":"string"
+ },
+ "mission_plan_ID":{
+ "description":"Mission plan ID according to platform-C2 system",
+ "example":1,
+ "type":"integer"
+ },
+ "mission_track_ID":{
+ "description":"Track number - stage in mission (e.g. 4 --> Waypoint 3 to Waypoint 4)",
+ "example":4,
+ "type":"integer"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"reav-x-1",
+ "type":"string"
+ },
+ "platform_state":{
+ "description":"Current state executed by platform. E.g. STOP, IDLE, ABORT.",
+ "example":"ABORT",
+ "type":"string"
+ },
+ "platform_timestamp":{
+ "description":"Timestamp for onboard platform status message",
+ "example":"2022-12-21T00:00:00Z",
+ "format":"date-time",
+ "type":"string"
+ },
+ "range_to_go":{
+ "description":"Estimated distance to reach next waypoint",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "sensor_config":{
+ "description":"Scanning sensor on platform available to be controlled by the Autonomy Engine",
+ "properties":{
+ "additional_data":{
+ "description":"Any addition fields/data to be added here",
+ "example":{
+ "payload":[
+ 1.2,
+ 434
+ ]
+ },
+ "type":"object"
+ },
+ "sensor_on":{
+ "description":"Sensor switched on (true) or off (false)",
+ "example":true,
+ "type":"boolean"
+ },
+ "sensor_serial":{
+ "description":"serial number of sensor",
+ "example":"mbes-002a",
+ "type":"string"
+ }
+ },
+ "type":"object"
+ },
+ "speed_over_ground":{
+ "description":"Speed over ground",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "status_source":{
+ "description":"Indicate if this status message is from the platform or USBL",
+ "enum":[
+ "usbl",
+ "onboard_platform"
+ ],
+ "example":"usbl",
+ "type":"string"
+ },
+ "thrust_applied":{
+ "description":"Thrust applied",
+ "example":124.3,
+ "format":"float",
+ "type":"number"
+ },
+ "transmission_mode":{
+ "description":"Mode in which status message was transmitted when on the surface (e.g. iridium/wifi) or underwater (e.g. acoustics)",
+ "enum":[
+ "acoustics",
+ "iridium",
+ "wifi",
+ "starlink"
+ ],
+ "example":"wifi",
+ "type":"string"
+ },
+ "usbl_fix_seconds_ago":{
+ "description":"USBL Fix received x second ago.",
+ "example":10.0,
+ "format":"float",
+ "type":"number"
+ },
+ "water_current_velocity":{
+ "description":"Water current magnitude and direction",
+ "example":"124.3NE",
+ "type":"string"
+ }
+ },
+ "required":[
+ "message_type",
+ "platform_ID",
+ "status_source",
+ "platform_timestamp",
+ "latitude",
+ "longitude"
+ ],
+ "type":"object"
+ },
+ "platform_status_encoded":{
+ "properties":{
+ "data":{
+ "description":"encoded string. E.g. Base64 encoded",
+ "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type":"string"
+ },
+ "file_name":{
+ "description":"Name of file",
+ "example":"ah1-0238126349247372.bin",
+ "type":"string"
+ },
+ "is_binary":{
+ "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example":true,
+ "type":"boolean"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "platform_status_encoded"
+ ],
+ "example":"platform_status_encoded",
+ "type":"string"
+ },
+ "mime_type":{
+ "description":"MIME type",
+ "example":"application/gzip",
+ "type":"string"
+ }
+ },
+ "required":[
+ "data",
+ "is_binary"
+ ],
+ "type":"object"
+ },
+ "survey":{
+ "properties":{
+ "latitude_A":{
+ "description":"Latitude of point A(intersection of normal)from waypoint A to survey line",
+ "example":178.2,
+ "format":"float",
+ "type":"number"
+ },
+ "latitude_B":{
+ "description":"Latitude of point B(intersection of normal)from waypoint B to survey line",
+ "example":178.2,
+ "format":"float",
+ "type":"number"
+ },
+ "latitude_C":{
+ "description":"Latitude of point C(intersection of normal)from waypoint C to survey line",
+ "example":178.2,
+ "format":"float",
+ "type":"number"
+ },
+ "latitude_D":{
+ "description":"Latitude of point D(intersection of normal)from waypoint D to survey line",
+ "example":178.2,
+ "format":"float",
+ "type":"number"
+ },
+ "latitude_E":{
+ "description":"Latitude of point E(intersection of normal)from waypoint E to survey line",
+ "example":178.2,
+ "format":"float",
+ "type":"number"
+ },
+ "longitude_A":{
+ "description":"Longitude of point A(intersection of normal)from waypoint A to survey line",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "longitude_B":{
+ "description":"Longitude of point B(intersection of normal)from waypoint B to survey line",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "longitude_C":{
+ "description":"Longitude of point C(intersection of normal)from waypoint C to survey line",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "longitude_D":{
+ "description":"Longitude of point D(intersection of normal)from waypoint D to survey line",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "longitude_E":{
+ "description":"Longitude of point E(intersection of normal)from waypoint E to survey line",
+ "example":-10.122,
+ "format":"float",
+ "type":"number"
+ },
+ "platform_ID":{
+ "description":"Unique identifier for this platform",
+ "example":"ecosub-2",
+ "type":"string"
+ },
+ "timestamp":{
+ "description":"Timestamp for onboard message",
+ "example":"2022-12-21T00:00:00Z",
+ "format":"date-time",
+ "type":"string"
+ },
+ "track_ID":{
+ "description":"Track number of action(s) currently executed by platform",
+ "example":1,
+ "type":"integer"
+ }
+ },
+ "required":[
+ "latitude_A",
+ "longitude_A",
+ "latitude_B",
+ "longitude_B",
+ "platform_ID"
+ ],
+ "type":"object"
+ },
+ "survey_encoded":{
+ "properties":{
+ "data":{
+ "description":"encoded string. E.g. Base64 encoded",
+ "example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
+ "type":"string"
+ },
+ "file_name":{
+ "description":"Name of file",
+ "example":"ah1-0238126349247372.bin",
+ "type":"string"
+ },
+ "is_binary":{
+ "description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
+ "example":true,
+ "type":"boolean"
+ },
+ "message_type":{
+ "description":"Type of message",
+ "enum":[
+ "survey_encoded"
+ ],
+ "example":"survey_encoded",
+ "type":"string"
+ },
+ "mime_type":{
+ "description":"MIME type",
+ "example":"application/gzip",
+ "type":"string"
+ }
+ },
+ "required":[
+ "data",
+ "is_binary"
+ ],
+ "type":"object"
+ }
+ }
+ },
+ "info":{
+ "description":"SoAR message protocol in schemas",
+ "title":"SoAR Backbone Message Formats",
+ "version":"1.0"
+ },
+ "openapi":"3.0.2",
+ "paths":{
+
+ }
}
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