diff --git a/__init__.py b/__init__.py
index 61ab5158cdaa95bc8b036e76bf4e7c600d71dce1..7a18f10aaa42580436659f33444d176090c3af2e 100644
--- a/__init__.py
+++ b/__init__.py
@@ -2,6 +2,7 @@
from flask_restx import Api
from flask import Flask
+
# import os
__all__ = [
@@ -11,4 +12,3 @@ __all__ = [
app = Flask(__name__)
api = Api(app)
# api = Marshmallow(app)
-
diff --git a/docs/generate_swagger.py b/docs/generate_swagger.py
index ba5f7e3c06b280aaa56ccc6637e9fb7fae853b2e..cd442c078f41d12eed935c230ac7c70638d1fa18 100644
--- a/docs/generate_swagger.py
+++ b/docs/generate_swagger.py
@@ -18,7 +18,8 @@ swagger_template = dict(
"title": LazyString(lambda: "SoAR Backbone Message Formats"),
"version": LazyString(lambda: "0.1"),
"description": LazyString(
- lambda: "Backbone Message Format component for the Squad of Autonomous Robots (SoAR) message definitions."
+ lambda: "Backbone Message Format component for the Squad of"
+ + " Autonomous Robots (SoAR) message definitions."
),
},
host=LazyString(lambda: request.host),
@@ -28,11 +29,21 @@ swagger_template = dict(
full_message_schema = api.model(
"FullMessageSchema",
{
+ "message_ID": fields.String(
+ required=True,
+ description="UUID assigned to this message",
+ example="b427003c-7bc8-11ed-a1eb-0242ac120002",
+ ),
"timestamp": fields.DateTime(
required=True,
description="Timestamp of message",
example="2022-11-16T00:00:00Z",
),
+ "version": fields.Float(
+ required=True,
+ description="Version of comms bacbone messaging format protocol",
+ example=2.0,
+ ),
"source": fields.String(
required=True,
description="Where is this message from",
@@ -61,7 +72,30 @@ full_message_schema = api.model(
),
},
)
-
+sensor_schema = api.model(
+ "SensorSchema",
+ {
+ "sensor_ID": fields.Integer(
+ required=True,
+ description="unique identifier for platform",
+ example=2,
+ ),
+ "serial": fields.String(
+ required=False,
+ description="serial number of sensor",
+ example="mbes-001",
+ ),
+ "sensor_status": fields.Boolean(
+ required=False,
+ description="Sensor switched on (True) or off (False)",
+ example=True,
+ ),
+ "additional_data": fields.Raw(
+ required=False,
+ description="Any addition fields/data to be added here",
+ ),
+ },
+)
constraints_schema = api.model(
"ConstraintsSchema",
{
@@ -89,27 +123,23 @@ platform_schema = api.model(
"platform_ID": fields.Integer(
required=True,
description="unique identifier for platform",
- example="ah-1",
+ example=1,
),
- "serial": fields.Integer(
+ "serial": fields.String(
required=True,
description="platform serial number",
- example="ah-1",
+ example="reav-60",
),
- "model": fields.Integer(
+ "model": fields.String(
required=True,
description="platform serial number",
- example="ah-1",
+ example="reav",
),
"constraints": fields.Nested(constraints_schema),
- "active": fields.Boolean(
- required=False,
- description="When a platform is in deployment (executing a mission plan) this should be True",
- example=True,
- ),
},
)
+
action_schema = api.model(
"AutonomyEngineAction",
{
@@ -121,7 +151,8 @@ action_schema = api.model(
),
"flight_style": fields.String(
required=False,
- description="Platform-specific modes/flight styles to perform next action",
+ description="Platform-specific modes/flight styles to perform"
+ + " next action",
example="orbit",
),
"latitude_waypoint": fields.Float(
@@ -152,17 +183,8 @@ action_schema = api.model(
),
"send_environmental_data": fields.Boolean(
required=False,
- description="To trigger the platform to send list of observations if any found",
- example=False,
- ),
- "scanline": fields.Boolean(
- required=False,
- description="To trigger the platform to scan-line",
- example=False,
- ),
- "scanpoint": fields.Boolean(
- required=False,
- description="To trigger the platform to send list of observations if any found",
+ description="DO WE NEED THIS? To trigger the platform to send"
+ + " list of observations if any found",
example=False,
),
},
@@ -189,8 +211,8 @@ mission_plan_schema = api.model(
"plan": fields.List(
fields.Nested(action_schema),
required=True,
- description="Sequence of actions/instructions generated by the " +
- " Autonomy Engine that should be compiled by the respective C2.",
+ description="Sequence of actions/instructions generated by the "
+ + " Autonomy Engine that should be compiled by the respective C2.",
),
},
)
@@ -212,17 +234,20 @@ observation_schema = api.model(
# properties of each observation?
"points_of_interest": fields.Float(
required=False,
- description="Points from features of interest identified by platform if any found. DEFINE FORMAT.",
+ description="Points from features of interest identified by"
+ + " platform if any found. DEFINE FORMAT.",
example="",
),
"region_surveyed": fields.Float(
required=False,
- description="Region surveyed by given platform. DEFINE FORMAT. GEOJSON?",
+ description="Region surveyed by given platform. DEFINE FORMAT."
