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Reference design:

Slides on Auto-Updating Goals for ORI

Designs

Latest agreed design (mission plan message type)

• see discussion below to follow concluded design:

{
    "header":{
       "message_ID":"b427003c-0000-11aa-a1eb-b1cdf2342fdd",
       "timestamp":"2024-11-16T00:00:00Z",
       "version":2,
       "source":"autonomy_engine",
       "destination":"soar.noc.autosub.unit_399.to_platform.mission_plan",
       "delivery_type":"publish",
       "encoded":false
    },
    "payload":{
      "message_type":"mission_plan",
      "platform_ID":"unit_399",
      "autonomy_engine_plan_ID":"a427003c-0000-11aa-a1eb-b1cdf2342fcc",
      "partial": true,   // <--------- OPTIONAL: to indicate if a mission plan is just a partial mission or the full one
      "goal":{   // <----- OPTIONAL
          "timestamp":"2024-11-16T00:00:00Z",  // time when autonomy engine state changes to this goal
          "feature":{  // ---> "feature" could be a box, point. (e.g. point for linestring primitive, polygon for a primitive even)
             {
                "type":"Feature",
                "properties":{
                   "name":"MAS-DT east",   // this name could match the primitive
                   "type":""
                },
                "geometry":{
                   "type":"Point",   // Any polygon / geojson schema
                   "coordinates":[
                      -4.1777839187560915,
                      50.34173405662855
                   ]
                }
             }
          },
      "plan":[
         {
            "action":"move",
            "start":{
               "type":"Point",
               "coordinates":[
                  -3.0071,
                  50.3707
               ]
            },
            "target":{
               "type":"Point",
               "coordinates":[
                  -3.2371,
                  52.3707,
                  0.0
               ]
            }
         }
      ]
   }
    }
}

Deprecated design idea (waypoint message type)

{
    "message_type": "target",
    "platform_ID": "unit_399",
    "status_source": "autonomy",
    "platform_timestamp": "2024-11-19T11:49:00Z",
    "positions": [  //------------------------------------> TBD: Single position or array of positions?
        {
            "type": "Point",
            "coordinates": [
                -3.0071,
                50.3707
            ]
        }
    ]
}