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Created by Trishna Saeharaseelan@trishnaOwner

Create initial message schemas

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- 746
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exam‎ples‎
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
acknowledg‎ement.json‎ +1 -1
mission_‎plan.json‎ +1 -1
platform_s‎tatus.json‎ +1 -0
for‎mats‎
__ini‎t__.py‎ +49 -100
acknowled‎gement.py‎ +10 -27
message_w‎rapper.py‎ +0 -59
mission‎_plan.py‎ +22 -85
observa‎tion.py‎ +17 -53
planning_con‎figuration.py‎ +26 -104
platform_‎status.py‎ +41 -179
projec‎t/soar‎
SOAR_RE‎ADME.md‎ +0 -0
soar_prot‎ocol.json‎ +697 -0
.giti‎gnore‎ +1 -0
READ‎ME.md‎ +2 -0
generate_sch‎ema_config.py‎ +93 -0
generate_‎swagger.py‎ +0 -136
examples/ecosub_c2/mission_plan.json
+ 1
- 1
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"delivery_type": "publish",
"encoded": false,
"message_type": "mission_plan",
"platform_serial": "reav-60",
"platform_ID": 1,
"autonomy_engine_mission_plan_ID": 1,
"plan": [
{
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examples/ecosub_c2/platform_status.json
+ 1
- 0
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"longitude": -10.122,
"depth": 50,
"altitude": 20,
"heading": 90.0,
"health_status": "Warning",
"localisation_error": null,
"usbl_fix_seconds_ago": null,
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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
+ 1
- 1
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"encoded": false,
"message_type": "acknowledgement",
"acknowledged_message_ID": "11111111-7bc8-11ed-a1eb-0242ac999999",
"status": "Approved and sent to platform"
"status": "c2_received"
}
\ No newline at end of file
examples/hydrosurv_adapter/mission_plan.json
+ 1
- 1
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"delivery_type": "publish",
"encoded": false,
"message_type": "mission_plan",
"platform_serial": "reav-60",
"platform_ID": 5,
"autonomy_engine_plan_ID": 1,
"plan": [
{
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examples/hydrosurv_adapter/platform_status.json
+ 1
- 0
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"active": true,
"status_source": "onboard_platform",
"battery_remaining_capacity": 80.2,
"heading": 310.0,
"health_status": "Lost Connection",
"latitude": 178.2,
"longitude": -10.122,
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formats/__init__.py
+ 49
- 100
# from flask_restx import fields
# from . import api
import os
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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),
# },
# )
message_header = {
"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": "string",
"format": "date-time",
"description": "Timestamp of message",
"example": "2022-11-16T00:00:00Z",
},
"version": {
"type": "number",
"format": "float",
"description": "Version of comms backbone message 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",
},
},
}
\ No newline at end of file
formats/acknowledgement.py
+ 10
- 27
Show all unchanged lines Show 20 lines
receipt of message.
"""
acknowledgement_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
"message_type": {
"type": "string",
"description": "Type of message",
"example": "acknowledgement",
},
"acknowledged_message_ID": {
"type": "string",
"description": "Identifier of message received and executed with "
Show 20 lines 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"],
"required": ["message_type", "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 deleted
+ 0
- 59
"""
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 message 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
+ 22
- 85
"""
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",
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},
"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,
},
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}
mission_plan_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
"autonomy_engine_plan_ID": {"type": "integer"},
"platform_serial": {"type": "string"},
"message_type": {
"type": "string",
"description": "Type of message",
"example": "mission_plan",
},
"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": ["message_type", "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
+ 17
- 53
Show all unchanged lines Show 20 lines
schema: Observation Message sent by platforms when points of
interest are found.
"""
# from . import full_message_schema, api
# from flask_restx import fields
hits_schema = {
"type": "object",
"properties": {
"latitude": {
"type": "number",
"format": "float",
