OpenUxAS-SoI/mdms/UXTASK.xml

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

<!--
        <h2>Introduction</h2>
        This MDM defines the interface for stand-alone (possibly external) tasks managed by UxAS
-->

<MDM>
    <SeriesName>UXTASK</SeriesName>
    <Namespace>uxas/messages/task</Namespace>
    <Version>8</Version>
    
    <EnumList>
    </EnumList>
    
    <StructList>
        
        <!-- This task facilitates assignment coordination. When a {@link CoordinatedAutomationRequest}
        message is received, the {@link AssignmentCoordinatorTask} task waits for up to {@link MaximumResponseTime}
        for {@link AssignmentCoordination} from all the other entities in the EligibleEtities list of
        the {@link CoordinatedAutomationRequest} message. Once states have been 
        received for all the EligibleEntities, they are used for planning and assignmnet for 
        the specified {@link CoordinatedAutomationRequest}-->
        <Struct Name="AssignmentCoordinatorTask" Extends="CMASI/Task">
        </Struct>

        <!-- This task will synchronize all involved vehicles at a specified location
             (or set of locations) at the same time.

             Loiter patterns are used to ensure that when the latest
             vehicle arrives, the others will be in the proper positions
             and orientations to satisfy the location specification
             simultaneously. -->
        <Struct Name="RendezvousTask" Extends="CMASI/Task">
            <!-- Number of vehicles that will participate in the rendezvous. To restrict
                 the available participants, use the 'EligibleEntities' field. If the
                 number of participants is exactly equal to the number of eligible
                 entities, then this task will only produce a single option that ensures
                 those exact entities meet at the rendezvous location. -->
            <Field Name="NumberOfParticipants" Type="byte" />
            <!-- The desired rendezvous states of the entities. If the EntityID fields
                 are set to 0, then any eligible vehicle can be used at that location. 
                 Only used when 'MultiLocationRendezvous' is set to 'true'. If the 
                 EntityID fields are non-zero, they must correspond to an eligible
                 vehicle and only that particular entity will be used at that position. -->
            <Field Name="RendezvousStates" Type="PlanningState[]" MaxArrayLength="16" />
        </Struct>

        <!-- The state of an entity to be used as the initial planning state when 
        constructing assignments/plans. -->
        <Struct Name="PlanningState">
            <!-- Identifier of the entitiy -->
            <Field Name="EntityID" Type="int64" />
            <!-- Position of this entity for the plan. A valid PlanningState must define PlanningPosition (null not allowed). -->
            <Field Name="PlanningPosition" Type="CMASI/Location3D" Optional="false" />
            <!-- Heading of this entity for the plan -->
            <Field Name="PlanningHeading" Type="real32" />
        </Struct>
        
        <!-- This messages is used to syncronize the entity states, used for planning, to 
        facilitate assignment coordination. When an entity receives a {@link CoordinatedAutomationRequest} 
        message it's {@link AssignmentCoordinatorTask} task sends out a AssignmentCoordination message with the entity's planning state. -->
        <Struct Name="AssignmentCoordination">
            <!-- Identifier of the associated CoordinatedAutomationRequest -->
            <Field Name="CoordinatedAutomationRequestID" Type="int64" />
            <!-- The state of the entity that will used for planning/assignment of 
            the given automation request. A valid AssignmentCoordination must define
            PlanningState (null not allowed). -->
            <Field Name="PlanningState" Type="PlanningState" Optional="false" />
        </Struct>
        
