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Created by Trishna Saeharaseelan@trishnaOwner

Create initial message schemas

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exam‎ples‎
ecos‎ub_c2‎
mission_‎plan.json‎ +1 -1
hydrosur‎v_adapter‎
acknowledg‎ement.json‎ +1 -1
mission_‎plan.json‎ +1 -1
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 +14 -104
platform_‎status.py‎ +146 -299
projec‎t/soar‎
SOAR_RE‎ADME.md‎ +0 -0
soar_prot‎ocol.json‎ +547 -0
.giti‎gnore‎ +1 -0
READ‎ME.md‎ +2 -0
generate_sch‎ema_config.py‎ +93 -0
generate_‎swagger.py‎ +0 -135
examples/ecosub_c2/mission_plan.json
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- 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/hydrosurv_adapter/acknowledgement.json
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- 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
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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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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
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- 27
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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 "
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},
"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", "autonomy_engine_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
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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
+ 14
- 104
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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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},
"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": {},
},
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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,
},
"additional_data": {
"type": "null",
"additional_specs": {
"description": "Any addition fields/data to be added here",
"example": {"swath_width": 10.0, "scan_type": "DVL"},
},
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"platforms",
"squad_mission_type",
"squad_state",
"exclusion_zones",
],
}
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"
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},
},
"required": [
"config_ID",
"message_type",
"planning_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
+ 146
- 299
"""
schema: platform-specific decoded status message
"""
sensor_schema = {
"type": "object",
"description": "Scanning sensor on platform available"
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"example": True,
},
"additional_data": {
"type": "null",
"description": "Any addition fields/data to be added here",
"example": {"payload": [1.2, 434]},
},
},
"required": [],
}
platform_status_message_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
"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",
},
"platform_timestamp": {
"type": "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 dictionary with potential STATES of each platform
"message_type": {
"type": "string",
"description": "Current state executed by platform. E.g. "
+ "STOP, IDLE, ABORT.",
"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",
"description": "Latitude in decimal degrees.",
"example": 178.2,
},
"longitude": {
"type": "number",
"description": "Longitude in decimal degrees.",
"example": -10.122,
},
"depth": {
"type": "number",
"description": "Target depth in metres",
"example": 50,
"default": 0,
},
"altitude": {
"type": "number",
"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",
"description": "Estimated distance to reach next waypoint",
"example": 124.3,
},
"speed_over_ground": {
"type": "number",
"description": "TODO: add description",
"example": 124.3,
},
"water_current_velocity": {
"type": "number",
"description": "TODO: add description",
"example": 124.3,
},
"thrust_applied": {
"type": "number",
"description": "TODO: Needs further consideration",
"example": 124.3,
},
"heading": {
"type": "number",
"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",
"description": "Localisation error at last USBL update.",
"example": 0.000129,
},
"usbl_fix_seconds_ago": {
"type": "number",
"description": "USBL Fix received x second ago.",
"example": 10.0,
},
"battery_remaining_capacity": {
"type": "number",
"description": "Battery remaining % provided by respective C2",
"example": 80.2,
},
"current_pitch": {
"type": "number",
"description": "Current pitch of platform",
"example": -4.0,
},
"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 (e.g. iridium/wifi) or underwater"
