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examples/autonom‎y_engine_adapter‎
surve‎y.json‎ +22 -0
survey_en‎coded.json‎ +19 -0
for‎mats‎
surv‎ey.py‎ +55 -0
survey_e‎ncoded.py‎ +15 -0
projec‎t/soar‎
swagge‎r.json‎ +116 -19
READ‎ME.md‎ +1 -0
generate_sch‎ema_config.py‎ +9 -0
examples/autonomy_engine_adapter/survey.json
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- 0
{
"header": {
"message_ID": "e1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2023-03-16T00:00:00Z",
"version": 2,
"source": "ecosub.ecosub-c2",
"destination": "soar.planet-ocean.ecosub.ecosub-2.from_platform.survey",
"delivery_type": "publish",
"encoded": false
},
"payload": {
"message_type": "survey",
"timestamp": "2026-12-21T00:00:00Z",
"latitude_A": 188.1,
"longitude_A": -10.122,
"latitude_B": 178.2,
"longitude_B": -10.122,
"platform_ID": "ecosub-2",
"track_ID": 12
}
}
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examples/autonomy_engine_adapter/survey_encoded.json
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{
"header": {
"message_ID": "t1237003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2023-03-16T00:00:00Z",
"version": 2,
"source": "hermes.ecosub-2",
"destination": "soar.noc.autosub.alr-52.from_platform.survey_encoded",
"delivery_type": "publish",
"encoded": true
},
"payload": {
"message_type": "survey_encoded",
"data": "HWYFBAAD+zwBySUAAAADVek72v1N2lUAAAAA9P2cP166ab+9cg==",
"file_name": "ecosub2-survey-data_03837434286438.sbd",
"mime_type": "application/gzip",
"is_binary": true
}
}
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formats/survey.py
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"""
schema: Survey Message that is decoded sent by platforms
to track progress
"""
survey_schema = {
"type": "object",
"properties": {
"timestamp": {
"type": "string",
"format": "date-time",
"description": "Timestamp for onboard message",
"example": "2022-12-21T00:00:00Z",
},
"latitude_A": {
"type": "number",
"format": "float",
"description": ("Latitude of point A(intersection of normal)"
+ "from waypoint A to survey line"),
"example": 178.2,
},
"longitude_A": {
"type": "number",
"format": "float",
"description": ("Longitude of point A(intersection of normal)"
+ "from waypoint A to survey line"),
"example": -10.122,
},
"latitude_B": {
"type": "number",
"format": "float",
"description": ("Latitude of point B(intersection of normal)"
+ "from waypoint B to survey line"),
"example": 178.2,
},
"longitude_B": {
"type": "number",
"format": "float",
"description": ("Longitude of point B(intersection of normal)"
+ "from waypoint B to survey line"),
"example": -10.122,
},
"platform_ID": {
"type": "string",
"description": "Unique identifier for this platform",
"example": "ecosub-2",
},
"track_ID": {
"type": "integer",
"description": "Track number of action(s) currently executed by platform",
"example": 1,
},
},
"required": ["latitude_A", "longitude_A", "latitude_B", "longitude_B", "platform_ID"],
}
formats/survey_encoded.py
+ 15
- 0
"""
schema: Survey Message that is encoded sent by platforms
to track progress
"""
from formats.encoded import encoded_schema
from copy import deepcopy
survey_encoded_schema = deepcopy(encoded_schema)
survey_encoded_schema["properties"]["message_type"]["enum"] = [
"survey_encoded"
]
survey_encoded_schema["properties"]["message_type"][
"example"
] = "survey_encoded"
project/soar/swagger.json
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"type":"number"
},
"start_point_latitude":{
"description":"Start point, x-coordinate",
"example":-4.187143188645706,
"description":"Start point, y-coordinate",
"example":50.37072283932642,
"format":"float",
"type":"number"
},
"start_point_longitude":{
"description":"Start point, y-coordinate",
"example":50.37072283932642,
"description":"Start point, x-coordinate",
"example":-4.187143188645706,
"format":"float",
"type":"number"
},
"target_waypoint_latitude":{
"description":"Target waypoint, x-coordinate",
"example":-4.187143188645706,
"description":"Target waypoint, y-coordinate",
"example":50.37072283932642,
"format":"float",
"type":"number"
},
"target_waypoint_longitude":{
"description":"Target waypoint, y-coordinate",
"example":50.37072283932642,
"description":"Target waypoint, x-coordinate",
"example":-4.187143188645706,
"format":"float",
"type":"number"
},
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"items":{
"properties":{
"latitude":{
"description":"Identified x-coordinate of point of interest",
"description":"Identified y-coordinate of point of interest",
"example":178.2,
"format":"float",
"type":"number"
},
"longitude":{
"description":"Identified y-coordinate of point of interest",
"description":"Identified x-coordinate of point of interest",
"example":-10.122,
"format":"float",
"type":"number"
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"observation_encoded":"#/components/schemas/observation_encoded",
"planning_configuration":"#/components/schemas/planning_configuration",
"platform_status":"#/components/schemas/platform_status",
"platform_status_encoded":"#/components/schemas/platform_status_encoded"
"platform_status_encoded":"#/components/schemas/platform_status_encoded",
"survey":"#/components/schemas/survey",
"survey_encoded":"#/components/schemas/survey_encoded"
},
"propertyName":"message_type"
},
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},
{
"$ref":"#/components/schemas/platform_status_encoded"
