diff --git a/schemas/AVCL.3.1.changes.txt b/schemas/AVCL.3.1.changes.txt
index 4cee9c730cccaba65f72c986b30331ae52411950..6d96db8b377473b47dfc0557d45fbc273f09cac8 100644
--- a/schemas/AVCL.3.1.changes.txt
+++ b/schemas/AVCL.3.1.changes.txt
@@ -15,12 +15,11 @@ Changes to body
- rename AgendaMission to MissionAgenda
- rename MissionResults to MissionTelemetryLog
- rename GuidedMunitionMission to MissionGuidedMunition
+- @vehicleName to Vehicle
- relax attributes as optional, wherever appropriate
-- modified content model to include Location and Vehicle, TODO add them
+- modified content model to include Location and Vehicle as part of overall mission, not GoalList
-Can a Vehicle refer to a Mission and a Location (probably), or does a Mission refer to a Vehicle and a Location (probably not)?
-
-Does a Location solely contain GeoOrigin, or can GeoOrigin appear with a Mission?
+TODO Does a Location solely contain GeoOrigin, or can GeoOrigin appear with a Mission?
TODO Location can be point, line, area, or volume
@@ -33,7 +32,6 @@ TODO MissionArchive can contain Vehicle+ Mission+
prior: AVCL Schema 3.0
TODO
-- AVCL/@vehicleName should not be required
- Avcl3ToAvcl2.xslt converter
Fixed
diff --git a/schemas/AVCL.3.1.xsd b/schemas/AVCL.3.1.xsd
index 79731a10f8a8fdf34d202a15316c1297a8a18c74..8cd769eafbdea40b572af036b871db1dc72f446a 100644
--- a/schemas/AVCL.3.1.xsd
+++ b/schemas/AVCL.3.1.xsd
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
-<!-- edited with XMLSpy v2022 rel. 2 (x64) (http://www.altova.com) by (Naval Postgraduate School) -->
+<!-- edited with XMLSpy v2023 rel. 2 (x64) (http://www.altova.com) by Don Brutzman (Naval Postgraduate School) -->
<!--
<head>
<meta name="filename" content="AVCL.2.1.xsd" />
@@ -10,6 +10,7 @@
<meta name="created version 2.1" content="1 November 2012"/>
<meta name="created version 3.0" content="23 October 2019"/>
<meta name="created version 3.1" content="4 July 2022"/>
+ <meta name="modified" content="30 August 2023"/>
<meta name="identifier" content="https://savage.nps.edu/Savage/EthicalControl/schemas/AVCL.3.1.xsd" />
<meta name="description" content="This file contains the schema for the XML autonomous vehicle command
language. In general, the command language enables the explicit declaration of an entire mission using
@@ -47,6 +48,70 @@
</xsd:attribute>
</xsd:complexType>
</xsd:element>
+ <xsd:element name="head" type="avclHeadType"/>
+ <xsd:element name="body">
+ <xsd:complexType>
+ <xsd:complexContent>
+ <xsd:extension base="avclBodyType">
+ <xsd:choice minOccurs="0" maxOccurs="unbounded">
+ <xsd:element name="Vehicle" minOccurs="0">
+ <xsd:annotation>
+ <xsd:documentation>robot UAV UUV USV UGV</xsd:documentation>
+ </xsd:annotation>
+ <xsd:complexType>
+ <xsd:attribute name="vehicleName" type="xsd:string" use="optional">
+ <xsd:annotation>
+ <xsd:documentation>informal</xsd:documentation>
+ </xsd:annotation>
+ </xsd:attribute>
+ <xsd:attribute name="vehicleType" type="vehicleType" use="optional">
+ <xsd:annotation>
+ <xsd:documentation>UAV, UGV, USV, or UUV, ROV, AGENDA, MUNITION, SSGN and UNKNOWN are supported vehicleType values.</xsd:documentation>
+ </xsd:annotation>
+ </xsd:attribute>
+ <xsd:attribute name="vehicleID" type="xsd:unsignedShort" use="optional" default="0">
+ <xsd:annotation>
+ <xsd:documentation>integer ID number of vehicle, commonly used for DIS or virtual environment indexing</xsd:documentation>
+ </xsd:annotation>
+ </xsd:attribute>
+ </xsd:complexType>
+ </xsd:element>
+ <xsd:element ref="GeoOrigin" minOccurs="0">
+ <xsd:annotation>