+ + " GEOJSON?",
example="",
),
"quality_of_points": fields.Float(
required=False,
- description="Quality/strength of points from features of interest identified by platform. DEFINE FORMAT.",
+ description="Quality/strength of points from features of interest"
+ + " identified by platform. DEFINE FORMAT.",
example=0.98,
),
"additional_data": fields.Raw(
@@ -239,7 +264,8 @@ region_schema = api.model(
{
"region": fields.Raw(
required=True,
- description="Using GEOJSON, exact region of interest in rectangle format polygon",
+ description="Using GEOJSON, exact region of interest in rectangle"
+ + " format polygon",
example={
"type": "FeatureCollection",
"features": [
@@ -284,7 +310,8 @@ squad_metadata_schema = api.model(
),
"squad_mission_type": fields.String(
required=True,
- description="Mission of given squad: `tracking`, `survey`, `inspection`",
+ description="Mission of given squad: `tracking`, `survey`,"
+ + " `inspection`",
example="survey",
),
"squad_state": fields.Boolean(
@@ -334,7 +361,8 @@ gps_schema = api.model(
{
"gps_source": fields.Float( # TODO: TBD with partners
required=False,
- description="Source of gps position. E.g. USBL (external), platform itself (internal)",
+ description="Source of gps position. E.g. USBL (external), "
+ + "platform itself (internal)",
example="internal",
),
"latitude_type": fields.String(
@@ -371,26 +399,6 @@ gps_schema = api.model(
},
)
-sensor_schema = api.model(
- "Sensor",
- {
- "sensor_name": fields.String(
- required=False,
- description="Name of sensor (e.g. MBES for AH1 and SideScan for Ecosub",
- example="MBES",
- ),
- "sensor_status": fields.Boolean(
- required=False,
- description="Sensor switched on (True) or off (False)",
- example=True,
- ),
- "additional_data": fields.Raw(
- required=False,
- description="Add any additional sensor-related data here.",
- example={"sensor_loadtime_seconds": 30.0},
- ),
- },
-)
platform_status_message_schema = api.model(
"platformStatusMessage",
{
@@ -399,7 +407,17 @@ platform_status_message_schema = api.model(
required=True,
description="Message header",
),
- "platform": fields.Nested(platform_schema),
+ "platform_ID": fields.Integer(
+ required=True,
+ description="unique identifier for platform",
+ example=1,
+ ),
+ "active": fields.Boolean(
+ required=False,
+ description="When a platform is in deployment (executing a mission"
+ + " plan) this should be True",
+ example=True,
+ ),
"platform_state": fields.String(
# TODO: Define dictionary with potential STATES of each platform
required=False,
@@ -409,7 +427,8 @@ platform_status_message_schema = api.model(
),
"autonomy_plan_ID": fields.Integer(
required=False,
- description="Last mission plan ID (according to Autonomy Engine's mission plan number) executed by platform",
+ description="Last mission plan ID (according to Autonomy Engine's "
+ + "mission plan number) executed by platform",
example=1,
),
"mission_track_ID": fields.Integer(
@@ -452,9 +471,8 @@ platform_status_message_schema = api.model(
example="Warning",
),
"gps_data": fields.List(
- fields.Nested(
- gps_schema
- ), # TODO: TBD Do we want a list of gps readings to allow > 1 reading i.e. platform + usbl
+ fields.Nested(gps_schema), # TODO: TBD Do we want a list of gps
+ # readings to allow > 1 reading i.e. platform + usbl
required=True,
description="Metadata pf each platform",
),
@@ -470,7 +488,8 @@ platform_status_message_schema = api.model(
),
"battery_remaining_capacity": fields.Float(
required=True,
- description="Battery remaining capacity % provided by respective platform/C2.",
+ description="Battery remaining capacity % provided by respective"
+ + " platform/C2.",
example=80.0,
),
"sensor_config": fields.Nested(
@@ -495,14 +514,14 @@ acknowledgement_schema = api.model(
),
"status": fields.String(
required=True,
- description="Highest level of acknowledgement. I.e. `c2_received`: Received by C2,"
- + " `c2_sent`: Sent from C2->Platform, `executed`: Executed by platform",
+ description="Highest level of acknowledgement. I.e. `c2_received`:"
+ + " Received by C2,`c2_sent`: Sent from C2"
+ + " ->Platform, `executed`: Executed by platform",
),
},
)
-
swagger_config = {
"headers": [],
"specs": [
@@ -530,7 +549,11 @@ swagger_config = {
swagger = Swagger(app, template=swagger_template, config=swagger_config)
-ns1 = api.namespace("message", description="Message Wrapper (Full Message Schema) Format")
+ns1 = api.namespace(
+ "message", description="Message Wrapper (Full Message Schema) Format"
+)
+
+
@ns1.route("/wrapper")
class MessageWrapper(Resource):
@ns1.response(200, "Success", full_message_schema)
@@ -538,7 +561,12 @@ class MessageWrapper(Resource):
pass
-ns2 = api.namespace("platform_status", description="platform Status Message Format")
+ns2 = api.namespace(
+ "platform_status",
+ description="platform Status Message Format",
+)
+
+
@ns2.route("")
class platformStatus(Resource):
@ns2.response(200, "Success", platform_status_message_schema)
@@ -547,9 +575,12 @@ class platformStatus(Resource):
ns3 = api.namespace(
- "planning_configuration", description="Planning Configuration Format. Do we want region of interest to be per squad, per platform or in the main schema?"
+ "planning_configuration",
+ description="Planning Configuration Format. Do we want region of "
+ + "interest to be per squad, per platform or in the main schema?",
)
+
@ns3.route("")
class PlanningConfiguration(Resource):
@ns3.response(200, "Success", planning_configuration_schema)
@@ -558,8 +589,13 @@ class PlanningConfiguration(Resource):
# @api.route('/mission-plan/<str:platform_type')
-# @api.doc(params={"platform_type": "The type of platform of the mission plan to target."})
-ns4 = api.namespace("mission_plan", description="Mission Plan Format Per platform")
+# @api.doc(params={"platform_type": "The type of platform of the
+# mission plan to target."})
+ns4 = api.namespace(
+ "mission_plan",
+ description="Mission Plan Format Per platform",
+)
+
@ns4.route("")
class MissionPlan(Resource):
@@ -567,18 +603,29 @@ class MissionPlan(Resource):
def get(self):
pass
-ns5 = api.namespace("observation", description="Observation Format --> Per platform or generic?")
