diff --git a/schemas/AVCL.3.1.changes.txt b/schemas/AVCL.3.1.changes.txt
index 6b32e137544bb79dd6a8201b0de13a9cbdcebf28..4cee9c730cccaba65f72c986b30331ae52411950 100644
--- a/schemas/AVCL.3.1.changes.txt
+++ b/schemas/AVCL.3.1.changes.txt
@@ -1,7 +1,11 @@
AVCL Schema 3.1
+Renamed GoalType (within Goal) as GoalActions. Added Supply and Task as additional goal types.
+
Added Risk Elements as options for each Goal and GoalList
+Rendezvous TargetShip now optional
+
Deprecations
- rename AvoidArea to AvoidanceArea
- rename MissionPreparation to MissionCommands
@@ -11,6 +15,7 @@ Changes to body
- rename AgendaMission to MissionAgenda
- rename MissionResults to MissionTelemetryLog
- rename GuidedMunitionMission to MissionGuidedMunition
+- relax attributes as optional, wherever appropriate
- modified content model to include Location and Vehicle, TODO add them
Can a Vehicle refer to a Mission and a Location (probably), or does a Mission refer to a Vehicle and a Location (probably not)?
@@ -23,6 +28,8 @@ TODO MissionTelemetryLog contain optional TimeOffset, DisPduStream
TODO MissionArchive can contain Vehicle+ Mission+
+==============================================================================
+
prior: AVCL Schema 3.0
TODO
@@ -66,3 +73,148 @@ meo:hasNext rdf:type owl:ObjectProperty ;
rdfs:domain meo:Goal ;
rdfs:range meo:Goal ;
rdfs:comment "Goal 'B' is the next goal for Goal 'A' when 'A' directly precedes 'A' in the Mission goal tree. This property is irreflexive; a Goal cannot return to itself (a weak form of Rule G7)." .
+
+==============================================================================
+
+Change log, version 2.1:
+ - Initial version identical to version 2.0 in order to enable change tracking via Subversion
+ - Updated element annotations and documentation, diff/merge with Savage version of AVCL schema 2.0 conducted satisfactorily
+ - Updated build and documentation procedures
+ - booleanElementType explicitly defaults to value of false
+ - Tested satisfactorily with upgrade to JAXB 2.1.13 under Java 6 and Java 7, since JAXB 2.2.* apparently incompatible with Java 6
+ - Sorted elements, simple types, complex types and groups alphabetically by name
+ - renamed LaunchPositionAH to LaunchPosition for consistency
+ - renamed Goals to Goal for clarity/correctness
+ - use attributeGroup CommonAttributes throughout to avoid duplicate definition of id, description, timestamp
+ - renamed discreteTimeResultsElementType as sampledResultsElementType for clarity
+ - fixed enumeration values and simpleType declaration for vehicleType
+ - refactor, renamed special-case Orientation and corresponding type="areaOrientationElementType" to Rotation type="areaRotationElementType",
+ also made global, avoiding name overloading with more commonly used Orientation type="orientationElementType"
+ - Rename nonNegativeIntType, positiveIntType to spell out IntegerType
+ - combined duplicated elements into single global element: MSLAltitude, Altitude, MoveLateral, MoveRotate
+ - Altitude, Depth, MSL, AGL values all made nonnegative instead of positive
+
+ - TODO for duration-related time values, -1 means no time constraint
+ - TODO clarity on Marker, MarkerCharacteristic and MarkTarget elements
+ - TODO move element annotations from ref="ElementName" definitions to name="ElementName" definitions
+
+==============================================================================
+
+Change log, version 2.0:
+ - metaDataType to metaType for meta element, metaCommandType for MetaCommand element
+ - moving various element names to top of file for more global exposure. Using ref
+ to reference exact other globally named elements. Some element names are
+ defined by other elementTypes and were not moved. Comments were left above these
+ cases, or, in the case of single unique (one time only) element declarations.
