OpenUxAS-SoI/mdms/PERCEIVE.xml

<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE MDM SYSTEM 'MDM.DTD'>

<!--
        <h2>Introduction</h2>
        Perception message definitions. Depends upon CMASI MDM.

-->
<MDM>
    <SeriesName>PERCEIVE</SeriesName>
    <Namespace>afrl/cmasi/perceive</Namespace>
    <Version>1</Version>


    <StructList>
		
		<!-- A report of a potential target/tracked entity.  Perceptions are received from a
             given sensor or set of sensors.  Entities can be perceived by scenario aircraft or other entities.
        -->
        <Struct Name="EntityPerception">
            <!-- A scenario-unique ID for this target entity. IDs should be greater than zero.  Since this is a
                 perception, the entity ID may not be known.  In that case, this field should be set to
                 zero.
            -->
            <Field Name="PerceivedEntityID" Type="uint32"/>

            <!-- ID of the entity or aircraft that reported the detection/perception -->
            <Field Name="PerceiverID" Type="uint32"/>

            <!-- The IDs of the payloads that reported this perception. -->
            <Field Name="PerceiverPayloads" Type="uint32[]" MaxArrayLength="8" />

            <!-- The perceived target velocity in three-dimensions.  The velocity should be stated
                 in tangential-plane coordinates using the North-East-Down coordinate system.
            -->
            <Field Name="Velocity" Type="real32[3]" Units="meter/sec" />

            <!-- Velocity error for this perception.  The error terms should be in the same
                 coordinate system as the velocity.
            -->
            <Field Name="VelocityError" Type="real32[3]" Units="meter/sec" />

            <!-- If true, denotes that the velocity and velocity error have meaning. -->
            <Field Name="VelocityValid" Type="bool" Default="false"/>

            <!-- Euler angle tangential-plane attitude for this entity.  Should be stated as
                 Psi-Theta-Phi.  For information on Euler coordinates, see
                 <a href="http://en.wikipedia.org/wiki/Euler_angle">Euler Angles</a>
            -->
            <Field Name="Attitude" Type="real32[3]" Units="degree"/>

            <!-- Error in the perception of the entity attitude.  This should be in the same
                 coordinate system as the attitude.
            -->
            <Field Name="AttitudeError" Type="real32[3]" Units="degree"/>

            <!-- If true, denotes that the attitude and attitude error have meaning. -->
            <Field Name="AttitudeValid" Type="bool" Default="false"/>

            <!-- The entity location. A valid EntityPerception must define Location (null not allowed) -->
            <Field Name="Location" Type="CMASI/Location3D" Optional="false" />

            <!-- Error in the perception of the location of this entity.  The first index is North-South error, the second index
                 is the East-West error, and the third index is the vertical error.  The result is an error cylinder.
            -->
            <Field Name="LocationError" Type="real32[3]" Units="meter"/>

            <!-- Time that this entity was perceived since scenario start. -->
            <Field Name="TimeLastSeen" Type="int64" Units="millisecond"/>

        </Struct>
		
		
		<!--
             This puts an entity into a "track" mode, where the vehicle commands itself and its onboard sensors to attempt to
             keep a target in view. If multiple sensors are to be used simultaneously, multiple track actions should be sent.
        -->
        <Struct Name="TrackEntityAction" Extends="CMASI/VehicleAction">

            <!-- The unique identifier of the target to be tracked. -->
            <Field Name="EntityID" Type="uint32"  />

            <!-- The unique identifier of the sensor that is to be actively steered to track the target. -->
            <Field Name="SensorID" Type="uint32" />
            
            <!-- The waypoint that this vehicle is to return to when complete (or lost track) -->
            <Field Name="ReturnToWaypoint" Type="uint32"/>

        </Struct>
        
        <!--
            A request to track a specific entity.  It is assumed that the tracked entity can move at any time during the scenario.
        -->
        <Struct Name="TrackEntityTask" Extends="CMASI/Task" >
            <!-- The ID of the target to be tracked. -->
            <Field Name="EntityID" Type="uint32" Units="None" />
			
			<!-- Required sensor modality for tracking the target -->
			<Field Name="SensorModality" Type="CMASI/WavelengthBand" Default="AllAny"/>
            
            <!-- The minimum ground sample distance that should be maintained for this target track operation. -->
            <Field Name="GroundSampleDistance" Type="real32" Units="meter"/>
        </Struct>
		
		
    </StructList>
</MDM>