Command and Control Interface for Navigation Systems Avatar
  1. OMG Specification

Command and Control Interface for Navigation Systems — Closed Issues

  • Acronym: C2INAV
  • Issues Count: 25
  • Description: Issues resolved by a task force and approved by Board
Closed All
Issues resolved by a task force and approved by Board

Issues Summary

Key Issue Reported Fixed Disposition Status
C2INAV-7 All Ext child packages are in the same file C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-5 Add notes to the navigation_report_kind_type in the IDL/DDS PSM enum literals C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-45 No Depth Accuracy Information Available C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-43 Placement of surge,sway and heave within the spec C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-17 Depth Report not a specialisation of navigation_report_type C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-12 Circular dependency between modules Reporting and Attitude C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-10 Missing import statements C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-15 Reference from navigation_covariance_type to navigation_report_type needs a length C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-6 navigation_report_type: composite_contributors needs a Length tag C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-9 Strings should have a maximum size C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-18 There are no notes for the report relation of navigation_covariance_type C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-11 offset_report_type is declared out of order C2INAV 1.0a1 C2INAV 1.0 Closed; No Change closed
C2INAV-8 Class version numbers are inappropriate C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-13 Declaration of keys missing from IDL files C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-1 navigation_covariance_type should have a max length C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-19 navigation_report_kind_sequence_type in unbounded in DDS PSM C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-2 write_rotational_attitude is not correctly entered in the UML model C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-4 implementation defined is miss-spelled C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-49 FTF-1 changes to be applied to GraphQL PSM C2INAV 1.0a1 C2INAV 1.0 Deferred closed
C2INAV-16 Type mismatch in reference to navigation_report_type C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-14 Only top-level attributes can be declared as keys for DDS topic types C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-3 Accuracy compositions should have notes C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-47 Rotation should be about the centre of rotation not the platform reference point C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-20 Duplicate declaration from overloaded operation names C2INAV 1.0a1 C2INAV 1.0 Resolved closed
C2INAV-21 Unclear which OARIS files are required C2INAV 1.0a1 C2INAV 1.0 Resolved closed

Issues Descriptions

All Ext child packages are in the same file


Add notes to the navigation_report_kind_type in the IDL/DDS PSM enum literals

  • Key: C2INAV-5
  • Status: closed  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    To be clear on the meaning notes/comments should be added to each of the literals of navigation_report_kind_type in the IDL/DDS PSM (implementation is PSM specific).

  • Reported: C2INAV 1.0a1 — Wed, 6 May 2020 15:40 GMT
  • Disposition: Resolved — C2INAV 1.0
  • Disposition Summary:

    Add notes to the literals

    Due to need to also reference the keys for specialised topics the relevant enumeration in the PSM mapping is now navigation_report_key_kind_type. The class navigation_report_kind_type is now a struct with an attribute of this enumeration.

    A note of the form
    "The literal for referencing the

    {specialised class}

    specialisation of navigation_report_type." to each attribute

  • Updated: Fri, 18 Sep 2020 17:02 GMT

No Depth Accuracy Information Available

  • Key: C2INAV-45
  • Status: closed  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    Unlike other parts of the data model there isn't the capability to model the accuracy of (water) depth information.

  • Reported: C2INAV 1.0a1 — Thu, 14 May 2020 18:56 GMT
  • Disposition: Resolved — C2INAV 1.0
  • Disposition Summary:

    Add Depth Accuracy Class

    Add a depth accuracy class, which is a specialisation of navigation accuracy
    It should have an optional attribute for each of the depth report class' optional attributes.

  • Updated: Fri, 18 Sep 2020 17:02 GMT

Placement of surge,sway and heave within the spec

  • Key: C2INAV-43
  • Status: closed  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    The inclusion of surge/sway/heave & the associated rates under Attitude::offset_report_type seemed slightly odd at first glance. I would have expected these to be more logically included as variations in Position, not attitude. (Albeit typically measured using a different frame of reference). But I can also see a counter-argument that says as surge/sway/heave are normally assessed in terms of current platform attitude, it’s a more logical place. I guess it comes down to whether you’re interested in position on a macro scale or a micro scale ? On the macro scale you probably don’t care so much about headings at all … on the micro scale you absolutely do. I don’t’ know whether the specs or their requirements make any indication about their intended use and associated limitations ?

