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Created by Trishna Saeharaseelan@trishnaOwner

Create initial message schemas

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do‎cs‎
__ini‎t__.py‎ +0 -9
generate_‎swagger.py‎ +0 -380
exam‎ples‎
a‎ll‎
acknowledg‎ement.json‎ +12 -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 +24 -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 +12 -0
mission_‎plan.json‎ +24 -0
platform_s‎tatus.json‎ +41 -0
for‎mats‎
__ini‎t__.py‎ +109 -0
acknowled‎gement.py‎ +47 -0
message_w‎rapper.py‎ +58 -0
mission‎_plan.py‎ +153 -0
observa‎tion.py‎ +79 -0
planning_con‎figuration.py‎ +231 -0
platform_‎status.py‎ +346 -0
pro‎ject‎
SOAR_RE‎ADME.md‎ +51 -0
CONTRIB‎UTING.md‎ +73 -0
READ‎ME.md‎ +23 -77
__ini‎t__.py‎ +6 -70
autonomy_con‎figuration.py‎ +0 -101
generate_‎swagger.py‎ +136 -0
platform_‎status.py‎ +0 -124
requirem‎ents.txt‎ +4 -0
docs/__init__.py deleted
+ 0
- 9
from . import api
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
- 380
"""
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 .formats.autonomy_configuration import autonomy_configuration_schema
from flask import Flask, request
from flasgger import Swagger, LazyString
from flask_restx import Api, fields, Resource
app = Flask(__name__)
# app.json_encoder = LazyJSONEncoder
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(
"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",
),
"active": fields.Boolean(
required=False,
description="platform in mission",
example=True,
),
},
)
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(
"ConfigurationSchema",
{
"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="",
),
},
)
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": [],
"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 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", message_header_schema)
def get(self):
pass
@ns4.route("/hydrosurv")
class MissionPlanHydrosurv(Resource):
@ns4.response(200, "Success", message_header_schema)
def get(self):
pass
@ns4.route("/autosubhover")
class MissionPlanAutosubHover(Resource):
@ns4.response(200, "Success", message_header_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/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
+ 24
- 0
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "hydrosurv_adapter",
"delivery_type": "publish",
"encoded": false,
"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
+ 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": "observation",
"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-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
"delivery_type": "publish",
"encoded": false,
"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"
}
],
"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/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
+ 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/mission_plan.json
+ 24
- 0
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "hydrosurv_adapter",
"delivery_type": "publish",
"encoded": false,
"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
+ 41
- 0
{
"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,
"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"
}
],
"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
+ 109
- 0
# from flask_restx import fields
# from . import api
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"
]
# 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
# 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,
# ),
# },
# )
# 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
+ 47
- 0
"""
schemas: Acknowledgement status sent by the surface platform to report
receipt of message.
"""
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": "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
+ 153
- 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 = {
"type": "object",
"properties": {
"action": {
"type": "string",
"description": "Autonomy Engine's action from `move`, `payload`,"
+ " `dive`, `send_hits`, `scanline`, `scanpoint`.",
"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": {
"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 = {
"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
+ 79
- 0
"""
schema: Observation Message sent by platforms when points of interest are found.
"""
# from . import full_message_schema, api
# from flask_restx import fields
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": {
"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
+ 231
- 0
"""
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
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"],
}
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 = {
"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": {
"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
+ 346
- 0
"""
schema: platform-specific decoded status message
"""
# from . import full_message_schema, api
# from flask_restx import fields
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 = {
"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]},
},
},
"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
"type": "string",
"description": "Current state executed by platform. E.g. "
+ "STOP, IDLE, ABORT.",
"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?
project/SOAR_README.md
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# SoAR Project
Squad of Adaptive Robots Project
-----------------------------------
## Message Data Flow Summary
| 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/`
CONTRIBUTING.md
+ 73
- 0
# Contributing to Backbone Message Formats
_Last updated: 01 Dec 2022_
<br/>
Guidelines for our project partners to collaborate in this workspace specifically for message formats that interact with each partner's software components and the Communications Backbone.
<br/><br/>
## Where To Find A Brief on Message Formats
Please refer to the [**README.md**](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/blob/master/README.md) file that summarises the `message types` and `message flows`.
> _Info: [Quick Links](#quick-links) might be helpful too!_
<br/>
## Commenting
A great way to collaborate and refine the message formats is by commenting on the schema definitions/examples (within the code itself) or on an `issue` card.