+ <xsd:documentation>Defines a geographic origin for cartesian relative positions in this mission document.</xsd:documentation>
+ </xsd:annotation>
+ </xsd:element>
+ <xsd:element ref="OperatingArea" minOccurs="0"/>
+ <xsd:element ref="LaunchPosition" minOccurs="0"/>
+ <xsd:element ref="RecoveryPosition" minOccurs="0"/>
+ <xsd:sequence>
+ <xsd:annotation>
+ <xsd:documentation>Mission</xsd:documentation>
+ </xsd:annotation>
+ <xsd:element ref="MissionAgenda" minOccurs="0">
+ <xsd:annotation>
+ <xsd:documentation>Declarative strategic-level list of mission goals and constraints, suitable for robot mision planning to generate Waypoint lists and other executable script commands</xsd:documentation>
+ </xsd:annotation>
+ </xsd:element>
+ <xsd:element ref="MissionCommands" minOccurs="0"/>
+ <xsd:element ref="MissionTelemetry" minOccurs="0"/>
+ <xsd:element ref="MissionArchive" minOccurs="0"/>
+ </xsd:sequence>
+ <xsd:element name="TimeOffset" minOccurs="0">
+ <xsd:complexType>
+ <xsd:attribute name="date" type="xsd:date" use="optional">
+ <xsd:annotation>
+ <xsd:documentation>Date of mission conduct</xsd:documentation>
+ </xsd:annotation>
+ </xsd:attribute>
+ </xsd:complexType>
+ </xsd:element>
+ <xsd:element ref="UnitsOfMeasure" minOccurs="0"/>
+ </xsd:choice>
+ </xsd:extension>
+ </xsd:complexContent>
+ </xsd:complexType>
+ </xsd:element>
<xsd:element name="Acknowledge" type="acknowledgeElementType"/>
<xsd:element name="MissionAgenda" type="agendaMissionElementType">
<xsd:annotation>
@@ -109,62 +174,6 @@
</xsd:annotation>
</xsd:element>
<xsd:element name="Beacon" type="stringElementType"/>
- <xsd:element name="body">
- <xsd:complexType>
- <xsd:complexContent>
- <xsd:extension base="avclBodyType">
- <xsd:choice minOccurs="0" maxOccurs="unbounded">
- <xsd:element name="Vehicle" minOccurs="0">
- <xsd:annotation>
- <xsd:documentation>robot UAV UUV USV UGV</xsd:documentation>
- </xsd:annotation>
- <xsd:complexType>
- <xsd:attribute name="vehicleType" type="vehicleType" use="optional">
- <xsd:annotation>
- <xsd:documentation>UAV, UGV, USV, or UUV, ROV, AGENDA, MUNITION, SSGN and UNKNOWN are supported vehicleType values.</xsd:documentation>
- </xsd:annotation>
- </xsd:attribute>
- <xsd:attribute name="vehicleID" type="xsd:unsignedShort" use="optional" default="0">
- <xsd:annotation>
- <xsd:documentation>integer ID number of vehicle, commonly used for DIS or virtual environment indexing</xsd:documentation>
- </xsd:annotation>
- </xsd:attribute>
- </xsd:complexType>
- </xsd:element>
- <xsd:sequence minOccurs="0">
- <xsd:annotation>
- <xsd:documentation>Mission</xsd:documentation>
- </xsd:annotation>
- <xsd:element ref="MissionAgenda" minOccurs="0">
- <xsd:annotation>
- <xsd:documentation>Declarative strategic-level list of mission goals and constraints, suitable for robot mision planning to generate Waypoint lists and other executable script commands</xsd:documentation>
- </xsd:annotation>
- </xsd:element>
- <xsd:element ref="MissionCommands" minOccurs="0"/>
- <xsd:element ref="MissionTelemetry" minOccurs="0"/>
- <xsd:element ref="MissionArchive" minOccurs="0"/>
- </xsd:sequence>
- <xsd:element ref="GeoOrigin" minOccurs="0">
- <xsd:annotation>
- <xsd:documentation>Defines a geographic origin for cartesian relative positions in this mission document.</xsd:documentation>
- </xsd:annotation>
- </xsd:element>
- <xsd:element ref="OperatingArea" minOccurs="0"/>
- <xsd:element name="TimeOffset" minOccurs="0">
- <xsd:complexType>
- <xsd:attribute name="date" type="xsd:date" use="optional">
- <xsd:annotation>
- <xsd:documentation>Date of mission conduct</xsd:documentation>