        <!-- A CMASI automation request (with Identifier) that requires coordination among 
        the eligible entities. Note: entities must have a {@link AssignmentCoordinatorTask} task
        running to utilize this this message.-->
        <Struct Name="CoordinatedAutomationRequest">
            <!-- Identifier for tracking requests and coordination -->
            <Field Name="RequestID" Type="int64" />
            <!-- This is the maximum time to wait for {@link AssignmentCoordination} messages
            from the other eligible entities, before proceeding with the assignment. 
            Note: the value of -1 indicates that there is no limit. If there are no eligble entites
            listed in the {@link CoordinatedAutomationRequest}, then {@link MaximumResponseTime} is the
            amount of time the {@link AssignmentCoordinatorTask} waits for {@link AssignmentCoordination} messages
            before proceeding with the assignment. Note: if there are no eligble entities and the 
            {@link MaximumResponseTime} is -1, then the {@link AssignmentCoordination} proceeds with
            the assignment immediately. -->
            <Field Name="MaximumResponseTime" Type="int64"  Default="-1"  Units="milliseconds"/>
            <!-- Original automation request without a unique identifier. A valid CoordinatedAutomationRequest must define OriginalRequest (null not allowed). -->
            <Field Name="OriginalRequest" Type="CMASI/AutomationRequest" Optional="false" />
            <!-- The initial states of entities used in planning. Note: if an eligible
            entity does not have a PlanningState, then it must be obtained from the entity
            in an {@link AssignmentCoordination} message. -->
            <Field Name="PlanningStates" Type="PlanningState[]" MaxArrayLength="16" />
        </Struct>
        <!-- A CMASI automation request (with Identifier) that is sent by tasks. -->
        <Struct Name="TaskAutomationRequest">
            <!-- Identifier for tracking requests and responses -->
            <Field Name="RequestID" Type="int64" />
            <!-- Original automation request without a unique identifier. A valid TaskAutomationRequest must define OriginalRequest (null not allowed). -->
            <Field Name="OriginalRequest" Type="CMASI/AutomationRequest" Optional="false" />
            <!-- If this boolean is true, then the resulting plans based on this
            automation request will not be directly implemented, for example, tasks should 
            not expect the waypoints generated for this request to be active -->
            <Field Name="SandBoxRequest" Type="bool" Default="false" />
            <!-- The initial states of entities used in planning. Note: if an eligible
            entity does not have a PlanningState, then it's most recent EntityState is used for 
            plannning. -->
            <Field Name="PlanningStates" Type="PlanningState[]" MaxArrayLength="16" />
        </Struct>
        
        <!-- A CMASI automation response (with Identifier) that is sent back to tasks. -->
        <Struct Name="TaskAutomationResponse">
            <!-- Identifier for tracking requests and responses. Must match RequestID
            from corresponding TaskAutomationRequest -->
            <Field Name="ResponseID" Type="int64" />
            <!-- Original automation request without a unique identifier. A valid TaskAutomationResponse must define OriginalResponse (null not allowed). -->
            <Field Name="OriginalResponse" Type="CMASI/AutomationResponse" Optional="false" />
            <!-- The final states of entities when the plan is completed. -->
            <Field Name="FinalStates" Type="PlanningState[]" MaxArrayLength="16" />
        </Struct>
        
        <!-- Patches CMASI automation request to add a unique identifier -->
        <Struct Name="UniqueAutomationRequest">
            <!-- Identifier for tracking requests and responses -->
            <Field Name="RequestID" Type="int64" />
            <!-- Original automation request without a unique identifier. A valid UniqueAutomationRequest must define OriginalRequest (null not allowed). -->
            <Field Name="OriginalRequest" Type="CMASI/AutomationRequest" Optional="false" />
            <!-- If this boolean is true, then the resulting plans based on this
            automation request will not be directly implemented, for example, tasks should 
            not expect the waypoints generated for this request to be active -->
            <Field Name="SandBoxRequest" Type="bool" Default="false" />
            <!-- The initial states of entities used in planning. Note: if an eligible
            entity does not have a PlanningState, then it's most recent EntityState is used for 
            plannning. -->
            <Field Name="PlanningStates" Type="PlanningState[]" MaxArrayLength="16" />
        </Struct>
        
        <!-- Patches CMASI automation response to add a unique identifier -->
        <Struct Name="UniqueAutomationResponse">
            <!-- Identifier for tracking requests and responses. Must match RequestID
            from corresponding UniqueAutomationRequest -->
            <Field Name="ResponseID" Type="int64" />
            <!-- Original automation request without a unique identifier. A valid UniqueAutomationResponse must define OriginalResponse (null not allowed). -->
            <Field Name="OriginalResponse" Type="CMASI/AutomationResponse" Optional="false" />
            <!-- The final states of entities when the plan is completed. -->
            <Field Name="FinalStates" Type="PlanningState[]" MaxArrayLength="16" />
        </Struct>
        
