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Created by Trishna Saeharaseelan@trishnaOwner

Create initial message schemas

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do‎cs‎
__ini‎t__.py‎ +0 -8
generate_‎swagger.py‎ +0 -575
exam‎ples‎
autonom‎y_engine‎
mission_‎plan.json‎ +0 -0
planning_conf‎iguration.json‎ +0 -0
ecos‎ub_c2‎
mission_‎plan.json‎ +54 -0
observat‎ion.json‎ +24 -0
platform_status-fro‎m_usbl_example.json‎ +17 -0
platform_s‎tatus.json‎ +40 -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 +26 -0
for‎mats‎
__ini‎t__.py‎ +47 -93
acknowled‎gement.py‎ +24 -23
mission‎_plan.py‎ +80 -83
observa‎tion.py‎ +59 -40
planning_con‎figuration.py‎ +176 -88
platform_‎status.py‎ +182 -150
pro‎ject‎
so‎ar‎
SOAR_RE‎ADME.md‎ +51 -0
soar_prot‎ocol.json‎ +697 -0
SOAR_RE‎ADME.md‎ +0 -31
.giti‎gnore‎ +1 -0
READ‎ME.md‎ +15 -13
__ini‎t__.py‎ +1 -2
generate_sch‎ema_config.py‎ +93 -0
docs/__init__.py deleted
+ 0
- 8
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
- 575
"""
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": fields.Raw(required=True) # TODO: schema applicable changes according to "type"
},
)
full_message_schema = api.model(
"FullMessageSchema",
{
"uuid": fields.DateTime( # add this
required=True,
description="Timestamp of message",
example="2022-11-16T00:00:00Z",
),
"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": 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="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",
),
"constraints": fields.Nested(constraints_schema),
"active": fields.Boolean(
required=False,
description="When a platform is in deployment (executing a mission plan) this should be True",
example=True,
),
},
)
squad_metadata_schema = api.model(
"SquadMetadataSchema",
{
"squad_ID": fields.Integer(
required=True,
description="Identifier of given squad",
example="ah-1",
),
"no_of_platforms": fields.Integer(
required=True,
description="number of platforms",
example="ah-1",
),
"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,
),
},
)
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": 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",
),
# "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},
),
}
)
sensor_schema = api.model(
"Sensor",
{
"sensor_name": fields.String(
required=False,
description="Name of sensor (e.g. MBES for AH1 and SideScan for Ecosub",
example="MBES",
),
"sensor_status": fields.Boolean(
required=False,
description="Sensor switched on (True) or off (False)",
example=True,
),
"additional_data": fields.Raw(
required=False,
description="Add any additional sensor-related data here.",
example={"sensor_loadtime_seconds": 30.0},
),
}
)
platform_status_message_schema = api.model(
"platformStatusMessage",
{
"message": fields.Nested(
message_header_schema,
required=True,
description="Message header",
),
"platform": fields.Nested(platform_schema),
"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_mission_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="GPS of 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
},
)
mission_plan_schema = api.model(
"MissionPlan",
{
"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="",
),
"platform_ID": fields.Integer(
required=False,
description="Details of each squad",
),
"payload": fields.Raw(
required=True,
)
},
)
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"],
}
autonomy_configuration_schema = api.model(
"SquadConfigurationSchema",
{
"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",
),
"region_of_operation": fields.Raw(
required=True,
description="Using GEOJSON, exact region of interest EXCLUDING exclusion zone",
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
],
[
-4.187373048015246,
50.35933489062816
],
[
-4.1859938917992565,
50.36207215780212
],
[
-4.188598964651192,
50.36471151593676
],
[
-4.192506573927574,
50.367350727294706
],
[
-4.188675584440716,
50.36837704762925
],
[
-4.187143188645706,
50.37072283932642
]
]
],
"type": "Polygon"
# "projection": coordinate system used
}
}
]
}
),
},
)
swagger = Swagger(app, template=swagger_template, config=swagger_config)
ns1 = api.namespace("message", description="Message Wrapper (Full Message Schema) Format")
@ns1.route("/wrapper")
class MessageWrapper(Resource):
@ns1.response(200, "Success", full_message_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. Do we want region of interest to be per squad, per platform or in the main schema?"
