fix: examples for hydrosurv and correct SOAR_README.md

__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)
-

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()

examples/all/acknowledgment.json → examples/all/acknowledgement.json

 {
+    "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

examples/all/mission_plan.json

 {
+    "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
             }
         ]
     }

examples/all/observation.json

 {
+    "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

examples/all/planning_configuration.json

 {
+    "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": {

examples/all/platform_status.json

 {
+    "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

examples/autonomy_engine/planning_configuration.json

-{
-    "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

examples/autonomy_engine/mission_plan.json → examples/ecosub_c2/mission_plan.json

 {
+    "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": "ecosub_c2",
     "encoded": false,
-    "type": "platform_status",
+    "type": "mission_plan",
     "payload": {
-        "plan_ID": 1,
-        "platform_serial": "reav-60",
+        "plan_ID": 3,
+        "platform_serial": "ecosub-4",
         "plan": [
             {
                 "action": "move",
-                "flight_style": "orbit",
+                "flight_style": "dive",
                 "latitude_waypoint": -4.187143188645706,
                 "longitude_waypoint": 50.37072283932642,
-                "altitude": 0,
-                "depth": 0,
-                "activate_payload": false,
-                "send_environmental_data": false,
-                "scanline": false,
-                "scanpoint": false
+                "altitude": 20,
+                "depth": null,
+                "activate_payload": true,
+                "send_environmental_data": false
             }
         ]
     }

examples/autonomy_engine/observation.json → examples/ecosub_c2/observation.json

 {
+    "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

examples/autonomy_engine/platform_status.json → examples/ecosub_c2/platform_status.json

 {
+    "message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
     "timestamp": "2022-11-16T00:00:00Z",
-    "source": "hydrosurv_adapter",
+    "version": 1,
+    "source": "hermes_ecosub",
     "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_ID": 2,
+        "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,
+        "range_to_go": 12.3,
+        "speed_over_ground": 10.3,
+        "water_current_velocity": 10.3,
+        "thrust_applied": 0.3,
         "health_status": "Warning",
         "gps_data": [
             {
@@ -32,20 +25,20 @@
                 "longitude_type": "",
                 "latitude": -7.432,
                 "longitude": 50.365,
-                "depth": 0.0,
-                "altitude": 0.0
+                "depth": 5.0,
+                "altitude": 20.0
             }
         ],
-        "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_ID": 22,
+            "serial": "sidescan-2x",
+            "sensor_status": true,
+            "additional_data": {
+                "whiskers_on": true
             }
         }
     }
-}
+  }
\ No newline at end of file

examples/hydrosurv_adapter/acknowledgment.json → examples/hydrosurv_adapter/acknowledgement.json

 {
+    "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

examples/hydrosurv_adapter/mission_plan.json

 {
+    "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
             }
         ]
     }

examples/hydrosurv_adapter/platform_status.json

 {
+    "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

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,
-        ),
     },
 )

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",
         ),
     },
 )