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Created by Dan Jones@danjonOwner

Resolve "Update platform status to accommodate simulated wpts"

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+ 613
- 172
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exam‎ples‎
geo‎json‎
platform_s‎tatus.json‎ +2 -2
mas‎-dt‎
waypoint_s‎tatus.json‎ +24 -0
for‎mats‎
paylo‎ad.py‎ +5 -3
platform_‎status.py‎ +136 -14
projec‎t/soar‎
swagge‎r.json‎ +444 -152
generate_sch‎ema_config.py‎ +2 -1
  • a1880a9e 
    Rather than sending a goto to the platform the
sfmc-adapter will publish a waypoint_status message
which the c2-adapter can read and add to the
positions service as a simulated waypoint
examples/geojson/platform_status.json
+ 2
- 2
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"type": "Point",
"coordinates": [
-10.122,
178.2,
78.2,
50.0,
20
]
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"type": "Point",
"coordinates": [
-10.5,
178.5
78.5
]
}
}
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examples/mas-dt/waypoint_status.json
+ 24
- 0
{
"header":{
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2024-09-05T00:00:00Z",
"version": "v2.0.0-beta.1",
"source": "noc-sfmc",
"destination": "mas-dt.noc.slocum.unit_xxx.from_platform.platform_status",
"delivery_type": "publish",
"encoded": false
},
"payload":{
"message_type": "waypoint_status",
"platform_ID": "unit_xxx",
"platform_timestamp": "2024-09-05T00:00:00Z",
"status_source": "simulated",
"autonomy_engine_plan_ID": 1,
"mission_plan_ID": 1,
"mission_track_ID": 4,
"waypoint": {
"type": "Point",
"coordinates": [-10.122, 78.2, 50.0, 20.0]
}
}
}
formats/payload.py
+ 5
- 3
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"mapping": {
"alert": "#/components/schemas/alert",
"mission_plan": "#/components/schemas/mission_plan",
"mission_plan_encoded": "#/components/schemas/" + "mission_plan_encoded",
"mission_plan_encoded": "#/components/schemas/mission_plan_encoded",
"observation": "#/components/schemas/observation",
"observation_encoded": "#/components/schemas/" + "observation_encoded",
"observation_encoded": "#/components/schemas/observation_encoded",
"planning_configuration": "#/components/schemas/"
+ "planning_configuration",
"platform_status": "#/components/schemas/platform_status",
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+ "platform_status_encoded",
"acknowledgement": "#/components/schemas/acknowledgement",
"survey": "#/components/schemas/survey",
"survey_encoded": "#/components/schemas/" + "survey_encoded",
"survey_encoded": "#/components/schemas/survey_encoded",
"waypoint_status": "#/components/schemas/waypoint_status",
},
},
"oneOf": [
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{"$ref": "#/components/schemas/platform_status_encoded"},
{"$ref": "#/components/schemas/survey"},
{"$ref": "#/components/schemas/survey_encoded"},
{"$ref": "#/components/schemas/waypoint_status"},
],
}
formats/platform_status.py
+ 136
- 14
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},
}
platform_status_schema = {
platform_status_core_fields_schema = {
"type": "object",
"properties": {
"message_type": {
"type": "string",
"description": "Type of message",
"example": "platform_status",
"enum": ["platform_status"],
},
"platform_ID": {
"type": "string",
"description": "Unique identifier for this platform",
"example": "reav-x-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"],
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},
"sensor_config": sensor_schema,
},
}
platform_status_schema = {
"type": "object",
"properties": {
"message_type": {
"type": "string",
"description": "Type of message",
"example": "platform_status",
"enum": ["platform_status"],
},
"status_source": {
"type": "string",
"enum": ["usbl", "onboard_platform", "simulated"],
"description": "Indicate if this status message is from the"
+ " platform or USBL",
"example": "usbl",
},
},
"allOf": [platform_status_core_fields_schema],
"oneOf": [
{
"type": "object",
"properties": {
"no_position_reason": {
"type": "string",
"enum": ["missing", "invalid", "old", "poor_fix"],
"description": "Why position data is unavailable",
"example": "invalid",
},
},
"required": [
"no_position_reason",
],
},
{
"type": "object",
"properties": {
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"platform_timestamp",
],
}
waypoint_status_schema = {
"type": "object",
"properties": {
"message_type": {
"type": "string",
"description": "Type of message",
"example": "waypoint_status",
"enum": ["waypoint_status"],
},
"status_source": {
"type": "string",
"enum": ["onboard_platform", "simulated", "autonomy"],
"description": "Indicate if this status message is from the"
+ " platform or USBL",
"example": "usbl",
},
},
"allOf": [platform_status_core_fields_schema],
"oneOf": [
{
"type": "object",
"properties": {
"position": {
"$ref": "https://geojson.org/schema/Point.json",
},
"waypoint": {
"$ref": "https://geojson.org/schema/Point.json",
},
},
"required": [
"waypoint",
],
},
{
"type": "object",
"properties": {
"latitude": {
"type": "number",
"format": "float",
"description": "Latitude (Y-coordinate) in decimal degrees.",
"example": 178.2,
},
"longitude": {
"type": "number",
"format": "float",
"description": "Longitude (X-coordinate) in decimal degrees.",
"example": -10.122,
},
"depth": {
"type": "number",
"format": "float",
"description": "Target depth in metres",
"example": 50.0,
"default": 0.0,
},
"altitude": {
"type": "number",
"format": "float",
"description": "Target altitude in metres",
"example": 20.0,
},
"waypoint_latitude": {
"type": "number",
"format": "float",
"description": "Latitude (Y-coordinate) in decimal degrees.",
"example": 178.2,
},
"waypoint_longitude": {
"type": "number",
"format": "float",
"description": "Longitude (X-coordinate) in decimal degrees.",
"example": -10.122,
},
"waypoint_depth": {
"type": "number",
"format": "float",
"description": "Target depth in metres",
"example": 50.0,
"default": 0.0,
},
"waypoint_altitude": {
"type": "number",
"format": "float",
"description": "Target altitude in metres",
"example": 20.0,
},
},
"required": [
"waypoint_latitude",
"waypoint_longitude",
],
},
],
"required": [
"message_type",
"platform_ID",
"status_source",
"platform_timestamp",
],
}
project/soar/swagger.json
+ 444
- 152

Files with large changes are collapsed by default.

generate_schema_config.py
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- 1
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from formats.observation_encoded import observation_encoded_schema
from formats.payload import payload_schema
from formats.planning_configuration import planning_configuration_schema
from formats.platform_status import platform_status_schema
from formats.platform_status import platform_status_schema, waypoint_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
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"survey_encoded": survey_encoded_schema,
"acknowledgement": acknowledgement_schema,
"alert": alert_schema,
"waypoint_status": waypoint_status_schema,
}
},
}
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