+ - refactored some commonly named elements and their types so that they too
+ could be pulled out and defined globally
+ - made vehicleType required
+ - change agendaGoalElementType from Goal to Goals (returns a list of Goals)
+ - change ugvScriptCommandsType for MakeKnots and MakeSpeed to speedElementType to match
+ the other three vehicle types
+ - specify an avclVersion type to enumeration AVCL version in the AVCL element. Note: version 2.0
+ is not backwards compatible with version 1.0. However, any version after 2.0 will be backwards
+ compatible with 2.0.
+
+ * TODO: 1) Conversion stylesheet Avcl1.0ToAvcl2.0.xslt
+ 2) Refactor commonly named elements having different types to
+ instead have different names. Both elements and types should
+ start with the common name and then append vehicle type.
+ 3) Create table with element and attribute name changes as they
+ occur, then follow up with a stylesheet to convert 1.0 content
+ into 2.0
+ 4) Annotate globally placed element declarations now?
+
+ * Table of refactored commonly named elements and their corresponding types.
+ First (on top) is the former element name with the new name and
+ corresponding type below:
+
+ name="OperatingCharacteristics" type="uavOperatingCharacteristicsElementType"
+ name="OperatingCharacteristicsUAV" type="operatingCharacteristicsUAVElementType"
+
+ name="Capability" type="uavCapabilityElementType"
+ name="CapabilityUAV" type="capabilityUAVElementType"
+
+ name="CompositeWaypoint" type="uavCompositeWaypointCommandType"
+ name="CompositeWaypointUAV" type="compositeWaypointUAVCommandType"
+
+ name="Loiter" type="uavLoiterCommandType"
+ name="LoiterUAV" type="loiterUAVCommandType"
+
+ name="OperatingCharacteristics" type="ugvOperatingCharacteristicsElementType"
+ name="OperatingCharacteristicsUGV" type="operatingCharacteristicsUGVElementType"
+
+ name="SetPosition" type="uavPositionCommandType"
+ name="SetPositionUAV" type="setPositionUAVCommandType"
+
+ name="VerticalPosition" type="uavVerticalPositionElementType"
+ name="VerticalPositionUAV" type="verticalPositionUAVElementType"
+
+ name="Waypoint" type="uavWaypointCommandType"
+ name="WaypointUAV" type="waypointUAVCommandType"
+
+ name="Altitude" type="ugvVerticalPositionElementType"
+ name="AltitudeUGV" type="verticalPositionUGVElementType"
+
+ name="Capability" type="ugvCapabilityElementType"
+ name="CapabilityUGV" type="capabilityUGVElementType"
+
+ name="CompositeWaypoint" type="ugvCompositeWaypointCommandType"
+ name="CompositeWaypointUGV" type="compositeWaypointUGVCommandType"
+
+ name="Loiter" type="ugvLoiterCommandType"
+ name="LoiterUGV" type="loiterUGVCommandType"
+
+ name="SetPosition" type="ugvPositionCommandType"
+ name="SetPositionUGV" type="setPositionUGVCommandType"
+
+ name="Waypoint" type="ugvWaypointCommandType"
+ name="WaypointUGV" type="waypointUGVCommandType"
+
+ name="OperatingCharacteristics" type="usvOperatingCharacteristicsElementType"
+ name="OperatingCharacteristicsUSV" type="operatingCharacteristicsUSVElementType"
+
+ name="Capability" type="usvCapabilityElementType"
+ name="CapabilityUSV" type="capabilityUSVElementType"
+
+ name="CompositeWaypoint" type="usvCompositeWaypointCommandType"
+ name="CompositeWaypointUSV" type="compositeWaypointUSVCommandType"
+
+ name="Loiter" type="usvLoiterCommandType"
+ name="LoiterUSV" type="loiterUSVCommandType"
+
+ name="Propellers" type="usvPropellersOrderElementType"
+ name="PropellersUSV" type="propellersOrderUSVElementType"
+
+ name="SetPosition" type="usvPositionCommandType"
+ name="SetPositionUSV" type="setPositionUSVCommandType"
+
+ name="Waypoint" type="usvWaypointCommandType"
+ name="WaypointUSV" type="waypointUSVCommandType"
+
+ name="OperatingCharacteristics" type="uuvOperatingCharacteristicsElementType"
+ name="OperatingCharacteristicsUUV" type="operatingCharacteristicsUUVElementType"
+
+ name="Capability" type="uuvCapabilityElementType"
+ name="CapabilityUUV" type="capabilityUUVElementType"
+
+ name="CompositeWaypoint" type="uuvCompositeWaypointCommandType"
+ name="CompositeWaypointUUV" type="compositeWaypointUUVCommandType"
+
+ name="Loiter" type="uuvLoiterCommandType"
+ name="LoiterUUV" type="loiterUUVCommandType"
+
+ name="Propellers" type="uuvPropellersOrderElementType"