# + " (e.g. acoustics)",
# "example": "wifi",
# },
# "platform_timestamp": {
# "type": "string",
# "format": "date-time",
# "description": "Timestamp for onboard platform status message",
# "example": "2022-12-21T00:00:00Z",
# },
# "platform_state": {
# "type": "string", # TODO: Define enum with potential STATES of each platform
# "description": "Current state executed by platform. E.g. "
# + "STOP, IDLE, ABORT.",
# "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,
},
"required": [
"platform_ID",
"status_source",
"platform_timestamp",
"latitude",
"longitude",
"message_type",
# "platform_ID",
# "status_source",
# "platform_timestamp",
# "latitude",
# "longitude",
],
}
# 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 = api.model(
# "SensorSchema",
# {
# "sensor_ID": fields.Integer(
# required=True,
# description="unique identifier for platform",
# example=2,
# ),
# "serial": fields.String(
# required=False,
# description="serial number of sensor",
# example="mbes-001",
# ),
# "sensor_status": fields.Boolean(
# required=False,
# description="Sensor switched on (True) or off (False)",
# example=True,
# ),
# "additional_data": fields.Raw(
# required=False,
# description="Any addition fields/data to be added here",
# ),
# },
# )
# platform_status_message_schema = api.model(
# "platformStatusMessage",
# {
# "message": fields.Nested(
# full_message_schema,
# required=True,
# description="Message header",
# ),
# "platform_ID": fields.Integer(
# required=True,
# description="unique identifier for platform",
# example=1,
# ),
# "active": fields.Boolean(
# required=False,
# description="When a platform is in deployment (executing a"
# + " mission plan) this should be True",
# example=True,
# ),
# "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_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
# },
# )
# # TBD: Do we append beacon positions with platform positions?
project/SOAR_README.md → project/soar/SOAR_README.md
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project/soar/soar_protocol.json
+ 547
- 0
{
"openapi": "3.0.2",
"info": {
"description": "SoAR message protocol in schemas",
"title": "SoAR Backbone Message Formats",
"version": "1.0"
},
"paths": {},
"components": {
"schemas": {
"MESSAGE": {
"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"
],
"type": "object"
},
"acknowledgement": {
"properties": {
"acknowledged_message_ID": {
"description": "Identifier of message received and executed with success for mission plans sent by the Autonomy Engine.",
"example": "02125022255-7bc8-11ed-a1eb-0242ac999999",
"type": "string"
},
"message_type": {
"description": "Type of message",
"example": "acknowledgement",
"type": "string"
},
"status": {
"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",
"enum": [
"c2_received",
"operator_approved_and_sent",
"executed"
],
"example": "executed by platform",
"type": "string"
}
},
"required": [
"message_type",
"acknowledged_message_ID",
"status"
],
"type": "object"
},
"header": {
"discriminator": {
"propertyName": "message_type"
},
"properties": {
"delivery_type": {
"default": "publish",
"description": "To publish or broadcast this message.",
"enum": [
"broadcast",
"publish"
],
"example": "publish",
"type": "string"
},
"destination": {
"description": "Publisher topic; What is the destination of this message",
"example": "ah1",
"type": "string"
},
"encoded": {
"description": "Indicate that message raw (encoded) or decoded. Options: encoded=True, decoded=False",
"example": false,
"type": "boolean"
},
"message_ID": {
"description": "An identifier for the type of message received.",
"example": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"type": "string"
},
"source": {
"description": "The sender; Where is this message from",
"example": "autonomy_engine",
"type": "string"
},
"timestamp": {
"description": "Timestamp of message",
"example": "2022-11-16T00:00:00Z",
"format": "date-time",
"type": "string"
},
"version": {
"description": "Version of comms backbone message format protocol",
"example": 2.0,
"format": "float",
"type": "number"
}
},
"type": "object"
},
"mission_plan": {
"properties": {
"autonomy_engine_plan_ID": {
