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Created by Trishna Saeharaseelan@trishnaOwner

Create initial message schemas

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do‎cs‎
__ini‎t__.py‎ +0 -8
generate_‎swagger.py‎ +0 -584
exam‎ples‎
a‎ll‎
acknowledg‎ement.json‎ +12 -0
acknowled‎gment.json‎ +0 -11
compiled_miss‎ion_plan.json‎ +0 -0
compiled_obs‎ervation.json‎ +0 -0
compiled_platf‎orm_status.json‎ +0 -0
emergen‎cy.json‎ +0 -0
mission_‎plan.json‎ +21 -22
observat‎ion.json‎ +6 -4
planning_conf‎iguration.json‎ +4 -2
platform_s‎tatus.json‎ +35 -45
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 +12 -0
acknowled‎gment.json‎ +0 -11
mission_‎plan.json‎ +21 -22
platform_s‎tatus.json‎ +35 -45
for‎mats‎
__ini‎t__.py‎ +95 -90
acknowled‎gement.py‎ +41 -23
message_w‎rapper.py‎ +58 -0
mission‎_plan.py‎ +142 -82
observa‎tion.py‎ +73 -38
planning_con‎figuration.py‎ +218 -88
platform_‎status.py‎ +336 -147
pro‎ject‎
SOAR_RE‎ADME.md‎ +46 -26
READ‎ME.md‎ +13 -13
__ini‎t__.py‎ +1 -2
generate_‎swagger.py‎ +136 -0
docs/__init__.py deleted
+ 0
- 8
import os
__all__ = [
os.path.splitext(os.path.basename(x))[0]
for x in os.listdir(os.path.dirname(__file__))
if x.endswith(".py") and x != "__init__.py"
]
docs/generate_swagger.py deleted
+ 0
- 584
"""
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
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),
)
full_message_schema = api.model(
"FullMessageSchema",
{
"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": 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,
),
},
)
platform_schema = api.model(
"PlatformSchema",
{
"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",
),
"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",
{
"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,
),
"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",
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.",
),
},
)
observation_schema = api.model(
"Observation",
{
"message": fields.Nested(
full_message_schema,
required=True,
description="Message header",
),
"platform_serial": fields.String(
required=True,
description="Serial of platform to sendign observations",
example="ecosub-3",
),
# "observation_type" ==> payloads tied to different types maybe?
# 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.",
example="",
),
"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},
),
},
)
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="Identifier of given squad",
example=23,
),
"no_of_platforms": fields.Integer(
required=True,
description="Number of platforms",
example=3,
),
"platforms": fields.List(
fields.Nested(platform_schema),
required=True,
description="Squad consists of these platforms",
),
"squad_mission_type": fields.String(
required=True,
description="Mission of given squad: `tracking`, `survey`, `inspection`",
example="survey",
),
"squad_state": fields.Boolean(
required=True,
description="In execution, Waiting.. <define further>",
example=False,
),
"region_of_interest": fields.List(
fields.Nested(region_schema),
required=False,
description="Region of interest and exclusion zones per squad.",
),
"exclusion_zones": fields.List(
fields.Nested(region_schema),
required=True,
description="Exclusion zones exclusion zones per squad.",
),
},
)
planning_configuration_schema = api.model(
"PlanningConfigurationSchema",
{
"message": fields.Nested(
full_message_schema,
required=True,
description="Message header",
),
"ID": fields.Integer(
required=True,
description="Unique identifier tagged to version of this"
+ " configuration plan",
example=3,
),
"squads": fields.Nested(
squad_metadata_schema,
required=False,
description="Details of each squad",
),
},
)
gps_schema = api.model(
"GPS",
{
"gps_source": fields.Float( # TODO: TBD with partners
required=False,
description="Source of gps position. E.g. USBL (external), platform itself (internal)",
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 <DEFINE UNITS>",
example="",
),
"longitude": fields.Float(
required=False,
description="Longitude in <DEFINE UNITS>",
example="",
),
"depth": fields.Float(
required=False,
description="Depth in <DEFINE UNITS>",
example="",
),
"altitude": fields.Float(
required=False,
description="Altitude in <DEFINE UNITS>",
example="",
),
# "gps_fix_seconds_ago"
},
)
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",
{
"message": fields.Nested(
full_message_schema,
required=True,
description="Message header",
),
"platform": fields.Nested(platform_schema),
"platform_state": fields.String(
# TODO: Define dictionary with potential STATES of each platform
required=False,
description="Current state executed by platform. E.g. "
+ "STOP, IDLE, ABORT.",
example="IDLE",
),
"autonomy_plan_ID": fields.Integer(
required=False,
description="Last mission plan ID (according to Autonomy Engine's mission plan number) executed by platform",
example=1,
),
"mission_track_ID": fields.Integer(
required=False,
description=(