},
{
"$ref":"#/components/schemas/survey"
},
{
"$ref":"#/components/schemas/survey_encoded"
}
]
},
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},
"beacon_ID":{
"description":"Unique identifier (number) for the beacon associated to this platform",
"example":9407,
"example":2407,
"type":"number"
},
"emergency":{
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"type":"number"
},
"target_waypoint_latitude":{
"description":"X-coordinate safe place for respective platform",
"example":-7.432,
"description":"Y-coordinate safe place for respective platform",
"example":50.365,
"format":"float",
"type":"number"
},
"target_waypoint_longitude":{
"description":"Y-coordinate safe place for respective platform",
"example":50.365,
"description":"X-coordinate safe place for respective platform",
"example":-7.432,
"format":"float",
"type":"number"
}
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"type":"boolean"
},
"latitude":{
"description":"Latitude in decimal degrees.",
"description":"Latitude (Y-coordinate) in decimal degrees.",
"example":178.2,
"format":"float",
"type":"number"
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"type":"number"
},
"longitude":{
"description":"Longitude in decimal degrees.",
"description":"Longitude (X-coordinate) in decimal degrees.",
"example":-10.122,
"format":"float",
"type":"number"
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"is_binary"
],
"type":"object"
},
"survey":{
"properties":{
"latitude_A":{
"description":"Latitude of point A(intersection of normal)from waypoint A to survey line",
"example":178.2,
"format":"float",
"type":"number"
},
"latitude_B":{
"description":"Latitude of point B(intersection of normal)from waypoint B to survey line",
"example":178.2,
"format":"float",
"type":"number"
},
"longitude_A":{
"description":"Longitude of point A(intersection of normal)from waypoint A to survey line",
"example":-10.122,
"format":"float",
"type":"number"
},
"longitude_B":{
"description":"Longitude of point B(intersection of normal)from waypoint B to survey line",
"example":-10.122,
"format":"float",
"type":"number"
},
"platform_ID":{
"description":"Unique identifier for this platform",
"example":"ecosub-2",
"type":"string"
},
"timestamp":{
"description":"Timestamp for onboard message",
"example":"2022-12-21T00:00:00Z",
"format":"date-time",
"type":"string"
},
"track_ID":{
"description":"Track number of action(s) currently executed by platform",
"example":1,
"type":"integer"
}
},
"required":[
"latitude_A",
"longitude_A",
"latitude_B",
"longitude_B",
"platform_ID"
],
"type":"object"
},
"survey_encoded":{
"properties":{
"data":{
"description":"encoded string. E.g. Base64 encoded",
"example":"SDQke4uwyP/YQQAgAhA2AND/nu8nvQAAAAAAAAAACtejPa5HHUGkcBAAAAIAAAAQAAAAAAAAAA9P2cP166ab+9cg==",
"type":"string"
},
"file_name":{
"description":"Name of file",
"example":"ah1-0238126349247372.bin",
"type":"string"
},
"is_binary":{
"description":"true if the data field contains binary format data encoded as base64. false if the data field contains ascii content such as NMEA.",
"example":true,
"type":"boolean"
},
"message_type":{
"description":"Type of message",
"enum":[
"survey_encoded"
],
"example":"survey_encoded",
"type":"string"
},
"mime_type":{
"description":"MIME type",
"example":"application/gzip",
"type":"string"
}
},
"required":[
"data",
"is_binary"
],
"type":"object"
}
}
},
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"paths":{
}
}
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}
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README.md
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* `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
* `survey`: this would be demanded track, platform actual path, and survey line
* `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).
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generate_schema_config.py
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from formats.planning_configuration import planning_configuration_schema
from formats.platform_status import platform_status_schema
from formats.platform_status_encoded import platform_status_encoded_schema
from formats.survey import survey_schema
from formats.survey_encoded import survey_encoded_schema
from formats.acknowledgement import acknowledgement_schema
from flasgger import Swagger
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"platform_status_encoded": "#/components/schemas/"
+ "platform_status_encoded",
"acknowledgement": "#/components/schemas/acknowledgement",
"survey": "#/components/schemas/survey",
"survey_encoded": "#/components/schemas/"
+ "survey_encoded",
},
},
"oneOf": [
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{"$ref": "#/components/schemas/planning_configuration"},
{"$ref": "#/components/schemas/platform_status"},
{"$ref": "#/components/schemas/platform_status_encoded"},
{"$ref": "#/components/schemas/survey"},
{"$ref": "#/components/schemas/survey_encoded"},
],
},
"header": message_header,
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"planning_configuration": planning_configuration_schema,
"platform_status": platform_status_schema,
"platform_status_encoded": platform_status_encoded_schema,
"survey": survey_schema,
"survey_encoded": survey_encoded_schema,
"acknowledgement": acknowledgement_schema,
}
},
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