)
@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("")
class MissionPlan(Resource):
@ns4.response(200, "Success", mission_plan_schema)
def get(self):
pass
@ns4.route("/ecosub")
class MissionPlanEcosub(Resource):
@ns4.response(200, "Success", mission_plan_schema)
def get(self):
pass
@ns4.route("/reav")
class MissionPlanReav(Resource):
@ns4.response(200, "Success", mission_plan_schema)
def get(self):
pass
@ns4.route("/autosubhover")
class MissionPlanAutosubHover(Resource):
@ns4.response(200, "Success", mission_plan_schema)
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/mission_plan.json deleted
+ 0
- 0
examples/autonomy_engine/planning_configuration.json deleted
+ 0
- 0
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_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
+ 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
+ 40
- 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,
"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/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": "c2_received"
}
\ 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_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
examples/hydrosurv_adapter/platform_status.json
+ 26
- 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,
"heading": 310.0,
"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
+ 47
- 93
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"
]
# 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",
{
"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": fields.Raw(
required=True,
description="Content of Message",
# example="{}",
),
message_header = {
"type": "object",
"discriminator": {
"propertyName": "message_type",
},
)
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="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",
),
"constraints": fields.Nested(constraints_schema),
"active": fields.Boolean(
required=False,
description="When a platform is in deployment (executing a mission plan) this should be True",
example=True,
),
"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
+ 24
- 23
Show all unchanged lines Show 20 lines
schemas: Acknowledgement status sent by the surface platform to report
receipt of message.
"""
from . import api, full_message_schema
from flask_restx import fields
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 "
acknowledgement_schema = {
"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 "
+ "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",
),
"example": "02125022255-7bc8-11ed-a1eb-0242ac999999",
},
"status": {
"type": "string",
"enum": ["c2_received", "operator_approved_and_sent", "executed"],
"description": "Highest level of acknowledgement. I.e."
+ " `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": ["message_type", "acknowledged_message_ID", "status"],
}
formats/mission_plan.py
+ 80
- 83
"""
schemas: Mission plan (un-complied) 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 = api.model(
"AutonomyEngineAction",
{
"action": fields.String(
required=True,
description="Autonomy Engine's action from `move`, `payload`,"
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": 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 "
"example": "move",
},
"flight_style": {
"type": "string",
"description": "Platform-specific modes/flight styles to perform"
+ " next action",
"example": "orbit",
},
"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,
},
"activate_payload": {
"type": "boolean",
"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,
),
"scanline": fields.Boolean(
required=False,
description="To trigger the platform to scan-line",
example=False,
),
"scanpoint": fields.Boolean(
required=False,
description="To trigger the platform to send list of observations if any found",
example=False,
),
"example": True,
},
"send_environmental_data": {
"type": "boolean",
"description": "To trigger the platform to send list of"
+ " observations if any found",
"example": False,
},
},
)
"required": [
"latitude_waypoint",
"longitude_waypoint",
],
}
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.",
),
mission_plan_schema = {
"type": "object",
"properties": {
"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": ["message_type", "plan_ID", "platform_ID", "plan"],
}
formats/observation.py
+ 59
- 40
"""
schema: platform-specific decoded status message (DRAFT)
schema: Observation Message sent by platforms when points of
interest are found.
"""
from . import message_header_schema, platform_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.
"example": 0.98,
},
},
"required": ["latitude", "longitude"],
}
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",
),
# "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},
),
observation_schema = {
"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": 2,
},
"points_of_interest": {
"type": "array",
"items": hits_schema,
"description": "Points from features of interest identified by"
+ " platform if any found.", # TODO: DEFINE FORMAT.
},
"region_surveyed": {
# "type": "null",
"nullable": True,
"description": "Region surveyed by given platform."
+ " GEOJSON", # TODO: DEFINE FORMAT.