+
+ns5 = api.namespace(
+ "observation",
+ description="Observation Format --> Per platform or generic?",
+)
+
+
@ns5.route("")
class Observation(Resource):
@ns5.response(200, "Success", observation_schema)
def get(self):
pass
+
+
ns6 = api.namespace("acknowledgement", description="Acknowledgment Format")
+
+
@ns6.route("")
class Acknowledgment(Resource):
@ns6.response(200, "Success", acknowledgement_schema)
def get(self):
pass
+
if __name__ == "__main__":
app.run()
diff --git a/examples/all/acknowledgment.json b/examples/all/acknowledgement.json
similarity index 52%
rename from examples/all/acknowledgment.json
rename to examples/all/acknowledgement.json
index 3c7b91f199418f617aafff6705bb646f38d3eae4..405220257e7d09ccd7ff684a3c91cc8aa170a6e1 100644
--- a/examples/all/acknowledgment.json
+++ b/examples/all/acknowledgement.json
@@ -1,11 +1,13 @@
{
+ "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
+ "version": 1,
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
"encoded": false,
- "type": "platform_status",
+ "type": "acknowledgement",
"payload": {
- "message_ID": 202,
+ "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac999999",
"status": "executed"
}
}
\ No newline at end of file
diff --git a/examples/all/compiled_mission_plan.json b/examples/all/compiled_mission_plan.json
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/examples/all/compiled_observation.json b/examples/all/compiled_observation.json
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/examples/all/compiled_platform_status.json b/examples/all/compiled_platform_status.json
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/examples/all/emergency.json b/examples/all/emergency.json
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/examples/all/mission_plan.json b/examples/all/mission_plan.json
index e97e553affd9564d434a271a236a110a9c80781c..add738302a61e6a67ba84467a18fbf8d357fbb92 100644
--- a/examples/all/mission_plan.json
+++ b/examples/all/mission_plan.json
@@ -1,7 +1,9 @@
{
+ "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
- "source": "hydrosurv_adapter",
- "destination": "autonomy_engine",
+ "version": 2,
+ "source": "autonomy_engine",
+ "destination": "ah-1",
"encoded": false,
"type": "platform_status",
"payload": {
@@ -16,9 +18,7 @@
"altitude": 0,
"depth": 0,
"activate_payload": false,
- "send_environmental_data": false,
- "scanline": false,
- "scanpoint": false
+ "send_environmental_data": false
}
]
}
diff --git a/examples/all/observation.json b/examples/all/observation.json
index bbbde9986a268df63b6eb44bc564927a863ac0ec..a4a857461b03f20b1e05700697645a7f52f06bee 100644
--- a/examples/all/observation.json
+++ b/examples/all/observation.json
@@ -1,13 +1,15 @@
{
+ "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
- "source": "hydrosurv_adapter",
+ "version": 2,
+ "source": "ecosub_c2",
"destination": "autonomy_engine",
"encoded": false,
"type": "platform_status",
"payload": {
"platform_serial":"ecosub-3",
- "points_of_interest": "",
- "region_surveyed": "",
+ "points_of_interest": [],
+ "region_surveyed": [],
"quality_of_points": 0.98,
"additional_data": {
"sensor_x": false
diff --git a/examples/all/planning_configuration.json b/examples/all/planning_configuration.json
index df6042179988319c5ea8bce403705892a09ec2b7..a6576cee877e622e8c3281a25daea9956966dadc 100644
--- a/examples/all/planning_configuration.json
+++ b/examples/all/planning_configuration.json
@@ -1,7 +1,9 @@
{
+ "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
- "source": "gui",
- "destination": "autonomy_engine",
+ "version": 2,
+ "source": "autonomy_engine",
+ "destination": "ah-1",
"encoded": false,
"type": "platform_status",
"payload": {
diff --git a/examples/all/platform_status.json b/examples/all/platform_status.json
index 78a156befca10f0dbbd9b9256e9d016e5f1bc459..b459ecbb06a8d9d8f8f7800333014e897278daf0 100644
--- a/examples/all/platform_status.json
+++ b/examples/all/platform_status.json
@@ -1,29 +1,22 @@
{
+ "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
+ "version": 1,
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
"encoded": false,
"type": "platform_status",
"payload": {
- "platform": {
- "platform_ID": 2,
- "serial": "ah-1",
- "model": "ah-1",
- "constraints": {
- "min_altitude": 15.2,
- "min_velocity": 0.1,
- "max_velocity": 0.9
- },
- "active": true
- },
- "platform_state": "IDLE",
+ "platform_ID": 1,
+ "active": true,
+ "platform_state": "ORBIT",
"autonomy_plan_ID": 1,
"mission_track_ID": 4,
"mission_action_ID": 1,
- "range_to_go": 124.3,
- "speed_over_ground": 124.3,
- "water_current_velocity": 124.3,
- "thrust_applied": 124.3,
+ "range_to_go": 0.3,
+ "speed_over_ground": 0.3,
+ "water_current_velocity": 0.3,
+ "thrust_applied": 0.3,
"health_status": "Warning",
"gps_data": [
{
@@ -36,16 +29,13 @@
"altitude": 0.0
}
],
- "localisation_error": 0.008,
- "usbl_fix_seconds_ago": 20.3,
+ "localisation_error": null,
+ "usbl_fix_seconds_ago": null,
"battery_remaining_capacity": 80,
"sensor_config": {
- "sensor_name": "MBES",
- "sensor_status": false,
- "additional_data": {
- "sensor_loadtime_seconds": 30
- }
- }
+ "sensor_name": null,
+ "sensor_status": false,
+ "additional_data": null
}
}
-}
\ No newline at end of file
+ }
\ No newline at end of file
diff --git a/examples/autonomy_engine/mission_plan.json b/examples/autonomy_engine/mission_plan.json
deleted file mode 100644