"Track number - stage in mission (e.g. "
+ "4 --> Waypoint 3 to Waypoint 4)"
),
example=4,
),
"mission_action_ID": fields.Integer(
required=False,
description="to add description",
example=1,
),
"range_to_go": fields.Float(
required=False,
description="Estimated distance to reach next waypoint",
example=124.3,
),
"speed_over_ground": fields.Float(
required=False,
description="",
example=124.3,
),
"water_current_velocity": fields.Float(
required=False,
description="",
example=124.3,
),
"thrust_applied": fields.Float(
required=False,
description="TODO: Needs further consideration",
example=124.3,
),
"health_status": fields.String(
required=False,
description="Health status extracted by respective platform "
+ "if any diagnosis available checks on sensors",
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
required=True,
description="Metadata pf each platform",
),
"localisation_error": fields.Float(
required=False,
description="Localisation error at last USBL update.",
example="",
),
"usbl_fix_seconds_ago": fields.Float(
required=False,
description="",
example="",
),
"battery_remaining_capacity": fields.Float(
required=True,
description="Battery remaining capacity % provided by respective platform/C2.",
example=80.0,
),
"sensor_config": fields.Nested(
sensor_schema
), # TODO: TBD Do we want a list of sensors to allow > 1 sensor
},
)
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",
),
},
)
swagger_config = {
"headers": [],
"specs": [
{
"endpoint": "swagger",
"route": "/swagger.json",
"rule_filter": lambda rule: True,
"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",
},
"produces": ["application/json"],
"consumes": ["application/json"],
}
swagger = Swagger(app, template=swagger_template, config=swagger_config)
ns1 = api.namespace("message", description="Message Wrapper (Full Message Schema) Format")
@ns1.route("/wrapper")
class MessageWrapper(Resource):
@ns1.response(200, "Success", full_message_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(
"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)
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("")
class MissionPlan(Resource):
@ns4.response(200, "Success", mission_plan_schema)
def get(self):
pass
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/acknowledgement.json
+ 12
- 0
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "ah1",
"delivery_type": "publish",
"encoded": false,
"message_type": "platform_status",
"acknowledged_message_ID": "02125022255-7bc8-11ed-a1eb-0242ac999999",
"status": "executed by platform"
}
\ No newline at end of file
examples/all/acknowledgment.json deleted
+ 0
- 11
{
"timestamp": "2022-11-16T00:00:00Z",
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
"encoded": false,
"type": "platform_status",
"payload": {
"message_ID": 202,
"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
+ 21
- 22
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
"version": 2,
"source": "autonomy_engine",
"destination": "hydrosurv_adapter",
"delivery_type": "publish",
"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,
"scanline": false,
"scanpoint": false
}
]
}
}
\ No newline at end of file
"message_type": "mission_plan",
"plan_ID": 1,
"plan": [
{
"action": "move",
"flight_style": "orbit",
"activate_payload": true,
"altitude": 15,
"depth": 15,
"latitude_waypoint": -4.187143188645706,
"longitude_waypoint": 50.37072283932642,
"send_environmental_data": false
}
],
"platform_serial": "reav-60"
}
examples/all/observation.json
+ 6
- 4
{
"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",
"type": "observation",
"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
+ 35
- 45
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
"delivery_type": "publish",
"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",
"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,
"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": 0.008,
"usbl_fix_seconds_ago": 20.3,
"battery_remaining_capacity": 80,
"sensor_config": {
"sensor_name": "MBES",
"sensor_status": false,
"additional_data": {
"sensor_loadtime_seconds": 30
"message_type": "platform_status",
"active": true,
"autonomy_plan_ID": 1,
"battery_remaining_capacity": 80.2,
"gps_data": [
{
"altitude": 20,
"depth": 50,
"gps_source": "internal",
"latitude": 178.2,
"latitude_type": "string",
"longitude": -10.122,
"longitude_type": "string"
}
}
}
}
}
\ No newline at end of file
],
"health_status": "Warning",
"localisation_error": null,
"mission_action_ID": 1,
"mission_track_ID": 4,
"platform_ID": 1,
"platform_state": "ABORT",
"platform_timestamp": "2022-12-21T00:00:00Z",
"range_to_go": 124.3,
"sensor_config": {
"additional_data": {},
"sensor_serial": null,
"sensor_status": null
},
"speed_over_ground": 124.3,
"thrust_applied": 124.3,
"usbl_fix_seconds_ago": null,
"water_current_velocity": 124.3
}
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/acknowledgement.json
+ 12
- 0
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "ah1",