- </xsd:annotation>
- </xsd:attribute>
- </xsd:complexType>
- </xsd:element>
- <xsd:element ref="UnitsOfMeasure" minOccurs="0"/>
- </xsd:choice>
- </xsd:extension>
- </xsd:complexContent>
- </xsd:complexType>
- </xsd:element>
<xsd:element name="BodyCoordinateVelocity" type="bodyCoordinateVelocityElementType"/>
<xsd:element name="BodyThrusters" type="uuvBodyThrustersOrderElementType"/>
<xsd:element name="BowLateralThruster" type="signedPercentElementType"/>
@@ -327,7 +336,6 @@
<xsd:documentation>Imperative execution-level mission command script</xsd:documentation>
</xsd:annotation>
</xsd:element>
- <xsd:element name="head" type="avclHeadType"/>
<xsd:element name="Heading" type="headingElementType"/>
<xsd:element name="Height" type="positiveScalarElementType"/>
<xsd:element name="Help" type="noValueElementType">
@@ -1493,26 +1501,20 @@
</xsd:annotation>
<xsd:sequence>
<xsd:element ref="Goal" maxOccurs="unbounded"/>
- <xsd:element ref="Risk" minOccurs="0" maxOccurs="unbounded">
- <xsd:annotation>
- <xsd:documentation>Shared by all goals: list of Risk elements requiring consideration prior to human ordering robot to perform goal</xsd:documentation>
- </xsd:annotation>
- </xsd:element>
- <xsd:element ref="OperatingArea" minOccurs="0">
- <xsd:annotation>
- <xsd:documentation>Shared by all goals: horizontal area for conducting mission-goal operations, with optional vertical constraints</xsd:documentation>
- </xsd:annotation>
- </xsd:element>
- <xsd:group ref="TimingTypeElements" minOccurs="0">
- <xsd:annotation>
- <xsd:documentation>Shared by all goals: elements utilized to specify timing requirements of an agenda goal.</xsd:documentation>
- </xsd:annotation>
- </xsd:group>
- <xsd:element ref="ReportingCriteria" minOccurs="0" maxOccurs="unbounded">
- <xsd:annotation>
- <xsd:documentation>Shared by all goals: requirements for reporting mission status and results</xsd:documentation>
- </xsd:annotation>
- </xsd:element>
+ <xsd:choice minOccurs="0" maxOccurs="unbounded">
+ <xsd:element ref="ConstraintList" minOccurs="0"/>
+ <xsd:element ref="ReportingCriteria" minOccurs="0" maxOccurs="unbounded">
+ <xsd:annotation>
+ <xsd:documentation>Shared by all goals: requirements for reporting mission status and results</xsd:documentation>
+ </xsd:annotation>
+ </xsd:element>
+ <xsd:element ref="Risk" minOccurs="0" maxOccurs="unbounded">
+ <xsd:annotation>
+ <xsd:documentation>Shared by all goals: list of Risk elements requiring consideration prior to human ordering robot to perform goal</xsd:documentation>
+ </xsd:annotation>
+ </xsd:element>
+ <xsd:group ref="TimingTypeElements" minOccurs="0"/>
+ </xsd:choice>
</xsd:sequence>
<xsd:attributeGroup ref="CommonAttributes"/>
</xsd:complexType>
@@ -1522,9 +1524,6 @@
</xsd:annotation>
<xsd:sequence>
<xsd:element ref="GoalList"/>
- <xsd:element ref="ConstraintList" minOccurs="0"/>
- <xsd:element ref="LaunchPosition" minOccurs="0"/>
- <xsd:element ref="RecoveryPosition" minOccurs="0"/>
</xsd:sequence>
<xsd:attributeGroup ref="CommonAttributes"/>
</xsd:complexType>
@@ -3939,7 +3938,13 @@
<xsd:element name="GpsFixFailed" type="noValueElementType"/>
</xsd:choice>
</xsd:group> -->
- <xsd:element name="Risk" type="riskElementType"/>
+ <xsd:element name="Risk">
+ <xsd:complexType>
+ <xsd:complexContent>
+ <xsd:extension base="riskElementType"/>
+ </xsd:complexContent>
+ </xsd:complexType>
+ </xsd:element>
<xsd:complexType name="riskElementType">
<xsd:annotation>
<xsd:documentation>Constraint describing Dimentions of Autonomous Decision Making (DADM) Risk Element (RE).</xsd:documentation>