index e97e553affd9564d434a271a236a110a9c80781c..0000000000000000000000000000000000000000
--- a/examples/autonomy_engine/mission_plan.json
+++ /dev/null
@@ -1,25 +0,0 @@
-{
- "timestamp": "2022-11-16T00:00:00Z",
- "source": "hydrosurv_adapter",
- "destination": "autonomy_engine",
- "encoded": false,
- "type": "platform_status",
- "payload": {
- "plan_ID": 1,
- "platform_serial": "reav-60",
- "plan": [
- {
- "action": "move",
- "flight_style": "orbit",
- "latitude_waypoint": -4.187143188645706,
- "longitude_waypoint": 50.37072283932642,
- "altitude": 0,
- "depth": 0,
- "activate_payload": false,
- "send_environmental_data": false,
- "scanline": false,
- "scanpoint": false
- }
- ]
- }
-}
\ No newline at end of file
diff --git a/examples/autonomy_engine/planning_configuration.json b/examples/autonomy_engine/planning_configuration.json
deleted file mode 100644
index df6042179988319c5ea8bce403705892a09ec2b7..0000000000000000000000000000000000000000
--- a/examples/autonomy_engine/planning_configuration.json
+++ /dev/null
@@ -1,101 +0,0 @@
-{
- "timestamp": "2022-11-16T00:00:00Z",
- "source": "gui",
- "destination": "autonomy_engine",
- "encoded": false,
- "type": "platform_status",
- "payload": {
- "ID": 3,
- "squads": {
- "squad_ID": 23,
- "no_of_platforms": 3,
- "platforms": [
- {
- "platform_ID": 1,
- "serial": "ah-1",
- "model": "ah-1",
- "constraints": {
- "min_altitude": 15.2,
- "min_velocity": 0.1,
- "max_velocity": 0.9
- },
- "active": true
- }
- ],
- "squad_mission_type": "survey",
- "squad_state": false,
- "region_of_interest": [
- {
- "region": {
- "type": "FeatureCollection",
- "features": [
- {
- "type": "Feature",
- "properties": {},
- "geometry": {
- "coordinates": [
- [
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
- ]
- ],
- "type": "Polygon"
- }
- }
- ]
- }
- }
- ],
- "exclusion_zones": [
- {
- "region": {
- "type": "FeatureCollection",
- "features": [
- {
- "type": "Feature",
- "properties": {},
- "geometry": {
- "coordinates": [
- [
- [
- -4.187143188645706,
- 50.37072283932642
- ],
- [
- -4.202697005964865,
- 50.368816892405874
- ],
- [
- -4.203156724702808,
- 50.365640144076906
- ],
- [
- -4.19449868846155,
- 50.362267670845654
- ]
- ]
- ],
- "type": "Polygon"
- }
- }
- ]
- }
- }
- ]
- }
- }
-}
\ No newline at end of file
diff --git a/examples/autonomy_engine/platform_status.json b/examples/autonomy_engine/platform_status.json
deleted file mode 100644
index 78a156befca10f0dbbd9b9256e9d016e5f1bc459..0000000000000000000000000000000000000000
--- a/examples/autonomy_engine/platform_status.json
+++ /dev/null
@@ -1,51 +0,0 @@
-{
- "timestamp": "2022-11-16T00:00:00Z",
- "source": "hydrosurv_adapter",
- "destination": "autonomy_engine",
- "encoded": false,
- "type": "platform_status",
- "payload": {
- "platform": {
- "platform_ID": 2,
- "serial": "ah-1",
- "model": "ah-1",
- "constraints": {
- "min_altitude": 15.2,
- "min_velocity": 0.1,
- "max_velocity": 0.9
- },
- "active": true
- },
- "platform_state": "IDLE",
- "autonomy_plan_ID": 1,
- "mission_track_ID": 4,
- "mission_action_ID": 1,
- "range_to_go": 124.3,
- "speed_over_ground": 124.3,
- "water_current_velocity": 124.3,
- "thrust_applied": 124.3,
- "health_status": "Warning",
- "gps_data": [
- {
- "gps_source": "internal",
- "latitude_type": "",
- "longitude_type": "",
- "latitude": -7.432,
- "longitude": 50.365,
- "depth": 0.0,
- "altitude": 0.0
- }
- ],
- "localisation_error": 0.008,
- "usbl_fix_seconds_ago": 20.3,
- "battery_remaining_capacity": 80,
- "sensor_config": {
- "sensor_name": "MBES",
- "sensor_status": false,
- "additional_data": {
- "sensor_loadtime_seconds": 30
- }
- }
- }
- }
-}
\ No newline at end of file
diff --git a/examples/ecosub_c2/mission_plan.json b/examples/ecosub_c2/mission_plan.json
new file mode 100644
index 0000000000000000000000000000000000000000..07591cffe02303be3dc2f7a6c256f9a37a4a6275
--- /dev/null
+++ b/examples/ecosub_c2/mission_plan.json
@@ -0,0 +1,25 @@
+{
+ "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 2,
+ "source": "autonomy_engine",
+ "destination": "ecosub_c2",
+ "encoded": false,
+ "type": "mission_plan",
+ "payload": {
+ "plan_ID": 3,
+ "platform_serial": "ecosub-4",
+ "plan": [
+ {
+ "action": "move",
+ "flight_style": "dive",
+ "latitude_waypoint": -4.187143188645706,
+ "longitude_waypoint": 50.37072283932642,
+ "altitude": 20,
+ "depth": null,
+ "activate_payload": true,
+ "send_environmental_data": false
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/examples/autonomy_engine/observation.json b/examples/ecosub_c2/observation.json
similarity index 63%
rename from examples/autonomy_engine/observation.json
rename to examples/ecosub_c2/observation.json
index bbbde9986a268df63b6eb44bc564927a863ac0ec..a4a857461b03f20b1e05700697645a7f52f06bee 100644
--- a/examples/autonomy_engine/observation.json
+++ b/examples/ecosub_c2/observation.json
@@ -1,13 +1,15 @@
{
+ "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
- "source": "hydrosurv_adapter",
+ "version": 2,
+ "source": "ecosub_c2",
"destination": "autonomy_engine",
"encoded": false,
"type": "platform_status",
"payload": {
"platform_serial":"ecosub-3",
- "points_of_interest": "",
- "region_surveyed": "",
+ "points_of_interest": [],
+ "region_surveyed": [],
"quality_of_points": 0.98,
"additional_data": {
"sensor_x": false
diff --git a/examples/ecosub_c2/platform_status.json b/examples/ecosub_c2/platform_status.json