"example": "",
},
"additional_data": {
"description": "Placeholder field for any additional data",
"example": {"sensor_payload": False},
},
},
)
"required": ["message_type", "platform_ID"],
}
formats/planning_configuration.py
+ 176
- 88
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",
"properties": {
"safe_command": {
"type": "string",
"enum": ["go_home", "abort_now", "stop_mission"],
"description": "Command/Action that is native to respective"
+ " partner's platform/C2",
"example": "go_home",
},
"latitude_waypoint": {
"type": "number",
"format": "float",
"description": "X-coordinate safe place for respective platform",
"example": -7.432,
},
"longitude_waypoint": {
"type": "number",
"format": "float",
"description": "Y-coordinate safe place for respective platform",
"example": 50.365,
},
"target_depth": {
"type": "number",
"format": "float",
"description": "Z-coordinate safe place for respective platform"
+ " . If platform to NOT stay at depth, key in `0.0`",
"example": 10,
},
"additional_data": {
"type": "null",
"description": "Any addition fields/data to be added here",
"example": {},
},
},
"required": ["latitude_waypoint", "longitude_waypoint", "target_depth"],
}
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",
},
}
],
},
),
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",
},
"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,
},
"additional_data": {
"type": "null",
"description": "Any addition fields/data to be added here",
"example": {"swath_width": 10.0, "scan_type": "DVL"},
},
},
)
"required": [
"platform_ID",
"serial",
"model",
"emergency",
"min_altitude",
"min_velocity",
"max_velocity",
],
}
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.",
),
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,
},
"required": [
"squad_ID",
"no_of_platforms",
"platforms",
"squad_mission_type",
"squad_state",
"exclusion_zones",
],
}
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"
planning_configuration_schema = {
"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"
+ " configuration plan",
example=3,
),
"squads": fields.Nested(
squad_metadata_schema,
required=False,
description="Details of each squad",
),
"example": 3,
},
"exclusion_zones": {
"type": "array",
"items": region_schema,
"description": "Exclusion zones for all platforms",
},
"squads": {
"type": "array",
"items": squad_metadata_schema,
},
},
)
"required": [
"message_type",
"config_ID",
"squads",
"exclusion_zones",
],
}
formats/platform_status.py
+ 182
- 150
"""
schema: platform-specific decoded status message (DRAFT)
schema: platform-specific decoded status message
"""
from . import full_message_schema, platform_schema, api
from flask_restx import fields
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 = {
"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_on": {
"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": [],
}
sensor_schema = api.model(
"Sensor",
{
"sensor_name": fields.String(
required=False,
description="Name of sensor (e.g. MBES for AH1 and SideScan for Ecosub",
example="MBES",
),
"sensor_status": fields.Boolean(
required=False,
description="Sensor switched on (True) or off (False)",
example=True,
),
"additional_data": fields.Raw(
required=False,
description="Add any additional sensor-related data here.",
example={"sensor_loadtime_seconds": 30.0},
),
},
)
platform_status_message_schema = api.model(
"platformStatusMessage",
{
"message": fields.Nested(
full_message_schema,
required=True,
description="Message header",
),
"platform": fields.Nested(platform_schema),
"platform_state": fields.String(
# TODO: Define dictionary with potential STATES of each platform
required=False,
description="Current state executed by platform. E.g. "
platform_status_message_schema = {
"type": "object",
"properties": {
"message_type": {
"type": "string",
"description": "Type of message",
"example": "platform_status",
},
"platform_ID": {
"type": "integer",
"description": "Identifier for platform",
"example": 1,
},
"status_source": {
"type": "string",
"enum": ["usbl", "onboard_platform"],
"description": "Indicate if this status message is from the"
+ " platform or USBL",
"example": "usbl",
},
"transmission_mode": {
"type": "string",
"enum": ["acoustics", "iridium", "wifi", "starlink"],
"description": "Mode in which status message was transmitted"
+ " when on the surface (i.e. iridium/wifi) or underwater"
+ " (i.e. acoustics)",
"example": "wifi",
},
"platform_timestamp": {
"type": "string",
"format": "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 enum with potential STATES of each platform
"type": "string",
"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
"example": "ABORT",
},
"autonomy_engine_plan_ID": {
"type": "integer",
"description": "Last mission plan ID (according to Autonomy"
+ " Engine's mission plan number sent) executed by platform",
"example": 1,
},
"latitude": {
"type": "number",
"format": "float",
"description": "Latitude in decimal degrees.",
"example": 178.2,
},
"longitude": {
"type": "number",
"format": "float",
"description": "Longitude in decimal degrees.",
"example": -10.122,
},
"depth": {
"type": "number",
"format": "float",
"description": "Target depth in metres",
"example": 50,
"default": 0,
},
"altitude": {
"type": "number",
"format": "float",
"description": "Target altitude in metres",
"example": 20,
},
"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",
"format": "float",
"description": "Estimated distance to reach next waypoint",
"example": 124.3,
},
"speed_over_ground": {
"type": "number",
"format": "float",
"description": "", # TODO: Add description
"example": 124.3,
},
"water_current_velocity": {
"type": "number",
"format": "float",
"description": "", # TODO: Add description
"example": 124.3,
},
"thrust_applied": {
"type": "number",
"format": "float",
"description": "", # TODO: Add description
"example": 124.3,
},
"heading": {
"type": "number",
"format": "float",
"description": "Angular distance relative to north, usually 000°"
+ " at north, clockwise through 359°, in degrees",
"example": 124.3,
},
"health_status": {
"type": "string",
"description": "Health status extracted by respective platform "
+ "if any diagnosis is available to check sensors",
"example": "Warning",
},
"localisation_error": {
"type": "number",
"format": "float",
"description": "Localisation error at last USBL update.",
"example": 0.000129,
},
"usbl_fix_seconds_ago": {
"type": "number",
"format": "float",
"description": "USBL Fix received x second ago.",
"example": 10.0,
},
"battery_remaining_capacity": {
"type": "number",
"format": "float",
"description": "Battery remaining % provided by respective C2",
"example": 80.2,
},
"current_pitch": {
"type": "number",
"format": "float",
"description": "Current pitch of platform",
"example": -4.0,
},
"sensor_config": sensor_schema,
},
)