"delivery_type": "publish",
"encoded": false,
"message_type": "platform_status",
"acknowledged_message_ID": "02125022255-7bc8-11ed-a1eb-0242ac999999",
"status": "executed by platform"
}
\ No newline at end of file
examples/hydrosurv_adapter/acknowledgment.json deleted
+ 0
- 11
{
"timestamp": "2022-11-16T00:00:00Z",
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
"encoded": false,
"type": "platform_status",
"payload": {
"message_ID": 202,
"status": "executed"
}
}
\ No newline at end of file
examples/hydrosurv_adapter/mission_plan.json
+ 21
- 22
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
"version": 2,
"source": "autonomy_engine",
"destination": "hydrosurv_adapter",
"delivery_type": "publish",
"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,
"scanline": false,
"scanpoint": false
}
]
}
}
\ No newline at end of file
"message_type": "mission_plan",
"plan_ID": 1,
"plan": [
{
"action": "move",
"flight_style": "orbit",
"activate_payload": true,
"altitude": 15,
"depth": 15,
"latitude_waypoint": -4.187143188645706,
"longitude_waypoint": 50.37072283932642,
"send_environmental_data": false
}
],
"platform_serial": "reav-60"
}
examples/hydrosurv_adapter/platform_status.json
+ 35
- 45
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
"delivery_type": "publish",
"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",
"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,
"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": 0.008,
"usbl_fix_seconds_ago": 20.3,
"battery_remaining_capacity": 80,
"sensor_config": {
"sensor_name": "MBES",
"sensor_status": false,
"additional_data": {
"sensor_loadtime_seconds": 30
"message_type": "platform_status",
"active": true,
"autonomy_plan_ID": 1,
"battery_remaining_capacity": 80.2,
"gps_data": [
{
"altitude": 20,
"depth": 50,
"gps_source": "internal",
"latitude": 178.2,
"latitude_type": "string",
"longitude": -10.122,
"longitude_type": "string"
}
}
}
}
}
\ No newline at end of file
],
"health_status": "Warning",
"localisation_error": null,
"mission_action_ID": 1,
"mission_track_ID": 4,
"platform_ID": 1,
"platform_state": "ABORT",
"platform_timestamp": "2022-12-21T00:00:00Z",
"range_to_go": 124.3,
"sensor_config": {
"additional_data": {},
"sensor_serial": null,
"sensor_status": null
},
"speed_over_ground": 124.3,
"thrust_applied": 124.3,
"usbl_fix_seconds_ago": null,
"water_current_velocity": 124.3
}
formats/__init__.py
+ 95
- 90
from flask_restx import fields
from . import api
# from flask_restx import fields
# from . import api
import os
Show 20 lines Show all unchanged lines Show 20 lines
# TODO: Define units for all schemas
message_types = [
"platform_status",
"mission_plan_ecosub",
"mission_plan_reav",
"mission_plan_autosub",
] # TODO: Add full range of message types once scoped out
# message_types = [
# "platform_status",
# "mission_plan_ecosub",
# "mission_plan_reav",
# "mission_plan_autosub",
# ] # TODO: Add full range of message types once scoped out
full_message_schema = api.model(
"FullMessageSchema",
{
"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": fields.Raw(
required=True,
description="Content of Message",
# example="{}",
),
},
)
# 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",
# 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": 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,
),
},
)
# 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,
# ),
# },
# )
platform_schema = api.model(
"PlatformSchema",
{
"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",
),
"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,
),
},
)
# platform_schema = api.model(
# "PlatformSchema",
# {
# "platform_ID": fields.Integer(
# required=True,
# description="unique identifier for platform",
# example=1,
# ),
# "serial": fields.String(
# required=True,
# description="platform serial number",
# example="reav-60",
# ),
# "model": fields.String(
# required=True,
# description="platform serial number",
# example="reav",
# ),
# "constraints": fields.Nested(constraints_schema),
# },
# )
formats/acknowledgement.py
+ 41
- 23
Show all unchanged lines Show 20 lines
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 "
acknowledgement_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
"acknowledged_message_ID": {
"type": "string",
"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",
),
"example": "02125022255-7bc8-11ed-a1eb-0242ac999999",
},
"status": {
"type": "string",
"description": "Highest level of acknowledgement. I.e. `c2_received`:"
+ " Received by C2, `c2_sent`: Sent from C2->Platform, `executed`:"
+ " Executed by platform",
"example": "executed by platform",
},
},
)
"required": ["acknowledged_message_ID", "status"],
}
# 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/message_wrapper.py
+ 58
- 0
"""
schemas: Message Wrapper is used to wrap all message types that contain
details of where the message is coming from, which end client is its destination
and the type of message.
