Skip to content

GitLab

Merged
Created by Trishna Saeharaseelan@trishnaOwner

Create initial message schemas

11 unresolved threads
Compare
and
31 files
+ 1684
- 1300
Show latest version
do‎cs‎
__ini‎t__.py‎ +0 -9
generate_‎swagger.py‎ +0 -394
exam‎ples‎
autonom‎y_engine‎
configura‎tion.jsonc‎ +0 -71
mission_‎plan.json‎ +0 -0
autos‎ub_c2‎
sample_autosub.alr-3.‎v1.mission_script.sbd‎ +0 -0
sample_decoded_‎ah1_status.json‎ +0 -199
ecos‎ub_c2‎
mission_‎plan.json‎ +54 -0
observat‎ion.json‎ +24 -0
platform_status-fro‎m_usbl_example.json‎ +17 -0
platform_s‎tatus.json‎ +39 -0
g‎ui‎
emergency‎_stop.json‎ +0 -0
planning_conf‎iguration.json‎ +157 -0
hydrosur‎v_adapter‎
acknowledg‎ement.json‎ +12 -0
mission_‎plan.json‎ +26 -0
platform_s‎tatus.json‎ +25 -0
for‎mats‎
__ini‎t__.py‎ +98 -67
acknowled‎gement.py‎ +47 -0
autonomy_con‎figuration.py‎ +0 -101
message_w‎rapper.py‎ +59 -0
mission‎_plan.py‎ +153 -0
observa‎tion.py‎ +96 -24
planning_con‎figuration.py‎ +267 -0
platform_‎status.py‎ +319 -116
pro‎ject‎
SOAR_RE‎ADME.md‎ +51 -0
CONTRIB‎UTING.md‎ +73 -0
READ‎ME.md‎ +23 -89
__ini‎t__.py‎ +4 -5
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
- 394
"""
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),
)
message_header_schema = api.model(
"MessageHeader",
{
"timestamp": fields.DateTime(
required=True,
description="Timestamp of message",
example="2022-11-16T00:00:00Z",
),
"source": fields.String(
required=True,
description="Where is this message from",
example="autonomy_engine",
),
"destination": fields.String(
required=True,
description="What is the destination of this message",
example="ah-1",
),
"encoded": fields.Boolean(
required=True,
description="Indicate that message raw (encoded) or decoded. "
+ "Options: encoded=True, decoded=False",
example=False,
),
"type": fields.String(
required=True,
description="Type of message",
example="platform_status",
),
# "payload":# TODO: schema applicable changes according to "type"
},
)
platform_schema = api.model(
"Platform",
{
"platform_ID": fields.Integer(
required=True,
description="unique identifier for platform",
example="ah-1",
),
"serial": fields.Integer(
required=True,
description="platform serial number",
example="ah-1",
),
"model": fields.Integer(
required=True,
description="platform serial number",
example="ah-1",
),
"active": fields.Boolean(
required=False,
description="platform in mission",
example=True,
),
},
)
squad_metadata_schema = api.model(
"SquadMetadata",
{
"squad_ID": fields.Integer(
required=True,
description="platform serial number",
example="ah-1",
),
"no_of_platforms": fields.Integer(
required=True,
description="number of platform serial number",
example="ah-1",
),
"platforms": fields.List(
fields.Nested(platform_schema),
required=True,
description="Metadata pf each platform",
),
"squad_mission_type": fields.String(
required=True,
description="Survey or Detail",
example="survey",
),
"squad_state": fields.Boolean(
required=True,
description="True if given Squad is executing mission type "
+ "according to the Autonomy Engine plan",
example=False,
),
},
)