new file mode 100644
index 0000000000000000000000000000000000000000..460bc82ca5c11494bd0d8913029be74f5886673e
--- /dev/null
+++ b/examples/ecosub_c2/platform_status.json
@@ -0,0 +1,44 @@
+{
+ "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
+ "timestamp": "2022-11-16T00:00:00Z",
+ "version": 1,
+ "source": "hermes_ecosub",
+ "destination": "autonomy_engine",
+ "encoded": false,
+ "type": "platform_status",
+ "payload": {
+ "platform_ID": 2,
+ "active": true,
+ "platform_state": "IDLE",
+ "autonomy_plan_ID": 1,
+ "mission_track_ID": 4,
+ "mission_action_ID": 1,
+ "range_to_go": 12.3,
+ "speed_over_ground": 10.3,
+ "water_current_velocity": 10.3,
+ "thrust_applied": 0.3,
+ "health_status": "Warning",
+ "gps_data": [
+ {
+ "gps_source": "internal",
+ "latitude_type": "",
+ "longitude_type": "",
+ "latitude": -7.432,
+ "longitude": 50.365,
+ "depth": 5.0,
+ "altitude": 20.0
+ }
+ ],
+ "localisation_error": null,
+ "usbl_fix_seconds_ago": null,
+ "battery_remaining_capacity": 80,
+ "sensor_config": {
+ "sensor_ID": 22,
+ "serial": "sidescan-2x",
+ "sensor_status": true,
+ "additional_data": {
+ "whiskers_on": true
+ }
+ }
+ }
+ }
\ No newline at end of file
diff --git a/examples/hydrosurv_adapter/acknowledgment.json b/examples/hydrosurv_adapter/acknowledgement.json
similarity index 52%
rename from examples/hydrosurv_adapter/acknowledgment.json
rename to examples/hydrosurv_adapter/acknowledgement.json
index 3c7b91f199418f617aafff6705bb646f38d3eae4..405220257e7d09ccd7ff684a3c91cc8aa170a6e1 100644
--- a/examples/hydrosurv_adapter/acknowledgment.json
+++ b/examples/hydrosurv_adapter/acknowledgement.json
@@ -1,11 +1,13 @@
{
+ "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
+ "version": 1,
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
"encoded": false,
- "type": "platform_status",
+ "type": "acknowledgement",
"payload": {
- "message_ID": 202,
+ "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac999999",
"status": "executed"
}
}
\ No newline at end of file
diff --git a/examples/hydrosurv_adapter/mission_plan.json b/examples/hydrosurv_adapter/mission_plan.json
index e97e553affd9564d434a271a236a110a9c80781c..add738302a61e6a67ba84467a18fbf8d357fbb92 100644
--- a/examples/hydrosurv_adapter/mission_plan.json
+++ b/examples/hydrosurv_adapter/mission_plan.json
@@ -1,7 +1,9 @@
{
+ "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
- "source": "hydrosurv_adapter",
- "destination": "autonomy_engine",
+ "version": 2,
+ "source": "autonomy_engine",
+ "destination": "ah-1",
"encoded": false,
"type": "platform_status",
"payload": {
@@ -16,9 +18,7 @@
"altitude": 0,
"depth": 0,
"activate_payload": false,
- "send_environmental_data": false,
- "scanline": false,
- "scanpoint": false
+ "send_environmental_data": false
}
]
}
diff --git a/examples/hydrosurv_adapter/platform_status.json b/examples/hydrosurv_adapter/platform_status.json
index ab1a23a2c2e9d95518fdf171c3a3cd7c04f368b5..b459ecbb06a8d9d8f8f7800333014e897278daf0 100644
--- a/examples/hydrosurv_adapter/platform_status.json
+++ b/examples/hydrosurv_adapter/platform_status.json
@@ -1,29 +1,22 @@
{
+ "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
+ "version": 1,
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
"encoded": false,
"type": "platform_status",
"payload": {
- "platform": {
- "platform_ID": 23,
- "serial": "ah-1",
- "model": "ah-1",
- "constraints": {
- "min_altitude": 15.2,
- "min_velocity": 0.1,
- "max_velocity": 0.9
- },
- "active": true
- },
- "platform_state": "IDLE",
+ "platform_ID": 1,
+ "active": true,
+ "platform_state": "ORBIT",
"autonomy_plan_ID": 1,
"mission_track_ID": 4,
"mission_action_ID": 1,
- "range_to_go": 124.3,
- "speed_over_ground": 124.3,
- "water_current_velocity": 124.3,
- "thrust_applied": 124.3,
+ "range_to_go": 0.3,
+ "speed_over_ground": 0.3,
+ "water_current_velocity": 0.3,
+ "thrust_applied": 0.3,
"health_status": "Warning",
"gps_data": [
{
@@ -36,16 +29,13 @@
"altitude": 0.0
}
],
- "localisation_error": 0.008,
- "usbl_fix_seconds_ago": 20.3,
+ "localisation_error": null,
+ "usbl_fix_seconds_ago": null,
"battery_remaining_capacity": 80,
"sensor_config": {
- "sensor_name": "MBES",
- "sensor_status": false,
- "additional_data": {
- "sensor_loadtime_seconds": 30
- }
- }
+ "sensor_name": null,
+ "sensor_status": false,
+ "additional_data": null
}
}
-}
\ No newline at end of file
+ }
\ No newline at end of file
diff --git a/formats/__init__.py b/formats/__init__.py
index bf46b074383f850daa1022e71c04e070f3d7e157..fda3a30c78b313dbc287faf0d8d51c8d7eff8fd6 100644
--- a/formats/__init__.py
+++ b/formats/__init__.py
@@ -21,11 +21,21 @@ message_types = [
full_message_schema = api.model(
"FullMessageSchema",
{
+ "message_ID": fields.String(
+ required=True,
+ description="UUID assigned to this message",
+ example="b427003c-7bc8-11ed-a1eb-0242ac120002",
+ ),
"timestamp": fields.DateTime(
required=True,
description="Timestamp of message",
example="2022-11-16T00:00:00Z",
),
+ "version": fields.Float(
+ required=True,
+ description="Version of comms bacbone messaging format protocol",
+ example=2.0,
+ ),
"source": fields.String(
required=True,
description="Where is this message from",
@@ -82,23 +92,18 @@ platform_schema = api.model(
"platform_ID": fields.Integer(
required=True,
description="unique identifier for platform",
- example="ah-1",