"""
message_wrapper_schema = {
"type": "object",
"discriminator": {
"propertyName": "message_type",
},
"properties": {
"message_ID": {
"type": "string",
"description": "An identifier for the type of " + "message received.",
"example": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
},
"timestamp": {
"type": "date-time",
"description": "Timestamp of message",
"example": "2022-11-16T00:00:00Z",
},
"message_type": {
"type": "Type of message",
"description": "Type of message",
"example": "platform_status",
},
"version": {
"type": "string",
"description": "Version of comms bacbone messaging format protocol",
"example": 2.0,
},
"source": {
"type": "string",
"description": "The sender; Where is this message from",
"example": "autonomy_engine",
},
"destination": {
"type": "string",
"description": "Publisher topic; What is the destination of this message",
"example": "ah1",
},
"encoded": {
"type": "boolean",
"description": "Indicate that message raw (encoded) or decoded. "
+ "Options: encoded=True, decoded=False",
"example": False,
},
"delivery_type": {
"type": "string",
"description": "To publish or broadcast this message.",
"enum": ["broadcast", "publish"],
"example": "publish",
"default": "publish",
},
},
"required": ["message_type"],
}
formats/mission_plan.py
+ 142
- 82
Show all unchanged lines Show 20 lines
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
# 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`,"
action_schema = {
"type": "object",
"properties": {
"action": {
"type": "string",
"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 "
"example": "move",
},
"flight_style": {
"type": "string",
"description": "Platform-specific modes/flight styles to perform"
+ " next action",
"example": "orbit",
},
"latitude_waypoint": {
"type": "number",
"description": "Next waypoint, x-coordinate",
"example": -4.187143188645706,
},
"longitude_waypoint": {
"type": "number",
"description": "Next waypoint, y-coordinate",
"example": 50.37072283932642,
},
"altitude": {
"type": "number",
"description": "Altitude of next action",
"example": 15.0,
},
"depth": {
"type": "number",
"description": "Depth of next action",
"example": 15.0,
},
"activate_payload": {
"type": "boolean",
"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,
),
"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",
example=False,
),
"example": True,
},
"send_environmental_data": {
"type": "boolean",
"description": "To trigger the platform to send list of observations"
+ " if any found",
"example": False,
},
},
)
"required": [
"action",
"latitude_waypoint",
"longitude_waypoint",
],
}
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.",
),
mission_plan_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
"plan_ID": {"type": "integer"},
"platform_serial": {"type": "string"},
"plan": {
"type": "array",
"items": action_schema,
},
},
)
"required": ["plan_ID", "platform_serial", "plan"],
}
# 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
+ 73
- 38
"""
schema: platform-specific decoded status message (DRAFT)
schema: Observation Message sent by platforms when points of interest are found.
"""
from . import full_message_schema, platform_schema, api
from flask_restx import fields
# from . import full_message_schema, api
# from flask_restx import fields
observation_schema = api.model(
"Observation",
{
"message": fields.Nested(
full_message_schema,
required=True,
description="Message header",
),
"platform_serial": fields.String(
required=True,
description="Serial of platform to sendign observations",
example="ecosub-3",
),
observation_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
"platform_serial": {
"description": "Serial of platform to sendign observations",
"example": "ecosub-3",
},
# "observation_type" ==> payloads tied to different types maybe?
# 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.",
example="",
),
"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},
),
"points_of_interest": {
"description": "Points from features of interest identified by"
+ " platform if any found. DEFINE FORMAT.",
"example": "",
},
"region_surveyed": {
"description": "Region surveyed by given platform. DEFINE FORMAT."
+ " GEOJSON?",
"example": "",
},
"quality_of_points": {
"description": "Quality/strength of points from features of interest"
+ " identified by platform. DEFINE FORMAT.",
"example": 0.98,
},
"additional_data": {
"description": "Placeholder field for any additional data",
"example": {"sensor_payload": False},
},
},
)
