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Created by Trishna Saeharaseelan@trishnaOwner

Create initial message schemas

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examples/hydr‎osurv_adapter‎
acknowledg‎ement.json‎ +1 -1
for‎mats‎
__ini‎t__.py‎ +50 -0
acknowled‎gement.py‎ +6 -11
message_w‎rapper.py‎ +0 -61
mission‎_plan.py‎ +6 -2
observa‎tion.py‎ +8 -3
planning_con‎figuration.py‎ +8 -6
platform_‎status.py‎ +17 -12
projec‎t/soar‎
SOAR_RE‎ADME.md‎ +0 -0
swagge‎r.json‎ +687 -0
READ‎ME.md‎ +2 -0
generate_sch‎ema_config.py‎ +93 -0
generate_‎swagger.py‎ +0 -133
examples/hydrosurv_adapter/acknowledgement.json
+ 1
- 1
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"encoded": false,
"message_type": "acknowledgement",
"acknowledged_message_ID": "11111111-7bc8-11ed-a1eb-0242ac999999",
"status": "Approved and sent to platform"
"status": "c2_received"
}
\ No newline at end of file
formats/__init__.py
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- 0
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for x in os.listdir(os.path.dirname(__file__))
if x.endswith(".py") and x != "__init__.py"
]
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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- 11
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schemas: Acknowledgement status sent by the surface platform to report
receipt of message.
"""
# from openapi_schema_validator import validate
# from jsonschema import validate
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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"example": "executed by platform",
},
},
"required": ["acknowledged_message_ID", "status"],
"required": ["message_type", "acknowledged_message_ID", "status"],
}
# validate(
# {"acknowledged_message_ID": "string-type-id", "status": "c2_received"},
# acknowledgement_schema,
# )
formats/message_wrapper.py deleted
+ 0
- 61
"""
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": "string",
"format": "date-time",
"description": "Timestamp of message",
"example": "2022-11-16T00:00:00Z",
},
"message_type": {
"type": "string",
"description": "Type of message",
"example": "platform_status",
},
"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",
},
},
"required": ["message_type"],
}
formats/mission_plan.py
+ 6
- 2
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}
mission_plan_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"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"
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"items": action_schema,
},
},
"required": ["plan_ID", "platform_ID", "plan"],
"required": ["message_type", "autonomy_engine_plan_ID", "platform_ID", "plan"],
}
formats/observation.py
+ 8
- 3
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}
observation_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
"message_type": {
"type": "string",
"description": "Type of message",
"example": "observation",
},
"platform_ID": {
"type": "integer",
"description": "ID of platform to sending observations",
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+ " platform if any found.", # TODO: DEFINE FORMAT.
},
"region_surveyed": {
"type": "null",
# "type": "null",
"nullable": True,
"description": "Region surveyed by given platform."
+ " GEOJSON", # TODO: DEFINE FORMAT.
"example": "",
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"example": {"sensor_payload": False},
},
},
"required": ["platform_ID"],
"required": ["message_type", "platform_ID"],
}
formats/planning_configuration.py
+ 8
- 6
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"example": 10,
},
"additional_data": {
"type": "null",
"description": "Any addition fields/data to be added here",
"example": {},
},
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"description": "Maximum altitude set for squad.",
"example": 0.9,
},
"additional_data": {
"type": "null",
"additional_specs": {
"description": "Any addition fields/data to be added here",
"example": {"swath_width": 10.0, "scan_type": "DVL"},
},
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"platforms",
"squad_mission_type",
"squad_state",
"exclusion_zones",
],
}
planning_configuration_schema = {
"allOf": [{"$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",
],
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formats/platform_status.py
+ 17
- 12
"""
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": {
"message_type": {
"type": "string",
"description": "Type of message",
"example": "platform_status",
},
"platform_ID": {
"type": "integer",
"description": "Identifier for platform",
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+ " 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",
"decription": "Timestamp for onboard platform status message",
"description": "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",
"type": "string", # TODO: Define enum with potential STATES of each platform
"description": "Current state executed by platform. E.g. "
+ "STOP, IDLE, ABORT.",
"example": "ABORT",
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"sensor_config": sensor_schema,
},
"required": [
"message_type",
"platform_ID",
"status_source",
"platform_timestamp",
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project/SOAR_README.md → project/soar/SOAR_README.md
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project/soar/swagger.json
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- 0

