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Created by Trishna Saeharaseelan@trishnaOwner

Create initial message schemas

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do‎cs‎
__ini‎t__.py‎ +0 -1
generate_‎swagger.py‎ +162 -373
exam‎ples‎
a‎ll‎
acknowledg‎ement.json‎ +13 -0
compiled_miss‎ion_plan.json‎ +0 -0
compiled_obs‎ervation.json‎ +0 -0
compiled_platf‎orm_status.json‎ +0 -0
emergen‎cy.json‎ +0 -0
mission_‎plan.json‎ +25 -0
observat‎ion.json‎ +18 -0
planning_conf‎iguration.json‎ +103 -0
platform_s‎tatus.json‎ +41 -0
autonom‎y_engine‎
configura‎tion.jsonc‎ +0 -71
autos‎ub_c2‎
sample_autosub.alr-3.‎v1.mission_script.sbd‎ +0 -0
sample_decoded_‎ah1_status.json‎ +0 -199
ecos‎ub_c2‎
mission_‎plan.json‎ +25 -0
observat‎ion.json‎ +18 -0
platform_s‎tatus.json‎ +44 -0
hydrosur‎v_adapter‎
acknowledg‎ement.json‎ +13 -0
mission_‎plan.json‎ +25 -0
platform_s‎tatus.json‎ +41 -0
for‎mats‎
__ini‎t__.py‎ +46 -15
acknowled‎gement.py‎ +30 -0
autonomy_con‎figuration.py‎ +0 -101
mission‎_plan.py‎ +85 -0
observa‎tion.py‎ +29 -10
planning_con‎figuration.py‎ +103 -0
platform_‎status.py‎ +94 -41
pro‎ject‎
SOAR_RE‎ADME.md‎ +44 -0
CONTRIB‎UTING.md‎ +73 -0
READ‎ME.md‎ +12 -86
__ini‎t__.py‎ +5 -5
platform_‎status.py‎ +0 -124
requirem‎ents.txt‎ +4 -0
docs/__init__.py
+ 0
- 1
from . import api
import os
Show 20 lines Show all unchanged lines
docs/generate_swagger.py
+ 162
- 373
"""
Generate swagger to view models/schemas.
Command:
1/ python3 generate_swagger.py
2/ Go to http://127.0.0.1:5000/soardocs
WARNING: API Endpoints are NOT functional. Purely for easy-reading.
"""
from flask import Flask, request
from flasgger import Swagger, LazyString
from flask_restx import Api, fields, Resource
from flask import Flask
from flasgger import Swagger
app = Flask(__name__)
api = Api(app)
swagger_template = dict(
info={
"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."
),
},
host=LazyString(lambda: request.host),
)
message_header_schema = api.model(
"MessageHeader",
{
"timestamp": fields.DateTime(
required=True,
description="Timestamp of message",
example="2022-11-16T00:00:00Z",
),
"source": fields.String(
required=True,
description="Where is this message from",
example="autonomy_engine",
),
"destination": fields.String(
required=True,
description="What is the destination of this message",
example="ah-1",
),
"encoded": fields.Boolean(
required=True,
description="Indicate that message raw (encoded) or decoded. "
+ "Options: encoded=True, decoded=False",
example=False,
),
"type": fields.String(
required=True,
description="Type of message",
example="platform_status",
),
# "payload":# TODO: schema applicable changes according to "type"
},
)
platform_schema = api.model(
"Platform",
{
"platform_ID": fields.Integer(
required=True,
description="unique identifier for platform",
example="ah-1",
),
"serial": fields.Integer(
required=True,
description="platform serial number",
example="ah-1",
),
"model": fields.Integer(
required=True,
description="platform serial number",
example="ah-1",
),
"active": fields.Boolean(
required=False,
description="platform in mission",
example=True,
),
},
)
squad_metadata_schema = api.model(
"SquadMetadata",
{
"squad_ID": fields.Integer(
required=True,
description="platform serial number",
example="ah-1",
),
"no_of_platforms": fields.Integer(
required=True,
description="number of platform serial number",
example="ah-1",
),
"platforms": fields.List(
fields.Nested(platform_schema),
required=True,
description="Metadata pf each platform",
),
"squad_mission_type": fields.String(
required=True,
description="Survey or Detail",
example="survey",
),
"squad_state": fields.Boolean(
required=True,
description="True if given Squad is executing mission type "
+ "according to the Autonomy Engine plan",
example=False,
),
},
)