"required": ["platform_serial"],
}
# observation_schema = api.model(
# "Observation",
# {
# "message": fields.Nested(
# full_message_schema,
# required=True,
# description="Message header",
# ),
# "platform_serial": fields.String(
# required=True,
# description="Serial of platform to sendign observations",
# example="ecosub-3",
# ),
# # "observation_type" ==> payloads tied to different types maybe?
# # 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.",
# example="",
# ),
# "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},
# ),
# },
# )
formats/planning_configuration.py
+ 218
- 88
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, full_message_schema, platform_schema
from flask_restx import fields
# 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",
},
}
],
},
),
constraints_schema = {
"type": "object",
"properties": {
"min_altitude": {
"type": "number",
"description": "Minimum altitude set for squad.",
"example": 15.2,
},
"min_velocity": {
"type": "number",
"description": "Minimum velocity set for squad.",
"example": 0.1,
},
"max_velocity": {
"type": "number",
"description": "Maximum altitude set for squad.",
"example": 0.9,
},
},
)
"required": ["min_altitude", "min_velocity", "max_velocity"],
}
squad_metadata_schema = api.model(
"SquadMetadataSchema",
{
"squad_ID": fields.Integer(
required=True,
description="Identifier of given squad",
example=23,
),
"no_of_platforms": fields.Integer(
required=True,
description="Number of platforms",
example=3,
),
"platforms": fields.List(
fields.Nested(platform_schema),
required=True,
description="Squad consists of these platforms",
),
"squad_mission_type": fields.String(
required=True,
description="Mission of given squad: `tracking`, `survey`, `inspection`",
example="survey",
),
"squad_state": fields.Boolean(
required=True,
description="In execution, Waiting.. <define further>",
example=False,
),
"region_of_interest": fields.List(
fields.Nested(region_schema),
required=False,
description="Region of interest and exclusion zones per squad.",
),
"exclusion_zones": fields.List(
fields.Nested(region_schema),
required=True,
description="Exclusion zones exclusion zones per squad.",
),
platform_schema = {
"type": "object",
"properties": {
"platform_ID": {
"type": "integer",
"description": "Identifier for platform",
"example": 23,
},
"serial": {
"type": "string",
"description": "platform serial number",
"example": "reav-60",
},
"model": {
"type": "string",
"example": "reav",
},
"constraints": constraints_schema,
},
)
"required": ["platform_ID", "serial", "model", "constraints"],
}
region_schema = {
"type": "object",
"properties": {
"geometry_coordinates": {
"type": "array", # TODO: Check if config defn is right.
"example": [
[
[-4.187143188645706, 50.37072283932642],
[-4.202697005964865, 50.368816892405874],
[-4.203156724702808, 50.365640144076906],
[-4.19449868846155, 50.362267670845654],
]
],
},
},
"description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
"required": ["geometry_coordinates"],
}
squad_metadata_schema = {
"type": "object",
"properties": {
"squad_ID": {
"type": "integer",
"description": "Identifier of given squad",
"example": 23,
},
"no_of_platforms": {
"type": "integer",
"description": "Number of platforms",
"example": 3,
},
"platforms": {
"type": "array",
"items": platform_schema,
"description": "Squad consists of these platforms",
},
"squad_mission_type": {
"type": "string",
"enum": ["tracking", "survey", "inspection"],
"description": "Mission of given squad: `tracking`, `survey`"
+ ", `inspection`",
"example": "survey",
},
"squad_state": {
"type": "string",
"description": "In execution, Waiting.. <define further>",
"example": False,
},
"region_of_interest": region_schema,
"exclusion_zones": {
"type": "array",
"items": region_schema,
"description": "Exclusion zones per squad.",
},
},
"required": [
"squad_ID",
"no_of_platforms",
"platforms",
"squad_mission_type",
"squad_state",
"exclusion_zones",
],
}
planning_configuration_schema = api.model(
"PlanningConfigurationSchema",
{
"message": fields.Nested(
full_message_schema,
required=True,
description="Message header",
),
"ID": fields.Integer(
required=True,
description="Unique identifier tagged to version of this"
planning_configuration_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
"config_ID": {
"type": "integer",
"description": "Unique identifier tagged to version of this"
+ " configuration plan",
example=3,
),
"squads": fields.Nested(
squad_metadata_schema,
required=False,
description="Details of each squad",
),
"example": 3,
},
"squads": {
"type": "array",
"items": squad_metadata_schema,
},
},
)
"required": ["config_ID", "squads"],
}
