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Created by Trishna Saeharaseelan@trishnaOwner

Create initial message schemas

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- 311
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do‎cs‎
generate_‎swagger.py‎ +114 -67
exam‎ples‎
a‎ll‎
acknowledg‎ement.json‎ +4 -2
compiled_miss‎ion_plan.json‎ +0 -0
compiled_obs‎ervation.json‎ +0 -0
compiled_platf‎orm_status.json‎ +0 -0
emergen‎cy.json‎ +0 -0
mission_‎plan.json‎ +5 -5
observat‎ion.json‎ +5 -3
planning_conf‎iguration.json‎ +4 -2
platform_s‎tatus.json‎ +15 -25
autonom‎y_engine‎
planning_conf‎iguration.json‎ +0 -101
ecos‎ub_c2‎
mission_‎plan.json‎ +25 -0
observat‎ion.json‎ +5 -3
platform_s‎tatus.json‎ +44 -0
hydrosur‎v_adapter‎
acknowledg‎ement.json‎ +4 -2
mission_‎plan.json‎ +5 -5
platform_s‎tatus.json‎ +15 -25
for‎mats‎
__ini‎t__.py‎ +15 -10
acknowled‎gement.py‎ +3 -2
mission‎_plan.py‎ +4 -12
observa‎tion.py‎ +7 -4
planning_con‎figuration.py‎ +4 -2
platform_‎status.py‎ +34 -14
pro‎ject‎
SOAR_RE‎ADME.md‎ +117 -26
__ini‎t__.py‎ +1 -1
docs/generate_swagger.py
+ 114
- 67
Show all unchanged lines Show 20 lines
"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),
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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",
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),
},
)
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",
{
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"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",
{
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),
"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(
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),
"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,
),
},
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"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.",
),
},
)
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# 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(
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{
"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": [
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),
"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(
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{
"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(
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},
)
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",
{
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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,
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),
"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(
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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",
),
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),
"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(
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),
"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": [
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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)
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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)
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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)
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# @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):
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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
+ 4
- 2
{
"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/compiled_mission_plan.json
+ 0
- 0
examples/all/compiled_observation.json
+ 0
- 0
examples/all/compiled_platform_status.json
+ 0
- 0
examples/all/emergency.json
+ 0
- 0
examples/all/mission_plan.json
+ 5
- 5
{
"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": {
Show 20 lines Show all unchanged lines Show 20 lines
"altitude": 0,
"depth": 0,
"activate_payload": false,
"send_environmental_data": false,
"scanline": false,
"scanpoint": false
"send_environmental_data": false
}
]
}
Show 20 lines Show all unchanged lines
examples/all/observation.json
+ 5
- 3
{
"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
Show 20 lines Show all unchanged lines
examples/all/planning_configuration.json
+ 4
- 2
{
"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": {
Show 20 lines Show all unchanged lines
examples/all/platform_status.json
+ 15
- 25
{
"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": [
{
Show 20 lines Show all unchanged lines Show 20 lines
"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
examples/autonomy_engine/planning_configuration.json deleted
+ 0
- 101
{
"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
+ 25
- 0
{
"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
}
]
}
Show 20 lines Show all unchanged lines
examples/autonomy_engine/observation.json → examples/ecosub_c2/observation.json
+ 5
- 3
{
"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
Show 20 lines Show all unchanged lines
examples/autonomy_engine/platform_status.json → examples/ecosub_c2/platform_status.json
+ 44
- 0
{
"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": [
{
Show 20 lines Show all unchanged lines Show 20 lines
"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
}
\ No newline at end of file
examples/hydrosurv_adapter/acknowledgment.json → examples/hydrosurv_adapter/acknowledgement.json
+ 4
- 2
{
"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
+ 5
- 5
{
"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": {
Show 20 lines Show all unchanged lines Show 20 lines
"altitude": 0,
"depth": 0,
"activate_payload": false,
"send_environmental_data": false,
"scanline": false,
"scanpoint": false
"send_environmental_data": false
}
]
}
Show 20 lines Show all unchanged lines
examples/hydrosurv_adapter/platform_status.json
+ 15
- 25
{
"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": [
{
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"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
formats/__init__.py
+ 15
- 10
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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",
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"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
+ 3
- 2
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),
"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",
),
},
)
formats/mission_plan.py
+ 4
- 12
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),
"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(
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),
"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,
),
},
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formats/observation.py
+ 7
- 4
"""
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
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# 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(
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formats/planning_configuration.py
+ 4
- 2
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{
"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": [
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),
"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(
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formats/platform_status.py
+ 34
- 14
"""
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(
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{
"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(
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)
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,
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),
"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",
{
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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,
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),
"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(
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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",
),
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),
"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(
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project/SOAR_README.md
+ 117
- 26
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-----------------------------------
## 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
__init__.py
+ 1
- 1
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from flask_restx import Api
from flask import Flask
# import os
__all__ = [
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app = Flask(__name__)
api = Api(app)
# api = Marshmallow(app)