constraints_schema = api.model(
"Constraints",
# TODO: Should this be per platform instead of squad?
{
"min_altitude": fields.Float(
required=True,
description="Minimum altitude set for squad.",
example=15.2,
),
"min_velocity": fields.Float(
required=True,
description="Minimum velocity set for squad.",
example=0.1,
),
"max_velocity": fields.Float(
required=True,
description="Maximum altitude set for squad.",
example=0.9,
),
},
)
environment_config_schema = api.model( # TODO: Discuss how regions are defined
"EnvironmentConfig",
{
"region_of_interest": fields.String(),
"exclusion_zone": fields.String(),
},
)
# Main Autonomy Configuration Schema
autonomy_configuration_schema = api.model(
"Configuration",
{
"message": fields.Nested(
message_header_schema,
required=True,
description="Message header",
),
"ID": fields.Integer(
required=True,
description="Unique identifier tagged to version of this"
+ " configuration plan",
example=3,
),
"time": fields.String(
required=True,
description="",
example="",
),
"squads": fields.Nested(
squad_metadata_schema,
required=False,
description="Details of each squad",
),
"environment": fields.Nested(
environment_config_schema,
required=False,
description="Region of interest and exclusion zone",
),
},
)
gps_schema = api.model(
"GPS",
{
"gps_source": fields.Float( # TODO: TBD with partners
required=False,
description="Source of gps position. E.g. Beacon",
example="internal",
),
"latitude_type": fields.String(
required=False,
description="",
example="",
),
"longitude_type": fields.String(
required=False,
description="",
example="",
),
"latitude": fields.Float(
required=False,
description="Latitude in <insert units>",
example="",
),
"longitude": fields.Float(
required=False,
description="Longitude in <insert units>",
example="",
),
"depth": fields.Float(
required=False,
description="",
example="",
),
"gps_fix_seconds_ago": fields.Float(
required=False,
description="",
example="",
),
},
)
observation_schema = api.model(
"Observation",
{
"message": fields.Nested(
message_header_schema,
required=True,
description="Message header",
),
"platform": fields.Nested(platform_schema),
"time": fields.String(
required=True,
description="Timestamp of message",
example="2022-11-16T00:00:00Z",
),
"discuss_other_fields": fields.String(
required=False,
description="", # we can track the version of the AE plan?
example="",
),
}
)
platform_status_message_schema = api.model(
"PlatformStatusMessage",
{
"message": fields.Nested(
message_header_schema,
required=True,
description="Message header",
),
"platform": fields.Nested(platform_schema),
"time": fields.String(
required=True,
description="Timestamp of message",
example="2022-11-16T00:00:00Z",
),
"version": fields.Integer(
required=False,
description="", # we can track the version of the AE plan?
example="",
),
"platform_state": fields.String(
# TODO: Define dictionary with potential STATES of each platform
required=True,
description="Current state executed by platform. E.g. "
+ "STOP, IDLE, ABORT.",
example="IDLE",
),
"mission_track_number": fields.Integer(
required=False,
description=(
"Track number - stage in mission (e.g. "
+ "4 --> Waypoint 3 to Waypoint 4)"
),
example=4,
),
"range_to_go": fields.Float(
required=False,
description="Estimated distance to reach next waypoint",
example=124.3,
),
"c2_health_status": fields.String(
required=False,
description="Health status extracted by respective platform's C2 "
+ "if any diagnosis available checks on sensors",
example="Warning",
),
"gps_data": fields.Nested(gps_schema),
"battery_voltage": fields.Float(
required=True,
description="Volts",
example=23.0,
),
"battery_current": fields.Float(
required=False,
description="Amps",
example=1.2,
),
"battery_current_per_hour": fields.Float(
required=False,
description="Amp-Hours",
example=1.2,
),
"battery_wattage": fields.Float(
required=False,
description="Watts",
example=23.0,
),
"battery_wattage_per_hour": fields.Float(
required=False,
description="Watt-Hours",
example=23.0,
),
},
)
swagger_config = {
"headers": [],
"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", {})
def get(self):
pass
@ns4.route("/reav")
class MissionPlanReav(Resource):