# 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="Identifier of given squad",
# example=23,
# ),
# "no_of_platforms": fields.Integer(
# required=True,
# description="Number of platforms",
# example=3,
# ),
# "platforms": fields.List(
# fields.Nested(platform_schema),
# required=True,
# description="Squad consists of these platforms",
# ),
# "squad_mission_type": fields.String(
# required=True,
# description="Mission of given squad: `tracking`, `survey`"
# + ", `inspection`",
# example="survey",
# ),
# "squad_state": fields.Boolean(
# required=True,
# description="In execution, Waiting.. <define further>",
# example=False,
# ),
# "region_of_interest": fields.List(
# fields.Nested(region_schema),
# required=False,
# description="Region of interest and exclusion zones per squad.",
# ),
# "exclusion_zones": fields.List(
# fields.Nested(region_schema),
# required=True,
# description="Exclusion zones exclusion zones per squad.",
# ),
# },
# )
# planning_configuration_schema = api.model(
# "PlanningConfigurationSchema",
# {
# "message": fields.Nested(
# full_message_schema,
# required=True,
# description="Message header",
# ),
# "ID": fields.Integer(
# required=True,
# description="Unique identifier tagged to version of this"
# + " configuration plan",
# example=3,
# ),
# "squads": fields.Nested(
# squad_metadata_schema,
# required=False,
# description="Details of each squad",
# ),
# },
# )
formats/platform_status.py
+ 336
- 147
"""
schema: platform-specific decoded status message (DRAFT)
schema: platform-specific decoded status message
"""
from . import full_message_schema, platform_schema, api
from flask_restx import fields
# from . import full_message_schema, api
# from flask_restx import fields
gps_schema = api.model(
"GPS",
{
"gps_source": fields.Float( # TODO: TBD with partners
required=False,
description="Source of gps position. E.g. USBL (external), platform itself (internal)",
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 <DEFINE UNITS>",
example="",
),
"longitude": fields.Float(
required=False,
description="Longitude in <DEFINE UNITS>",
example="",
),
"depth": fields.Float(
required=False,
description="Depth in <DEFINE UNITS>",
example="",
),
"altitude": fields.Float(
required=False,
description="Altitude in <DEFINE UNITS>",
example="",
),
# "gps_fix_seconds_ago"
gps_schema = {
"type": "object",
"properties": {
"gps_source": {
"type": "string",
"description": "Source of gps position. E.g. USBL (external),"
+ "platform itself (internal)",
"example": "internal",
},
"latitude_type": {
"type": "string",
"description": "TODO: Add description",
},
"longitude_type": {
"type": "string",
"description": "TODO: Add description",
},
"latitude": {
"type": "number",
"description": "Latitude in decimal degrees.",
"example": 178.2,
},
"longitude": {
"type": "number",
"description": "Longitude in decimal degrees.",
"example": -10.122,
},
"depth": {
"type": "number",
"description": "Target depth in metres",
"example": 50,
"default": 0,
},
"altitude": {
"type": "number",
"description": "Target altitude in metres",
"example": 20,
},
},
)
"required": [
"gps_source",
"latitude",
"longitude",
],
}
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},
),
sensor_schema = {
"type": "object",
"description": "Scanning sensor on platform available to be controlled by the Autonomy Engine",
"properties": {
"sensor_serial": {
"type": "string",
"description": "serial number of sensor",
"example": "mbes-002a",
},
"sensor_status": {
"type": "boolean",
"description": "Sensor switched on (True) or off (False)",
"example": True,
},
"additional_data": {
"type": "null",
"description": "Any addition fields/data to be added here",
"example": {"payload": [1.2, 434]},
},
},
)
platform_status_message_schema = api.model(
"platformStatusMessage",
{
"message": fields.Nested(
full_message_schema,
required=True,
description="Message header",
),
"platform": fields.Nested(platform_schema),
"platform_state": fields.String(
"required": [],
}
platform_status_message_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
"platform_ID": {
"type": "integer",
"description": "Identifier for platform",
"example": 1,
},
"platform_timestamp": {
"type": "date-time",
"decription": "Timestamp for onboard platform status message",
"example": "2022-12-21T00:00:00Z",
},
"active": {
"type": "boolean",
"description": "When a platform is in deployment (executing a"
+ " mission plan) this should be True",
"example": True,
},
"platform_state": {
# TODO: Define dictionary with potential STATES of each platform
required=False,
description="Current state executed by platform. E.g. "
"type": "string",
"description": "Current state executed by platform. E.g. "
+ "STOP, IDLE, ABORT.",
example="IDLE",
),
"autonomy_plan_ID": fields.Integer(
required=False,
description="Last mission plan ID (according to Autonomy Engine's mission plan number) executed by platform",
example=1,
),
"mission_track_ID": fields.Integer(
required=False,
description=(
"Track number - stage in mission (e.g. "
+ "4 --> Waypoint 3 to Waypoint 4)"
),
example=4,
),
"mission_action_ID": fields.Integer(
required=False,
description="to add description",
example=1,
),
"range_to_go": fields.Float(
required=False,
description="Estimated distance to reach next waypoint",
example=124.3,
),
"speed_over_ground": fields.Float(
required=False,
description="",
example=124.3,
),
"water_current_velocity": fields.Float(
required=False,
description="",
example=124.3,
),
"thrust_applied": fields.Float(
required=False,
description="TODO: Needs further consideration",
example=124.3,
),
"health_status": fields.String(
required=False,
description="Health status extracted by respective platform "
+ "if any diagnosis available checks on sensors",
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
required=True,
description="Metadata pf each platform",
),
"localisation_error": fields.Float(
required=False,