"description": "Unique identifier for this plangenerated by the Autonomy Engine",
"example": 3,
"type": "integer"
},
"message_type": {
"description": "Type of message",
"example": "mission_plan",
"type": "string"
},
"plan": {
"items": {
"properties": {
"action": {
"description": "Autonomy Engine's action from `move`, `payload`, `dive`, `send_hits`, `scanline`, `scanpoint`.",
"example": "move",
"type": "string"
},
"activate_payload": {
"description": "To activate/deactivate sensor for Autosub Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
"example": true,
"type": "boolean"
},
"altitude": {
"description": "Altitude of next action",
"example": 15.0,
"format": "float",
"type": "number"
},
"depth": {
"description": "Depth of next action",
"example": 15.0,
"format": "float",
"type": "number"
},
"flight_style": {
"description": "Platform-specific modes/flight styles to perform next action",
"example": "orbit",
"type": "string"
},
"latitude_waypoint": {
"description": "Next waypoint, x-coordinate",
"example": -4.187143188645706,
"format": "float",
"type": "number"
},
"longitude_waypoint": {
"description": "Next waypoint, y-coordinate",
"example": 50.37072283932642,
"format": "float",
"type": "number"
},
"send_environmental_data": {
"description": "To trigger the platform to send list of observations if any found",
"example": false,
"type": "boolean"
}
},
"required": [
"latitude_waypoint",
"longitude_waypoint"
],
"type": "object"
},
"type": "array"
},
"platform_ID": {
"description": "Unique identifier for this platform",
"example": 1,
"type": "integer"
}
},
"required": [
"message_type",
"autonomy_engine_plan_ID",
"platform_ID",
"plan"
],
"type": "object"
},
"observation": {
"properties": {
"additional_data": {
"description": "Placeholder field for any additional data",
"example": {
"sensor_payload": false
}
},
"message_type": {
"description": "Type of message",
"example": "observation",
"type": "string"
},
"platform_ID": {
"description": "ID of platform to sending observations",
"example": 2,
"type": "integer"
},
"points_of_interest": {
"description": "Points from features of interest identified by platform if any found.",
"items": {
"properties": {
"latitude": {
"description": "Identified x-coordinate of point of interest",
"example": 178.2,
"format": "float",
"type": "number"
},
"longitude": {
"description": "Identified y-coordinate of point of interest",
"example": -10.122,
"format": "float",
"type": "number"
},
"quality_of_point": {
"description": "Quality/strength of points from features of interest identified by platform.",
"example": 0.98,
"format": "float",
"type": "number"
}
},
"required": [
"latitude",
"longitude"
],
"type": "object"
},
"type": "array"
},
"region_surveyed": {
"description": "Region surveyed by given platform. GEOJSON",
"example": "",
"nullable": true
}
},
"required": [
"message_type",
"platform_ID"
],
"type": "object"
},
"payload": {
"discriminator": {
"mapping": {
"acknowledgement": "#/components/schemas/acknowledgement",
"mission_plan": "#/components/schemas/mission_plan",
"observation": "#/components/schemas/observation",
"planning_configuration": "#/components/schemas/planning_configuration",
"platform_status": "#/components/schemas/platform_status"
},
"propertyName": "message_type"
},
"oneOf": [
{
"$ref": "#/components/schemas/acknowledgement"
},
{
"$ref": "#/components/schemas/mission_plan"
},
{
"$ref": "#/components/schemas/observation"
},
{
"$ref": "#/components/schemas/planning_configuration"
},
{
"$ref": "#/components/schemas/platform_status"
}
]
},
"planning_configuration": {
"properties": {
"exclusion_zones": {
"description": "Exclusion zones for all platforms",
"items": {
"description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
"properties": {
"geometry_coordinates": {
"example": [
[
[
-4.187143188645706,
50.37072283932642
],
[
-4.202697005964865,
50.368816892405874
],
[
-4.203156724702808,
50.365640144076906
],
[
-4.19449868846155,
50.362267670845654
]
]
],
"type": "array"
}
},
"required": [
"geometry_coordinates"
],
"type": "object"
},
"type": "array"
},
"message_type": {
"description": "Type of message",
"example": "planning_configuration",