+ example=1,
),
- "serial": fields.Integer(
+ "serial": fields.String(
required=True,
description="platform serial number",
- example="ah-1",
+ example="reav-60",
),
- "model": fields.Integer(
+ "model": fields.String(
required=True,
description="platform serial number",
- example="ah-1",
+ example="reav",
),
"constraints": fields.Nested(constraints_schema),
- "active": fields.Boolean(
- required=False,
- description="When a platform is in deployment (executing a mission plan) this should be True",
- example=True,
- ),
},
)
diff --git a/formats/acknowledgement.py b/formats/acknowledgement.py
index b7f887e12058f122d1fe156ac5380db3c1a632c5..af0cff02ccc0e240df4742f101e8d196a099345a 100644
--- a/formats/acknowledgement.py
+++ b/formats/acknowledgement.py
@@ -22,8 +22,9 @@ acknowledgement_schema = api.model(
),
"status": fields.String(
required=True,
- description="Highest level of acknowledgement. I.e. `c2_received`: Received by C2,"
- + " `c2_sent`: Sent from C2->Platform, `executed`: Executed by platform",
+ description="Highest level of acknowledgement. I.e. `c2_received`:"
+ + " Received by C2, `c2_sent`: Sent from C2->Platform, `executed`:"
+ + " Executed by platform",
),
},
)
diff --git a/formats/mission_plan.py b/formats/mission_plan.py
index acd10e7fb4ee10fe47875f2475a3caf18ddce7d7..c6af38490fad78e0e5b9088e6a4ee36557edad62 100644
--- a/formats/mission_plan.py
+++ b/formats/mission_plan.py
@@ -18,7 +18,8 @@ action_schema = api.model(
),
"flight_style": fields.String(
required=False,
- description="Platform-specific modes/flight styles to perform next action",
+ description="Platform-specific modes/flight styles to perform"
+ + " next action",
example="orbit",
),
"latitude_waypoint": fields.Float(
@@ -49,17 +50,8 @@ action_schema = api.model(
),
"send_environmental_data": fields.Boolean(
required=False,
- description="To trigger the platform to send list of observations if any found",
- example=False,
- ),
- "scanline": fields.Boolean(
- required=False,
- description="To trigger the platform to scan-line",
- example=False,
- ),
- "scanpoint": fields.Boolean(
- required=False,
- description="To trigger the platform to send list of observations if any found",
+ description="To trigger the platform to send list of observations"
+ + " if any found",
example=False,
),
},
diff --git a/formats/observation.py b/formats/observation.py
index 88306e4e3942ffe400c80364300581b46a2b200a..6889b154e6691abdf42db58909e04712468df228 100644
--- a/formats/observation.py
+++ b/formats/observation.py
@@ -1,7 +1,7 @@
"""
schema: platform-specific decoded status message (DRAFT)
"""
-from . import full_message_schema, platform_schema, api
+from . import full_message_schema, api
from flask_restx import fields
@@ -22,17 +22,20 @@ observation_schema = api.model(
# properties of each observation?
"points_of_interest": fields.Float(
required=False,
- description="Points from features of interest identified by platform if any found. DEFINE FORMAT.",
+ description="Points from features of interest identified by"
+ + " platform if any found. DEFINE FORMAT.",
example="",
),
"region_surveyed": fields.Float(
required=False,
- description="Region surveyed by given platform. DEFINE FORMAT. GEOJSON?",
+ description="Region surveyed by given platform. DEFINE FORMAT."
+ + " GEOJSON?",
example="",
),
"quality_of_points": fields.Float(
required=False,
- description="Quality/strength of points from features of interest identified by platform. DEFINE FORMAT.",
+ description="Quality/strength of points from features of interest"
+ + " identified by platform. DEFINE FORMAT.",
example=0.98,
),
"additional_data": fields.Raw(
diff --git a/formats/planning_configuration.py b/formats/planning_configuration.py
index ff336dc986395c90cf72b4c59fc32406877fc3b5..b46cc32e559351f9512b24f8826bd1e9a355643c 100644
--- a/formats/planning_configuration.py
+++ b/formats/planning_configuration.py
@@ -11,7 +11,8 @@ region_schema = api.model(
{
"region": fields.Raw(
required=True,
- description="Using GEOJSON, exact region of interest in rectangle format polygon",
+ description="Using GEOJSON, exact region of interest in rectangle"
+ + " format polygon",
example={
"type": "FeatureCollection",
"features": [
@@ -56,7 +57,8 @@ squad_metadata_schema = api.model(
),
"squad_mission_type": fields.String(
required=True,
- description="Mission of given squad: `tracking`, `survey`, `inspection`",
+ description="Mission of given squad: `tracking`, `survey`"
+ + ", `inspection`",
example="survey",
),
"squad_state": fields.Boolean(
diff --git a/formats/platform_status.py b/formats/platform_status.py
index e11af4f48b62ac44db1bfe878f47734bc5b9d479..761b0fc4fc0833501e248e2d2e493cf180fce989 100644
--- a/formats/platform_status.py
+++ b/formats/platform_status.py
@@ -1,7 +1,7 @@
"""
schema: platform-specific decoded status message (DRAFT)
"""
-from . import full_message_schema, platform_schema, api
+from . import full_message_schema, api
from flask_restx import fields
gps_schema = api.model(
@@ -9,7 +9,10 @@ gps_schema = api.model(
{
"gps_source": fields.Float( # TODO: TBD with partners
required=False,
- description="Source of gps position. E.g. USBL (external), platform itself (internal)",
+ description=(
+ "Source of gps position. E.g. USBL (external),"
+ + "platform itself (internal)"
+ ),
example="internal",
),
"latitude_type": fields.String(
