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Created by Trishna Saeharaseelan@trishnaOwner

Create initial message schemas

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- 748
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exam‎ples‎
a‎ll‎
acknowledg‎ement.json‎ +0 -12
compiled_miss‎ion_plan.json‎ +0 -0
compiled_obs‎ervation.json‎ +0 -0
compiled_platf‎orm_status.json‎ +0 -0
emergen‎cy.json‎ +0 -0
mission_‎plan.json‎ +0 -24
observat‎ion.json‎ +0 -18
planning_conf‎iguration.json‎ +0 -103
platform_s‎tatus.json‎ +0 -40
ecos‎ub_c2‎
mission_‎plan.json‎ +1 -1
platform_s‎tatus.json‎ +1 -0
g‎ui‎
emergency‎_stop.json‎ +0 -0
planning_conf‎iguration.json‎ +157 -0
hydrosur‎v_adapter‎
mission_‎plan.json‎ +1 -1
platform_s‎tatus.json‎ +1 -0
for‎mats‎
__ini‎t__.py‎ +0 -101
acknowled‎gement.py‎ +4 -25
message_w‎rapper.py‎ +6 -4
mission‎_plan.py‎ +17 -84
observa‎tion.py‎ +11 -52
planning_con‎figuration.py‎ +20 -103
platform_‎status.py‎ +26 -178
generate_‎swagger.py‎ +1 -2
examples/all/acknowledgement.json deleted
+ 0
- 12
{
"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/compiled_mission_plan.json deleted
+ 0
- 0
examples/all/compiled_observation.json deleted
+ 0
- 0
examples/all/compiled_platform_status.json deleted
+ 0
- 0
examples/all/emergency.json deleted
+ 0
- 0
examples/all/mission_plan.json deleted
+ 0
- 24
{
"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 deleted
+ 0
- 18
{
"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 deleted
+ 0
- 103
{
"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 deleted
+ 0
- 40
{
"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_mission_plan_ID": 1,
"active": true,
"status_source": "onboard_platform",
"altitude": 20,
"battery_remaining_capacity": 80.2,
"depth": 50,
"health_status": "Warning",
"latitude": 178.2,
"localisation_error": 0.000129,
"longitude": -10.122,
"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": {
"payload": [
1.2,
434
]
},
"sensor_serial": "mbes-002a",
"sensor_status": true
},
"speed_over_ground": 124.3,
"thrust_applied": 124.3,
"usbl_fix_seconds_ago": 10,
"water_current_velocity": 124.3
}
\ No newline at end of file
examples/ecosub_c2/mission_plan.json
+ 1
- 1
Show all unchanged lines Show 20 lines
"delivery_type": "publish",
"encoded": false,
"message_type": "mission_plan",
"platform_serial": "reav-60",
"platform_ID": 1,
"autonomy_engine_mission_plan_ID": 1,
"plan": [
{
Show 20 lines Show all unchanged lines
examples/ecosub_c2/platform_status.json
+ 1
- 0
Show all unchanged lines Show 20 lines
"longitude": -10.122,
"depth": 50,
"altitude": 20,
"heading": 90.0,
"health_status": "Warning",
"localisation_error": null,
"usbl_fix_seconds_ago": null,
Show 20 lines Show all unchanged lines
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/mission_plan.json
+ 1
- 1
Show all unchanged lines Show 20 lines
"delivery_type": "publish",
"encoded": false,
"message_type": "mission_plan",
"platform_serial": "reav-60",
"platform_ID": 5,
"autonomy_engine_plan_ID": 1,
"plan": [
{
Show 20 lines Show all unchanged lines
examples/hydrosurv_adapter/platform_status.json
+ 1
- 0
Show all unchanged lines Show 20 lines
"active": true,
"status_source": "onboard_platform",
"battery_remaining_capacity": 80.2,
"heading": 310.0,
"health_status": "Lost Connection",
"latitude": 178.2,
"longitude": -10.122,
Show 20 lines Show all unchanged lines
formats/__init__.py
+ 0
- 101
# from flask_restx import fields
# from . import api
import os
Show 20 lines Show all unchanged lines Show 20 lines
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
+ 4
- 25
Show all unchanged lines Show 20 lines
},
"status": {
"type": "string",
"enum": ["c2_received", "operator_approved_and_sent", "executed"],
"description": "Highest level of acknowledgement. I.e."
+ " `c2_received`: Received by C2, `c2_sent`: Sent from"
+ " C2->Platform, `executed`: Executed by platform",
+ " `c2_received`: Received by C2, `operator_approved_and_sent`"
+ " : Approved by operator and 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
+ 6
- 4
Show all unchanged lines Show 20 lines
"example": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
},
"timestamp": {
"type": "date-time",
"type": "string",
"format": "date-time",
"description": "Timestamp of message",
"example": "2022-11-16T00:00:00Z",
},
"message_type": {
"type": "Type of message",
"type": "string",
"description": "Type of message",
"example": "platform_status",
},
"version": {
"type": "string",
"description": "Version of comms bacbone message format protocol",
"type": "number",
"format": "float",
"description": "Version of comms backbone message format protocol",
"example": 2.0,
},
"source": {
Show 20 lines Show all unchanged lines
formats/mission_plan.py
+ 17
- 84
"""
schemas: Mission plan (un-compiled) geenrated by the Autonomy Engine
schemas: Mission plan (un-compiled) generated 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",
Show 20 lines Show all unchanged lines Show 20 lines
},
"latitude_waypoint": {
"type": "number",
"format": "float",
"description": "Next waypoint, x-coordinate",
"example": -4.187143188645706,
},
"longitude_waypoint": {
"type": "number",
"format": "float",
"description": "Next waypoint, y-coordinate",
"example": 50.37072283932642,
},
"altitude": {
"type": "number",
"format": "float",
"description": "Altitude of next action",
"example": 15.0,
},
"depth": {
"type": "number",
"format": "float",
"description": "Depth of next action",
"example": 15.0,
},
Show 20 lines Show all unchanged lines Show 20 lines
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
"autonomy_engine_plan_ID": {"type": "integer"},
"platform_serial": {"type": "string"},
"autonomy_engine_plan_ID": {
"type": "integer",
"description": "Unique identifier for this plan"
+ "generated by the Autonomy Engine",
"example": 3,
},
"platform_ID": {
"type": "integer",
"description": "Unique identifier for this platform",
"example": 1,
},
"plan": {
"type": "array",
"items": action_schema,
},
},
"required": ["plan_ID", "platform_serial", "plan"],
"required": ["plan_ID", "platform_ID", "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
+ 11
- 52
formats/planning_configuration.py
+ 20
- 103
formats/platform_status.py
+ 26
- 178
generate_swagger.py
+ 1
- 2