"description": "Identified x-coordinate of point of interest",
"example": 178.2,
},
"longitude": {
"type": "number",
"format": "float",
"description": "Identified y-coordinate of point of interest",
"example": -10.122,
},
"quality_of_point": {
"type": "number",
"format": "float",
"description": "Quality/strength of points from features of"
+ " interest identified by platform. TODO: DEFINE FORMAT.",
+ " interest identified by platform.", # TODO: DEFINE FORMAT.
"example": 0.98,
},
},
"required": [],
"required": ["latitude", "longitude"],
}
observation_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
"message_type": {
"type": "string",
"description": "Type of message",
"example": "observation",
},
"platform_ID": {
"type": "integer",
"description": "ID of platform to sending observations",
"example": "ecosub-3",
"example": 2,
},
# "observation_type" ==> payloads tied to different types maybe?
# properties of each observation?
"points_of_interest": {
"type": "array",
"items": hits_schema,
"description": "Points from features of interest identified by"
+ " platform if any found. DEFINE FORMAT.",
+ " platform if any found.", # TODO: DEFINE FORMAT.
},
"region_surveyed": {
"description": "Region surveyed by given platform. DEFINE FORMAT."
+ " GEOJSON",
# "type": "null",
"nullable": True,
"description": "Region surveyed by given platform."
+ " GEOJSON", # TODO: DEFINE FORMAT.
"example": "",
},
"additional_data": {
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"example": {"sensor_payload": False},
},
},
"required": ["platform_serial"],
"required": ["message_type", "platform_ID"],
}
# 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
+ 26
- 104
Show all unchanged lines Show 20 lines
schemas: configuration sent to Autonomy Engine (i.e. during an emergency,
if a platform needs to be removed from the mission planning)
"""
# from . import api, full_message_schema, platform_schema
# from flask_restx import fields
emergency_schema = {
"type": "object",
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"safe_command": {
"type": "string",
"enum": ["go_home", "abort_now", "stop_mission"],
"description": "Command/Action that is native to respective partner's platform/C2",
"description": "Command/Action that is native to respective"
+ " partner's platform/C2",
"example": "go_home",
},
"latitude_waypoint": {
"type": "number",
"description": "X-coordinate of safe place for respective platform",
"format": "float",
"description": "X-coordinate safe place for respective platform",
"example": -7.432,
},
"longitude_waypoint": {
"type": "number",
"description": "Y-coordinate of safe place for respective platform",
"format": "float",
"description": "Y-coordinate safe place for respective platform",
"example": 50.365,
},
"target_depth": {
"type": "number",
"description": "Z-coordinate of safe place for respective platform"
"format": "float",
"description": "Z-coordinate safe place for respective platform"
+ " . If platform to NOT stay at depth, key in `0.0`",
"example": 10,
},
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"emergency": emergency_schema,
"min_altitude": {
"type": "number",
"format": "float",
"description": "Minimum altitude set for squad.",
"example": 15.2,
},
"min_velocity": {
"type": "number",
"format": "float",
"description": "Minimum velocity set for squad.",
"example": 0.1,
},
"max_velocity": {
"type": "number",
"format": "float",
"description": "Maximum altitude set for squad.",
"example": 0.9,
},
Show 20 lines Show all unchanged lines Show 20 lines
"example": {"swath_width": 10.0, "scan_type": "DVL"},
},
},
"required": ["platform_ID", "serial", "model", "emergency", "min_altitude", "min_velocity", "max_velocity"],
"required": [
"platform_ID",
"serial",
"model",
"emergency",
"min_altitude",
"min_velocity",
"max_velocity",
],
}
region_schema = {
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}
planning_configuration_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
"message_type": {
"type": "string",
"description": "Type of message",
"example": "planning_configuration",
},
"planning_config_ID": {
"type": "integer",
"description": "Unique identifier tagged to version of this"
Show 20 lines Show all unchanged lines Show 20 lines
},
},
"required": [
"message_type",
"config_ID",
"squads",
"exclusion_zones",
],
}
# 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
+ 41
- 179
project/SOAR_README.md → project/soar/SOAR_README.md
+ 0
- 0
project/soar/soar_protocol.json
+ 697
- 0

Files with large changes are collapsed by default.

.gitignore
+ 1
- 0
README.md
+ 2
- 0
generate_schema_config.py
+ 93
- 0
generate_swagger.py deleted
+ 0
- 136