Create initial message schemas

Closes #7 (closed)

examples/autonomy_engine/configuration.jsonc

-//****************************************************************
-// 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-// platform's C2 if a platform is no longer active or change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_decoded_ah1_status.json

-{
-    "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

+{
+  "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_ID": 1,
+  "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

+{
+    "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

+{
+    "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

+{
+    "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,
+    "heading": 90.0,
+    "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/planning_configuration.json

+{
+    "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

+{
+    "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": "c2_received"
+}
\ No newline at end of file

examples/hydrosurv_adapter/mission_plan.json

+{
+  "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_ID": 5,
+  "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