# TBD: Do we append beacon positions with platform positions?
"required": [
"message_type",
"platform_ID",
"status_source",
"platform_timestamp",
"latitude",
"longitude",
],
}
project/soar/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/`
project/soar/soar_protocol.json
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project/SOAR_README.md deleted
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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? |
| ------------ | ---------------------- | --------------------------- | --------------------------- | ------------------- | ------------------------------------------ |
| RHU | platform status | C2’s (Hydrosurv/Ecosub/Ah1) | Autonomy Engine | Yes | No |
| RHU | mission plan | Autonomy Engine | C2’s (Hydrosurv/Ecosub/Ah1) | Yes | No |
| RHU | planning configuration | GUI | Autonomy Engine | Yes | No |
| RHU | observation | Ecosub C2 | Autonomy Engine | Yes | No |
| Hydro-Surv | platform status | Reav-60 | Hydrosurv C2 | No | Yes |
| Hydro-Surv | platform status | Hydrosurv C2 | Autonomy Engine | Yes | No |
| Hydro-Surv | mission plan | Autonomy Engine | Hydrosurv C2 | Yes | No |
| Hydro-Surv | mission plan | Hydrosurv C2 | Reav-60 | No | Yes |
| Hydro-Surv | acknowledgement | Hydrosurv C2 | Comms Backbone (Audit) | Yes | No |
| Planet Ocean | platform status | Ecosub | Hydrosurv Adapter | No | Yes |
| Planet Ocean | platform status | Hydrosurv Adapter | Ecosub C2 | Yes | Yes |
| Planet Ocean | platform status | Ecosub C2 | Autonomy Engine | Yes | No |
| Planet Ocean | mission plan | Autonomy Engine | Ecosub C2 | Yes | No |
| Planet Ocean | mission plan | Ecosub C2 | Hydrosurv Adapter | Yes | Yes |
| Planet Ocean | mission plan | Hydrosurv Adapter | Ecosub | No | Yes |
| Planet Ocean | observation | Ecosub | Hydrosurv Adapter | No | Yes |
| Planet Ocean | observation | Hydrosurv Adapter | Ecosub C2 | Yes | Yes |
| Planet Ocean | observation | Ecosub C2 | Autonomy Engine | Yes | No |
| NOC | platform status | Ecosub | Hydrosurv Adapter | No | Yes |
| NOC | platform status | Hydrosurv Adapter | Ecosub C2 | Yes | Yes |
| NOC | platform status | Ecosub C2 | Autonomy Engine | Yes | No |
| NOC | mission plan | Autonomy Engine | Ecosub C2 | Yes | No |
| NOC | mission plan | Ecosub C2 | Hydrosurv Adapter | Yes | Yes |
| NOC | mission plan | Hydrosurv Adapter | Ecosub | No | Yes |
.gitignore
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formats/__pycache__
README.md
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- 13
Show all unchanged lines Show 20 lines
This project repository is a collaborative workspace. It consists of all messages transferred into and out of the Communications Backbone. Message type schemas will be developed once reviewing each platform's data and statuses defined by each partner.
# Message Types
* Each message below will be treated as the `payload` that are wrapped in a `full_message_format` that includes a `message_header`.