        <!-- Request to compute a set of sensor footprints from possible vehicles in the system -->
        <Struct Name="SensorFootprintRequests">
            <!-- Request ID for correlating to response -->
            <Field Name="RequestID" Type="int64" />
            <!-- Request ID for correlating to response -->
            <Field Name="Footprints" Type="FootprintRequest[]" MaxArrayLength="16" />
        </Struct>
        
        <!-- Request to compute potential eligible sensor footprint for a single vehicle at
        various GSDs and altitudes from available sensors on the vehicle -->
        <Struct Name="FootprintRequest">
            <!-- ID corresponding to this specific footprint request -->
            <Field Name="FootprintRequestID" Type="int64" />
            <!-- Single vehicle to be considered for sensor request. -->
            <Field Name="VehicleID" Type="int64" />
            <!-- Camera wavelength to be considered. If list is empty, planner
            should plan for all available sensors on each entity -->
            <Field Name="EligibleWavelengths" Type="CMASI/WavelengthBand[]" MaxArrayLength="8" />
            <!-- Desired ground sample distance for an eligible sensor. If list is
            empty, then footprint calculation uses the max ground sample distance
            for the specified altitude. -->
            <Field Name="GroundSampleDistances" Type="real32[]" MaxArrayLength="8" />
            <!-- AGL Altitude to consider during sensor information calculation.
            If 'AglAltitudes' list is empty, sensor planner should use nominal
            altitude from entity configurations -->
            <Field Name="AglAltitudes" Type="real32[]" MaxArrayLength="8" Units="meters" />
            <!-- Desired camera elevation angles. If list is empty, then uses an
            optimal elevation angle for achieving max GSD -->
            <Field Name="ElevationAngles" Type="real32[]" MaxArrayLength="8" Units="deg" />
        </Struct>
        
        <!-- Description of a sensor footprint -->
        <Struct Name="SensorFootprint">
            <!-- Response ID that matches corresponding request ID. Note that multiple
            responses may be generated from a single request (such as multiple cameras
            which all meet the specification). Each response must contain the matching
            request ID in it's FootprintResponseID field. -->
            <Field Name="FootprintResponseID" Type="int64" />
            <!-- Vehicle for which the footprint calculation applies -->
            <Field Name="VehicleID" Type="int64" />
            <!-- Camera from which settings (such as zoom and field of view)
            were used in the footprint calculation -->
            <Field Name="CameraID" Type="int64" />
            <!-- Gimbal from which parameters such as allowable steering angles
            were used in the footprint calculation -->
            <Field Name="GimbalID" Type="int64" />
            <!-- The selected horizontal field of view of the camera necessary
            to get the reported footprint (equivalent to zoom) -->
            <Field Name="HorizontalFOV" Type="real32" Units="degrees" />
            <!-- Altitude above ground level for which the footprint was calculated -->
            <Field Name="AglAltitude" Type="real32" Units="meters" />
            <!-- Commanded gimbal elevation to achieve sensor footprint -->
            <Field Name="GimbalElevation" Type="real32" Units="degrees" />
            <!-- Aspect ratio (width/height) of the camera image used for footprint calculation.
            Note: combine with horizontal field of view to determine camera vertical field of view. -->
            <Field Name="AspectRatio" Type="real32" Units="None" />
            <!-- Ground sample distance obtained with this sensor footprint -->
            <Field Name="AchievedGSD" Type="real32" Units="meters/pixel" />
            <!-- Sensor wavelength used applicable to this footprint calculation -->
            <Field Name="CameraWavelength" Type="CMASI/WavelengthBand" />
            <!-- Distance out front of the entity to the leading edge -->
            <Field Name="HorizontalToLeadingEdge" Type="real32" Units="meters" />
            <!-- Distance out front of the entity to the trailing edge -->
            <Field Name="HorizontalToTrailingEdge" Type="real32" Units="meters" />
            <!-- Distance out front of the entity to the center of the footprint -->
            <Field Name="HorizontalToCenter" Type="real32" Units="meters" />
            <!-- Width of the footprint at the vertical center -->
            <Field Name="WidthCenter" Type="real32" Units="meters" />
            <!-- At the prescribed settings (e.g. altitude, elevation angle, etc) the distance
            from the camera to the center of the footprint -->
            <Field Name="SlantRangeToCenter" Type="real32" Units="meters" />
        </Struct>
        