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README.md
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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.
_# TODO: Add note on OpenAPI version used._
# 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.
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generate_schema_config.py
+ 93
- 0
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":{
"mission_plan": "#/components/schemas/mission_plan",
"observation": "#/components/schemas/observation",
"planning_configuration": "#/components/schemas/planning_configuration",
"platform_status": "#/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"
},
{
"$ref": "#/components/schemas/"
+ "platform_status"
},
]
},
"header": message_header,
"mission_plan": mission_plan_schema,
"observation": observation_schema,
"planning_configuration": planning_configuration_schema,
"platform_status": platform_status_message_schema,
"acknowledgement": acknowledgement_schema,
}
},
}
swag = Swagger(app, config=swagger_config, merge=True)
if __name__ == "__main__":
app.run(debug=True)
\ No newline at end of file
generate_swagger.py deleted
+ 0
- 133
from formats.message_wrapper import message_wrapper_schema
from formats.mission_plan import mission_plan_schema
from formats.observation import observation_schema
from formats.planning_configuration import planning_configuration_schema
from formats.platform_status import platform_status_message_schema
from formats.acknowledgement import acknowledgement_schema
from flasgger import Swagger
from flask import Flask
app = Flask(__name__)
swagger_config = {
"headers": [],
"openapi": "3.0.2",
"swagger_ui": True,
"specs_route": "/",
"info": {
"title": "Backbone Message Formats",
"version": "0.1",
"description": "SoAR message schemas (i.e. formats)",
},
"specs": [
{
"endpoint": "swagger",
"route": "/swagger.json",
"rule_filter": lambda rule: True,
"model_filter": lambda tag: True,
}
],
"components": {
"schemas": {
"Message": message_wrapper_schema,
"MissionPlan": mission_plan_schema,
"Observation": observation_schema,
"PlanningConfiguration": planning_configuration_schema,
"PlatformStatus": platform_status_message_schema,
"Acknowledgement": acknowledgement_schema,
}
},
"paths": {
"/all_messages": {
"get": {
"description": "Returns all messages from the system.",
"responses": {
"200": {
"description": "A list of messages.",
"content": {
"application/json": {
"schema": {
"oneOf": [
{
"$ref": "#/components/schemas/"
+ "Acknowledgement"
},
{
"$ref": "#/components/schemas/"
+ "MissionPlan"
},
{
"$ref": "#/components/schemas/"
+ "Observation"
},
{
"$ref": "#/components/schemas/"
+ "PlanningConfiguration"
},
{
"$ref": "#/components/schemas/"
+ "PlatformStatus"
},
],
"discriminator": {
"propertyName": "message_type",
},
}
}
},
}
},
}
},
},
"produces": ["application/json"],
"consumes": ["application/json"],
}
message_types = [
"Message",
"Acknowledgement",
"MissionPlan",
"Observation",
"PlanningConfiguration",
"PlatformStatus",
]
for item in message_types:
swagger_config["paths"]["/" + str(item.lower())] = {
"get": {
"description": "Returns message for " + item,
"responses": {
"200": {
"description": item + " message.",
"content": {
"application/json": {
"schema": {
"allOf": [
{
"$ref": "#/components/schemas/" + item,
},
],
"discriminator": {
"propertyName": "message_type",
},
}
}
},
}
},
}
}
swag = Swagger(app, config=swagger_config, merge=True)
if __name__ == "__main__":
app.run(debug=True)
# print(validate_spec_url("http://127.0.0.1:5000/swagger.json"))
# # If no exception is raised by validate_spec(), the spec is valid.
# validate_spec(swagger_config)
# print("000 Schema validation passed")
# errors_iterator = openapi_v3_spec_validator.iter_errors(swagger_config)
# print(errors_iterator)