constraints_schema = api.model(
"Constraints",
# TODO: Should this be per platform instead of squad?
{
"min_altitude": fields.Float(
required=True,
description="Minimum altitude set for squad.",
example=15.2,
),
"min_velocity": fields.Float(
required=True,
description="Minimum velocity set for squad.",
example=0.1,
),
"max_velocity": fields.Float(
required=True,
description="Maximum altitude set for squad.",
example=0.9,
),
},
)
environment_config_schema = api.model( # TODO: Discuss how regions are defined
"EnvironmentConfig",
{
"region_of_interest": fields.String(),
"exclusion_zone": fields.String(),
},
)
# Main Autonomy Configuration Schema
autonomy_configuration_schema = api.model(
"Configuration",
{
"message": fields.Nested(
message_header_schema,
required=True,
description="Message header",
),
"ID": fields.Integer(
required=True,
description="Unique identifier tagged to version of this"
+ " configuration plan",
example=3,
),
"time": fields.String(
required=True,
description="",
example="",
),
"squads": fields.Nested(
squad_metadata_schema,
required=False,
description="Details of each squad",
),
"environment": fields.Nested(
environment_config_schema,
required=False,
description="Region of interest and exclusion zone",
),
},
)
gps_schema = api.model(
"GPS",
{
"gps_source": fields.Float( # TODO: TBD with partners
required=False,
description="Source of gps position. E.g. Beacon",
example="internal",
),
"latitude_type": fields.String(
required=False,
description="",
example="",
),
"longitude_type": fields.String(
required=False,
description="",
example="",
),
"latitude": fields.Float(
required=False,
description="Latitude in <insert units>",
example="",
),
"longitude": fields.Float(
required=False,
description="Longitude in <insert units>",
example="",
),
"depth": fields.Float(
required=False,
description="",
example="",
),
"gps_fix_seconds_ago": fields.Float(
required=False,
description="",
example="",
),
},
)
observation_schema = api.model(
"Observation",
{
"message": fields.Nested(
message_header_schema,
required=True,
description="Message header",
),
"platform": fields.Nested(platform_schema),
"time": fields.String(
required=True,
description="Timestamp of message",
example="2022-11-16T00:00:00Z",
),
"discuss_other_fields": fields.String(
required=False,
description="", # we can track the version of the AE plan?
example="",
),
}
)
platform_status_message_schema = api.model(
"PlatformStatusMessage",
{
"message": fields.Nested(
message_header_schema,
required=True,
description="Message header",
),
"platform": fields.Nested(platform_schema),
"time": fields.String(
required=True,
description="Timestamp of message",
example="2022-11-16T00:00:00Z",
),
"version": fields.Integer(
required=False,
description="", # we can track the version of the AE plan?
example="",
),
"platform_state": fields.String(
# TODO: Define dictionary with potential STATES of each platform
required=True,
description="Current state executed by platform. E.g. "
+ "STOP, IDLE, ABORT.",
example="IDLE",
),
"mission_track_number": fields.Integer(
required=False,
description=(
"Track number - stage in mission (e.g. "
+ "4 --> Waypoint 3 to Waypoint 4)"
),
example=4,
),
"range_to_go": fields.Float(
required=False,
description="Estimated distance to reach next waypoint",
example=124.3,
),
"c2_health_status": fields.String(
required=False,
description="Health status extracted by respective platform's C2 "
+ "if any diagnosis available checks on sensors",
example="Warning",
),
"gps_data": fields.Nested(gps_schema),
"battery_voltage": fields.Float(
required=True,
description="Volts",
example=23.0,
),
"battery_current": fields.Float(
required=False,
description="Amps",
example=1.2,
),
"battery_current_per_hour": fields.Float(
required=False,
description="Amp-Hours",
example=1.2,
),
"battery_wattage": fields.Float(
required=False,
description="Watts",
example=23.0,
),