@@ -47,12 +50,17 @@ gps_schema = api.model(
)
sensor_schema = api.model(
- "Sensor",
+ "SensorSchema",
{
- "sensor_name": fields.String(
+ "sensor_ID": fields.Integer(
+ required=True,
+ description="unique identifier for platform",
+ example=2,
+ ),
+ "serial": fields.String(
required=False,
- description="Name of sensor (e.g. MBES for AH1 and SideScan for Ecosub",
- example="MBES",
+ description="serial number of sensor",
+ example="mbes-001",
),
"sensor_status": fields.Boolean(
required=False,
@@ -61,11 +69,12 @@ sensor_schema = api.model(
),
"additional_data": fields.Raw(
required=False,
- description="Add any additional sensor-related data here.",
- example={"sensor_loadtime_seconds": 30.0},
+ description="Any addition fields/data to be added here",
),
},
)
+
+
platform_status_message_schema = api.model(
"platformStatusMessage",
{
@@ -74,7 +83,17 @@ platform_status_message_schema = api.model(
required=True,
description="Message header",
),
- "platform": fields.Nested(platform_schema),
+ "platform_ID": fields.Integer(
+ required=True,
+ description="unique identifier for platform",
+ example=1,
+ ),
+ "active": fields.Boolean(
+ required=False,
+ description="When a platform is in deployment (executing a"
+ + " mission plan) this should be True",
+ example=True,
+ ),
"platform_state": fields.String(
# TODO: Define dictionary with potential STATES of each platform
required=False,
@@ -84,7 +103,8 @@ platform_status_message_schema = api.model(
),
"autonomy_plan_ID": fields.Integer(
required=False,
- description="Last mission plan ID (according to Autonomy Engine's mission plan number) executed by platform",
+ description="Last mission plan ID (according to Autonomy Engine's"
+ + " mission plan number) executed by platform",
example=1,
),
"mission_track_ID": fields.Integer(
@@ -127,9 +147,8 @@ platform_status_message_schema = api.model(
example="Warning",
),
"gps_data": fields.List(
- fields.Nested(
- gps_schema
- ), # TODO: TBD Do we want a list of gps readings to allow > 1 reading i.e. platform + usbl
+ fields.Nested(gps_schema), # TODO: TBD Do we want a list of
+ # gps readings to allow > 1 reading i.e. platform + usbl
required=True,
description="Metadata pf each platform",
),
@@ -145,7 +164,8 @@ platform_status_message_schema = api.model(
),
"battery_remaining_capacity": fields.Float(
required=True,
- description="Battery remaining capacity % provided by respective platform/C2.",
+ description="Battery remaining capacity % provided by respective"
+ + " platform/C2.",
example=80.0,
),
"sensor_config": fields.Nested(
diff --git a/project/SOAR_README.md b/project/SOAR_README.md
index a8c623ff7e89da94adfe9d74eb43c88989338692..6fb08154dd08e78bf0b901defbe20933b3226fe0 100644
--- a/project/SOAR_README.md
+++ b/project/SOAR_README.md
@@ -3,29 +3,120 @@ Squad of Adaptive Robots Project
-----------------------------------
## Message Data Flow Summary
-| Partner | Message Type | Source | Destination | Via Comms Backbone? | Contains Serialized Vehicle-Specific File? |
-| ------------ | ---------------------- | --------------------------- | --------------------------- | ------------------- | ------------------------------------------ |
-| RHU | platform status | C2’s (Hydrosurv/Ecosub/Ah1) | Autonomy Engine | Yes | No |
-| RHU | mission plan | Autonomy Engine | C2’s (Hydrosurv/Ecosub/Ah1) | Yes | No |
-| RHU | planning configuration | GUI | Autonomy Engine | Yes | No |
-| RHU | observation | Ecosub C2 | Autonomy Engine | Yes | No |
-| Hydro-Surv | platform status | Reav-60 | Hydrosurv C2 | No | Yes |
-| Hydro-Surv | platform status | Hydrosurv C2 | Autonomy Engine | Yes | No |
-| Hydro-Surv | mission plan | Autonomy Engine | Hydrosurv C2 | Yes | No |
-| Hydro-Surv | mission plan | Hydrosurv C2 | Reav-60 | No | Yes |
-| Hydro-Surv | acknowledgement | Hydrosurv C2 | Comms Backbone (Audit) | Yes | No |
-| Planet Ocean | platform status | Ecosub | Hydrosurv Adapter | No | Yes |
-| Planet Ocean | platform status | Hydrosurv Adapter | Ecosub C2 | Yes | Yes |
-| Planet Ocean | platform status | Ecosub C2 | Autonomy Engine | Yes | No |
-| Planet Ocean | mission plan | Autonomy Engine | Ecosub C2 | Yes | No |
-| Planet Ocean | mission plan | Ecosub C2 | Hydrosurv Adapter | Yes | Yes |
-| Planet Ocean | mission plan | Hydrosurv Adapter | Ecosub | No | Yes |
-| Planet Ocean | observation | Ecosub | Hydrosurv Adapter | No | Yes |
-| Planet Ocean | observation | Hydrosurv Adapter | Ecosub C2 | Yes | Yes |
-| Planet Ocean | observation | Ecosub C2 | Autonomy Engine | Yes | No |
-| NOC | platform status | Ecosub | Hydrosurv Adapter | No | Yes |
-| NOC | platform status | Hydrosurv Adapter | Ecosub C2 | Yes | Yes |
-| NOC | platform status | Ecosub C2 | Autonomy Engine | Yes | No |
-| NOC | mission plan | Autonomy Engine | Ecosub C2 | Yes | No |
-| NOC | mission plan | Ecosub C2 | Hydrosurv Adapter | Yes | Yes |
-| NOC | mission plan | Hydrosurv Adapter | Ecosub | No | Yes |
+| Partner | Message Type | Source | Destination | Via Comms Backbone? | Contains Serialized Vehicle-Specific File? | Comment |
+| --------------------- | ------------------------ | --------------------- | ------------------------------------------ | ------------------- | ------------------------------------------ | ---------------------------------------------------------------------------------------- |