description="Localisation error at last USBL update.",
example="",
),
"usbl_fix_seconds_ago": fields.Float(
required=False,
description="",
example="",
),
"battery_remaining_capacity": fields.Float(
required=True,
description="Battery remaining capacity % provided by respective platform/C2.",
example=80.0,
),
"sensor_config": fields.Nested(
sensor_schema
), # TODO: TBD Do we want a list of sensors to allow > 1 sensor
"example": "ABORT",
},
"autonomy_plan_ID": {
"type": "integer",
"description": "Last mission plan ID (according to Autonomy Engine's"
+ " mission plan number) executed by platform",
"example": 1,
},
"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",
"description": "Estimated distance to reach next waypoint",
"example": 124.3,
},
"speed_over_ground": {
"type": "number",
"description": "TODO: add description",
"example": 124.3,
},
"water_current_velocity": {
"type": "number",
"description": "TODO: add description",
"example": 124.3,
},
"thrust_applied": {
"type": "number",
"description": "TODO: Needs further consideration",
"example": 124.3,
},
"health_status": {
"type": "string",
"description": "Health status extracted by respective platform "
+ "if any diagnosis is available to check sensors",
"example": "Warning",
},
"gps_data": {
"type": "array",
"description": "position of platform",
"items": gps_schema,
},
"localisation_error": {
"type": "number",
"description": "Localisation error at last USBL update.",
"example": 0.000129,
},
"usbl_fix_seconds_ago": {
"type": "number",
"description": "USBL Fix received x second ago.",
"example": 10.0,
},
"battery_remaining_capacity": {
"type": "number",
"description": "Battery remaining capacity % provided by respective",
"example": 80.2,
},
"sensor_config": sensor_schema,
},
)
"required": [
"platform_ID",
"platform_timestamp",
"gps_data",
"battery_remaining_capacity",
],
}
# gps_schema = api.model(
# "GPS",
# {
# "gps_source": fields.Float( # TODO: TBD with partners
# required=False,
# description=(
# "Source of gps position. E.g. USBL (external),"
# + "platform itself (internal)"
# ),
# 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 <DEFINE UNITS>",
# example="",
# ),
# "longitude": fields.Float(
# required=False,
# description="Longitude in <DEFINE UNITS>",
# example="",
# ),
# "depth": fields.Float(
# required=False,
# description="Depth in <DEFINE UNITS>",
# example="",
# ),
# "altitude": fields.Float(
# required=False,
# description="Altitude in <DEFINE UNITS>",
# example="",
# ),
# # "gps_fix_seconds_ago"
# },
# )
# 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",
# ),
# },
# )
# platform_status_message_schema = api.model(
# "platformStatusMessage",
# {
# "message": fields.Nested(
# full_message_schema,
# required=True,
# description="Message header",
# ),
# "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,
# description="Current state executed by platform. E.g. "
# + "STOP, IDLE, ABORT.",
# example="IDLE",
# ),
# "autonomy_plan_ID": fields.Integer(
# required=False,
# description="Last mission plan ID (according to Autonomy Engine's"
# + " mission plan number) executed by platform",
# example=1,
# ),
# "mission_track_ID": fields.Integer(
# required=False,
# description=(
# "Track number - stage in mission (e.g. "
# + "4 --> Waypoint 3 to Waypoint 4)"
# ),
# example=4,
# ),
# "mission_action_ID": fields.Integer(
# required=False,
# description="to add description",
# example=1,
# ),
# "range_to_go": fields.Float(
# required=False,
# description="Estimated distance to reach next waypoint",
# example=124.3,
# ),
# "speed_over_ground": fields.Float(
# required=False,
# description="",
# example=124.3,
# ),
# "water_current_velocity": fields.Float(
# required=False,
# description="",
# example=124.3,
# ),
# "thrust_applied": fields.Float(
# required=False,
# description="TODO: Needs further consideration",
# example=124.3,
# ),
# "health_status": fields.String(
# required=False,
# description="Health status extracted by respective platform "
# + "if any diagnosis available checks on sensors",
# 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
# required=True,
# description="Metadata pf each platform",
# ),
# "localisation_error": fields.Float(
# required=False,
# description="Localisation error at last USBL update.",
# example="",
# ),
# "usbl_fix_seconds_ago": fields.Float(
# required=False,
# description="",
# example="",
# ),
# "battery_remaining_capacity": fields.Float(
# required=True,
# description="Battery remaining capacity % provided by respective"
# + " platform/C2.",
# example=80.0,
# ),
# "sensor_config": fields.Nested(
# sensor_schema
# ), # TODO: TBD Do we want a list of sensors to allow > 1 sensor
# },
# )
# TBD: Do we append beacon positions with platform positions?
# # TBD: Do we append beacon positions with platform positions?
project/SOAR_README.md
+ 46
- 26
Show all unchanged lines Show 20 lines
-----------------------------------
## 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 |
## Run Docs
1. Run the command below
```
python3 generate_swagger.py
```
2. Go to `http://127.0.0.1:5000/soardocs/`
README.md
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# Message Types
* Each message below will be treated as the `payload` that are wrapped in a `full_message_format` that includes a `message_header`.