+ name="PropellersUUV" type="propellersOrderUUVElementType"
+
+ name="SetPosition" type="uuvPositionCommandType"
+ name="SetPositionUUV" type="setPositionUUVCommandType"
+
+ name="Waypoint" type="uuvWaypointCommandType"
+ name="WaypointUUV" type="waypointUUVCommandType"
+
+ name="LaunchPosition" type="munitionLaunchPointElementType"
+ name="LaunchPositionML" type="munitionLaunchPointElementType"
+
+ name="LaunchPosition" type="absoluteHorizontalPositionElementType"
+ name="LaunchPosition" type="absoluteHorizontalPositionElementType"
diff --git a/schemas/AVCL.3.1.xsd b/schemas/AVCL.3.1.xsd
index 1a437ec523746644230a0dc236cde64d4907fa1e..c16ea4b09963acf7db4da46407bd3cfc4cca7e43 100644
--- a/schemas/AVCL.3.1.xsd
+++ b/schemas/AVCL.3.1.xsd
@@ -3,13 +3,14 @@
<!--
<head>
<meta name="filename" content="AVCL.2.1.xsd" />
- <meta name="authors" content="Duane Davis, Don Brutzman, Terry Norbraten, US Naval Postgraduate School, Monterey, CA" />
+ <meta name="authors" content="Don Brutzman, Duane Davis, Terry Norbraten, US Naval Postgraduate School, Monterey, California" />
<meta name="created" content="02 March 2004" />
<meta name="created version 1.0" content="23 June 2006" />
<meta name="created version 2.0" content="12 January 2009"/>
<meta name="created version 2.1" content="1 November 2012"/>
<meta name="created version 3.0" content="23 October 2019"/>
- <meta name="identifier" content="https://savage.nps.edu/Savage/AuvWorkbench/AVCL/AVCL.2.1.xsd" />
+ <meta name="created version 3.1" content="4 July 2022"/>
+ <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
execution-level commands, the ad-hoc definition of a mission by providing individual commands
@@ -17,149 +18,9 @@
(telemetry, control orders, sonar data, derived sensor-based data, etc.), and communication between
various levels of the control architecture (execution, tactical, strategic levels) or between multiple
autonomous vehicles, software agents, or human controllers." />
- <meta name="url" content="http://www.web3d.org/x3d/content/examples/Savage/AuvWorkbench/AVCL/AVCL.2.1.xsd" />
+ <meta name="license" content="TODO" />
</head>
-Change log, version 2.1:
- - Initial version identical to version 2.0 in order to enable change tracking via Subversion
- - Updated element annotations and documentation, diff/merge with Savage version of AVCL schema 2.0 conducted satisfactorily
- - Updated build and documentation procedures
- - booleanElementType explicitly defaults to value of false
- - Tested satisfactorily with upgrade to JAXB 2.1.13 under Java 6 and Java 7, since JAXB 2.2.* apparently incompatible with Java 6
- - Sorted elements, simple types, complex types and groups alphabetically by name
- - renamed LaunchPositionAH to LaunchPosition for consistency
- - renamed Goals to Goal for clarity/correctness
- - use attributeGroup CommonAttributes throughout to avoid duplicate definition of id, description, timestamp
- - renamed discreteTimeResultsElementType as sampledResultsElementType for clarity
- - fixed enumeration values and simpleType declaration for vehicleType
- - refactor, renamed special-case Orientation and corresponding type="areaOrientationElementType" to Rotation type="areaRotationElementType",
- also made global, avoiding name overloading with more commonly used Orientation type="orientationElementType"
- - Rename nonNegativeIntType, positiveIntType to spell out IntegerType
- - combined duplicated elements into single global element: MSLAltitude, Altitude, MoveLateral, MoveRotate
- - Altitude, Depth, MSL, AGL values all made nonnegative instead of positive
-
- - TODO for duration-related time values, -1 means no time constraint
- - TODO clarity on Marker, MarkerCharacteristic and MarkTarget elements
- - TODO move element annotations from ref="ElementName" definitions to name="ElementName" definitions
-
-Change log, version 2.0:
- - metaDataType to metaType for meta element, metaCommandType for MetaCommand element
- - moving various element names to top of file for more global exposure. Using ref
- to reference exact other globally named elements. Some element names are
- defined by other elementTypes and were not moved. Comments were left above these
- cases, or, in the case of single unique (one time only) element declarations.