"battery_wattage_per_hour": fields.Float(
required=False,
description="Watt-Hours",
example=23.0,
),
},
)
swagger_config = {
"headers": [],
"openapi": "3.0.2",
"swagger_ui": True,
"specs_route": "/soardocs/",
"info": {
"title": "Backbone Message Formats",
"version": "0.1",
"description": "SoAR message schemas (i.e. formats)",
},
"specs": [
{
"endpoint": "swagger",
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"model_filter": lambda tag: True,
}
],
"static_url_path": "/flasgger_static",
"swagger_ui": True,
"specs_route": "/soardocs/",
"swagger": "2.0",
"basePath": "/soar",
"info": {
"title": "soar",
"version": "0.1",
"description": "SoAR message schemas",
"components": {
"schemas": {
"Message": {
"type": "object",
"required": ["message_type"],
"properties": {
"message_type": {
"type": "string",
},
"source": {
"type": "string",
"description": "The sender.",
"example": "autonomy-engine",
},
"destination": {
"type": "string",
"description": "Publisher topic.",
"example": "soar.noc.autosub.ah1.status",
},
"delivery_type": {
"type": "string",
"description": "Published or broadcast",
"enum": ["broadcast", "publish"],
"example": "2.0.0",
},
"message_ID": {
"type": "string",
"description": "An identifier for the type of "
+ "message received.",
"example": "PlatformStatus",
},
},
"discriminator": {
"propertyName": "message_type",
},
},
"Coordinate": {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
"latitude": {
"type": "integer",
"description": "Latitude in decimal degrees.",
"example": 54.234,
},
"longitude": {
"type": "integer",
"description": "Longitude in decimal degrees.",
"example": -1.432,
},
"depth": {
"type": "integer",
"description": "Target depth",
"default": 0,
"example": 50,
},
"projection": {
"type": "integer",
"description": "EPSG Projection Code",
"example": 4326,
"default": 4326,
},
},
},
"PlatformStatus": {
"allOf": [
{"$ref": "#/components/schemas/Message"},
],
"type": "object",
"properties": {
"partner_ID": {
"type": "string",
"description": "An identifier for the partner "
+ "owning/operating the platform.",
"example": "noc",
},
"platform_ID": {
"type": "string",
"description": "An identifier for the platform.",
"example": "noc_ah1",
},
"state": {
"type": "string",
"description": "Status of platform.",
"example": "idle",
},
},
},
},
},
"paths": {
"/messages": {
"get": {
"description": "Returns all messages from the system.",
"responses": {
"200": {
"description": "A list of messages.",
"content": {
"application/json": {
"schema": {
"oneOf": [
{
"$ref": "#/components/"
+ "schemas/Coordinate"
},
{
"$ref": "#/components/"
+ "schemas/PlatformStatus"
},
],
"discriminator": {
"propertyName": "message_type",
},
}
}
},
}
},
}
},
"/platformstatus": {
"get": {
"description": "Returns platform status message",
"responses": {
"200": {
"description": "Platform status message.",
"content": {
"application/json": {
"schema": {
"allOf": [
{
"$ref": "#/components/schemas"
+ "/PlatformStatus"
},
],
"discriminator": {
"propertyName": "message_type",
},
}
}
},
}
},
}
},
},
"produces": ["application/json"],
"consumes": ["application/json"],
}
swagger = Swagger(app, template=swagger_template, config=swagger_config)
ns1 = api.namespace("message", description="Message Header Format")
@ns1.route("/header")
class MessageHeader(Resource):
@ns1.response(200, "Success", message_header_schema)
def get(self):
pass
ns2 = api.namespace("platform_status", description="Platform Status Message Format")
@ns2.route("")
class PlatformStatus(Resource):
@ns2.response(200, "Success", platform_status_message_schema)
def get(self):
pass
ns3 = api.namespace(
"autonomy_configuration", description="Autonomy Configuration Format"
)
@ns3.route("")
class AutonomyConfiguration(Resource):
@ns3.response(200, "Success", autonomy_configuration_schema)
def get(self):
pass
# @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")
@ns4.route("/ecosub")
