planning_configuration.py

"""
    schemas: configuration sent to Autonomy Engine (i.e. during an emergency,
    if a vehicle needs to be removed from the mission planning)
"""
from . import api, message_header_schema, vehicle_schema
from flask_restx import fields


squad_metadata_schema = api.model(
    "SquadMetadataSchema",
    {
        "squad_ID": fields.Integer(
            required=True,
            description="Identifier of given squad",
            example="ah-1",
        ),
        "no_of_vehicles": fields.Integer(
            required=True,
            description="number of vehicles",
            example="ah-1",
        ),
        "vehicles": fields.List(
            fields.Nested(vehicle_schema),
            required=True,
            description="Squad consists of these vehicles",
        ),
        "squad_mission_type": fields.String(
            required=True,
            description="Mission of given squad: `tracking`, `survey`, `inspection`",
            example="survey",
        ),
        "squad_state": fields.Boolean(
            required=True,
            description="In execution, Waiting.. <define further>",
            example=False,
        ),
    },
)

# Main Autonomy Configuration Schema
autonomy_configuration_schema = api.model(
    "SquadConfigurationSchema",
    {
        "message": fields.Nested(
            message_header_schema,
            required=True,
            description="Message header",
        ),
        "ID": fields.Integer(
            required=True,
            description="Unique identifier tagged to version of this"
            + " configuration plan",
            example=3,
        ),
        "time": fields.String(
            required=True,
            description="",
            example="",
        ),
        "squads": fields.Nested(
            squad_metadata_schema,
            required=False,
            description="Details of each squad",
        ),
        "region_of_operation": fields.Raw(
            required=True,
            description="Using GEOJSON, exact region of interest EXCLUDING exclusion zone",
            example={
                "type": "FeatureCollection",
                "features": [
                    {
                    "type": "Feature",
                    "properties": {},
                    "geometry": {
                        "coordinates": [
                        [
                            [
                            -4.187143188645706,
                            50.37072283932642
                            ],
                            [
                            -4.202697005964865,
                            50.368816892405874
                            ],
                            [
                            -4.203156724702808,
                            50.365640144076906
                            ],
                            [
                            -4.19449868846155,
                            50.362267670845654
                            ],
                            [
                            -4.187373048015246,
                            50.35933489062816
                            ],
                            [
                            -4.1859938917992565,
                            50.36207215780212
                            ],
                            [
                            -4.188598964651192,
                            50.36471151593676
                            ],
                            [
                            -4.192506573927574,
                            50.367350727294706
                            ],
                            [
                            -4.188675584440716,
                            50.36837704762925
                            ],
                            [
                            -4.187143188645706,
                            50.37072283932642
                            ]
                        ]
                        ],
                        "type": "Polygon"
                        # "projection": coordinate system used
                    }
                    }
                ]
            }
        ),
    },
)