- - refactored some commonly named elements and their types so that they too
- could be pulled out and defined globally
- - made vehicleType required
- - change agendaGoalElementType from Goal to Goals (returns a list of Goals)
- - change ugvScriptCommandsType for MakeKnots and MakeSpeed to speedElementType to match
- the other three vehicle types
- - specify an avclVersion type to enumeration AVCL version in the AVCL element. Note: version 2.0
- is not backwards compatible with version 1.0. However, any version after 2.0 will be backwards
- compatible with 2.0.
-
- * TODO: 1) Conversion stylesheet Avcl1.0ToAvcl2.0.xslt
- 2) Refactor commonly named elements having different types to
- instead have different names. Both elements and types should
- start with the common name and then append vehicle type.
- 3) Create table with element and attribute name changes as they
- occur, then follow up with a stylesheet to convert 1.0 content
- into 2.0
- 4) Annotate globally placed element declarations now?
-
- * Table of refactored commonly named elements and their corresponding types.
- First (on top) is the former element name with the new name and
- corresponding type below:
-
- name="OperatingCharacteristics" type="uavOperatingCharacteristicsElementType"
- name="OperatingCharacteristicsUAV" type="operatingCharacteristicsUAVElementType"
-
- name="Capability" type="uavCapabilityElementType"
- name="CapabilityUAV" type="capabilityUAVElementType"
-
- name="CompositeWaypoint" type="uavCompositeWaypointCommandType"
- name="CompositeWaypointUAV" type="compositeWaypointUAVCommandType"
-
- name="Loiter" type="uavLoiterCommandType"
- name="LoiterUAV" type="loiterUAVCommandType"
-
- name="OperatingCharacteristics" type="ugvOperatingCharacteristicsElementType"
- name="OperatingCharacteristicsUGV" type="operatingCharacteristicsUGVElementType"
-
- name="SetPosition" type="uavPositionCommandType"
- name="SetPositionUAV" type="setPositionUAVCommandType"
-
- name="VerticalPosition" type="uavVerticalPositionElementType"
- name="VerticalPositionUAV" type="verticalPositionUAVElementType"
-
- name="Waypoint" type="uavWaypointCommandType"
- name="WaypointUAV" type="waypointUAVCommandType"
-
- name="Altitude" type="ugvVerticalPositionElementType"
- name="AltitudeUGV" type="verticalPositionUGVElementType"
-
- name="Capability" type="ugvCapabilityElementType"
- name="CapabilityUGV" type="capabilityUGVElementType"
-
- name="CompositeWaypoint" type="ugvCompositeWaypointCommandType"
- name="CompositeWaypointUGV" type="compositeWaypointUGVCommandType"
-
- name="Loiter" type="ugvLoiterCommandType"
- name="LoiterUGV" type="loiterUGVCommandType"
-
- name="SetPosition" type="ugvPositionCommandType"
- name="SetPositionUGV" type="setPositionUGVCommandType"
-
- name="Waypoint" type="ugvWaypointCommandType"
- name="WaypointUGV" type="waypointUGVCommandType"
-
- name="OperatingCharacteristics" type="usvOperatingCharacteristicsElementType"
- name="OperatingCharacteristicsUSV" type="operatingCharacteristicsUSVElementType"
-
- name="Capability" type="usvCapabilityElementType"
- name="CapabilityUSV" type="capabilityUSVElementType"
-
- name="CompositeWaypoint" type="usvCompositeWaypointCommandType"
- name="CompositeWaypointUSV" type="compositeWaypointUSVCommandType"
-
- name="Loiter" type="usvLoiterCommandType"
- name="LoiterUSV" type="loiterUSVCommandType"
-