"type": "string"
},
"planning_config_ID": {
"description": "Unique identifier tagged to version of this configuration plan",
"example": 3,
"type": "integer"
},
"squads": {
"items": {
"properties": {
"no_of_platforms": {
"description": "Number of platforms",
"example": 3,
"type": "integer"
},
"platforms": {
"description": "Squad consists of these platforms",
"items": {
"properties": {
"additional_specs": {
"description": "Any addition fields/data to be added here",
"example": {
"scan_type": "DVL",
"swath_width": 10.0
}
},
"emergency": {
"properties": {
"additional_data": {
"description": "Any addition fields/data to be added here",
"example": {}
},
"latitude_waypoint": {
"description": "X-coordinate safe place for respective platform",
"example": -7.432,
"format": "float",
"type": "number"
},
"longitude_waypoint": {
"description": "Y-coordinate safe place for respective platform",
"example": 50.365,
"format": "float",
"type": "number"
},
"safe_command": {
"description": "Command/Action that is native to respective partner's platform/C2",
"enum": [
"go_home",
"abort_now",
"stop_mission"
],
"example": "go_home",
"type": "string"
},
"target_depth": {
"description": "Z-coordinate safe place for respective platform . If platform to NOT stay at depth, key in `0.0`",
"example": 10,
"format": "float",
"type": "number"
}
},
"required": [
"latitude_waypoint",
"longitude_waypoint",
"target_depth"
],
"type": "object"
},
"max_velocity": {
"description": "Maximum altitude set for squad.",
"example": 0.9,
"format": "float",
"type": "number"
},
"min_altitude": {
"description": "Minimum altitude set for squad.",
"example": 15.2,
"format": "float",
"type": "number"
},
"min_velocity": {
"description": "Minimum velocity set for squad.",
"example": 0.1,
"format": "float",
"type": "number"
},
"model": {
"example": "reav",
"type": "string"
},
"platform_ID": {
"description": "Identifier for platform",
"example": 23,
"type": "integer"
},
"serial": {
"description": "platform serial number",
"example": "reav-60",
"type": "string"
}
},
"required": [
"platform_ID",
"serial",
"model",
"emergency",
"min_altitude",
"min_velocity",
"max_velocity"
],
"type": "object"
},
"type": "array"
},
"region_of_interest": {
"description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
"properties": {
"geometry_coordinates": {
"example": [
[
[
-4.187143188645706,
50.37072283932642
],
[
-4.202697005964865,
50.368816892405874
],
[
-4.203156724702808,
50.365640144076906
],
[
-4.19449868846155,
50.362267670845654
]
]
],
"type": "array"
}
},
"required": [
"geometry_coordinates"
],
"type": "object"
},
"squad_ID": {
"description": "Identifier of given squad",
"example": 23,
"type": "integer"
},
"squad_mission_type": {
"description": "Mission of given squad: `tracking`, `survey`, `inspection`",
"enum": [
"tracking",
"survey",
"inspection"
],
"example": "survey",
"type": "string"
},
"squad_state": {
"description": "In execution, Waiting.. <define further>",
"example": false,
"type": "string"
}
},
"required": [
"squad_ID",
"no_of_platforms",
"platforms",
"squad_mission_type",
"squad_state"
],
"type": "object"
},
"type": "array"
}
},
"required": [
"message_type",
"planning_config_ID",
"squads",
"exclusion_zones"
],
"type": "object"
},
"platform_status": {
"properties": {
"message_type": {
"description": "Type of message",
"example": "platform_status",
"type": "string"
},
"sensor_config": {
"description": "Scanning sensor on platform available to be controlled by the Autonomy Engine",
"properties": {
"additional_data": {
"description": "Any addition fields/data to be added here",
"example": {
"payload": [
1.2,
434
]
}
},
"sensor_on": {
"description": "Sensor switched on (True) or off (False)",
"example": true,
"type": "boolean"
},
"sensor_serial": {
"description": "serial number of sensor",
"example": "mbes-002a",
"type": "string"
}
},
"type": "object"
}
},
"required": [
"message_type"
],
"type": "object"
}
}
}
}
\ No newline at end of file
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README.md
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generate_schema_config.py
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