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-b1cdf2342fdd",
},
"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",
},
},
}
acknowledgement_schema = {
"type": "object",
"properties": {
"message_type": {
"type": "string",
"description": "Type of message",
"example": "acknowledgement",
},
"autonomy_engine_plan_ID": {
"type": "integer",
"description": "Mission plan ID (according to Autonomy"
+ " Engine's mission plan number sent) executed by platform",
"example": 1,
},
"platform_ID": {
"type": "string",
"description": "Unique identifier for this platform",
"example": "reav-x-1",
},
"approved": {
"type": "boolean",
"description": "Human-in-the-loop approval. "
+ "1 - Plan approved; 0 - Plan Rejected",
},
},
"required": [
"message_type",
"autonomy_engine_plan_ID",
"platform_ID",
"approved",
],
}
action_schema = {
"type": "object",
"properties": {
"action": {
"type": "string",
"description": "Autonomy Engine's action from `move`, `payload`,"
+ " `dive`, `send_hits`, `scanline`, `scanpoint`.",
"example": "move",
},
"start_point_latitude": {
"type": "number",
"format": "float",
"description": "Start point, x-coordinate",
"example": -4.187143188645706,
},
"start_point_longitude": {
"type": "number",
"format": "float",
"description": "Start point, y-coordinate",
"example": 50.37072283932642,
},
"target_waypoint_latitude": {
"type": "number",
"format": "float",
"description": "Target waypoint, x-coordinate",
"example": -4.187143188645706,
},
"target_waypoint_longitude": {
"type": "number",
"format": "float",
"description": "Target 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,
},
"timeout": {
"type": "number",
"format": "float",
"description": "Timeout set to perform action",
"example": 1800.0,
},
},
"required": [
"target_waypoint_latitude",
"target_waypoint_longitude",
],
}
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": "string",
"description": "Unique identifier for this platform",
"example": "reav-x-1",
},
"emergency": {
"default": False,
"description": "To indicate if this is an emergency. "
+ "true = emergency and false = no emergency",
"example": False,
"type": "boolean",
},
"plan": {
"type": "array",
"items": action_schema,
},
},
"required": [
"message_type",
"autonomy_engine_plan_ID",
"platform_ID",
"plan",
],
}
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 = {
"type": "object",
"properties": {
"message_type": {
"type": "string",
"description": "Type of message",
"example": "observation",
},
"platform_ID": {
"type": "string",
"description": "Unique identifier for this platform",
"example": "reav-x-1",
},
"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": {
"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"],
}
emergency_schema = {
"type": "object",
"properties": {
"safe_command": {
"type": "string",
"enum": ["go_home", "abort_now", "stop_now", "surface_now"],
"description": "Command/Action that is native to respective"
+ " partner's platform/C2",
"example": "go_home",
},
"target_waypoint_latitude": {
"type": "number",
"format": "float",
"description": "X-coordinate safe place for respective platform",
"example": 50.365,
},
"target_waypoint_longitude": {
"type": "number",
"format": "float",
"description": "Y-coordinate safe place for respective platform",
"example": -7.432,
},
"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": 10.0,
},
"additional_data": {
"description": "Any addition fields/data to be added here",
"example": {},
},
},
"required": [
"target_waypoint_latitude",
"target_waypoint_longitude",
"target_depth",
],
}
platform_schema = {
"type": "object",
"properties": {
"platform_ID": {
"type": "string",
"description": "Unique identifier for this platform",
"example": "reav-x-1",
},
"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 velocity set for squad.",
"example": 0.9,
},
"additional_data": {
"description": "Any addition fields/data to be added here",
"example": {"swath_width": 10.0, "scan_type": "DVL"},
},
},
"required": [
"platform_ID",
"model",
"emergency",
"min_altitude",
"min_velocity",
"max_velocity",
],
}
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)",
}
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",
],
}
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,
},