        <!-- Response to a Sensor Footprint Request containing all sensor
        footprint information -->
        <Struct Name="SensorFootprintResponse">
            <!-- ID matching initial request ID -->
            <Field Name="ResponseID" Type="int64" />
            <!-- All sensor footprints calculated during request -->
            <Field Name="Footprints" Type="SensorFootprint[]" MaxArrayLength="65535" />
        </Struct>
        
        <!-- Request to generate waypoints enroute to the task as well as to complete a task.
        From a given start position and heading, a task must plan enroute waypoints to reach
        the task and then append task waypoints for computing the task and then report final
        position and heading of the vehicle. -->
        <Struct Name="TaskImplementationRequest">
            <!-- Request ID for correlating to matching response -->
            <Field Name="RequestID" Type="int64" />
            <!-- This task implementation request is part of fulfilling a unique automation request -->
            <Field Name="CorrespondingAutomationRequestID" Type="int64" />
            <!-- Starting waypoint ID that task must use when building response. Note that
            Plan Builder reserves all values greater than 1,000,000,000. Therefore all
            *internal* task waypoints must be less than 1e9 and can be obtained from the
            reported waypoint number by "waypoint->getNumber()%1e9" .-->
            <Field Name="StartingWaypointID" Type="int64" />
            <!-- Assigned vehicle ID -->
            <Field Name="VehicleID" Type="int64" />
            <!-- Initial position of entity before task. A valid TaskImplementationRequest must define StartPosition (null not allowed). -->
            <Field Name="StartPosition" Type="CMASI/Location3D" Optional="false" />
            <!-- Initial heading of entity before task -->
            <Field Name="StartHeading" Type="real32" Units="degrees" />
            <!-- Time when vehicle is at the starting location -->
            <Field Name="StartTime" Type="int64" Units="milliseconds since 1 Jan 1970" />
            <!-- ID for full region in which entity should plan -->
            <Field Name="RegionID" Type="int64" />
            <!-- Task ID to be completed -->
            <Field Name="TaskID" Type="int64" />
            <!-- Using option ID to complete this task -->
            <Field Name="OptionID" Type="int64" />
            <!-- Time before which this task cannot begin -->
            <Field Name="TimeThreshold" Type="int64" Units="milliseconds since 1 Jan 1970" />
            <!-- Predicted locations and headings of all other entities at the point
                 in the mission when this option is to be conducted. -->
            <Field Name="NeighborLocations" Type="PlanningState[]" MaxArrayLength="65535" />
        </Struct>
        
        <!-- Response to a final task implementation request (one for each vehicle assigned).
        Note that in addition to calculating task waypoints that achieve that task purpose,
        a task implementation also includes the enroute waypoints to get the vehicle(s) to 
        that task to be completed. Finally, an ending position and heading for the vehicle is
        reported so that the next task in order will have a valid start position and heading. -->
        <Struct Name="TaskImplementationResponse">
            <!-- Response ID that matches the initial request -->
            <Field Name="ResponseID" Type="int64" />
            <!-- This task implementation response is part of fulfilling a unique automation request -->
            <Field Name="CorrespondingAutomationRequestID" Type="int64" />
            <!-- Task ID -->
            <Field Name="TaskID" Type="int64" />
            <!-- Option ID that was selected for this task -->
            <Field Name="OptionID" Type="int64" />
            <!-- Vehicle ID -->
            <Field Name="VehicleID" Type="int64" />
            <!-- Waypoints that implement this task for the indicated vehicle -->
            <Field Name="TaskWaypoints" Type="CMASI/Waypoint[]" MaxArrayLength="1024" />
            <!-- Vehicle location when this task is complete. A valid TaskImplementationResponse must define FinalLocation (null not allowed). -->
            <Field Name="FinalLocation" Type="CMASI/Location3D" Optional="false" />
            <!-- Vehicle heading when this task is complete -->
            <Field Name="FinalHeading" Type="real32" Units="degrees" />
            <!-- Time when vehicle is at the final location -->
            <Field Name="FinalTime" Type="int64" Units="milliseconds since 1 Jan 1970" />
        </Struct>
        
