diff --git a/formats/platform_status.py b/formats/platform_status.py
index d573d42362a75fdff961c05d612cb437b7ed3732..07908ee7bbf7aa633a9c1b0a4eb03051c49d8601 100644
--- a/formats/platform_status.py
+++ b/formats/platform_status.py
@@ -32,149 +32,149 @@ platform_status_message_schema = {
"description": "Type of message",
"example": "platform_status",
},
- # "platform_ID": {
- # "type": "integer",
- # "description": "Identifier for platform",
- # "example": 1,
- # },
- # "status_source": {
- # "type": "string",
- # "enum": ["usbl", "onboard_platform"],
- # "description": "Indicate if this status message is from the"
- # + " platform or USBL",
- # "example": "usbl",
- # },
- # "transmission_mode": {
- # "type": "string",
- # "enum": ["acoustics", "iridium", "wifi", "starlink"],
- # "description": "Mode in which status message was transmitted"
- # + " when on the surface (e.g. iridium/wifi) or underwater"
- # + " (e.g. acoustics)",
- # "example": "wifi",
- # },
- # "platform_timestamp": {
- # "type": "string",
- # "format": "date-time",
- # "description": "Timestamp for onboard platform status message",
- # "example": "2022-12-21T00:00:00Z",
- # },
- # "platform_state": {
- # "type": "string", # TODO: Define enum with potential STATES of each platform
- # "description": "Current state executed by platform. E.g. "
- # + "STOP, IDLE, ABORT.",
- # "example": "ABORT",
- # },
- # "autonomy_engine_plan_ID": {
- # "type": "integer",
- # "description": "Last mission plan ID (according to Autonomy"
- # + " Engine's mission plan number sent) executed by platform",
- # "example": 1,
- # },
- # "latitude": {
- # "type": "number",
- # "format": "float",
- # "description": "Latitude in decimal degrees.",
- # "example": 178.2,
- # },
- # "longitude": {
- # "type": "number",
- # "format": "float",
- # "description": "Longitude in decimal degrees.",
- # "example": -10.122,
- # },
- # "depth": {
- # "type": "number",
- # "format": "float",
- # "description": "Target depth in metres",
- # "example": 50,
- # "default": 0,
- # },
- # "altitude": {
- # "type": "number",
- # "format": "float",
- # "description": "Target altitude in metres",
- # "example": 20,
- # },
- # "mission_track_ID": {
- # "type": "integer",
- # "description": "Track number - stage in mission (e.g. "
- # + "4 --> Waypoint 3 to Waypoint 4)",
- # "example": 4,
- # },
- # "mission_action_ID": {
- # "type": "integer",
- # "description": "", # TODO: Add description
- # "example": 1,
- # },
- # "range_to_go": {
- # "type": "number",
- # "format": "float",
- # "description": "Estimated distance to reach next waypoint",
- # "example": 124.3,
- # },
- # "speed_over_ground": {
- # "type": "number",
- # "format": "float",
- # "description": "", # TODO: Add description
- # "example": 124.3,
- # },
- # "water_current_velocity": {
- # "type": "number",
- # "format": "float",
- # "description": "", # TODO: Add description
- # "example": 124.3,
- # },
- # "thrust_applied": {
- # "type": "number",
- # "format": "float",
- # "description": "", # TODO: Add description
- # "example": 124.3,
- # },
- # "heading": {
- # "type": "number",
- # "format": "float",
- # "description": "Angular distance relative to north, usually 000°"
- # + " at north, clockwise through 359°, in degrees",
- # "example": 124.3,
- # },
- # "health_status": {
- # "type": "string",
- # "description": "Health status extracted by respective platform "
- # + "if any diagnosis is available to check sensors",
- # "example": "Warning",
- # },
- # "localisation_error": {
- # "type": "number",
- # "format": "float",
- # "description": "Localisation error at last USBL update.",
- # "example": 0.000129,
- # },
- # "usbl_fix_seconds_ago": {
- # "type": "number",
- # "format": "float",
- # "description": "USBL Fix received x second ago.",
- # "example": 10.0,
- # },
- # "battery_remaining_capacity": {
- # "type": "number",
- # "format": "float",
- # "description": "Battery remaining % provided by respective C2",
- # "example": 80.2,
- # },
- # "current_pitch": {
- # "type": "number",
- # "format": "float",
- # "description": "Current pitch of platform",
- # "example": -4.0,
- # },
+ "platform_ID": {
+ "type": "integer",
+ "description": "Identifier for platform",
+ "example": 1,
+ },
+ "status_source": {
+ "type": "string",
+ "enum": ["usbl", "onboard_platform"],
+ "description": "Indicate if this status message is from the"
+ + " platform or USBL",
+ "example": "usbl",
+ },
+ "transmission_mode": {
+ "type": "string",
+ "enum": ["acoustics", "iridium", "wifi", "starlink"],
+ "description": "Mode in which status message was transmitted"
+ + " when on the surface (e.g. iridium/wifi) or underwater"
+ + " (e.g. acoustics)",
+ "example": "wifi",
+ },
+ "platform_timestamp": {
+ "type": "string",
+ "format": "date-time",
+ "description": "Timestamp for onboard platform status message",
+ "example": "2022-12-21T00:00:00Z",