"exclusion_zones": {
"type": "array",
"items": region_schema,
"description": "Exclusion zones for all platforms",
},
"squads": {
"type": "array",
"items": squad_metadata_schema,
},
},
"required": [
"message_type",
"planning_config_ID",
"squads",
"exclusion_zones",
],
}
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": {
"description": "Any addition fields/data to be added here",
"example": {"payload": [1.2, 434]},
},
},
}
platform_status_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"],
"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",
"description": "Current state executed by platform. E.g. "
+ "STOP, IDLE, ABORT.",
"example": "ABORT",
}, # TODO: Define enum with potential STATES of each platform
"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 (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,
},
"mission_track_ID": {
"type": "integer",
"description": "Track number - stage in mission (e.g. "
+ "4 --> Waypoint 3 to Waypoint 4)",
"example": 4,
},
"mission_plan_ID": {
"type": "integer",
"description": "Mission plan ID according to platform-C2 system",
"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": "Speed over ground",
"example": 124.3,
},
"water_current_velocity": {
"type": "string",
"description": "Water current magnitude and direction",
"example": "124.3NE",
},
"thrust_applied": {
"type": "number",
"format": "float",
"description": "Thrust applied",
"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": "boolean",
"description": "Health status where 0 is OK, 1 is platform has"
+ " an ERROR",
"example": False,
},
"localisation_north_error": {
"type": "number",
"format": "float",
"description": "Difference in NORTH between deadreckoning"
+ " and USBL update.",
"example": 0.000129,
},
"localisation_east_error": {
"type": "number",
"format": "float",
"description": "Difference in EAST between deadreckoning"
+ "and 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,
},
# Battery power (kw / float)
"battery_output": { # changed from battery_power
"type": "number",
"format": "float",
"description": "Battery output in kW",
"example": 80.2,
},
# Bunkers remaining capacity (litres, float)
# Bunkers percentage full (percentage, float)
# battery_remaining_capacity is % full if we want both these fields
# these names are going to cause confusion
"fuel_remaining_capacity": {
"type": "number",
"format": "float",
"description": "Percentage remaining capacity",
"example": 80.2,
},
"fuel_volume": {
"type": "number",
"format": "float",
"description": "Litres of liquid fuel",
"example": 12.5,
},
# Endurance (hours, float)
"endurance": {
"type": "number",
"format": "float",
"description": "Estimate of hours of operation remaining "
+ "based on present output or performance",
"example": 7.4,
},
"sensor_config": sensor_schema,
},
"required": [
"message_type",
"platform_ID",
"status_source",
"platform_timestamp",
"latitude",
"longitude",
],
}
alert_schema = {
"type": "object",
"properties": {
"message_type": {
"type": "string",
"description": "Type of message",
"example": "alert",
"enum": ["alert"],
},
"code": { # changed from alert_ID because reasons
"type": "integer",
"description": "Alert code",
"example": 345,
},
"platform_ID": {
"type": "string",
"description": "Unique identifier for this platform",
"example": "usvdecibel",
},
"platform_timestamp": {
"type": "string",
"format": "date-time",
"description": "Timestamp for onboard platform status message",
"example": "2022-12-21T00:00:00Z",
},
"subsystem": { # changed from suggested "source" could be device / subsystem or something
"type": "string",
"description": "System that generated the alert",
"example": "Onboard Fault Monitor",
},
"summary": {
"type": "string",
"description": "High level description of the alert",
"example": "Steering Damage - Port Side",
},
"details": {
"type": "string",
"description": "Detailed reason for the alert ",
"example": "Discrepancy between rudder and actuator positions"
+ " : Rudder Pos=10.31°, Steering Actuator Pos=28.65°, Discrepancy=18.33°",
},
"severity": {
"type": "string",
"description": "Severity level of alert",
"example": "Alarm",
"enum": ["Emergency", "Alarm", "Warning", "Caution"],
},
},
"required": [
"message_type",
"platform_ID",
"code",
"severity",
],
}