        <!-- Matrix of costs consisting of:
        (1) costs from initial vehicle positions to all task options; and
        (2) costs from each task option to every other task option -->
	<Struct Name="AssignmentCostMatrix" >
            <!-- ID that matches this cost matrix with the appropriate unique automation request -->
            <Field Name="CorrespondingAutomationRequestID" Type="int64" />
            <!-- Over-arching task relationship description (directly from
            automation request). A process algebra string with only task IDs. -->
            <Field Name="TaskLevelRelationship" Type="string" />
            <!-- List of all tasks that this cost matrix includes -->
            <Field Name="TaskList" Type="int64[]" MaxArrayLength="16" />
            <!-- Operating region that was used during matrix calculation -->
            <Field Name="OperatingRegion" Type="int64" />
            <!-- Set of task-to-task timings for each requested vehicle.
                 Assume 'T' max tasks [16], 'O' max options per task [8], 'V' max vehicles [16]:
                 then max number of elements in matrix is 'V*T*O + (T*O)^2' [18432] -->
            <Field Name="CostMatrix" Type="TaskOptionCost[]" MaxArrayLength="18432" />
        </Struct>
        
        <!-- Single task option cost for a particular vehicle -->
	<Struct Name="TaskOptionCost" >
            <!-- Corresponding Vehicle ID -->
            <Field Name="VehicleID" Type="int64" />
            <!-- Initial task ID (if zero, corresponds to current vehicle location) -->
            <Field Name="IntialTaskID" Type="int64" />
            <!-- Initial task option -->
            <Field Name="IntialTaskOption" Type="int64" />
            <!-- Destination task ID -->
            <Field Name="DestinationTaskID" Type="int64" />
            <!-- Destination task option -->
            <Field Name="DestinationTaskOption" Type="int64" />
            <!-- Timing corresponding to travel between ('InitialTask' using 'InitialTaskOption')
            and ('DestinationTask' using 'DestinationTaskOption'). If time is less than zero,
            no feasible path exists between tasks. -->
            <Field Name="TimeToGo" Type="int64" Units="milliseconds" />
        </Struct>
        
        <!-- Representation of the assignment of entities to a task -->
        <Struct Name="TaskAssignment">
            <!-- Task ID -->
            <Field Name="TaskID" Type="int64" />
            <!-- Option ID that was selected for this task -->
            <Field Name="OptionID" Type="int64" />
            <!-- Vehicle that is assigned to this task -->
            <Field Name="AssignedVehicle" Type="int64" />
            <!-- Time before which this task cannot begin -->
            <Field Name="TimeThreshold" Type="int64" Units="milliseconds since 1 Jan 1970" />
            <!-- Time that this task is assigned to be completed. -->
            <Field Name="TimeTaskCompleted" Type="int64" Units="milliseconds since 1 Jan 1970" />
        </Struct>
        
        <!-- A completed assignment consisting of an <b>ordered</b> list of tasks -->
        <Struct Name="TaskAssignmentSummary">
            <!-- ID that matches this summary with the appropriate unique automation request -->
            <Field Name="CorrespondingAutomationRequestID" Type="int64" />
            <!-- Operating region which was considered during this assignment -->
            <Field Name="OperatingRegion" Type="int64" />
            <!-- Ordered list of tasks to be completed -->
            <Field Name="TaskList" Type="TaskAssignment[]" MaxArrayLength="256" />
        </Struct>

        <!-- Start/end locations and headings and cost for implementing the task from this configuration -->
        <Struct Name="TaskOption">
            <!-- Task ID -->
            <Field Name="TaskID" Type="int64" />
            <!-- ID for this option -->
            <Field Name="OptionID" Type="int64" />
            <!-- Eligible entities for completing this option with identical cost to complete. If list is empty, then all vehicles are assumed to be eligible. -->
            <Field Name="EligibleEntities" Type="int64[]" MaxArrayLength="16" />
            <!-- Cost to complete option in terms of time (given in milliseconds) -->
            <Field Name="Cost" Type="int64" Units="milliseconds"/>
            <!-- Start location entering the option. A valid TaskOption must define StartLocation (null not allowed). -->
            <Field Name="StartLocation" Type="CMASI/Location3D" Optional="false" />
            <!-- Start heading entering the option -->
            <Field Name="StartHeading" Type="real32" Units="degrees" />
            <!-- Ending location for this option. A valid TaskOption must define EndLocation (null not allowed). -->
            <Field Name="EndLocation" Type="CMASI/Location3D" Optional="false" />
            <!-- Ending heading for this option -->
            <Field Name="EndHeading" Type="real32" Units="degrees" />
        </Struct>
        