class MissionPlanEcosub(Resource):
@ns4.response(200, "Success", {})
def get(self):
pass
@ns4.route("/reav")
class MissionPlanReav(Resource):
@ns4.response(200, "Success", {})
def get(self):
pass
@ns4.route("/autosubhover")
class MissionPlanAutosubHover(Resource):
@ns4.response(200, "Success", {})
def get(self):
pass
swag = Swagger(app, config=swagger_config, merge=True)
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
# app.add_url_rule(
# '/coordinates',
# view_func=Coordinates.as_view('coordinates'),
# methods=['GET']
# )
if __name__ == "__main__":
app.run()
app.run(debug=True)
examples/all/acknowledgement.json
+ 13
- 0
{
"message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
"version": 1,
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
"encoded": false,
"type": "acknowledgement",
"payload": {
"message_ID": "b427003c-7bc8-11ed-a1eb-0242ac999999",
"status": "executed"
}
}
\ No newline at end of file
examples/autonomy_engine/mission_plan.json → examples/all/compiled_mission_plan.json
+ 0
- 0
File renamed with no changes. Show file contents
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
+ 25
- 0
{
"message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "ah-1",
"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
}
]
}
}
\ No newline at end of file
examples/all/observation.json
+ 18
- 0
{
"message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "ecosub_c2",
"destination": "autonomy_engine",
"encoded": false,
"type": "platform_status",
"payload": {
"platform_serial":"ecosub-3",
"points_of_interest": [],
"region_surveyed": [],
"quality_of_points": 0.98,
"additional_data": {
"sensor_x": false
}
}
}
\ No newline at end of file
examples/all/planning_configuration.json
+ 103
- 0
{
"message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "ah-1",
"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/all/platform_status.json
+ 41
- 0
{
"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_ID": 1,
"active": true,
"platform_state": "ORBIT",
"autonomy_plan_ID": 1,
"mission_track_ID": 4,
"mission_action_ID": 1,
"range_to_go": 0.3,
"speed_over_ground": 0.3,
"water_current_velocity": 0.3,
"thrust_applied": 0.3,
"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": null,
"usbl_fix_seconds_ago": null,
"battery_remaining_capacity": 80,
"sensor_config": {
"sensor_name": null,
"sensor_status": false,
"additional_data": null
}
}
}
\ No newline at end of file
examples/autonomy_engine/configuration.jsonc deleted
+ 0
- 71
//****************************************************************
// File: config.json (THIS FILE WILL BE IN JSON FORMAT, NOT JSONC)
// Description: This file is configured by the respective
// platform's C2 if a platform is no longer active or change
// a configured value.
//
// Notes: All comments in this document will be stripped out
// during SOAR operations.
// (TODO: RHU to identify values that can and cannot be
// configured).
//----------------------------------------------------------------
// CHANGELOG
// -------------------
// 11-11-2022 Trishna S. Added comments, header, and data types
// for each field.
// 10-11-2022 Izzat K. Converted contents to json schema.
// 06-10-2022 Trishna S. New initialisation file.
//****************************************************************
{
"mission_config": {
"execute_stage": {
"survey": true, // bool
"detail": false // bool
}
},
"survey_team": {
"no_of_platforms": 3, // int
"platforms": [
{
"id": 1, // int
"platform": "ecosub", // str
"platform_serial": "eco101", // str
"active": true // bool
},
{
"id": 2,
"platform": "ecosub", // str
"platform_serial": "eco-102", // str
"active": true // bool
},
{
"id": 3, // int
"platform": "ecosub", // str
"platform_serial": "ecosub3", // str
"active": true // bool
}
],
"min_altitude": 0.0, // float
"min_velocity": 0.0, // float
"max_velocity": 0.0 // float
},
"detail_team": {
"execute_stage": true, // bool