+| Hydrosurv (reav) | platform status-compiled | Reav-60 | Hydrosurv Adapter | No | Yes | N/A |
+| Hydrosurv (reav) | platform status | Hydrosurv Adapter | Autonomy Engine | Yes | No | N/A |
+| Hydrosurv (reav) | mission plan | Autonomy Engine | Hydrosurv Adapter | Yes | No | N/A |
+| Hydrosurv (reav) | mission plan-compiled | Hydrosurv Adapter | Reav-60 | No | Yes | N/A |
+| Hydrosurv (reav) | acknowledgement | Hydrosurv Adapter | Comms Backbone (Audit) | Yes | No | When hydrosurv adapter has (a) Received, (b) Sent Plan to Reav, and (c) Executed by Reav |
+| RHU (autonomy engine) | platform status | C2’s Hydrosurv/Ecosub | Autonomy Engine | Yes | No | N/A |
+| RHU (autonomy engine) | mission plan | Autonomy Engine | C2’s Hydrosurv/Ecosub | Yes | No | N/A |
+| RHU (autonomy engine) | planning configuration | GUI | Autonomy Engine | Yes | No | N/A |
+| RHU (autonomy engine) | observation | Ecosub C2 | Autonomy Engine | Yes | No | N/A |
+| RHU (autonomy engine) | survey progress | Ecosub/AH1 C2 | Autonomy Engine | TBD | TBD | N/A |
+| RHU (autonomy engine) | scanline | TBD | TBD | TBD | TBD | N/A |
+| RHU (autonomy engine) | emergency | GUI | TBD – all | TBD | TBD | TBD – all platforms pre-compiled ABORT via Black box |
+| Planet Ocean (ecosub) | platform status-compiled | Ecosub | Black Box TBC | No | Yes | Via Hermes + Router |
+| Planet Ocean (ecosub) | platform status-compiled | Black Box TBC | Ecosub C2 | Yes | Yes | N/A |
+| Planet Ocean (ecosub) | platform status | Ecosub C2 | Autonomy Engine | Yes | No | N/A |
+| Planet Ocean (ecosub) | mission plan | Autonomy Engine | Ecosub C2 | Yes | No | N/A |
+| Planet Ocean (ecosub) | mission plan | Ecosub C2 | Black Box TBC | Yes | Yes | N/A |
+| Planet Ocean (ecosub) | mission plan-compiled | Black Box TBC | Ecosub | No | Yes | Via Hermes + Router |
+| Planet Ocean (ecosub) | observation-compiled | Ecosub | Black Box TBC | No | Yes | Via Hermes + Router |
+| Planet Ocean (ecosub) | observation-compiled | Black Box TBC | Ecosub C2 | Yes | Yes | N/A |
+| Planet Ocean (ecosub) | observation | Ecosub C2 | Autonomy Engine | Yes | No | N/A |
+| Planet Ocean (ecosub) | survey progress | TBD | TBD | TBD | TBD | N/A |
+| Planet Ocean (ecosub) | survey progress | TBD | TBD | TBD | TBD | N/A |
+| Planet Ocean (ecosub) | scanline | TBD | TBD | TBD | TBD | N/A |
+| Planet Ocean (ecosub) | scanline | TBD | TBD | TBD | TBD | N/A |
+| Planet Ocean (ecosub) | emergency | GUI | TBD – Ecosub (ABORT command via Black Box) | TBD | TBD | TBD – all platforms pre-compiled ABORT via Black box |
+| NOC (AH1) | platform status-compiled | AH1 | Black Box TBC | No | Yes | Via Hermes + Router |
+| NOC (AH1) | platform status-compiled | Black Box TBC | NOC C2 | Yes | Yes | N/A |
+| NOC (AH1) | platform status | NOC C2 | Autonomy Engine | Yes | No | N/A |
+| NOC (AH1) | scan point | Autonomy Engine | NOC C2 | Yes | No | N/A |
+| NOC (AH1) | scan point-compiled | NOC C2 | Black Box TBC | Yes | Yes | Would this technically be a mission plan-compiled? |
+| NOC (AH1) | scan point | Black Box TBC | Ecosub | No | Yes | Via Hermes + Router |
+| NOC (AH1) | survey progress | TBD | TBD | TBD | TBD | TBD |
+| NOC (AH1) | survey progress | TBD | TBD | TBD | TBD | TBD |
+| NOC (AH1) | emergency | GUI | TBD – AH1 (ABORT command via Black Box) | TBD | TBD | TBD – all platforms pre-compiled ABORT via Black box |
+| NOC (GUI) | planning configuration | GUI | Autonomy Engine | Yes | No | N/A |
+| NOC (GUI) | emergency | GUI | TBD | TBD | TBD | TBD |
+
+
+## Breakdown of Message Sources & Types
+
+### 1/ Autonomy Engine
+#### Transmit
+* mission plan _(sent per platform??)_
+* TBD:
+ * Will emergency commands be sent via the autonomy engine (from the GUI) or directly to the C2s?
+
+#### Receive
+* configuration file
+* emergency stop all
+* decoded ecosub status message
+* decoded reav status message
+* decoded autosub-hover status message
+* decoded ecosub observation data _(from squad 1 platforms)_
+
+----------------------------------
+
+### 2/ Ecosub C2
+#### Transmit
+* compiled ecosub mission plan
+* decoded ecosub status message
+* autonomy configuration file
+* decoded ecosub observation data
+
+
+#### Receive
+* mission plan
+* encoded ecosub status message
+* encoded ecosub observation data
+
+----------------------------------
+
+### 3/ Autosub C2
+#### Transmit
+* compiled autosub-hover mission plan
+* decoded autosub-hover status message
+* autonomy configuration file
+
+
+#### Receive
+* mission plan
+* encoded autosub-hover status message
+
+
+----------------------------------
+
+### 4/ Reav C2
+#### Transmit
+* decoded reav-60 status message?
+
+
+#### Receive
+* mission plan
+* encoded reav-60 status message?
+
+----------------------------------
+
+### 5/ Hermes Box/Hydrosurv Smart Router?
+#### Transmit
+* encoded ecosub status message
+* encoded (or is this already decoded?) reav status message
+* encoded autosub status message
+* encoded ecosub observation data
+* TBD:
+ * are there acknowledgment messages from platforms?
+ * how are we receiving beacon messages per platform?
+
+#### Receive
+* compiled ecosub mission plan
+* compiled reav mission plan
+* compiled autosub mission plan
+* compiled ecosub emergency command
+* compiled reav emergency command
+* compiled autosub emergency command
+------------------------------------
\ No newline at end of file