        <!-- Summary of available options to complete this task -->
        <Struct Name="TaskPlanOptions">
            <!-- ID that matches this message with the appropriate unique automation request -->
            <Field Name="CorrespondingAutomationRequestID" Type="int64" />
            <!-- Task ID -->
            <Field Name="TaskID" Type="int64" />
            <!-- Process algebra string encoding all of the different options -->
            <Field Name="Composition" Type="string" />
            <!-- List of options. NOTE for computational reasons, the larger the number
            of options, the much greater the computation -->
            <Field Name="Options" Type="TaskOption[]" MaxArrayLength="64" />
        </Struct>
        
        <!-- Place a task in a 'paused' state where it no longer sends commands to any entities -->
        <Struct Name="TaskPause">
            <!-- Task ID -->
            <Field Name="TaskID" Type="int64" />
        </Struct>
        
        <!-- Resumes execution of a task from it's paused state -->
        <Struct Name="TaskResume">
            <!-- Task ID -->
            <Field Name="TaskID" Type="int64" />
            <!-- Instead of resuming from paused task state, re-start the complete task -->
            <Field Name="RestartCompletely" Type="bool" Default="false" />
            <!-- Instead of resuming from paused task state with the previously assigned entities, resume task with new assignment options. Only used when not null. -->
            <Field Name="ReAssign" Type="TaskAssignment" Default="null" Optional="true" />
        </Struct>
        
        <!-- Reports the progress of the task -->
        <Struct Name="TaskProgress">
            <!-- Response ID that matches the task progress request -->
            <Field Name="ResponseID" Type="int64" />
            <!-- Task ID -->
            <Field Name="TaskID" Type="int64" />
            <!-- Percentage of progress on task -->
            <Field Name="PercentComplete" Type="real32" />
            <!-- Entities that are working this task -->
            <Field Name="EntitiesEngaged" Type="int64[]" MaxArrayLength="16" />
        </Struct>
        
        <!-- Optional task progress query -->
        <Struct Name="TaskProgressRequest">
            <!-- Task progress request ID for properly matching corresponding response -->
            <Field Name="RequestID" Type="int64" />
            <!-- Task ID to report current progress -->
            <Field Name="TaskID" Type="int64" />
        </Struct>
        
        <!-- Task initialized message indicating that the corresponding task service is available for use in automation requests -->
        <Struct Name="TaskInitialized" >
            <!-- Task ID is initialized and ready for use in automation requests -->
            <Field Name="TaskID" Type="int64" />
        </Struct>

        <!-- Task Active message. Sent when task becomes active -->
        <Struct Name="TaskActive" >
            <!-- Task ID that was just activated -->
            <Field Name="TaskID" Type="int64" />
            <!-- Entity ID that activated the task -->
            <Field Name="EntityID" Type="int64" />
            <!-- Time that this task was activated. -->
            <Field Name="TimeTaskActivated" Type="int64" Units="milliseconds since 1 Jan 1970" />
        </Struct>

        <!-- Task complete message -->
        <Struct Name="TaskComplete" >
            <!-- Task ID that was just completed -->
            <Field Name="TaskID" Type="int64" />
            <!-- Entity IDs that completed the task -->
            <Field Name="EntitiesInvolved" Type="int64[]" MaxArrayLength="16" />
            <!-- Time that this task was completed. -->
            <Field Name="TimeTaskCompleted" Type="int64" Units="milliseconds since 1 Jan 1970" />
        </Struct>
        
        <!-- Task cancel message -->
        <Struct Name="CancelTask" >
            <!-- List of vehicle IDs that are directed to cancel tasks. If empty, all vehicles currently on a listed task will be directed to cancel. -->
            <Field Name="Vehicles" Type="int64[]" MaxArrayLength="16" />
            <!-- Task ID(s) to be removed from task lists of indicated vehicles. If empty, then only the current task is removed. -->
            <Field Name="CanceledTasks" Type="int64[]" MaxArrayLength="16" />
        </Struct>
        
    </StructList>
</MDM>