"no_of_platforms": 1, // int
"platforms": [
{
"id": 1, // int
"platform": "autosub-hover", // str
"platform_serial": "ah1", // str
"active": true // bool
}
],
"min_altitude": 0.0, // float
"min_velocity": 0.0, // float
"max_velocity": 0.0 // float
},
"environment": {
"region_of_interest": 0.0, // float
"exclusion_zone": 0.0 // float
}
}
\ No newline at end of file
examples/autosub_c2/sample_autosub.alr-3.v1.mission_script.sbd deleted
+ 0
- 0

sample_autosub.alr-3.v1.mission_script.sbd

Download
examples/autosub_c2/sample_decoded_ah1_status.json deleted
+ 0
- 199
{
"reason": "ready",
"gps_source": "internal",
"gps_lat": 60.16048651129611,
"gps_lon": -1.156730960091541,
"gps_fix_seconds_ago": 1665580800,
"alr_data": {
"format_version": "ocsv3",
"message_type": "H",
"message_source": 3,
"transmit_timestamp": 1665580753.564244,
"content_mask": 18410715202459939000,
"depth": -1.304158329963684,
"water_conductivity": 0,
"water_temperature": 0,
"max_depth": 0,
"altitude": 1000,
"min_altitude": 0,
"vehicle_heading": -58.08430862426758,
"water_speed": -0.000008320044798892923,
"time_since_last_gps": 1665580800,
"time_on_surface": 7814.99365234375,
"w_hours": 28.418603897094727,
"battery_current": 0.4806833267211914,
"battery_max_current": 65.45500183105469,
"battery_voltage": 25.113433837890625,
"battery_min_voltage": 23.034000396728516,
"leak_sensor_output": 9,
"ground_fault_sensor_out": 752,
"propeller_rpm": 0,
"rs485_fault_flags": {},
"rs232_fault_flags": {},
"helm_state": {
"8": "idle"
},
"max_abort_link_state": 358,
"health_events": {},
"helm_events": {
"14": "waiting"
},
"log_storage_space": 98649407488,
"sbd_parser_error": {},
"alr_warning": 0,
"compass_align_value": -1.8788431882858276,
"battery_energy_used": 0,
"dead_nodes": {},
"position": {
"latitude": 60.16048651129611,
"longitude": -1.156730960091541
},
"pth_1": {
"pressure_temp": 2.0399177074432373,
"pressure": 593,
"temp": 17.80158233642578,
"rel_humidity": 7
},
"pth_2": {
"pressure_temp": 1.9932914972305298,
"pressure": 574,
"temp": 14.916650772094727,
"rel_humidity": 16
},
"rs232_mute_counts": {
"port00": 0,
"port01": 0,
"port02": 0,
"port03": 0,
"port04": 0,
"port05": 0,
"port06": 0,
"port07": 0,
"port08": 0,
"port09": 0,
"port10": 0,
"port11": 0,
"port12": 0,
"port13": 0,
"port14": 0,
"port15": 0
},
"rs485_mute_counts": {
"port00": 0,
"port01": 0,
"port02": 0,
"port03": 0,
"port04": 0,
"port05": 0,
"port06": 0,
"port07": 0,
"port08": 0,
"port09": 0,
"port10": 0,
"port11": 0,
"port12": 0,
"port13": 0,
"port14": 0,
"port15": 0
},
"helm_state_bitmask": 8388608,
"helm_state_bitstring": "00000000100000000000000000000000",
"helm_events_bitmask": 562949953421312,
"helm_events_bitstring": "0000000000000010000000000000000000000000000000000000000000000000",
"health_events_bitmask": 0,
"health_events_bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
"sbd_parser_error_bitmask": 128,
"sbd_parser_error_bitstring": "10000000",
"dead_nodes_bitmask": 0,
"dead_nodes_bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
"rs232_fault_flags_bitmask": 0,
"rs232_fault_flags_bitstring": "0000000000000000",
"rs485_fault_flags_bitmask": 0,
"rs485_fault_flags_bitstring": "0000000000000000",
"rudder_status": {
"errors": [
"current_info_not_received"
],
"error_bitmask": 16,
"error_bitstring": "00010000",
"angle": 0
},
"sternplane_status": {
"errors": [
"current_info_not_received"
],
"error_bitmask": 16,
"error_bitstring": "00010000",
"angle": 0
},
"auv_roll": -0.8640746474266052,
"auv_pitch": 0.2900053858757019,
"biocam_status": {
"biocam_current_mode": 9,
"biocam_cam_0_image_count": 0,
"biocam_cam_1_image_count": 0,
"biocam_cpu_temperature": 273,
"biocam_cam_0_temperature": 273,
"biocam_cam_1_temperature": 273,
"biocam_available_disk_space": 0
},
"serial_states": {
"port01": {
"3": "on"
},
"port02": {
"3": "on"
},
"port03": {
"0": "off"
},
"port04": {
"0": "off"
},
"port05": {
"0": "off"
},
"port06": {