- name="Propellers" type="usvPropellersOrderElementType"
- name="PropellersUSV" type="propellersOrderUSVElementType"
-
- name="SetPosition" type="usvPositionCommandType"
- name="SetPositionUSV" type="setPositionUSVCommandType"
-
- name="Waypoint" type="usvWaypointCommandType"
- name="WaypointUSV" type="waypointUSVCommandType"
-
- name="OperatingCharacteristics" type="uuvOperatingCharacteristicsElementType"
- name="OperatingCharacteristicsUUV" type="operatingCharacteristicsUUVElementType"
-
- name="Capability" type="uuvCapabilityElementType"
- name="CapabilityUUV" type="capabilityUUVElementType"
-
- name="CompositeWaypoint" type="uuvCompositeWaypointCommandType"
- name="CompositeWaypointUUV" type="compositeWaypointUUVCommandType"
-
- name="Loiter" type="uuvLoiterCommandType"
- name="LoiterUUV" type="loiterUUVCommandType"
-
- name="Propellers" type="uuvPropellersOrderElementType"
- name="PropellersUUV" type="propellersOrderUUVElementType"
-
- name="SetPosition" type="uuvPositionCommandType"
- name="SetPositionUUV" type="setPositionUUVCommandType"
-
- name="Waypoint" type="uuvWaypointCommandType"
- name="WaypointUUV" type="waypointUUVCommandType"
-
- name="LaunchPosition" type="munitionLaunchPointElementType"
- name="LaunchPositionML" type="munitionLaunchPointElementType"
-
- name="LaunchPosition" type="absoluteHorizontalPositionElementType"
- name="LaunchPosition" type="absoluteHorizontalPositionElementType"
-->
<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:jaxb="http://java.sun.com/xml/ns/jaxb" xmlns:xjc="http://java.sun.com/xml/ns/jaxb/xjc" elementFormDefault="qualified" attributeFormDefault="unqualified" version="3.1" jaxb:extensionBindingPrefixes="xjc" jaxb:version="2.1">
<xsd:element name="AVCL">
@@ -253,11 +114,32 @@ Change log, version 2.0:
<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: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"/>
@@ -278,23 +160,6 @@ Change log, version 2.0:
</xsd:complexType>
</xsd:element>
<xsd:element ref="UnitsOfMeasure" minOccurs="0"/>
- <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:choice>
</xsd:extension>
</xsd:complexContent>
@@ -792,6 +657,16 @@ Change log, version 2.0:
<xsd:documentation>To look for lost or unlocated objects or persons.</xsd:documentation>
</xsd:annotation>
</xsd:element>
+ <xsd:element name="Supply">
+ <xsd:annotation>
+ <xsd:documentation>Perform supply or resupply task. TODO new goal type not considered by Davis ontology.</xsd:documentation>
+ </xsd:annotation>
+ </xsd:element>
+ <xsd:element name="SpecialTask">
+ <xsd:annotation>
+ <xsd:documentation>Perform alternate task. TODO new goal type not considered by Davis ontology.</xsd:documentation>
+ </xsd:annotation>
+ </xsd:element>
<xsd:element name="SectorPattern" type="sectorPatternType"/>
<xsd:element name="Sender" type="nonNegativeIntegerElementType"/>
<xsd:element name="SendMessage" type="sendMessageCommandType">
@@ -1127,7 +1002,7 @@ Change log, version 2.0:
<xsd:documentation source="https://savage.nps.edu/Savage/AuvWorkbench/AVCL/AVCL.2.0.xsd"/>
</xsd:annotation>
</xsd:enumeration>
- <!-- Deliberately not supported, but prior entry kept here for legacy sake. Use AVCL.1.0To2.0.xslt to convert past missions, if upgrade is desired. -->
+ <!-- Deliberately not supported, but prior entry kept here for legacy sake. Use AVCL.1.0To2.0.xslt to convert past missions, if upgrade or earlier mission XML is desired. -->
