Overview

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 vehicle's data and statuses defined by each partner. Reference Slides

Guidelines on Collaborating in this Workspace

Quick Links

1. Schema Fields Definitions
2. JSON Schema Examples
3. To view schema docs via Swagger UI, run the command below and go to http://127.0.0.1:5000/soardocs

   python3 docs/generate_swagger.py

   *Disclaimer: These are not endpoints. Purely for schema representation.

Message Types

• Each message below will be treated as the payload that are wrapped in a full_message_format that includes a message_header.

Type	Summary of File	Serialized/Compiled in Vehicle-Specific Format?
planning_configuration	Autonomy Engine's Configuration file (if c2 needs to update its respective vehicle directly)	No
mission_plan	Mission plan generated by Autonomy Engine per vehicle	No
encoded_mission_plan	Encoded/serialized vehicle-specific mission plan	Yes
encoded_vehicle_status	Encoded/serialized vehicle-specific vehicle status	Yes
vehicle_status	Decoded/de-serialized generic vehicle status	No
encoded_observation	Encoded/serialized observation data from vehicle for Autonomy Engine	Yes
observation	Decoded/de-serialized observation data from vehicle for Autonomy Engine	No
acknowledgement	Decoded/de-serialized acknowledgement message from the Hydrosurv Adapater	No

---

Breakdown of Message Sources & Types

1/ Autonomy Engine

Transmit

• mission plan (sent per vehicle??)
• TBD:
  • Will emergency commands be sent via the autonomy engine (from the GUI) or directly to the C2s?

Receive

• configuration file
• emergency stop all
• decoded ecosub status message
• decoded reav status message
• decoded autosub-hover status message
• decoded ecosub observation data (from squad 1 vehicles)

---

2/ Ecosub C2

Transmit

• compiled ecosub mission plan
• decoded ecosub status message
• autonomy configuration file
• decoded ecosub observation data

Receive

• mission plan
• encoded ecosub status message
• encoded ecosub observation data

---

3/ Autosub C2

Transmit

• compiled autosub-hover mission plan
• decoded autosub-hover status message
• autonomy configuration file

Receive

• mission plan
• encoded autosub-hover status message

---

4/ Reav C2

Transmit

• decoded reav-60 status message?

Receive

• mission plan
• encoded reav-60 status message?

---

5/ Hermes Box/Hydrosurv Smart Router?

Transmit

• encoded ecosub status message
• encoded (or is this already decoded?) reav status message
• encoded autosub status message
• encoded ecosub observation data
• TBD:
  • are there acknowledgment messages from vehicles?
  • how are we receiving beacon messages per vehicle?

Receive

• compiled ecosub mission plan
• compiled reav mission plan
• compiled autosub mission plan
• compiled ecosub emergency command
• compiled reav emergency command
• compiled autosub emergency command

---

Message Data Flow Summary

Partner	Message Type	Source	Destination	Via Comms Backbone?	Contains Serialized Vehicle-Specific File?	Comment
Autonomy Engine	vehicle status	C2’s	Autonomy Engine	Yes	No
Autonomy Engine	Hydrosurv/Ecosub/Ah1
Autonomy Engine	mission plan	Autonomy Engine	C2’s	Yes	No
Autonomy Engine	Hydrosurv/Ecosub/Ah1
Autonomy Engine	autonomy configuration	GUI	ALL	Yes	No	Common file sent to all partners – to store
Autonomy Engine	autonomy configuration	C2’s	Autonomy Engine	Yes	No	IF REQUIRED ONLY, UPDATE STORED FILE.
Autonomy Engine	Hydrosurv/Ecosub/Ah1
Hydrosurv	vehicle status	Hydrosurv C2	Autonomy Engine	Yes	No
Hydrosurv	mission plan	Autonomy Engine	Hydrosurv C2	Yes	No
Hydrosurv	mission plan	Hydrosurv C2	Reav-60	No	Yes
Hydrosurv	autonomy configuration	GUI	Hydrosurv C2 (ALL)	Yes	No	Common file sent to all partners – to store
Hydrosurv	autonomy configuration	Hydrosurv C2	GUI	Yes	No	IF REQUIRED ONLY, UPDATE STORED FILE.
Hydrosurv	acknowledgment	Hydrosurv C2	Comms Backbone (Audit)	Yes	No	When hydrosurv adapter has (a) Received, (b) Sent Plan to Reav, and (c) Executed by Reav
Planet Ocean	vehicle status	Ecosub	Hydrosurv Adapter	No	Yes
Planet Ocean	vehicle status	Hydrosurv Adapter	Ecosub C2	Yes	Yes
Planet Ocean	vehicle status	Ecosub C2	Autonomy Engine	Yes	No
Planet Ocean	mission plan	Autonomy Engine	Ecosub C2	Yes	No
Planet Ocean	mission plan	Ecosub C2	Hydrosurv Adapter	Yes	Yes
Planet Ocean	mission plan	Hydrosurv Adapter	Ecosub	No	Yes	Via Hermes + Router
Planet Ocean	autonomy configuration	GUI	Ecosub C2 (ALL)	Yes	No	Common file sent to all partners – to store
Planet Ocean	autonomy configuration	Hydrosurv C2	GUI	Yes	No	IF REQUIRED ONLY, UPDATE STORED FILE.
Planet Ocean	observation	Ecosub	Hydrosurv Adapter	No	Yes	Via Hermes + Router
Planet Ocean	observation	Hydrosurv Adapter	Ecosub C2	Yes	Yes
Planet Ocean	observation	Ecosub C2	Autonomy Engine	Yes	No
Planet Ocean	vehicle status	AH1	Hydrosurv Adapter	No	Yes	Via Hermes + Router
NOC	vehicle status	Hydrosurv Adapter	NOC C2	Yes	Yes
NOC	vehicle status	NOC C2	Autonomy Engine	Yes	No
NOC	mission plan	Autonomy Engine	NOC C2	Yes	No
NOC	mission plan	NOC C2	Hydrosurv Adapter	Yes	Yes
NOC	mission plan	Hydrosurv Adapter	AH1	No	Yes	Via Hermes + Router
NOC	autonomy configuration	GUI	NOC C2 (ALL)	Yes	No	Common file sent to all partners – to store
NOC	autonomy configuration	Hydrosurv C2	GUI	Yes	No	IF REQUIRED ONLY, UPDATE STORED FILE.