"0": "off"
},
"port07": {
"0": "off"
},
"port08": {
"0": "off"
},
"port09": {
"0": "off"
},
"port10": {
"3": "on"
},
"port11": {
"3": "on"
},
"port12": {
"0": "off"
},
"port13": {
"3": "on"
},
"port14": {
"0": "off"
},
"port15": {
"0": "off"
},
"port16": {
"0": "off"
}
},
"computed": {}
},
"serial_number": "alr-3",
"time": 1665580753.564244,
"version": "ocsv3",
"_kind": "comms",
"autosub_message_format": {
"git_commit_hash": "ba3e33a9e786772d9642390711cf48b0a08755ea"
}
}
\ No newline at end of file
examples/ecosub_c2/mission_plan.json
+ 25
- 0
{
"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
examples/ecosub_c2/observation.json
+ 18
- 0
{
"message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "ecosub_c2",
"destination": "autonomy_engine",
"encoded": false,
"type": "platform_status",
"payload": {
"platform_serial":"ecosub-3",
"points_of_interest": [],
"region_surveyed": [],
"quality_of_points": 0.98,
"additional_data": {
"sensor_x": false
}
}
}
\ No newline at end of file
examples/ecosub_c2/platform_status.json
+ 44
- 0
{
"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
examples/hydrosurv_adapter/acknowledgement.json
+ 13
- 0
{
"message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
"version": 1,
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
"encoded": false,
"type": "acknowledgement",
"payload": {
"message_ID": "b427003c-7bc8-11ed-a1eb-0242ac999999",
"status": "executed"
}
}
\ No newline at end of file
examples/hydrosurv_adapter/mission_plan.json
+ 25
- 0
{
"message_ID": "b427003c-7bc8-11ed-a1eb-0242ac120002",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "ah-1",
"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
}
]
}
}
\ No newline at end of file
examples/hydrosurv_adapter/platform_status.json
+ 41
- 0
{
"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_ID": 1,
"active": true,
"platform_state": "ORBIT",
"autonomy_plan_ID": 1,
"mission_track_ID": 4,
"mission_action_ID": 1,
"range_to_go": 0.3,
"speed_over_ground": 0.3,
"water_current_velocity": 0.3,
"thrust_applied": 0.3,
"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": null,
"usbl_fix_seconds_ago": null,
"battery_remaining_capacity": 80,
"sensor_config": {
"sensor_name": null,
"sensor_status": false,
"additional_data": null
}
}
}
\ No newline at end of file
formats/__init__.py
+ 46
- 15
Show all unchanged lines Show 20 lines
if x.endswith(".py") and x != "__init__.py"
]
# TODO: Define units for all schemas
message_types = [
"platform_status",
"mission_plan_ecosub",
Show 20 lines Show all unchanged lines Show 20 lines
"mission_plan_autosub",
] # TODO: Add full range of message types once scoped out
message_header_schema = api.model(
"MessageHeader",
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",
Show 20 lines Show all unchanged lines Show 20 lines
description="Type of message",
example="platform_status",
),
# "payload":# TODO: schema applicable changes according to "type"
"payload": fields.Raw(
required=True,
description="Content of Message",
# example="{}",
),
},
)
constraints_schema = api.model(
"ConstraintsSchema",
{
"min_altitude": fields.Float(
required=True,
description="Minimum altitude set for squad.",
example=15.2,
),
"min_velocity": fields.Float(
required=True,
description="Minimum velocity set for squad.",
example=0.1,
),
"max_velocity": fields.Float(
required=True,
description="Maximum altitude set for squad.",
example=0.9,
),
},
)
Show 20 lines Show all unchanged lines Show 20 lines
"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",
),
"active": fields.Boolean(
required=False,
description="platform in mission",
example=True,
example="reav",
),
"constraints": fields.Nested(constraints_schema),
},
)
# TODO: Add generic positions schema
# TODO: Define units for all schemas
formats/acknowledgement.py
+ 30
- 0
"""
schemas: Acknowledgement status sent by the surface platform to report
receipt of message.