_# TODO: Add note on OpenAPI version used._
| Type | Summary of File | Serialized/Compiled in Platform-Specific Format? |
| --------------------------| ---------------------------------------------------------------------------------------------- | ----------------------------------------------- |
| `planning_configuration` | Autonomy Engine's Configuration file (if c2 needs to update its respective platform directly)| No |
| `mission_plan` | Mission plan generated by Autonomy Engine per platform | No |
| `encoded_mission_plan` | Encoded/serialized platform-specific mission plan | Yes |
| `encoded_platform_status`| Encoded/serialized platform-specific platform status | Yes |
| `platform_status` | Decoded/de-serialized generic platform status | No |
| `encoded_observation` | Encoded/serialized observation data from platform for Autonomy Engine | Yes |
| `observation` | Decoded/de-serialized observation data from platform for Autonomy Engine | No |
| `acknowledgement` | Decoded/de-serialized acknowledgement message from the Hydrosurv Adapater | No |
# Message Types
Each message below will be wrapped in a `message_wrapper`:
* `mission_plan`: these would be two message types, i. encoded (platform-specific serialized message) and ii. parsed, human-readable message.
* `platform_status`: these would be two message types, i. encoded (platform-specific serialized message) and ii. parsed, human-readable message.
* `observation`: this would be desired scientific data sent by the platform
* `acknowledgement`: level of acknowledgment where an acknowledgement is sent when a message is i. received, ii. sent to the next destination (e.g. platform in the water).
* `planning_configuration`: sent from the GUI to initialise the AI model (autonomy engine).
# Run Docs
1. Run the command below
```
python3 generate_swagger.py
```
2. Go to `http://127.0.0.1:5000`
# 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)
3. [SoAR README.md](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/tree/7-message-formats-initial/project/SOAR_README.md)
\ No newline at end of file
3. Ongoing Project: [SoAR README.md](https://git.noc.ac.uk/communications-backbone-system/backbone-message-format/-/tree/7-message-formats-initial/project/SOAR_README.md)
\ No newline at end of file
__init__.py
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Show all unchanged lines Show 20 lines
from flask_restx import Api
from flask import Flask
# import os
__all__ = [
Show 20 lines Show all unchanged lines Show 20 lines
]
app = Flask(__name__)
api = Api(app)
# api = Marshmallow(app)
generate_schema_config.py
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from formats import message_header
from formats.mission_plan import mission_plan_schema
from formats.observation import observation_schema
from formats.planning_configuration import planning_configuration_schema
from formats.platform_status import platform_status_message_schema
from formats.acknowledgement import acknowledgement_schema
from flasgger import Swagger
from flask import Flask
app = Flask(__name__)
swagger_config = {
"openapi": "3.0.2",
"swagger_ui": True,
"specs_route": "/",
"info": {
"title": "SoAR Backbone Message Formats",
"version": "1.0",
"description": "SoAR message protocol in schemas"
},
"specs": [
{
"endpoint": "swagger",
"route": "/soar_protocol.json",
}
],
"paths": {},
"components": {
"schemas": {
"MESSAGE": {
"type": "object",
"description": "Full message definition with message-metadata in `header` and different message type schemas under `payload`",
"properties": {
"header": {
"$ref": "#/components/schemas/header",
},
"payload": {
"$ref": "#/components/schemas/payload"
},
},
"required": ["header", "payload"],
},
"payload": {
"discriminator": {
"propertyName": "message_type",
"mapping":{
"MissionPlan": "#/components/schemas/mission_plan",
"Observation": "#/components/schemas/observation",
"PlanningConfiguration": "#/components/schemas/planning_configuration",
"PlatformStatus": "#/components/schemas/platform_status",
"Acknowledgement": "#/components/schemas/acknowledgement",
},
},
"oneOf":[
{
"$ref": "#/components/schemas/"
+ "acknowledgement"
},
{
"$ref": "#/components/schemas/"
+ "mission_plan"
},
{
"$ref": "#/components/schemas/"
+ "observation"
},
{
"$ref": "#/components/schemas/"
+ "planning_configuration"
},
{
"$ref": "#/components/schemas/"
+ "platform_status"
},
]
},
"header": message_header,
"mission_plan": mission_plan_schema,
"observation": observation_schema,
"planning_configuration": planning_configuration_schema,
"platform_status": platform_status_message_schema,
"acknowledgement": acknowledgement_schema,
}
},
}
swag = Swagger(app, config=swagger_config, merge=True)
if __name__ == "__main__":
app.run(debug=True)
\ No newline at end of file