  • Reported: C2INAV 1.0a1 — Thu, 14 May 2020 14:31 GMT
  • Disposition: Resolved — C2INAV 1.0
  • Disposition Summary:

    Explain rationale for attitude and position packages

    Explain that services relating to the micro-scale are in attitude and that services relating to macro-scale are in the position

  • Updated: Fri, 18 Sep 2020 17:02 GMT

Depth Report not a specialisation of navigation_report_type

  • Key: C2INAV-17
  • Status: closed  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    Unlike other reports from the Navigation subsystem a Depth Report does not inherit from navigation_report_type even though it should be qualified by the attributes of navigation_report_type.

  • Reported: C2INAV 1.0a1 — Mon, 11 May 2020 15:07 GMT
  • Disposition: Resolved — C2INAV 1.0
  • Disposition Summary:

    *depth_report_type to Inherit from navigation_report_type *

    Add an inheritance of navigation_report_type from depth_report_type

  • Updated: Fri, 18 Sep 2020 17:02 GMT
  • Attachments:

Circular dependency between modules Reporting and Attitude

  • Key: C2INAV-12
  • Status: closed  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    Reporting::navigation_request depends on Attitude::measurement_kind;
    Attitude::offset_report depends on Reporting::navigation_report

    This means that the DDS API does not cleanly generate from the IDL

  • Reported: C2INAV 1.0a1 — Wed, 6 May 2020 19:08 GMT
  • Disposition: Resolved — C2INAV 1.0
  • Disposition Summary:

    Move navigation_request_type to a new package Requests

    Break the circular dependency by moving the type involved to a new sibling package
    Create a new package 'Requests' in Navigation_Domain that contains navigation_report_type.

  • Updated: Fri, 18 Sep 2020 17:02 GMT

Missing import statements


Reference from navigation_covariance_type to navigation_report_type needs a length

  • Key: C2INAV-15
  • Status: closed  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    To enable static calculation of memory requirements in applications using the standard sequences should be bounded.

  • Reported: C2INAV 1.0a1 — Mon, 11 May 2020 15:03 GMT
  • Disposition: Resolved — C2INAV 1.0
  • Disposition Summary:

    Add length tag to bound report_id sequence

    Add a length tag, value = 6 to the association from navigation covariance type to navigation_report_type with role report.
    This means that sequence navigation_report_kind_sequence_type has a bound of 6 elements

  • Updated: Fri, 18 Sep 2020 17:02 GMT

navigation_report_type: composite_contributors needs a Length tag

  • Key: C2INAV-6
  • Status: closed  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    To allow applications to bound the size of their data structures dynamically sized data structures should have a bounding size.
    The composite_contributors attribute of class navigation_report_type should have a Length tag, size = 6

  • Reported: C2INAV 1.0a1 — Wed, 6 May 2020 15:46 GMT
  • Disposition: Resolved — C2INAV 1.0
  • Disposition Summary:

    Add length tag to composite contributors

    Add length tag value = 6 to composite contributors attribute

  • Updated: Fri, 18 Sep 2020 17:02 GMT

Strings should have a maximum size

  • Key: C2INAV-9
  • Status: closed  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    So that application can bound the size of their data structures dynamically sized types should have a maximum size.
    A maximum string length of 32 should be added to attribute specific_system in class navigation_report_type.

  • Reported: C2INAV 1.0a1 — Wed, 6 May 2020 15:54 GMT
  • Disposition: Resolved — C2INAV 1.0
  • Disposition Summary:

    Add Length Tag to Specific_System attribute

    Add Length Tag, value = 32, to Specific_System attribute in struct navigation_report_type

  • Updated: Fri, 18 Sep 2020 17:02 GMT

There are no notes for the report relation of navigation_covariance_type


offset_report_type is declared out of order

  • Key: C2INAV-11
  • Status: closed  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    In Attitude.idl struct offset_report_type is declared out of order. This means that the DDS API does not cleanly generate.

  • Reported: C2INAV 1.0a1 — Wed, 6 May 2020 19:07 GMT
  • Disposition: Closed; No Change — C2INAV 1.0
  • Disposition Summary:

    Superceded as offset_report_type attribute now inlined

    To allow for keyed attributes needing to be top-level the attributes of abstract type offset_report_type are proposed to be inlined into the classes that inherit from it in the DDS/IDL PSM mapping.
    Therefore no particular change is required in response to this observation as the struct is not present in the new mapping proposed.