"""
from . import api, full_message_schema
from flask_restx import fields
acknowledgement_schema = api.model(
"Acknowledgement",
{
"message": fields.Nested(
full_message_schema,
required=True,
description="Message header",
),
"message_ID": fields.Integer(
required=True,
description="Identifier of message received and executed with "
+ "success for mission plans sent by the Autonomy Engine.",
example=202,
),
"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",
),
},
)
formats/autonomy_configuration.py deleted
+ 0
- 101
"""
schemas: configuration sent to Autonomy Engine (i.e. during an emergency,
if a platform needs to be removed from the mission planning)
"""
from . import api, message_header_schema, platform_schema
from flask_restx import fields
squad_metadata_schema = api.model(
"SquadMetadataSchema",
{
"squad_ID": fields.Integer(
required=True,
description="platform serial number",
example="ah-1",
),
"no_of_platforms": fields.Integer(
required=True,
description="number of platform serial number",
example="ah-1",
),
"platforms": fields.List(
fields.Nested(platform_schema),
required=True,
description="Metadata pf each platform",
),
"squad_mission_type": fields.String(
required=True,
description="Survey or Detail",
example="survey",
),
"squad_state": fields.Boolean(
required=True,
description="True if given Squad is executing mission type "
+ "according to the Autonomy Engine plan",
example=False,
),
},
)
constraints_schema = api.model(
"ConstraintsSchema",
# TODO: Should this be per platform instead of squad?
{
"min_altitude": fields.Float(
required=True,
description="Minimum altitude set for squad.",
example=15.2,
),
"min_velocity": fields.Float(
required=True,
description="Minimum velocity set for squad.",
example=0.1,
),
"max_velocity": fields.Float(
required=True,
description="Maximum altitude set for squad.",
example=0.9,
),
},
)
environment_config_schema = api.model( # TODO: Discuss how regions are defined
"EnvironmentConfig",
{
"region_of_interest": fields.String(),
"exclusion_zone": fields.String(),
},
)
# Main Autonomy Configuration Schema
autonomy_configuration_schema = api.model(
"SquadConfigurationSchema",
{
"message": fields.Nested(
message_header_schema,
required=True,
description="Message header",
),
"ID": fields.Integer(
required=True,
description="Unique identifier tagged to version of this"
+ " configuration plan",
example=3,
),
"time": fields.String(
required=True,
description="",
example="",
),
"squads": fields.Nested(
squad_metadata_schema,
required=False,
description="Details of each squad",
),
"environment": fields.Nested(
environment_config_schema,
required=False,
description="Region of interest and exclusion zone",
),
},
)
formats/mission_plan.py
+ 85
- 0
"""
schemas: Mission plan (un-complied) geenrated by the Autonomy Engine
sent to the respective platform's C2 to compile into a platform-specific
mission plan.
"""
from . import api, full_message_schema
from flask_restx import fields
action_schema = api.model(
"AutonomyEngineAction",
{
"action": fields.String(
required=True,
description="Autonomy Engine's action from `move`, `payload`,"
+ " `dive`, `send_hits`, `scanline`, `scanpoint`.",
example="move",
),
"flight_style": fields.String(
required=False,
description="Platform-specific modes/flight styles to perform"
+ " next action",
example="orbit",
),
"latitude_waypoint": fields.Float(
required=True,
description="Next waypoint, x-coordinate",
example=-4.187143188645706,
),
"longitude_waypoint": fields.Float(
required=True,
description="Next waypoint, y-coordinate",
example=50.37072283932642,
),
"altitude": fields.Float(
required=False,
description="Altitude of next action",
example=15.0,
),
"depth": fields.Float(
required=False,
description="Depth of next action",
example=15.0,
),
"activate_payload": fields.Boolean(
required=False,
description="To activate/deactivate sensor for Autosub "
+ "Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
example=True,
),
"send_environmental_data": fields.Boolean(
required=False,
description="To trigger the platform to send list of observations"
+ " if any found",
example=False,
),
},
)
mission_plan_schema = api.model(
"MissionPlan",
{
"message": fields.Nested(
full_message_schema,
required=True,
description="Message header",
),
"plan_ID": fields.Integer(
required=True,
description="Identifier of given mission sequence planned",
example=1,
),
"platform_serial": fields.String(
required=True,
description="Serial of target platform to send mission to",
example="reav-60",
),
"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.",
),
},
)
formats/observation.py
+ 29
- 10
"""
schema: platform-specific decoded status message (DRAFT)
"""
from . import message_header_schema, platform_schema, api
from . import full_message_schema, api
from flask_restx import fields
Show 20 lines Show all unchanged lines Show 20 lines
"Observation",
{
"message": fields.Nested(
message_header_schema,
full_message_schema,
required=True,
description="Message header",
),
"platform": fields.Nested(platform_schema),
"time": fields.String(
"platform_serial": fields.String(
required=True,
description="Timestamp of message",
example="2022-11-16T00:00:00Z",
description="Serial of platform to sendign observations",
example="ecosub-3",
),
"discuss_other_fields": fields.String(
# "observation_type" ==> payloads tied to different types maybe?
# properties of each observation?
"points_of_interest": fields.Float(
required=False,
description="", # we can track the version of the AE plan?
