This message represents a world model.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| GeoFeatures | geo_features | - | message-list (Geographical Feature) | This field holds a series of geographical features present in the world. | Same as field type |
| CoverageStates | cov_states | - | message-list (Feature Coverage State) | This field holds the coverage states of the features in the world. | Same as field type |
This message holds a geographical that, according to the number of vertices, may correspond to a point, a line or polygon.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Identifier | feature_id | - | uint16_t | The unique identifier for this feature. | Same as field type |
| Points | points | - | message-list (MapPoint) | The vertices of the feature. If the feature has just one vertex, it is a point. If the feature has exactly two vertices, it is a line. Features with more than two points, correspond to polygons. | Same as field type |
This message is used to report the coverage state of a geographical feature. It is reported by the UxVs performing the surveys.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Identifier | feature_id | - | uint16_t | The unique feature identifier. Feature IDs are managed by the C2. | Same as field type |
| State | state | Enumerated (Enum State) | uint8_t | Same as field type |
No description
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 1 | Completed | COMPLETED | The coverage is completed for this feature. |
| 2 | Partial | PARTIAL | The feature is partially complete. |
| 3 | None | NONE | The coverage has not been started for this feature. |
No description
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Task Identifier | tid | - | uint16_t | The unique task identifier. Task ids are managed by the C2. | Same as field type |
| Operation | op | Enumerated (Enum Operation) | uint8_t | The purpose of this message. | Same as field type |
| Argument | arg | - | message (Message-Group TaskAdminArgs) | This field will be empty or hold an inline message whose type varies with the operation. | Same as field type |
The purpose of this message.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 1 | Accept | ACCEPT | Accept the execution of this task. |
| 2 | Reject | REJECT | Reject the execution of this task. |
| 3 | Assign | ASSIGN | Request this task to be assigned to the destination of the message. |
| 4 | Unassign | UNASSIGN | Request this task to be unassigned from the destination of the message. |
| 5 | Status | STATUS | Report the state of execution of this task. |
| 6 | Status Request | STATUS_REQUEST | Request this task completion status. |
This message is used to control the state of execution for the entire system.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Operation | op | Enumerated (Enum Operation) | uint8_t | Same as field type |
No description
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 1 | Hold Execution | HOLD | - |
| 2 | Resume Execution | RESUME | - |
| 3 | Interrupt Execution | INTERRUPT | - |
This message describes the capabilities provided by an UxV.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Capabilities | capabilities | - | message-list (Message-Group VehicleCapability) | Same as field type |
This message describes an area surveying capability.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Sensor | sensor | Enumerated (Enum Sensor Type) | uint8_t | Same as field type | |
| Resolution | resolution | px/m² | fp32_t | Same as field type | |
| Resolution Bathymetry Factor | res_bathym_factor | - | fp32_t | Same as field type | |
| Coverage Rate | cov_rate | m²/s | fp32_t | Same as field type | |
| Coverage Bathymetry Factor | cov_bathym_factor | - | fp32_t | Same as field type |
This message describes an area surveying capability.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Sensor | Sensor | Enumerated (Enum Sensor Type) | uint8_t | Same as field type | |
| Resolution | resolution | px/m² | fp32_t | Same as field type | |
| Duration | duration | s | fp32_t | Same as field type |
This message describes a moving capability.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Speed | speed | m/s | fp32_t | Same as field type |
This message is used to describe an area surveying task.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Task Identifier | task_id | - | uint16_t | The identifier for this task. | Same as field type |
| Geo Feature Identifier | feature_id | - | uint16_t | The identifier of the feature to be surveyed. | Same as field type |
| Sensor | sensor | Enumerated (Enum Sensor Type) | uint8_t | Same as field type | |
| Resolution | resolution | px/m² | fp32_t | Same as field type | |
| Deadline | deadline | s | fp64_t | The deadline until when the task must be finished. The number of seconds is represented in Universal Coordinated Time (UCT) in seconds since Jan 1, 1970 using IEEE double precision floating point numbers. | Same as field type |
This message is used to describe an area surveying task.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Task Identifier | task_id | - | uint16_t | The identifier for this task. | Same as field type |
| Destination | destination | - | message (MapPoint) | The destination where to go. | Same as field type |
| Deadline | deadline | s | fp64_t | The deadline until when the task must be finished. The number of seconds is represented in Universal Coordinated Time (UCT) in seconds since Jan 1, 1970 using IEEE double precision floating point numbers. | Same as field type |
No description
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Task Identifier | task_id | - | uint16_t | The identifier for this task. | Same as field type |
| Status | status | Enumerated (Enum Status) | uint8_t | Same as field type | |
| Progress | progress | % | uint8_t | max=100 | |
| Quality | quality | % | uint8_t | max=100 |
No description
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 1 | Completed | COMPLETED | - |
| 2 | In Progress | IN_PROGRESS | - |
| 3 | Error | ERROR | - |
| 4 | Assigned | ASSIGNED | - |
This message is used to describe an area synchronization task.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Task Identifier | task_id | - | uint16_t | The identifier for this task. | Same as field type |
| Geo Feature Identifier | feature_id | - | uint16_t | The identifier of the feature where vehicles synchronize. | Same as field type |
| Synchronization Time Window | time_window | s | uint16_t | Time window for synchronization task execution, in seconds. | Same as field type |
| Deadline | deadline | s | fp64_t | The deadline until when the task must be finished. The number of seconds is represented in Universal Coordinated Time (UCT) in seconds since Jan 1, 1970 using IEEE double precision floating point numbers. | Same as field type |