  • Updated: Fri, 18 Sep 2020 17:02 GMT

Class version numbers are inappropriate

  • Key: C2INAV-8
  • Status: closed  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    The Beta generation scheme included a version comment for each class. This is inappropriate as there isn't a sense in which classes can be independently versioned.

  • Reported: C2INAV 1.0a1 — Wed, 6 May 2020 15:51 GMT
  • Disposition: Resolved — C2INAV 1.0
  • Disposition Summary:

    Remove Version Numbers from IDL Type Definitions

    Remove version number from the head of the comments for each type definition

  • Updated: Fri, 18 Sep 2020 17:02 GMT

Declaration of keys missing from IDL files


navigation_covariance_type should have a max length

  • Key: C2INAV-1
  • Status: closed  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    To allow application to statically size (bound) their data structures variably sized datatypes should have a tag to bound the size.
    Accordingly navigation_covariance_type should have a Length tag.
    The maximum value = 253
    (sum(3n+1; n=7) = 22 * 23 / 2) (as there are seven topics each with three values - plus time that can contribute to the covariance; this is very much a worst-case upper bound)

  • Reported: C2INAV 1.0a1 — Wed, 6 May 2020 15:28 GMT
  • Disposition: Resolved — C2INAV 1.0
  • Disposition Summary:

    Add Length Tag to covariance value attribute

    Add Length tag value = 253 as per issue description

    State that sequences are bounded in the IDL PSM

  • Updated: Fri, 18 Sep 2020 17:02 GMT

navigation_report_kind_sequence_type in unbounded in DDS PSM


write_rotational_attitude is not correctly entered in the UML model

  • Key: C2INAV-2
  • Status: closed  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    In the supporting modelling tool (auxiliary file) the rotation parameter of the write_rotational_attitude operation does not have its classifier entered correctly. This means that it appears as a built-in type in the XMI and IDL generated from the XMI is incorrect.

  • Reported: C2INAV 1.0a1 — Wed, 6 May 2020 15:31 GMT
  • Disposition: Resolved — C2INAV 1.0
  • Disposition Summary:

    Fix parameter assignment in XMI model

    Assign class from pick-list rather than the typed-in text

  • Updated: Fri, 18 Sep 2020 17:02 GMT

implementation defined is miss-spelled

  • Key: C2INAV-4
  • Status: closed  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    The 'inherit' relation 'implementation defined' for navigation_report_kind_type is miss-spelled (missing first 'e').

  • Reported: C2INAV 1.0a1 — Wed, 6 May 2020 15:35 GMT
  • Disposition: Resolved — C2INAV 1.0
  • Disposition Summary:

    Correct typo in navigation_report_kind_type

    Change inheritance to "implementation defined" for class navigation_report_kind_type.

  • Updated: Fri, 18 Sep 2020 17:02 GMT
  • Attachments:

FTF-1 changes to be applied to GraphQL PSM

  • Key: C2INAV-49
  • Status: closed  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    Some but by now means all of the Issue Resolution from FTF-1 are applicable to the GraphQL PSM. These should be determined and applied as appropriate.

  • Reported: C2INAV 1.0a1 — Thu, 14 May 2020 20:13 GMT
  • Disposition: Deferred — C2INAV 1.0
  • Disposition Summary:

    Determine GraphQL PSM changes in FTF-2

    GraphQL PSM changes should be determined and applied in FTF-2, when there will be the opportunity to validate them with respect to a more mature implementation.

  • Updated: Fri, 18 Sep 2020 17:02 GMT

Type mismatch in reference to navigation_report_type


Only top-level attributes can be declared as keys for DDS topic types


Accuracy compositions should have notes


Rotation should be about the centre of rotation not the platform reference point


Duplicate declaration from overloaded operation names


Unclear which OARIS files are required

  • Key: C2INAV-21
  • Status: closed  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    Section 8.1 states that IDL files defined by OARIS, but referred to by this spec are in the OARIS distribution, but it does not specify which files. It would be helpful to do so.

  • Reported: C2INAV 1.0a1 — Mon, 11 May 2020 15:27 GMT
  • Disposition: Resolved — C2INAV 1.0
  • Disposition Summary:

    State the IDL dependencies from OARIS explicitly

    Refer to Time Base, Common Type and Coordinates and Positions

  • Updated: Fri, 18 Sep 2020 17:02 GMT