description="Points from features of interest identified by"
+ " platform if any found. DEFINE FORMAT.",
example="",
),
}
)
\ No newline at end of file
"region_surveyed": fields.Float(
required=False,
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.",
example=0.98,
),
"additional_data": fields.Raw(
required=False,
description="Placeholder field for any additional data",
example={"sensor_payload": False},
),
},
)
autonomy_configuration.py → formats/planning_configuration.py
+ 103
- 0
Show all unchanged lines Show 20 lines
schemas: configuration sent to Autonomy Engine (i.e. during an emergency,
if a platform needs to be removed from the mission planning)
"""
from . import api, message_header_schema, platform_schema
from . import api, full_message_schema, platform_schema
from flask_restx import fields
region_schema = api.model(
"RegionSchema",
{
"region": fields.Raw(
required=True,
description="Using GEOJSON, exact region of interest in rectangle"
+ " format polygon",
example={
"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",
},
}
],
},
),
},
)
squad_metadata_schema = api.model(
"SquadMetadataSchema",
{
"squad_ID": fields.Integer(
required=True,
description="platform serial number",
example="ah-1",
description="Identifier of given squad",
example=23,
),
"no_of_platforms": fields.Integer(
required=True,
description="number of platform serial number",
example="ah-1",
description="Number of platforms",
example=3,
),
"platforms": fields.List(
fields.Nested(platform_schema),
required=True,
description="Metadata pf each platform",
description="Squad consists of these platforms",
),
"squad_mission_type": fields.String(
required=True,
description="Survey or Detail",
description="Mission of given squad: `tracking`, `survey`"
+ ", `inspection`",
example="survey",
),
"squad_state": fields.Boolean(
required=True,
description="True if given Squad is executing mission type "
+ "according to the Autonomy Engine plan",
description="In execution, Waiting.. <define further>",
example=False,
),
},
)
constraints_schema = api.model(
"ConstraintsSchema",
# TODO: Should this be per platform instead of squad?
{
"min_altitude": fields.Float(
required=True,
description="Minimum altitude set for squad.",
example=15.2,
),
"min_velocity": fields.Float(
required=True,
description="Minimum velocity set for squad.",
example=0.1,
"region_of_interest": fields.List(
fields.Nested(region_schema),
required=False,
description="Region of interest and exclusion zones per squad.",
),
"max_velocity": fields.Float(
"exclusion_zones": fields.List(
fields.Nested(region_schema),
required=True,
description="Maximum altitude set for squad.",
example=0.9,
description="Exclusion zones exclusion zones per squad.",
),
},
)
environment_config_schema = api.model( # TODO: Discuss how regions are defined
"EnvironmentConfig",
{
"region_of_interest": fields.String(),
"exclusion_zone": fields.String(),
},
)
# Main Autonomy Configuration Schema
autonomy_configuration_schema = api.model(
"SquadConfigurationSchema",
planning_configuration_schema = api.model(
"PlanningConfigurationSchema",
{
"message": fields.Nested(
message_header_schema,
full_message_schema,
required=True,
description="Message header",
),
Show 20 lines Show all unchanged lines Show 20 lines
+ " configuration plan",
example=3,
),
"time": fields.String(
required=True,
description="",
example="",
),
"squads": fields.Nested(
squad_metadata_schema,
required=False,
description="Details of each squad",
),
"environment": fields.Nested(
environment_config_schema,
required=False,
description="Region of interest and exclusion zone",
),
},
)
formats/platform_status.py
+ 94
- 41
project/SOAR_README.md
+ 44
- 0
CONTRIBUTING.md
+ 73
- 0
README.md
+ 12
- 86
__init__.py
+ 5
- 5
platform_status.py deleted
+ 0
- 124
requirements.txt
+ 4
- 0