<!-- xsd:enumeration value="1.0">
<xsd:annotation>
<xsd:appinfo>Original AVCL implemented on 02 March 2004.</xsd:appinfo>
@@ -1575,15 +1450,15 @@ Change log, version 2.0:
<xsd:annotation>
<xsd:documentation>Empty Goal allowed, skipped</xsd:documentation>
</xsd:annotation>
- <xsd:group ref="GoalElements" minOccurs="0"/>
+ <xsd:group ref="GoalAction" minOccurs="0"/>
<xsd:element ref="Risk" minOccurs="0" maxOccurs="unbounded">
<xsd:annotation>
<xsd:documentation>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:group ref="TimingTypeElements" minOccurs="0"/>
<xsd:element ref="ReportingCriteria" minOccurs="0" maxOccurs="unbounded"/>
+ <xsd:group ref="TimingTypeElements" minOccurs="0"/>
</xsd:sequence>
<xsd:attributeGroup ref="CommonAttributes"/>
<xsd:attribute name="phase" type="xsd:string" use="optional">
@@ -1618,6 +1493,26 @@ Change log, version 2.0:
</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:sequence>
<xsd:attributeGroup ref="CommonAttributes"/>
</xsd:complexType>
@@ -1626,10 +1521,10 @@ Change log, version 2.0:
<xsd:documentation>Declarative agenda-based (goals) mission definition suitable for use by an agent or other high level mission controller.</xsd:documentation>
</xsd:annotation>
<xsd:sequence>
- <xsd:element ref="LaunchPosition" minOccurs="0"/>
- <xsd:element ref="RecoveryPosition" minOccurs="0"/>
<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>
@@ -2000,7 +1895,7 @@ Change log, version 2.0:
</xsd:annotation>
<xsd:sequence>
<xsd:element ref="Qualifier" minOccurs="0" maxOccurs="unbounded"/>
- <xsd:element name="TargetVehicleID" type="integerElementType" maxOccurs="unbounded"/>
+ <xsd:element name="TargetVehicleID" type="integerElementType" minOccurs="0" maxOccurs="unbounded"/>
</xsd:sequence>
<xsd:attributeGroup ref="CommonAttributes"/>
</xsd:complexType>
@@ -2043,12 +1938,12 @@ Change log, version 2.0:
<xsd:sequence>
<xsd:element ref="Target" minOccurs="0" maxOccurs="unbounded"/>
</xsd:sequence>
- <xsd:attribute name="datumType" type="datumTypeType" use="required">
+ <xsd:attribute name="datumType" type="datumTypeType">
<xsd:annotation>
<xsd:documentation>Specifies whether the search datum is a point (center of the goal area) or the entire area.</xsd:documentation>
</xsd:annotation>
</xsd:attribute>
- <xsd:attribute name="requiredPD" type="percentType" use="required">
+ <xsd:attribute name="requiredPD" type="percentType">
<xsd:annotation>
<xsd:documentation>Required probability of detection of the search.</xsd:documentation>
</xsd:annotation>
@@ -3934,9 +3829,9 @@ Change log, version 2.0:
<xsd:element ref="Elevator" minOccurs="0"/>
</xsd:sequence>
</xsd:group>
- <xsd:group name="GoalElements">
+ <xsd:group name="GoalAction">
<xsd:annotation>
- <xsd:documentation>Elements that can be used to specify a single goal to be accomplished during a mission.</xsd:documentation>
+ <xsd:documentation>Elements that can be used to specify action that a single goal can accomplish during a mission.</xsd:documentation>
</xsd:annotation>
<xsd:choice>
<!-- TODO make all of these elements inherit from goalType -->
@@ -3952,6 +3847,8 @@ Change log, version 2.0:
<xsd:element ref="Reposition"/>
<xsd:element ref="SampleEnvironment"/>
<xsd:element ref="Search"/>
+ <xsd:element ref="Supply"/>
+ <xsd:element ref="SpecialTask"/>
</xsd:choice>
</xsd:group>
<xsd:group name="InformMessage">