@ns4.response(200, "Success", {})
def get(self):
pass
@ns4.route("/autosubhover")
class MissionPlanAutosubHover(Resource):
@ns4.response(200, "Success", {})
def get(self):
pass
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
if __name__ == "__main__":
app.run()
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/autonomy_engine/mission_plan.json deleted
+ 0
- 0
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
+ 54
- 0
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "ecosub_c2",
"delivery_type": "publish",
"encoded": false,
"message_type": "mission_plan",
"platform_serial": "reav-60",
"autonomy_engine_mission_plan_ID": 1,
"plan": [
{
"action": "move",
"flight_style": "go to waypoint",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": null,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
},
{
"action": "dive",
"flight_style": "dive to depth",
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": 10,
"depth": null,
"activate_payload": false,
"send_environmental_data": false
},
{
"action": "scanline",
"flight_style": "go to waypoint",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 60.00000000000000,
"altitude": 10,
"depth": null,
"activate_payload": true,
"send_environmental_data": false
},
{
"action": "climb",
"flight_style": "go to surface",
"latitude_waypoint": -0.237143188645706,
"longitude_waypoint": 52.37072283932642,
"altitude": null,
"depth": 0,
"activate_payload": false,
"send_environmental_data": true
}
]
}
\ No newline at end of file
examples/ecosub_c2/observation.json
+ 24
- 0
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "ecosub_c2",
"destination": "autonomy_engine",
"delivery_type": "publish",
"encoded": false,
"message_type": "observation",
"platform_ID": 3,
"points_of_interest": [
{
"latitude": 178.2,
"longitude": -10.122,
"quality_of_point": 0.98
},
{
"latitude": 50.1382,
"longitude": -11.122,
"quality_of_point": 0.50
}
],
"region_surveyed": ""
}
\ No newline at end of file
examples/ecosub_c2/platform_status-from_usbl_example.json
+ 17
- 0
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "hermes",
"destination": "autonomy_engine",
"delivery_type": "publish",
"encoded": false,
"message_type": "platform_status",
"platform_ID": 1,
"platform_timestamp": "2022-12-21T00:00:00Z",
"status_source": "usbl",
"latitude": 178.2,
"longitude": -10.122,
"depth": 50,
"altitude": 20
}
examples/ecosub_c2/platform_status.json
+ 39
- 0
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "ecosub_c2",
"destination": "autonomy_engine",
"delivery_type": "publish",
"encoded": false,
"message_type": "platform_status",
"platform_ID": 1,
"platform_timestamp": "2022-12-21T00:00:00Z",
"status_source": "onboard_platform",
"autonomy_engine_plan_ID": 1,
"battery_remaining_capacity": 80.2,
"active": true,
"platform_state": "ABORT",
"mission_action_ID": 1,
"mission_track_ID": 4,
"latitude": 178.2,
"longitude": -10.122,
"depth": 50,
"altitude": 20,
"health_status": "Warning",
"localisation_error": null,
"usbl_fix_seconds_ago": null,
"range_to_go": 124.3,
"sensor_config": {
"sensor_ID": 22,
"serial": "sidescan-2x",
"sensor_on": true,
"additional_data": {
"whiskers_on": true
}
},
"current_pitch": -4,
"speed_over_ground": 4.3,
"thrust_applied": 124.3,
"water_current_velocity": 124.3
}
examples/gui/emergency_stop.json deleted
+ 0
- 0
examples/gui/planning_configuration.json
+ 157
- 0
{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "ecosub_c2",
"destination": "autonomy_engine",
"delivery_type": "publish",
"encoded": false,
"message_type": "platform_status",
"planning_config_ID": 3,
"exclusion_zones": [
{
"geometry_coordinates": [
[
[
-4.187143188645706,
50.37072283932642
],
[
-4.202697005964865,
50.368816892405874
],
[
-4.203156724702808,
50.365640144076906
],
[
-4.19449868846155,
50.362267670845654
]
]
]
}
],
"squads": [
{
"squad_ID": 1,
"no_of_platforms": 1,
"squad_mission_type": "tracking",
"squad_state": false,
"platforms": [
{
"model": "reav",
"platform_ID": 23,
"serial": "reav-60",
"emergency": {
"additional_data": {},
"latitude_waypoint": -7.432,
"longitude_waypoint": 50.365,
"safe_command": "go_home",
"target_depth": 10
},
"max_velocity": 0.9,