| Type | Summary of File | Serialized/Compiled in Platform-Specific Format? |
| --------------------------| ---------------------------------------------------------------------------------------------- | ----------------------------------------------- |
| `planning_configuration` | Autonomy Engine's Configuration file (if c2 needs to update its respective platform directly)| No |
| `mission_plan` | Mission plan generated by Autonomy Engine per platform | No |
| `encoded_mission_plan` | Encoded/serialized platform-specific mission plan | Yes |
| `encoded_platform_status`| Encoded/serialized platform-specific platform status | Yes |
| `platform_status` | Decoded/de-serialized generic platform status | No |
| `encoded_observation` | Encoded/serialized observation data from platform for Autonomy Engine | Yes |
| `observation` | Decoded/de-serialized observation data from platform for Autonomy Engine | No |
| `acknowledgement` | Decoded/de-serialized acknowledgement message from the Hydrosurv Adapater | No |
Each message below will be wrapped in a `message_wrapper`:
* `mission_plan`: these would be two message types, i. encoded (platform-specific serialized message) and ii. parsed, human-readable message.
* `platform_status`: these would be two message types, i. encoded (platform-specific serialized message) and ii. parsed, human-readable message.
* `observation`: this would be desired scientific data sent by the platform
* `acknowledgement`: level of acknowledgment where an acknowledgement is sent when a message is i. received, ii. sent to the next destination (e.g. platform in the water).
* `planning_configuration`: sent from the GUI to initialise the AI model (autonomy engine).
# Run Docs
1. Run the command below
```
python3 generate_swagger.py
```
2. Go to `http://127.0.0.1:5000/soardocs/`
# Quick Links
1. [Schema Fields Definitions](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/tree/7-message-formats-initial/formats)
2. [JSON Schema Examples](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/tree/7-message-formats-initial/examples)
3. [SoAR README.md](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/tree/7-message-formats-initial/project/SOAR_README.md)
\ No newline at end of file
3. Ongoing Project: [SoAR README.md](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/tree/7-message-formats-initial/project/SOAR_README.md)
\ No newline at end of file
__init__.py
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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)
generate_swagger.py
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- 0
from flask import Flask
from flasgger import Swagger
# from . import properties
from formats.message_wrapper import message_wrapper_schema
from formats.mission_plan import mission_plan_schema
from formats.observation import observation_schema
from formats.planning_configuration import planning_configuration_schema
from formats.platform_status import platform_status_message_schema
from formats.acknowledgement import acknowledgement_schema
app = Flask(__name__)
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",
"route": "/swagger.json",
"rule_filter": lambda rule: True,
"model_filter": lambda tag: True,
}
],
"components": {
"schemas": {
"Message": message_wrapper_schema,
"MissionPlan": mission_plan_schema,
"Observation": observation_schema,
"PlanningConfiguration": planning_configuration_schema,
"PlatformStatus": platform_status_message_schema,
"Acknowledgement": acknowledgement_schema,
},
},
"paths": {
"/all_messages": {
"get": {
"description": "Returns all messages from the system.",
"responses": {
"200": {
"description": "A list of messages.",
"content": {
"application/json": {
"schema": {
"oneOf": [
{
"$ref": "#/components/"
+ "schemas/Acknowledgement"
},
{
"$ref": "#/components/"
+ "schemas/PlatformStatus"
},
{
"$ref": "#/components/"
+ "schemas/MissionPlan"
},
{
"$ref": "#/components/"
+ "schemas/Observation"
},
{
"$ref": "#/components/"
+ "schemas/PlanningConfiguration"
},
{
"$ref": "#/components/"
+ "schemas/PlatformStatus"
},
],
"discriminator": {
"propertyName": "message_type",
},
}
}
},
}
},
}
},
},
"produces": ["application/json"],
"consumes": ["application/json"],
}
message_types = [
"Message",
"Acknowledgement",
"MissionPlan",
"Observation",
"PlanningConfiguration",
"PlatformStatus",
]
for item in message_types:
swagger_config["paths"]["/" + str(item.lower())] = {
"get": {
"description": "Returns message for " + item,
"responses": {
"200": {
"description": item + " message.",
"content": {
"application/json": {
"schema": {
"allOf": [
{
"$ref": "#/components/schemas"
+ "/" + item,
},
],
"discriminator": {
"propertyName": "message_type",
},
}
}
},
}
},
}
}
swag = Swagger(app, config=swagger_config, merge=True)
# app.add_url_rule(
# '/coordinates',
# view_func=Coordinates.as_view('coordinates'),
# methods=['GET']
# )
if __name__ == "__main__":
app.run(debug=True)