+ },
+ "platform_state": {
+ "type": "string", # TODO: Define enum with potential STATES of each platform
+ "description": "Current state executed by platform. E.g. "
+ + "STOP, IDLE, ABORT.",
+ "example": "ABORT",
+ },
+ "autonomy_engine_plan_ID": {
+ "type": "integer",
+ "description": "Last mission plan ID (according to Autonomy"
+ + " Engine's mission plan number sent) executed by platform",
+ "example": 1,
+ },
+ "latitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Latitude in decimal degrees.",
+ "example": 178.2,
+ },
+ "longitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Longitude in decimal degrees.",
+ "example": -10.122,
+ },
+ "depth": {
+ "type": "number",
+ "format": "float",
+ "description": "Target depth in metres",
+ "example": 50,
+ "default": 0,
+ },
+ "altitude": {
+ "type": "number",
+ "format": "float",
+ "description": "Target altitude in metres",
+ "example": 20,
+ },
+ "mission_track_ID": {
+ "type": "integer",
+ "description": "Track number - stage in mission (e.g. "
+ + "4 --> Waypoint 3 to Waypoint 4)",
+ "example": 4,
+ },
+ "mission_action_ID": {
+ "type": "integer",
+ "description": "", # TODO: Add description
+ "example": 1,
+ },
+ "range_to_go": {
+ "type": "number",
+ "format": "float",
+ "description": "Estimated distance to reach next waypoint",
+ "example": 124.3,
+ },
+ "speed_over_ground": {
+ "type": "number",
+ "format": "float",
+ "description": "", # TODO: Add description
+ "example": 124.3,
+ },
+ "water_current_velocity": {
+ "type": "number",
+ "format": "float",
+ "description": "", # TODO: Add description
+ "example": 124.3,
+ },
+ "thrust_applied": {
+ "type": "number",
+ "format": "float",
+ "description": "", # TODO: Add description
+ "example": 124.3,
+ },
+ "heading": {
+ "type": "number",
+ "format": "float",
+ "description": "Angular distance relative to north, usually 000°"
+ + " at north, clockwise through 359°, in degrees",
+ "example": 124.3,
+ },
+ "health_status": {
+ "type": "string",
+ "description": "Health status extracted by respective platform "
+ + "if any diagnosis is available to check sensors",
+ "example": "Warning",
+ },
+ "localisation_error": {
+ "type": "number",
+ "format": "float",
+ "description": "Localisation error at last USBL update.",
+ "example": 0.000129,
+ },
+ "usbl_fix_seconds_ago": {
+ "type": "number",
+ "format": "float",
+ "description": "USBL Fix received x second ago.",
+ "example": 10.0,
+ },
+ "battery_remaining_capacity": {
+ "type": "number",
+ "format": "float",
+ "description": "Battery remaining % provided by respective C2",
+ "example": 80.2,
+ },
+ "current_pitch": {
+ "type": "number",
+ "format": "float",
+ "description": "Current pitch of platform",
+ "example": -4.0,
+ },
"sensor_config": sensor_schema,
},
"required": [
"message_type",
- # "platform_ID",
- # "status_source",
- # "platform_timestamp",
- # "latitude",
- # "longitude",
+ "platform_ID",
+ "status_source",
+ "platform_timestamp",
+ "latitude",
+ "longitude",
],
}
diff --git a/project/soar/soar_protocol.json b/project/soar/soar_protocol.json
index 313c0fb79555d5a67a507a0a49362a3d97e68ebc..d43099d034539835221672cc837f0c6d60e41bf8 100644
--- a/project/soar/soar_protocol.json
+++ b/project/soar/soar_protocol.json
@@ -506,11 +506,102 @@
},
"platform_status": {
"properties": {
+ "altitude": {
+ "description": "Target altitude in metres",
+ "example": 20,
+ "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"
+ },
+ "current_pitch": {
+ "description": "Current pitch of platform",
+ "example": -4.0,
+ "format": "float",
+ "type": "number"
+ },
+ "depth": {
+ "default": 0,
+ "description": "Target depth in metres",
+ "example": 50,
+ "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 extracted by respective platform if any diagnosis is available to check sensors",
+ "example": "Warning",
+ "type": "string"
+ },
+ "latitude": {
+ "description": "Latitude in decimal degrees.",
+ "example": 178.2,
+ "format": "float",
+ "type": "number"
+ },
+ "localisation_error": {
+ "description": "Localisation error at last 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",
"example": "platform_status",
"type": "string"
},
+ "mission_action_ID": {
+ "description": "",
+ "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": "Identifier for platform",
+ "example": 1,
+ "type": "integer"
+ },
+ "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": {
@@ -535,13 +626,62 @@
}
},
"type": "object"
+ },
+ "speed_over_ground": {
+ "description": "",
+ "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": "",
+ "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": "",
+ "example": 124.3,
+ "format": "float",
+ "type": "number"
}
},
"required": [
- "message_type"
+ "message_type",
+ "platform_ID",
+ "status_source",
+ "platform_timestamp",
+ "latitude",
+ "longitude"
],
"type": "object"
}
}
- }
+ }
}
\ No newline at end of file