"min_altitude": 15.2,
"min_velocity": 0.1,
"additional_data": {}
}
],
"region_of_interest": {
"geometry_coordinates": [
[
[
-4.187143188645706,
50.37072283932642
],
[
-4.202697005964865,
50.368816892405874
],
[
-4.203156724702808,
50.365640144076906
],
[
-4.19449868846155,
50.362267670845654
]
]
]
}
},
{
"squad_ID": 2,
"no_of_platforms": 3,
"squad_mission_type": "survey",
"squad_state": true,
"platforms": [
{
"platform_ID": 23,
"serial": "ecosub-2",
"model": "ecosub",
"emergency": {
"additional_data": {},
"latitude_waypoint": -7.432,
"longitude_waypoint": 50.365,
"safe_command": "go_home",
"target_depth": 10.0
},
"max_velocity": 0.9,
"min_altitude": 15.2,
"min_velocity": 0.1,
"additional_data": {
"scan_type": "DVL",
"swath_width": 10
}
},
{
"platform_ID": 10,
"serial": "ecosub-5",
"model": "ecosub",
"emergency": {
"additional_data": {},
"latitude_waypoint": -0.432,
"longitude_waypoint": 20.365,
"safe_command": "go_home",
"target_depth": 0.0
},
"max_velocity": 0.9,
"min_altitude": 15.2,
"min_velocity": 0.1,
"additional_data": {
"scan_type": "DVL",
"swath_width": 10
}
}
],
"region_of_interest": {}
},
{
"squad_ID": 3,
"no_of_platforms": 1,
"squad_mission_type": "inspection",
"squad_state": false,
"platforms": [
{
"platform_ID": 23,
"serial": "ah-1",
"model": "autosub",
"emergency": {
"additional_data": {},
"latitude_waypoint": 20.432,
"longitude_waypoint": 50.365,
"safe_command": "safety_abort",
"target_depth": 0.0
},
"max_velocity": 0.9,
"min_altitude": 15.2,
"min_velocity": 0.1,
"additional_data": {
"scan_type": "MBES"
}
}
],
"region_of_interest": {}
}
]
}
\ 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": 1,
"source": "hydrosurv_adapter",
"destination": "autonomy_engine",
"delivery_type": "publish",
"encoded": false,
"message_type": "acknowledgement",
"acknowledged_message_ID": "11111111-7bc8-11ed-a1eb-0242ac999999",
"status": "Approved and sent to platform"
}
\ No newline at end of file
examples/hydrosurv_adapter/mission_plan.json
+ 26
- 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",
"platform_serial": "reav-60",
"autonomy_engine_plan_ID": 1,
"plan": [
{
"latitude_waypoint": -4.187143188645706,
"longitude_waypoint": 50.37072283932642
},
{
"latitude_waypoint": -3.187143188645706,
"longitude_waypoint": 51.37072283932642
},
{
"latitude_waypoint": -3.237143188645706,
"longitude_waypoint": 52.37072283932642
}
]
}
\ No newline at end of file
examples/hydrosurv_adapter/platform_status.json
+ 25
- 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",
"autonomy_engine_plan_ID": 1,
"active": true,
"status_source": "onboard_platform",
"battery_remaining_capacity": 80.2,
"health_status": "Lost Connection",
"latitude": 178.2,
"longitude": -10.122,
"mission_action_ID": 1,
"mission_track_ID": 4,
"platform_ID": 1,
"platform_state": "ABORT",
"platform_timestamp": "2022-12-21T00:00:00Z",
"speed_over_ground": 4.5,
"range_to_go": null,
"thrust_applied": null
}
\ No newline at end of file
formats/__init__.py
+ 98
- 67
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
if x.endswith(".py") and x != "__init__.py"
]
message_types = [
"platform_status",
"mission_plan_ecosub",
"mission_plan_reav",
"mission_plan_autosub",
] # TODO: Add full range of message types once scoped out
# TODO: Define units for all schemas
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"
},
)
# message_types = [
# "platform_status",
# "mission_plan_ecosub",
# "mission_plan_reav",
# "mission_plan_autosub",
# ] # TODO: Add full range of message types once scoped out
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,
),
},
)
# TODO: Add generic positions schema
# TODO: Define units for all schemas
# 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
formats/autonomy_configuration.py deleted
+ 0
- 101
formats/message_wrapper.py
+ 59
- 0
formats/mission_plan.py
+ 153
- 0
formats/observation.py
+ 96
- 24
formats/planning_configuration.py
+ 267
- 0
formats/platform_status.py
+ 319
- 116
project/SOAR_README.md
+ 51
- 0
CONTRIBUTING.md
+ 73
- 0
README.md
+ 23
- 89
__init__.py
+ 4
- 5
autonomy_configuration.py deleted
+ 0
- 101
generate_swagger.py
+ 136
- 0
platform_status.py deleted
+ 0
- 124
requirements.txt
+ 4
- 0