### **Commenting on Code**
Go to [`Merge Requests`](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/merge_requests), add your comment and click `Add comment now`. Be sure to **tag partners** who should response. **Use `@`** followed by the **partner's username** or **tag a partner's** organisation by **adding a label**.
P.S. The initial working branch is [`create-initial-message-formats`](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/merge_requests/2/diffs).
**But _HOW_ Do I Add A Comment?**
> A. To **comment directly on the** [**`master` branch**](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/tree/master) directly, hover over the left column that shows the line numbers, and click on the **paperclip icon**. This copies the specific line of code. You can then proceed to pasting this link into a new issue as per [Raising New Ideas or Questions](#raising-new-ideas-or-questions).
> B. To **comment on a Merge Request**, hover over the left column that shows the line numbers, and click on the _paperclip_ or _comment bubble_ icon. This copies the line of code. You can then proceed to pasting this link into a new issue as per [Raising New Ideas or Questions](#raising-new-ideas-or-questions).
<br/>
### **Commenting on Issue Cards**
Go to the [issue](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/issues), scroll to the bottom of the page and add your comment. Once done, click on `Comment`.
<br/><br/>
## Raising New Ideas or Questions
If you have an idea or a question for our collaborators, it's simple! [`Create a new issue`](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/issues/new?issue), assign a person to respond/take action under `Assignee`, and add a partner under `Labels` .
<br/><br/>
## Labels Summary
To add/edit labels, go to [manage labels](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/labels).
| Category | Labels Available | Description |
| -------- | ---------------------------------------------------------- | ----------------------------------------------------------------------- |
| Project | `SoAR` | Associated project |
| Partner | `Planet Ocean`, `Hydro-Surv`, `NOC`, `RHU` | Associated partner |
| Asset | `ah1`, `ecosub`, `reav`, `autonomy engine` | Associated platform |
| Status | `In Sprint Backlog`, `In Progress`, `In Review`, `BLOCKED` | Status of resolving issue |
| Weight | `0`, `1`, `2`, `3`, `5`, `8` | Complexity of issue (0 - quick task and 8 - full 2 weeks worth of work) |
| - | `bug`, `feature` | Type of issue i.e. new feature, bug |
<br/>
## 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)
### Project-Specific: SoAR Project
* **[Reference SoAR Message Format Slides](https://planetocean15.sharepoint.com/sites/IUKSoAR/Shared%20Documents/Forms/AllItems.aspx?id=%2Fsites%2FIUKSoAR%2FShared%20Documents%2FTechnical%2FTechnical%20meetings%2FDiscussions%E2%80%94%20Backbone%20Message%20Formats%2Epdf&viewid=1d649f5f%2Dd30e%2D482f%2Dbd77%2D9316a0023bf9&parent=%2Fsites%2FIUKSoAR%2FShared%20Documents%2FTechnical%2FTechnical%20meetings)**
* To view schema docs via Swagger UI, run the command below and go to `http://127.0.0.1:5000`
```
python3 docs/generate_swagger.py
```
*Disclaimer: These are *not* endpoints. Purely for schema representation purposes.
> TEMPORARY: Pregenerated Swagger docs can be [viewed here](https://planetocean15.sharepoint.com/sites/IUKSoAR/Shared%20Documents/Forms/AllItems.aspx?id=%2Fsites%2FIUKSoAR%2FShared%20Documents%2FTechnical%2FTechnical%20meetings%2Finitial%2Dswagger%2Ddocs%2Ddraft%2Epdf&viewid=1d649f5f%2Dd30e%2D482f%2Dbd77%2D9316a0023bf9&parent=%2Fsites%2FIUKSoAR%2FShared%20Documents%2FTechnical%2FTechnical%20meetings).
<br/>
## Getting Started
> Notes for this section is in PROGRESS
1. Clone this gitlab repository:
```
git clone https://git.noc.ac.uk/communications-backbone-system/backbone-message-format.git
```
2. Install the dependencies from `requirements.txt`.
\ No newline at end of file
README.md
+ 23
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__init__.py
+ 6
- 70
autonomy_configuration.py deleted
+ 0
- 101
generate_swagger.py
+ 136
- 0
platform_status.py deleted
+ 0
- 124
requirements.txt
+ 4
- 0